WO2019011001A1 - 遥控装置及其电位器摇杆的校准方法 - Google Patents

遥控装置及其电位器摇杆的校准方法 Download PDF

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Publication number
WO2019011001A1
WO2019011001A1 PCT/CN2018/079788 CN2018079788W WO2019011001A1 WO 2019011001 A1 WO2019011001 A1 WO 2019011001A1 CN 2018079788 W CN2018079788 W CN 2018079788W WO 2019011001 A1 WO2019011001 A1 WO 2019011001A1
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Prior art keywords
calibration
value
target
median
range
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English (en)
French (fr)
Inventor
程昌南
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • 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
    • G05B19/0425—Safety, monitoring
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • 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
    • G05B2219/20—Pc systems
    • G05B2219/21—Pc I-O input output
    • G05B2219/21006—Detect position switches, connect resistances, analog value gives position

Definitions

  • the present invention relates to the field of control technology, and in particular, to a remote control device and a calibration method of the potentiometer rocker.
  • the potentiometer rocker has the advantage of being simple in structure and thus is used in a large number of remote control devices for drones.
  • the potentiometer rocker is prone to wear during use, which makes the error large and needs to be calibrated before use.
  • the traditional calibration procedure cannot complete the calibration process when the potentiometer rocker is worn to a certain extent or the new joystick is replaced. In this case, you need to manually modify the preset value for calibration, or you need to change the A/D channel of the remote control. The calibration is completed, otherwise the joystick will not work properly.
  • the process of manually modifying the preset value or changing the remote A/D channel is very complicated and requires a lot of manpower and material resources.
  • a method for calibrating a potentiometer rocker of a remote control device comprising:
  • the initial calibration process is performed.
  • the calibration method of the potentiometer rocker of the remote control device first determines whether the calibration value of the target calibration position stored in the remote control device is normal, and performs the calibration process of the remote control device to perform calibration when the calibration value is normal. When the calibration value is abnormal, the calibration is performed by an increased initial calibration procedure.
  • the above calibration method adds an initial calibration process for the calibration of the remote control device while retaining the original default calibration process. By setting and storing the new preset calibration value, it can be solved that the potentiometer rocker is worn or replaced. The default calibration process does not complete the calibration problem, ensuring that the potentiometer joystick is working properly.
  • the acquired calibration value is verified, and when it is confirmed that the calibration value is an effective value saved after the normal calibration, the calibration value is determined to be normal; otherwise, the calibration value is determined to be abnormal.
  • the initial calibration process includes the step of calibrating each target calibration position according to a preset calibration sequence
  • the calibration of each target calibration position includes:
  • a new calibration value of the target calibration position is determined based on the sampled value and stored.
  • the target calibration position of the target channel includes a median position, where the median position is an intermediate position of the target channel;
  • the method further includes:
  • the dead zone filtering process includes the step of compressing the sampled value within the dead zone to a target value; the numerically homogenizing process includes the step of moving the sampled value to a median by a preset offset.
  • step of performing dead zone filtering processing and/or numerical homogenization processing on the sampled values to form an intermediate amount in the new channel range includes:
  • the sampled value is subjected to dead zone filtering processing as an intermediate amount in the new channel range;
  • the sampled value is subjected to dead zone filtering processing and numerical homogenization processing as an intermediate amount in the new channel range;
  • the sampled value is subjected to numerical homogenization processing as an intermediate amount in the new channel range.
  • the target calibration position of the target channel further includes a low position and a high position, wherein the low position and the high position are end position positions of the target channel; and the target calibration position of the target channel stored in the remote control device is acquired
  • the obtained calibration value includes a median value, a low value, and a high value corresponding to the middle, the low, and the upper, respectively; wherein the low value is the smallest and the high value is the largest.
  • the lower target value of the lower bit is the sum of the low bit value and the lower dead band range; and the median target value of the median a median value; the high target value of the high bit is the difference between the high value and the high dead band range;
  • the preset offset in the numerical homogenization process is equal to the median dead zone range; when the read sample value or the dead zone filtered sample value is less than the median value, the The sampled value is added to the median dead zone range; when the read sample value or the dead zone filtered sample value is greater than the median value, the sampled value is subtracted from the median dead Area range.
  • step of calibrating each target calibration position according to a preset calibration sequence includes:
  • the target calibration positions of the same channel are sequentially calibrated according to the second calibration sequence.
  • the target calibration position of the target channel includes a median
  • the median is an intermediate position of the target channel
  • the median is the first position to be calibrated; when the median is calibrated, according to The median sample value determines the median new median calibration value
  • the new calibration value of each target calibration position is determined by the new median calibration value and the sampled value of each target calibration position.
  • the start and end of the calibration are determined according to the preset control signal.
  • the default calibration process includes:
  • a new calibration value of the target calibration position is determined based on the sampled value and the corresponding calibration value and stored.
  • a remote control device includes a remote control body and a potentiometer rocker; the potentiometer rocker is fixed on the remote control body; the remote control body includes:
  • a memory for storing a calibration value of a target calibration position of the target channel
  • a microcontroller coupled to the storage device, for obtaining a calibration value of a target calibration position of the target channel from the storage device when the potentiometer rocker is calibrated, and when the calibration value is normal Perform the default calibration process and perform the initial calibration process when the calibration value is abnormal.
  • microcontroller calibrates each target calibration position according to a preset calibration sequence when performing the initial calibration process
  • the remote control device further includes:
  • a prompting device coupled to the microcontroller; the microcontroller is further configured to control the prompting device to prompt the user to move the potentiometer rocker to a target calibration position when calibrating each target calibration position;
  • a sampling device connected to the microcontroller; the microcontroller is further configured to control the sampling device to read the sampling value when the prompting device prompts the user to move the potentiometer rocker to the target calibration position; The microcontroller is further configured to determine a new calibration value of the target calibration location based on the sampled value and control the storage device to store the new calibration value.
  • FIG. 1 is a schematic diagram of an interface of a left potentiometer rocker in an embodiment
  • FIG. 2 is a schematic diagram of an interface of a right potentiometer rocker in an embodiment
  • FIG. 3 is a schematic block diagram of a remote control device in an embodiment
  • FIG. 6 is a flow chart of a default calibration process in another embodiment
  • Figure 8 is a flow chart of processing sample values in a specific embodiment
  • FIG. 9 is a schematic diagram of a current calibration range in the embodiment shown in FIG. 8;
  • Figure 10 is a flow chart of initial calibration in an embodiment
  • Figure 11 is a flow chart of an initial calibration procedure in another embodiment.
  • the remote control device in the embodiment of the invention comprises a remote control body and a potentiometer rocker.
  • the potentiometer rocker is fixed to the remote control body for the user to operate to input a remote command to the remote control device.
  • the number of potentiometer rockers can be set as desired, for example, one, two or more.
  • the remote control device includes two potentiometer rockers.
  • the two potentiometer rockers are the left potentiometer rocker and the right potentiometer rocker, respectively, so that the user can operate separately or simultaneously.
  • FIG. 1 and 2 are schematic diagrams of interfaces of a left potentiometer rocker and a right potentiometer rocker in an embodiment of the present invention, wherein CH1, CH2, CH3, and CH4 are left potentiometer rocker X-axis and left potential, respectively.
  • the analog rocker Y-axis, the right potentiometer rocker X-axis and the right potentiometer rocker Y-axis are converted into analog outputs.
  • the output range is between 0 and 3.3V.
  • the actual output range is smaller than this range due to mechanical limitations and the like, and the output range of different potentiometer joysticks will be different.
  • FIG. 3 is a schematic block diagram of a remote control device (also referred to as a potentiometer rocker device) according to an embodiment of the present invention.
  • R1 ⁇ R4 represents the potentiometer resistance of the left potentiometer rocker X axis, the left potentiometer rocker Y axis, the right potentiometer rocker X axis and the right potentiometer rocker Y axis.
  • the potentiometer values of the potentiometers of different potentiometers will be different, which will reflect the error between the potentiometers.
  • the remote control device includes a memory, a microcontroller (MCU), a prompting device, and a sampling device, wherein the A/D conversion circuit is implemented by the sampling device.
  • the memory may be a flash memory for storing a calibration value of a target calibration position of the target channel.
  • the MCU is used to manage and control the work of each device and perform the calibration process.
  • the prompting device is used to prompt the user to move the potentiometer rocker to the target calibration position under the control of the MCU to calibrate the position.
  • the prompting device includes a display screen and an alarm.
  • the alarm can be a buzzer. The alarm is used to give an alarm when the calibration is abnormal.
  • the display is used to display the calibrated channel (ie the X axis and Y axis of the potentiometer joystick's axis of movement) and the calibration procedure.
  • the display can be an LCD display or an LED display.
  • the remote control device further includes a control component. Control components are used to trigger calibration, calibration settings, and other operations. Specifically, when the user performs corresponding operations on the potentiometer rocker, the corresponding potentiometer is adjusted, and the corresponding analog voltage values can be obtained at the CH1, CH2, CH3, and CH4 terminals, and then converted into capable by the A/D conversion circuit. The amount of digital read by the MCU. The different digital quantities represent different positions of the potentiometer rocker.
  • FIG. 4 is a flow chart of a method of calibrating a potentiometer rocker of a remote control device in an embodiment. The method can be implemented by the remote control device shown in FIG. 3, which method comprises the following steps:
  • Step S110 Acquire a calibration value of a target calibration position of the target channel stored in the remote control device.
  • the calibration value of the target calibration position of each calibration channel is stored in advance in the memory of the remote control unit.
  • the target calibration position can be set as needed.
  • the target channel includes a left potentiometer rocker X axis, a left potentiometer rocker Y axis, a right potentiometer rocker X axis, and a right potentiometer rocker Y axis.
  • the target calibration location includes the low, middle, and high bits of each target channel.
  • the potentiometer value of each potentiometer rocker is the lowest when it is in the low position of a certain axis, it is 0, so the A/D sampling value is also 0; when it is in the middle position, the potentiometer resistance is the maximum value of two.
  • the A/D sample value is also one-half of the maximum value; when the high bit is high, the potentiometer has the largest resistance value and the A/D sample value is also the largest.
  • the median is the middle position of the target channel, that is, the middle position of the X axis and the Y axis; the low position and the high position are the end positions of the target channel.
  • the low position is the leftmost end of the X axis, and the Y axis At the bottom end, the high position is the rightmost end of the X axis and the uppermost end of the Y axis. Due to the large difference in the limit of the potentiometer rocker of different manufacturers or different batches, even the median will have a big difference. Therefore, each potentiometer rocker needs to be calibrated before use. Therefore, the calibration value corresponding to each target calibration position is stored in the memory of the remote control device.
  • each potentiometer rocker has an X-axis and a Y-axis, and each axis has a low, medium, and high position, and a 4*3 array is needed to store Calibration value.
  • each channel is assigned a channel number to facilitate data calling.
  • step S120 it is judged whether the calibration value is normal.
  • the read calibration value is verified to ensure that the calibration value is a valid value that was saved after normal calibration.
  • one flag bit is set in the calibration value stored in the memory. This flag bit can be used to determine whether the calibration value stored in the memory is written under the normal flow. For example, in one implementation, when the value of the flag bit of the calibration value is read, it is determined whether the value of the flag bit is correct, that is, whether it is the agreed value of the writing, and if so, it indicates that the calibration has been calibrated, that is, the calibration can be judged.
  • the value has been written through the normal process, and it can be further judged that the calibration value is normal; otherwise, it indicates that the calibration value is not written by the normal flow, and further, the calibration value can be judged to be abnormal.
  • the flag for storing the calibration value is the default value.
  • the calibrated remote control device when the calibration value is written, the flag value of the calibration value is written together with the agreed value.
  • the value of the flag bit under the flash address of the remote control device is compared with the macro defined in the prior program, and the macro is set to the agreed value written to the flash of the remote control device; if they are equal, the remote control device has been calibrated.
  • the result of the actual operation of the potentiometer rocker can be obtained directly from the calibration value.
  • the remote control device can judge that the calibration value is abnormal, and otherwise judge that the calibration value is normal.
  • step S130 is performed, and when it is determined that the calibration value is abnormal, step S140 is performed.
  • step S130 a default calibration process of the remote control device is executed.
  • the calibration value When the calibration value is judged to be normal, it indicates that the current potentiometer joystick can be used to calibrate the potentiometer rocker by the default calibration procedure of the remote control device to improve the precision of the control process.
  • the default calibration procedure for the remote control can be the calibration procedure configured when the remote control is shipped from the factory.
  • the default calibration process for the remote control can also be written by the engineer into the remote control after the remote control is shipped from the factory.
  • the default calibration procedure for the remote control is used to calibrate the potentiometer rocker normally, ie during periods when the rocker has not experienced severe wear or replacement.
  • step S140 an initial calibration process is performed.
  • the calibration method in this embodiment adds a new initial calibration process based on the default calibration process to complete the calibration of the potentiometer joystick when the calibration value is abnormal, and acquires and stores the new pre-test through the initial calibration process. Set the calibration value to ensure that the potentiometer rocker can be properly calibrated after it has worn to a certain extent or after replacement, so that it can be used normally.
  • each target calibration position is calibrated according to the preset calibration sequence.
  • each target channel of the potentiometer rocker is sequentially calibrated according to the first calibration sequence, and each target calibration position within the same target channel is sequentially calibrated according to the second calibration sequence.
  • the target channel includes a left potentiometer rocker X axis, a left potentiometer rocker Y axis, a right potentiometer rocker X axis, and a right potentiometer rocker Y axis, so the calibration sequence can be limited, such as first calibration Left potentiometer rocker X axis, then calibrate the left potentiometer rocker Y axis, then calibrate the X axis of the right potentiometer rocker, and finally calibrate the Y axis of the right potentiometer rocker.
  • the calibration sequence for the median, high, and low bits can be set.
  • the middle position can be calibrated first, and then the high and low positions can be calibrated in turn; or, the low position of the X-axis of the left potentiometer rocker can be calibrated first, then the middle position is calibrated, and finally the high position is calibrated.
  • the calibration sequence can be preset according to the system or customized by the user.
  • the method specifically includes: controlling the potentiometer rocker to move to the target calibration position and reading the sample value, and determining a new calibration value of the target calibration position according to the sampled value and storing.
  • the resistance of the corresponding potentiometer is changed, so that the A/D value (ie, the sample value) obtained by the A/D conversion circuit also changes.
  • the sampled value of the potentiometer rocker at the target calibration position can be continuously read. After the summation averaging and corresponding processing are performed based on the plurality of sampled values continuously read, the processed value is used as a new calibration value of the target calibration position and stored.
  • the stored new calibration values can be used for subsequent calibrations to ensure that the potentiometer rocker can still be properly calibrated after the potentiometer rocker has worn a certain amount or replaced, enabling normal use of the potentiometer rocker.
  • a new calibration value of a certain target calibration position may also be determined first, and then the new calibration value may be further determined by using the new calibration value as a reference value. For example, a new median calibration value is first determined, and then the new median calibration value is used as a reference value, together with the sample values of the respective target calibration positions, to determine a new calibration value for each target calibration position. For example, when the sampled value is less than the preset amount of the new median calibration value, it is judged that the sampled value can be used as a new calibration value of the lower bit. A new calibration value will be stored to replace the original calibration value for subsequent daily calibration.
  • the calibration method of the potentiometer rocker of the remote control device first determines whether the calibration value of the target calibration position stored in the remote control device is normal, and performs the calibration process of the remote control device to perform calibration when the calibration value is normal.
  • each target calibration position is calibrated by an increased initial calibration procedure. Specifically, the potentiometer joystick is moved to the target calibration position and the sampled value is read, thereby using the sampled value to determine the calibration value of the target calibration position and storing it as the calibration preset value that the potentiometer rocker normally uses.
  • the initial calibration process is added while the original default calibration process is retained, and the initial calibration process is added for the calibration of the remote control device.
  • the potentiometer rocker is worn or replaced.
  • the above calibration method does not need to change the hardware structure of the remote control device, reduces the cost of the remote control device, and does not require the intervention of engineers in the later stage. While retaining the high efficiency and high reliability of the original default calibration process, the replacement of the new joystick and the shaking is also solved.
  • the calibration problem after the rod wear exceeds the limit, avoiding the waste of time for research and development, production and after-sales personnel.
  • step S130 the flowchart of the default calibration process of step S130 is as shown in FIG. 5, and includes the following steps:
  • Step S210 controlling the potentiometer rocker to move to the target calibration position and reading the sampled value.
  • Step S220 determining a new calibration value of the target calibration position according to the sampled value and the acquired calibration value and storing.
  • the new calibration value is determined based on the sampled value and the calibration value stored in the remote control unit. Specifically, it is determined whether the sampled value is within the deviation range of the calibration value of the corresponding target calibration position, and if so, the sampled value is stored as a new calibration value. If the sampled value is not within the deviation of the calibration value of the corresponding target calibration position, the user is notified to continue moving the potentiometer rocker to the target calibration position and the same determination process is performed on the new sample value until a new calibration value is determined.
  • FIG. 6 is a flow diagram of a default calibration procedure in a particular embodiment.
  • the potentiometer rocker includes the left and right potentiometer rockers, and the respective X and Y axes need to be calibrated, it is necessary to calibrate the four channels.
  • Each channel needs to be calibrated for its low, middle, and high bits, as follows:
  • Each channel includes a low value, a median value, and a high value, so the corresponding low-order preset value, median preset value, and high-order preset value are also included.
  • the LCD of the remote control device enters the calibration interface, prompting to enter the default calibration process, and prompting the user to operate the joystick for calibration.
  • step S308 Determining whether the four channels (the left rocker X axis, the left rocker Y axis, the right rocker X axis, and the right rocker Y axis) are calibrated, and when not completed, performing step S308 on the unfinished channel; Execute S310.
  • whether the four channels are completed may be determined according to a preset channel calibration sequence, so that when a channel is determined that no calibration is completed, the channel is calibrated as a target calibration channel.
  • the preset order is the first middle position and then the low last high position. In other embodiments, other calibration sequences may be employed.
  • the calibration result is stored as a new calibration value.
  • step S308 includes steps S312-328, as shown in FIG.
  • step S312 the median calibration is entered.
  • step S314 the user is prompted to operate the joystick to the middle position and read the A/D value.
  • the prompting process can be prompted by an LCD or a speaker or the like.
  • step S316 it is determined whether the A/D value is within the deviation range of the median preset value.
  • the A/D value is used as the median new calibration value (that is, the median calibration result), and step S318 is performed, otherwise the process returns to step S314. .
  • step S318 the low level calibration is entered.
  • step S320 the user is prompted to operate the joystick to the low position and read the sampled value.
  • step S322 it is determined whether the A/D value is within the deviation range of the low preset value.
  • step S320 is performed, otherwise the process returns to step S324.
  • step S324 the high level calibration is entered.
  • step S326 the user is prompted to operate the joystick to the high position and read the sampled value.
  • step S328 it is determined whether the A/D value is within the deviation range of the high preset value.
  • the process returns to step S326. Otherwise, the A/D value is used as the high new calibration value, the calibration process of the target channel is completed, and the process returns to step S306.
  • the calibration order of the lower and middle bits can also be interchanged.
  • the read step is required before each step of determining the target calibration position and reading the new calibration value based on the sampled value after the target calibration position of the potentiometer motion is moved and the sample value is read.
  • the sampled value is processed, and the processing flow thereof is as shown in FIG. 7, and includes the following steps:
  • Step S410 performing dead zone filtering processing and/or numerical homogenization processing on the sampled values to form an intermediate amount in the new channel range.
  • the calibration position of the target channel includes the median.
  • the median is the middle position of the target channel.
  • the calibration value acquired in step S110 includes a median value.
  • the dead zone processing of the sampled value includes the step of compressing the sampled value within the dead zone to a target value, that is, compressing the multivalued value within the dead zone to a value.
  • the dead zone of the potentiometer rocker refers to the area where the rocker moves but the read position does not change, that is, the area where the operation is unresponsive. Therefore, the dead zone position needs to be filtered during the calibration process to improve the accuracy of the joystick control.
  • the numerical homogenization process includes the step of shifting the sampled value to a median by a preset offset to achieve compression of the sampled value to obtain a new channel range and an intermediate amount for the range.
  • the dead zone range of each target calibration position is obtained, and then the current calibration range of the target channel can be determined according to each calibration value and the dead zone range. Therefore, the position of the corresponding position on the current calibration range can be determined according to the sampled value, so that the processing of the sampled value is determined according to the different positions.
  • the sampled value is subjected to dead zone filtering processing as the intermediate amount in the new channel range.
  • the target calibration position is in the dead zone range of other positions (ie, non-median)
  • the sampled values are subjected to dead zone filtering processing and numerical homogenization processing as the intermediate amount in the new channel range.
  • the target calibration position is in the non-dead range, the sampled value is numerically homogenized and used as the intermediate amount in the new channel range.
  • different locations correspond to different target values when performing dead zone filtering on sampled values of different target calibration locations.
  • the lower target value (corresponding to the target value at the time when the sample value of each position in the dead zone of the lower bit performs the dead zone filtering process) is the sum of the lower bit value and the lower dead zone range.
  • the median target value is the median value.
  • the high target value is the difference between the high value and the high dead band range.
  • the offset is equal to the median dead zone range.
  • the sampled value or the sampled value after the dead zone filtering process is less than the median value, the sampled value is added to the median dead zone range, otherwise the median dead zone range is subtracted.
  • Step S420 performing gear shifting on the intermediate amount according to the target gear range and the new channel range to obtain the sampled value in the target gear range.
  • the A/D value converted by the A/D conversion circuit of the remote control device has a preset number of bits.
  • the A/D conversion circuit employs a 12-bit analog to digital converter. In other embodiments, 10 or 8 digits may also be employed. Since the control signal finally obtained by the remote control device is used to control devices such as computers, computers, smart TVs, game machines, and drones, it needs to be converted to a gear range that can be recognized by the corresponding device, that is, Switch to the target gear range. Specifically, according to the target gear range and the new channel range formed after the data processing, the corresponding relationship of the respective positions can be determined, so that the intermediate amount in the new channel range is converted into a gear position to obtain the sample value under the target gear range. .
  • FIG. 8 is a flow chart of processing sampled values in a specific embodiment, the process including the following steps:
  • Step S502 receiving a channel number and a corresponding calibration value.
  • the channel number can be obtained and the calibration value corresponding to the device can be obtained from the remote control device.
  • the calibration value includes a median value nMid corresponding to the median, a low bit value nMin corresponding to the lower bit, and a high bit value nMax corresponding to the upper bit.
  • the low value nMin is the smallest
  • the high value nMax is the largest.
  • Step S504 receiving respective dead zone ranges of the low, middle and high positions.
  • the low dead zone range nMin_FiltTopArea, the median dead zone range nMid_FiltBotArea and nMid_FiltTopArea, and the high deadband range nMax_FiltBotArea can be customized according to the user's demand for operational sensitivity and the need for control precision, or the default range can be set by the system.
  • the dead zones on both sides are symmetrical, that is, nMid_FiltBotArea is equal to nMid_FiltTopArea. Therefore, you only need to enter one value to determine the size of another value.
  • Step S506 determining a low bit maximum value, a median minimum value, a median maximum value, and a high bit minimum value according to the calibration value and the dead zone range.
  • the lower maximum value nMinAreaMax is equal to the low value nMin plus the lower deadband range nMin_FiltTopArea.
  • the median minimum value nMidAreaMin is equal to the median value nMid minus the median dead zone range nMid_FiltBotArea.
  • the median maximum value nMidAreaMax is equal to the median value nMid plus nMid_FiltTopArea.
  • the high-order minimum value nMaxAreaMin is equal to the high-order value nMax minus the high-order dead zone range nMax_FiltBotArea.
  • each value and each range are marked on the current calibration channel range (i.e., the number axis) by means of coordinate axes to more clearly display the data relationship between each other.
  • each numerical value can also be used as its coordinate on the numerical axis, and therefore the process of numerically homogenizing the sampled value can also be referred to as coordinate homogenization processing.
  • Step S508 collecting the A/D value of the potentiometer rocker in the target channel.
  • step S510 it is determined whether the A/D value is less than or equal to the low maximum value.
  • Step S512 is performed, and vice versa.
  • Step S514 is performed.
  • step S512 the low bit maximum value is added to the median dead zone range and the result is taken as an intermediate amount.
  • the value is filtered out, the original A/D value is replaced with the lower maximum value nMinAreaMax, and the value is homogenized. Specifically, the lower maximum value nMinAreaMax is added to the median dead zone range nMid_FiltBotArea and the result is taken as the intermediate amount nValue.
  • step S51 it is determined whether the A/D value is greater than or equal to the high minimum value.
  • step S516 is performed. Otherwise, step S518 is performed.
  • step S5166 the median dead zone range is subtracted from the high bit minimum value and the result is taken as the intermediate amount.
  • the value is filtered out, the original A/D value is replaced with the high-order minimum value nMaxAreaMin, and the value is homogenized. Specifically, the high-order minimum value nMaxAreaMin is subtracted from the median dead zone range nMid_FiltTopArea, and the result is taken as the intermediate amount nValue.
  • Step S518, determining whether the A/D value is greater than or equal to the median minimum value and less than or equal to the median maximum value.
  • step S520 is performed, otherwise step S522 is performed.
  • step S520 the median value is taken as the intermediate amount.
  • the value is filtered out and the median value nMid is directly used as the intermediate amount nValue.
  • step S522 it is determined whether the A/D value is less than the median minimum value.
  • step S524 is performed.
  • step S526 is performed.
  • step S524 the A/D value is added to the median dead zone range and the result is taken as an intermediate amount.
  • the A/D value is added to the median dead zone range nMid_FiltBotArea and the result is used as the intermediate amount nValue, thereby achieving the purpose of median compression of the A/D value of the region.
  • step S526 the median dead zone range is subtracted from the A/D value and the result is taken as an intermediate amount.
  • the A/D value is subtracted from the median dead zone range nMax_FiltBotArea and the result is taken as the intermediate amount nValue, thereby realizing the A/D value of the region to the median compression.
  • the new channel range corresponding to the processed intermediate quantity nValue can be obtained.
  • the range of the new channel range is (nMinAreaMax+nMid_FiltBotArea) ⁇ (nMaxAreaMin-nMid_FiltTopArea).
  • Step S528, performing gear shifting on the intermediate amount according to the target gear range and the new channel range to obtain the sampled value in the target gear range.
  • the target gear range information is received.
  • the target gear range information includes a gear median value nMid_ConValue and a deviation range nMid_ConValue_Offset corresponding to the gear median value. Based on the above information, it can be determined that the target gear range is between (nMid_ConValue-nMid_ConValue_Offset) to (nMid_ConValue+nMid_ConValue_Offset).
  • the sampled value is subjected to gear shifting according to the target gear range information and the new channel range information to convert it into a sample value under the target gear range.
  • the sample value under the new channel range is less than or equal to the median value nMid, the following formula is used to perform gear coordinate transformation:
  • the gear shift can also be performed according to the relative positional relationship between the sampled values in the new channel range and other positions, and is not limited to the above implementation.
  • the target calibration location includes a median.
  • the median is the first position to be calibrated.
  • the median new median calibration value is determined based on the median sampled value.
  • the new calibration value of each target calibration position is determined by the new median calibration value and the sampled value of each target calibration position. For example, it is possible to determine whether the sampled value can be used as a calibration value of the target calibration position based on the amount of deviation between the sampled value and the new median calibration value, and store the sampled value satisfying the requirement as a new calibration value.
  • the remote control device issues a prompt message prompting the current calibration channel and steps.
  • the step of centering the potentiometer rocker is performed after calibration of the target calibration locations other than the median. Performing the centering calibration of the potentiometer rocker includes reading the sampled value of the target channel of the potentiometer rocker and determining whether it is equal to the new median calibration value. If yes, the potentiometer rocker can be centered to complete the calibration process, otherwise Continue reading the sampled value of the target channel of the potentiometer rocker and determine if it is equal to the new median calibration value until the sampled value is equal to the new median calibration value.
  • the calibration procedure is the same for each channel. Therefore, in this embodiment, only the initial calibration process of one channel is taken as an example, as shown in FIG.
  • the initial calibration of the target channel according to the preset calibration sequence includes the following steps:
  • Step S602 prompting the user to calibrate the median value of the target channel.
  • the prompting steps can be implemented by using an LCD or a speaker, and the prompt information is outputted by display or voice playback.
  • the median value is also the median calibration value. After prompting the output, the user moves the potentiometer joystick to the center of the target channel as prompted to perform a median calibration.
  • Step S604 continuously reading the A/D value of the target channel and accumulating the average value or filtering to obtain the median value.
  • Step S606 prompting that the median value calibration of the target channel is completed.
  • Step S608 prompting the user to calibrate the low value of the target channel.
  • Step S610 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • Step S612 it is determined whether the processed A/D value is less than the median value first deviation amount.
  • the sample value of the lower bit is the smallest, and the sample value of the upper bit is the largest. Therefore, when performing the low bit calibration, it is necessary to determine whether the A/D value is smaller than the median value first deviation amount.
  • the first amount of deviation can be obtained by testing.
  • the sample value of the lower bit may be maximized, and the sample value of the upper bit may be minimized. In this case, it is necessary to determine whether the A/D is greater than the median value first deviation amount.
  • step S614 If not, return to step S608, and if yes, execute step S614.
  • Step S614 prompting that the low-level calibration of the target channel is completed.
  • Step S616 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • step S618 it is determined whether the A/D value is equal to the median value.
  • step S620 If the A/D value is equal to the median value, it means that the potentiometer rocker can be centered, and the next target calibration position is continuously calibrated, and step S620 is performed; otherwise, the process returns to step S616.
  • step S620 the user is prompted to calibrate the high value of the target channel.
  • Step S622 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • Step S624 determining whether the processed A/D value is greater than the median value and the second deviation amount.
  • the second amount of deviation can be obtained by testing.
  • the second amount of deviation may be equal to the first amount of deviation. If it is determined that the A/D value is greater than the median value and the second deviation amount, step S626 is performed, otherwise, step S620 is returned.
  • Step S628 continuously reading the A/D value of the target channel and accumulating the average value or filtering processing.
  • step S630 it is determined whether the A/D value is equal to the median value.
  • the process returns to step S628.
  • the median value at the completion of the calibration is stored as a new calibration value in the memory of the remote control device.
  • the calibration value it can be set by serial communication or DIP switch.
  • the start and end of the calibration are determined based on the preset control signal.
  • the preset control signal can be a button signal.
  • 11 is a flow chart of initial calibration of a target channel according to a preset calibration procedure in another embodiment.
  • the target calibration channel is the X axis of the left stick, the leftmost side is the low position, and the rightmost side is the high position. Referring to Figure 11, it includes the following steps:
  • Step S702 prompting the user to turn the left joystick to the leftmost position, and operating the button to enter the next step after the preset time interval.
  • the preset time interval can be set to 1 second.
  • Step S704 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • step S706 it is determined whether the button operation is valid.
  • step S708 is performed, otherwise, step S704 is returned.
  • step S708 a preset value of the X-axis low position of the left stick is obtained.
  • step S710 the user is prompted to center the left joystick, and the button is operated to enter the next step after the preset time interval.
  • Step S712 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • step S714 it is determined whether the key operation is valid.
  • step S716 is performed, otherwise, step S712 is returned.
  • step S716 a preset value of the X-axis of the left stick is obtained.
  • Step S7108 prompting the user to turn the left joystick to the rightmost side, and operating the key to enter the next step after the preset time interval.
  • Step S720 continuously reading the A/D value of the target channel and accumulating the average value or filtering process.
  • step S722 it is determined whether the button operation is valid.
  • step S724 is performed, otherwise, step S720 is returned.
  • step S724 a preset value of the X-axis high position of the left stick is obtained.
  • the preset values of the obtained positions are stored as calibration values, which are used as calibration preset values for the potentiometer rocker.
  • the calibration value can be stored after each channel calibration is completed, or after all channels have been calibrated.

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Abstract

本发明涉及一种遥控装置及其电位器摇杆的校准方法，其中，所述方法包括：获取所述遥控装置内存储的目标通道的目标校准位置的校准值；判断所述校准值是否正常，当判断所述校准值正常时，执行所述遥控装置的默认校准流程；当判断所述校准值异常时，执行初始校准流程。采用上述校准方法，在保留原有默认校准流程的同时，为遥控装置的校准增设了初始校准流程，通过设定并存储新的预设校准值，可以解决由于电位器摇杆磨损或者更换导致原有默认校准流程无法完成校准的问题，确保电位器摇杆能够正常使用。

Description

遥控装置及其电位器摇杆的校准方法
申请要求于2017年7月13日申请的、申请号为201710572179.1、申请名称为“遥控装置及其电位器摇杆的校准方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及控制技术领域，特别是涉及一种遥控装置及其电位器摇杆的校准方法。
背景技术
电位器摇杆具有结构简单的优点，从而被大量用于无人机的遥控装置中。电位器摇杆在使用过程中容易磨损，从而使得误差较大，需要在使用前对其进行校准。传统的校准程序在电位器摇杆磨损到一定程度或者更换了新摇杆时，无法完成校准过程，此时需要手动修改用于校准的预设值，或者需要调换遥控的A/D通道，才能完成校准，否则将无法正常使用摇杆。然而，该手动修改预设值或是调换遥控的A/D通道的过程非常复杂，需要花费较大的人力和物力。
发明内容
基于此，有必要提供一种能够确保电位器摇杆正常使用的遥控装置及其电位器摇杆的校准方法。
一种遥控装置的电位器摇杆的校准方法，包括：
获取所述遥控装置内存储的目标通道的目标校准位置的校准值；
判断所述校准值是否正常：
当判断所述校准值正常时，执行所述遥控装置的默认校准流程；
当判断所述校准值异常时，执行初始校准流程。
上述遥控装置的电位器摇杆的校准方法，先判断遥控装置内存储的目标校准位置的校准值是否正常，在校准值正常时执行遥控装置的默认校准流程来进行校准。当校准值异常时，则通过增加的初始校准流程进行校准。上述校准方法，在保留原有默认校准流程的同时，为遥控装置的校准增设了初始校准流程，通过设定并存储新的预设校准值，可以解决由于电位器摇杆磨损或者更换导致原有默认校准流程无法完成校准的问题，确保电位器摇杆能够正常使用。
进一步地，对获取的所述校准值进行校验，当确认所述校准值是通过正常校准后保存的有效值时，判定所述校准值正常；否则，判定所述校准值异常。
进一步地，所述初始校准流程包括根据预设校准顺序对各目标校准位置进行校准的步骤；
其中，对各目标校准位置进行校准包括：
控制所述电位器摇杆运动至目标校准位置并读取采样值；以及
根据所述采样值确定所述目标校准位置的新校准值并存储。
进一步地，所述目标通道的目标校准位置包括中位，所述中位为目标通道的中间位置；
在所述控制所述电位器摇杆运动至目标校准位置并读取采样值的步骤之后、所述根据所述采样值确定所述目标校准位置的新校准值并存储的步骤之前，还包括：
对所述采样值进行死区滤波处理和/或数值匀化处理，以形成新通道量程下的中间量；以及
根据目标档位量程和新通道量程对所述中间量进行档位转换，以得到目标档位量程下的采样值；
其中，所述死区滤波处理包括将位于死区范围内的采样值压缩为一目标值的步骤；所述数值匀化处理包括将采样值向中位移动预设偏移量的步骤。
进一步地，所述对所述采样值进行死区滤波处理和/或数值匀化处理，以形成新通道量程下的中间量的步骤包括：
接收目标校准位置的死区范围，并根据所述校准值和所述死区范围形成目 标通道的当前校准量程；
当所述目标校准位置处于中位的死区范围内时，对所述采样值进行死区滤波处理后作为新通道量程下的中间量；
当所述目标校准位置处于非中位的死区范围内时，对所述采样值进行死区滤波处理和数值匀化处理后作为新通道量程下的中间量；
当所述目标校准位置处于非死区范围内时，对所述采样值进行数值匀化处理后作为新通道量程下的中间量。
进一步地，所述目标通道的目标校准位置还包括低位和高位，所述低位和所述高位为所述目标通道的端点位置；在所述获取所述遥控装置内存储的目标通道的目标校准位置的校准值的步骤中，获取到的校准值包括分别与中位、低位和高位对应的中位值、低位值和高位值；其中，低位值最小，高位值最大。
进一步地，在所述死区滤波处理中，根据目标校准位置设置不同的目标值；所述低位的低位目标值为低位值与低位的死区范围之和；所述中位的中位目标值为中位值；所述高位的高位目标值为高位值与高位的死区范围之差；
所述数值匀化处理中的预设偏移量等于所述中位的死区范围；当读取到的采样值或者经过死区滤波后的采样值小于所述中位值时，将所述采样值加上所述中位的死区范围；当读取到的采样值或者经过死区滤波后的采样值大于所述中位值时，将所述采样值减去所述中位的死区范围。
进一步地，所述根据预设校准顺序对各目标校准位置进行校准的步骤包括：
根据第一校准顺序依次对电位摇杆器的各目标通道进行校准；以及
根据第二校准顺序依次对同一通道的目标校准位置进行校准。
进一步地，所述目标通道的目标校准位置包括中位，所述中位为目标通道的中间位置；所述中位为第一个进行校准的位置；在对所述中位进行校准时，根据所述中位的采样值确定所述中位的新中位校准值；
所述目标通道的其他目标校准位置进行校准的步骤中，以所述新中位校准值和各目标校准位置的采样值确定各目标校准位置的新校准值。
进一步地，在对每一目标校准位置进行校准后，还需要执行对电位器摇杆进行归中校准的步骤。
进一步地，所述根据预设校准顺序对各目标校准位置进行校准的步骤中，根据预设控制信号判断校准的开始和结束。
进一步地，所述默认校准流程包括：
控制所述电位器摇杆运动至目标校准位置并读取采样值；以及
根据所述采样值和对应的校准值确定所述目标校准位置的新校准值并存储。
一种遥控装置，包括遥控本体和电位器摇杆；所述电位器摇杆固定在所述遥控本体上；所述遥控本体包括：
存储器，用于存储目标通道的目标校准位置的校准值；
微控制器，与所述存储设备连接，用于在对所述电位器摇杆进行校准时，从所述存储设备中获取目标通道的目标校准位置的校准值，并在所述校准值正常时执行默认校准流程，在校准值异常时执行初始校准流程。
进一步地，所述微控制器在执行所述初始校准流程时根据预设校准顺序对各目标校准位置进行校准；
所述遥控装置还包括：
提示设备，与所述微控制器连接；所述微控制器还用于在对各目标校准位置进行校准时，控制所述提示设备提示用户将所述电位器摇杆运动至目标校准位置；以及
采样设备，与所述微控制器连接；所述微控制器还用于在所述提示设备提示用户将所述电位器摇杆运动至目标校准位置时，控制所述采样设备读取采样值；所述微控制器还用于根据所述采样值确定所述目标校准位置的新校准值并控制所述存储设备存储所述新校准值。
附图说明
图1为一实施例中的左电位器摇杆的接口原理图；
图2为一实施例中的右电位器摇杆的接口原理图；
图3为一实施例中的遥控装置的原理框图；
图4为一实施例中的遥控装置的电位器摇杆的校准方法；
图5为一实施例中的默认校准流程的流程图；
图6为另一实施例中的默认校准流程的流程图；
图7为一实施例中对采样值进行处理的流程图；
图8为一具体实施例中对采样值进行处理的流程图；
图9为图8所示实施例中当前校准量程的示意图；
图10为一实施例中的初始校准流程图；
图11为另一实施例中的初始校准流程的流程图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本发明实施例中的遥控装置包括遥控本体和电位器摇杆。电位器摇杆固定在遥控本体上，以供用户进行操作从而向遥控装置输入遥控指令。电位器摇杆的数量可以根据需要设置，例如设置为一个、两个或者多个。在本实施例中，遥控装置包括两个电位器摇杆。两个电位器摇杆分别为左电位器摇杆和右电位器摇杆，从而方便用户左右手分别地或同时地进行操作。
图1和图2分别为本发明实施例中的左电位器摇杆、右电位器摇杆的接口原理图，其中，CH1、CH2、CH3和CH4分别为左电位器摇杆X轴、左电位器摇杆Y轴、右电位器摇杆X轴和右电位器摇杆Y轴转换成的模拟量输出。原则上输出范围在0～3.3V之间。实际上，由于机械限程等原因会使得实际的输出范围小于该范围，且不同的电位器摇杆的输出范围会有不同。
图3为本发明实施例中的遥控装置(也可称之为电位器摇杆装置)的原理框图。其中，R1～R4表示左电位器摇杆X轴、左电位器摇杆Y轴、右电位器摇杆X轴和右电位器摇杆Y轴对应的电位器阻值。不同电位器摇杆对应的电位器阻值会有不同，也就反应了电位器摇杆之间的误差。遥控装置包括存储器、微控制器(MCU)、提示设备和采样设备，其中，通过采样设备实现A/D转换电路。其中，存储器可以为flash存储器，用于存储目标通道的目标校准位置的 校准值。MCU用于对各设备的工作进行管理控制，并执行校准流程。提示设备用于在MCU的控制下，提示用户将电位器摇杆运动至目标校准位置，以对该位置进行校准。在本实施例中，提示设备包括显示屏和报警器。报警器可以为蜂鸣器。报警器用于在校准异常时发出报警提示。显示屏用于显示校准的通道(也即电位器摇杆的移动轴X轴、Y轴)以及校准步骤。显示屏可以为LCD显示屏，也可以为LED显示屏等。在本实施例中，遥控装置还包括控制组件。控制组件用于触发校准、校准设置以及进行其他操作。具体地，当用户对电位器摇杆进行相应操作时，对应的电位器就会被调节，CH1、CH2、CH3和CH4端可以得到相应的模拟电压值，然后通过A/D转换电路转换成能够被MCU读取的数字量。不同的数字量代表电位器摇杆的不同位置。
图4为一实施例中的遥控装置的电位器摇杆的校准方法的流程图。该方法可以通过图3所示的遥控装置来实现，该方法其包括以下步骤：
步骤S110，获取遥控装置内存储的目标通道的目标校准位置的校准值。
遥控装置的存储器内会预先存储设置好的各校准通道(目标通道)的目标校准位置的校准值。目标校准位置可以根据需要设置。在本实施例中，目标通道包括左电位器摇杆X轴、左电位器摇杆Y轴、右电位器摇杆X轴和右电位器摇杆Y轴。目标校准位置包括各目标通道的低位、中位和高位。理想情况下，每个电位器摇杆在某轴的低位时电位器阻值最小，为0，所以A/D采样值也为0；中位时，电位器阻值为最大值的二分之一，A/D采样值也为最大值的二分之一；高位时，电位器阻值最大，A/D采样值也最大。其中，中位为目标通道的中间位置，即X轴、Y轴的中间位置；低位和高位为目标通道的端点位置，在其中一种具体实现方式中，低位为X轴的最左端、Y轴的最下端，高位为X轴的最右端、Y轴的最上端。由于不同厂家或者不同批次的电位器摇杆限程存在较大差异，甚至中位都会有很大的差异。因此每个电位器摇杆使用前都需要校准。故遥控装置的存储器中存储有对应于各目标校准位置的校准值。在本实施例中，由于采用两个电位器摇杆，每个电位器摇杆都有X轴和Y轴，每个轴都有低、中、高位，则需要一个4*3的数组来存储校准值。在本实施例中，对每个通道赋有一通道号，以方便数据的调用。
步骤S120，判断校准值是否正常。
通过判断校准值是否正常，可以判断出当前电位器摇杆是否能够直接使用该校准值进行校准。
在一实施例中，对读取到的校准值进行校验，以确保该校准值是通过正常校准后保存的有效值。具体地，存储器中存储的校准值中设置有一个标志位。通过该标志位即可判断存储器中存储的校准值是否是正常流程下写入的。例如，在一种实现方式中，读取校准值的标志位的值时，判断该标志位的值是否正确即是否是写入的约定值，如果是，则说明已校准过，即可以判断校准值已通过正常流程写入，进一步可以判断该校准值正常；否则，则说明该校准值不是通过正常流程写入，进一步可以判断该校准值不正常。其原因在于：对于没有进行校准过的遥控装置，存放校准值的标志位是默认值，对于校准过的遥控装置，在写入校准值时，对于校准值的标志位一并写入约定值，读取遥控装置flash地址下标志位的值与事先程序中定义的宏进行比较，该宏设为写入遥控装置flash的约定值；如果相等则说明该遥控装置已经校准过。
在另一实施例中，可以直接以该校准值去得到电位器摇杆实际操作的结果。当校准值偏差太多时，电位器摇杆是不能归中的。因此，如果最终电位器摇杆不能归中，则遥控装置可以判断该校准值异常，反之则判断该校准值正常。当判断校准值正常时，执行步骤S130，当判断校准值异常时，执行步骤S140。
步骤S130，执行遥控装置的默认校准流程。
当判断校准值正常时，说明当前电位器摇杆可以适用遥控装置的默认校准流程来对电位器摇杆进行校准，以提高控制过程的精准度。遥控装置的默认校准流程可以为遥控装置出厂时配置的校准流程。遥控装置的默认校准流程还可以由工程师在遥控装置出厂后写入遥控装置内。遥控装置的默认校准流程用于对电位器摇杆进行平时的校准，也即在摇杆未发生严重磨损或者未进行更换期间使用。
步骤S140，执行初始校准流程。
在判断校准值异常时，无法通过日常使用的默认校准流程来进行校准。因此本实施例中的校准方法，在默认校准流程的基础上增加了新的初始校准流程， 以在校准值异常时完成对电位器摇杆的校准，使用通过初试校准流程获取并存储新的预设校准值，确保在电位器摇杆磨损一定程度或者更换后仍可以正常被校准，从而正常使用。
初始校准流程中，会根据预设校准顺序对各目标校准位置进行校准。在一实施例中，会根据第一校准顺序依次对电位器摇杆的各目标通道进行校准，并根据第二校准顺序依次对同一目标通道内的各目标校准位置进行校准。具体地，目标通道包括左电位器摇杆X轴、左电位器摇杆Y轴、右电位器摇杆X轴和右电位器摇杆Y轴，因此可以对其校准顺序进行限定，比如首先校准左电位器摇杆X轴，再校准左电位器摇杆Y轴，然后校准右电位器摇杆的X轴，最后再校准右电位器摇杆的Y轴。对于同一目标通道内的各目标校准位置之间的校准，可以设置中位、高位和低位的校准顺序。以左电位器摇杆X轴为例，可以先校准其中位，再依次校准其高位和低位；或者，可以先校准左电位器摇杆X轴的低位，再校准其中位，最后校准其高位。可以理解，对于同一目标通道内的各目标校准位置(即，中位、高位和低位)，其校准顺序可以根据系统进行预先设置，也可以由用户进行自定义。
在对各目标校准位置进行校准时，具体包括：控制电位器摇杆运动至目标校准位置并读取采样值，以及根据采样值确定目标校准位置的新校准值并存储。在控制电位器摇杆运动的过程中，会改变对应的电位器的阻值，从而使得A/D转换电路得到的A/D值(也即采样值)也发生变化。在一实施例中，可以连续读取电位器摇杆在目标校准位置的采样值。根据连续读取到的多个采样值进行求和取平均以及相应的处理后，将该处理后的值作为目标校准位置的新校准值并存储。存储的新校准值可以供后续的校准使用，从而确保在电位器摇杆磨损一定程度或者更换后，电位器摇杆仍可以被正确校准，实现电位器摇杆的正常使用。
在本发明另一实施例中，也可以先确定某一目标校准位置的新校准值，然后以该新校准值为参考值，进一步确定其他位置的新校准值。例如，先确定新中位校准值，然后以该新中位校准值为参考值，结合各目标校准位置的采样值一起，来确定各目标校准位置的新校准值。例如，当采样值小于新中位校准值 预设量后，则判断该采样值可以作为低位的新校准值。将得到新校准值存储以替换原有校准值，并供后续日常校准用。
上述遥控装置的电位器摇杆的校准方法，先判断遥控装置内存储的目标校准位置的校准值是否正常，在校准值正常时执行遥控装置的默认校准流程来进行校准。当校准值异常时，则通过增加的初始校准流程对各个目标校准位置进行校准。具体地，控制电位器摇杆移动至目标校准位置并读取采样值，从而利用该采样值确定目标校准位置的校准值并存储，作为电位器摇杆平时使用的校准预设值。采用上述校准方法，在保留原有默认校准流程的同时，为遥控装置的校准增设了初始校准流程，通过设定并存储新的预设校准值，可以解决由于电位器摇杆磨损或者更换导致原有默认校准流程无法完成校准的问题，确保电位器摇杆能够正常使用。上述校准方法无需改变遥控装置的硬件架构，降低了遥控装置的成本，后期也无需工程师的介入，在保留原有默认校准流程的高效、高可靠性的同时，也解决了更换新摇杆以及摇杆磨损超过限度后的校准问题，避免了研发、生产以及售后人员的时间浪费。通过上述方法，在校准值异常时仍可以正常完成校准过程，能够提高电位器摇杆的精度、可靠性以及操作手感。
在一实施例中，步骤S130的默认校准流程的流程图如图5所示，包括以下步骤：
步骤S210，控制电位器摇杆运动至目标校准位置并读取采样值。
步骤S220，根据采样值和获取到的校准值确定目标校准位置的新校准值并存储。
默认校准流程中，新校准值是根据采样值和遥控装置内存储的校准值来确定的。具体地，判断采样值是否在对应的目标校准位置的校准值的偏差范围内，如果是则将该采样值作为新校准值进行存储。如果采样值不在对应的目标校准位置的校准值的偏差范围内，则通知用户继续移动电位器摇杆至目标校准位置，并对新采样值执行同样的判断过程，直至确定出新校准值。
图6为一具体实施例中的默认校准流程的流程图。参见图6，在本实施例中，由于电位器摇杆包括左右电位器摇杆，且需要对各自的X轴和Y轴进行校准，也即需要对四个通道进行校准。每个通道中又需要对其低位、中位以及高位进 行校准，具体如下：
S302，将读取到的校准值赋值给预设值。
各通道均包括低位值、中位值和高位值，因此对应的也包括低位预设值、中位预设值和高位预设值。
S304，提示用户进入校准流程。
在本实施例中，遥控装置的LCD进入校准界面，提示用于进入默认校准流程，并提示用户操作摇杆进行校准。
S306，判断四个通道是否校准完成。
判断四个通道(左摇杆X轴、左摇杆Y轴、右摇杆X轴和右摇杆Y轴)是否完成校准，并在未完成时，对未完成的通道执行步骤S308，反之，执行S310。在一实施例中，可以根据预设的通道校准顺序来判断四个通道是否完成，从而在判断出一个通道没有校准完成时，将该通道作为目标校准通道进行校准。
S308，根据预设顺序对目标通道中的各目标校准位置进行校准。
在本实施例中，预设顺序为先中位再低位最后高位。在其他的实施例中，也可以采用其他的校准顺序。
S310，将校准结果作为新校准值并进行存储。
在一实施例中，根据预设顺序对目标通道中的各目标校准位置进行校准的步骤，也即步骤S308包括步骤S312～328，如图6所示。
步骤S312，进入中位校准。
步骤S314，提示用户操作摇杆至中位并读取A/D值。
提示过程可以通过LCD或者扬声器等进行提示。
步骤S316，判断A/D值是否在中位预设值的偏差范围内。
当A/D值在中位预设值的偏差范围内，则该A/D值作为中位的新校准值(也即为中位的校准结果)，并执行步骤S318，否则返回执行步骤S314。
步骤S318，进入低位校准。
步骤S320，提示用户操作摇杆至低位并读取采样值。
步骤S322，判断A/D值是否在低位预设值的偏差范围内。
当采样值也即A/D值在低位预设值的偏差范围内，则该A/D值作为低位的 新校准值，并执行步骤S320，否则返回执行步骤S324。
步骤S324，进入高位校准。
步骤S326，提示用户操作摇杆至高位并读取采样值。
步骤S328，判断A/D值是否在高位预设值的偏差范围内。
当A/D值不在高位预设值的偏差范围内，返回执行步骤S326，反之则该A/D值作为高的新校准值，完成目标通道的校准过程，并返回执行步骤S306。在一实施例中，还可以将低位和中位的校准顺序进行互换。
在一实施例中，在每次使电位器摇杆运动之目标校准位置并读取采样值后、根据采样值确定目标校准位置的新校准值并存储的步骤之前，还需要对读取到的采样值进行处理，其处理流程如图7所示，包括以下步骤：
步骤S410，对采样值进行死区滤波处理和/或数值匀化处理，以形成新通道量程下的中间量。
在本实施例中，目标通道的校准位置包括中位。中位为目标通道的中间位置。步骤S110获取到的校准值包括中位值。对采样值进行死区处理过程包括，将位于死区范围内的采样值压缩为一目标值的步骤，也即将死区范围内的多值压缩为一值。电位器摇杆的死区是指摇杆移动但是读取到的位置不会发生变化的区域，也即操作无响应的区域。因此在校准过程中需要对死区位置进行过滤，从而提高摇杆控制的精准度。数值匀化处理过程则包括将采样值向中位移动预设偏移量的步骤，从而实现对采样值数值的压缩，得到新的通道量程以及该量程下的中间量。
具体地，获取各目标校准位置的死区范围，然后根据各校准值以及死区范围即可确定出目标通道的当前校准量程。因此，根据采样值即可确定其对应的位置在当前校准量程上的位置，从而根据不同的位置来确定对采样值做何种处理。当目标校准位置处于中位的死区范围时，对采样值进行死区滤波处理后作为新通道量程下的中间量。当目标校准位置处于其他位置(也即非中位)的死区范围时，对采样值进行死区滤波处理和数值匀化处理后作为新通道量程下的中间量。当目标校准位置处于非死区范围时，则对采样值进行数值匀化处理后作为新通道量程下的中间量。
在一实施例中，在对不同目标校准位置的采样值进行死区滤波处理时，不同位置对应不同的目标值。例如，低位目标值(对应于低位的死区范围内的各位置的采样值进行死区滤波处理时的目标值)为低位值和低位的死区范围之和。中位目标值为中位值。高位目标值为高位值与高位的死区范围之差。在对不同目标校准位置的采样值进行数值匀化处理过程中，偏移量等于中位的死区范围。当读取到的采样值或者经过死区滤波处理后的采样值小于中位值时，将采样值加上中位的死区范围，反之则减去中位的死区范围。通过对采样值进行死区滤波处理和数值匀化处理，可以将死区范围内的多值压缩为一值，而其他位置则一值对应一值，仍然保持递增(非线性)关系。
步骤S420，根据目标档位量程和新通道量程对中间量进行档位转换，以得到目标档位量程下的采样值。
遥控装置的A/D转换电路转换来的A/D值具有预设位数。在本实施例中，A/D转换电路采用12位模数转换器。在其他的实施例中，也可以采用10位或者8位数。由于遥控装置最终得到的控制信号用于对设备如电脑、计算机、智能电视、游戏机以及无人机等进行控制，因此需要将其转换至对应的设备所能够识别的档位量程范围，也即转换至目标档位量程。具体地，根据目标档位量程以及数据处理后形成的新通道量程即可确定各自位置的对应关系，从而将新通道量程下的中间量进行档位转换，以得到目标档位量程下的采样值。
图8为一具体实施例中的对采样值进行处理的流程图，该处理过程包括以下步骤：
步骤S502，接收通道号以及对应的校准值。
根据要处理的采样值所在的通道，可以获取到通道号并从遥控装置中获取器对应的校准值。该校准值包括与中位对应的中位值nMid、与低位对应的低位值nMin和与高位对应的高位值nMax。其中，低位值nMin最小，高位值nMax最大。
步骤S504，接收低位、中位和高位各自的死区范围。
低位的死区范围nMin_FiltTopArea、中位的死区范围nMid_FiltBotArea和nMid_FiltTopArea以及高位的死区范围nMax_FiltBotArea可以根据用户对操作 灵敏度的需求以及对控制精度的需求而进行自定义，或者可以由系统设置默认范围。通常电位器摇杆在中位时，两侧的死区范围呈对称性，也即nMid_FiltBotArea等于nMid_FiltTopArea。因此，只需要输入一个值，即可确定另外一个值的大小。
步骤S506，根据所述校准值和死区范围确定低位最大值、中位最小值、中位最大值和高位最小值。
其中，低位最大值nMinAreaMax等于低位值nMin加低位的死区范围nMin_FiltTopArea。中位最小值nMidAreaMin等于中位值nMid减去中位的死区范围nMid_FiltBotArea。中位最大值nMidAreaMax等于中位值nMid加上nMid_FiltTopArea。高位最小值nMaxAreaMin等于高位值nMax减去高位的死区范围nMax_FiltBotArea。
图9中通过坐标轴的方式将各值以及各范围在当前校准通道量程(也即数轴)上进行标注，以更清晰的显示相互之间的数据关系。可以理解，各数值大小也可以作为其在数轴上的坐标，因此对采样值进行的数值匀化处理的过程也可以称之为坐标匀化处理。
步骤S508，采集电位器摇杆在目标通道的A/D值。
步骤S510，判断A/D值是否小于等于低位最大值。
当A/D值小于等于低位最大值nMinAreaMax时，电位器摇杆处于低位的死区范围内，则需要对该A/D值进行死区滤波和数值匀化处理，也即执行步骤S512，反之执行步骤S514。
步骤S512，将低位最大值加上中位的死区范围并将结果作为中间量。
当A/D值位于中位的死区范围内时，将该值过滤掉，用低位最大值nMinAreaMax替换原A/D值，并对其进行数值匀化处理。具体地，将低位最大值nMinAreaMax加上中位的死区范围nMid_FiltBotArea后将结果作为中间量nValue。
步骤S514，判断A/D值是否大于等于高位最小值。
当A/D值大于等于高位最大值nMaxAreaMin时，电位器摇杆处于高位的死区范围，需要对该A/D值进行死区滤波处理，并进行数值匀化处理，也即执行 步骤S516，反之执行步骤S518。
步骤S516，将高位最小值减去中位的死区范围并将结果作为中间量。
当A/D值位于死区范围内时，将该值过滤掉，用高位最小值nMaxAreaMin替换原A/D值，并对其进行数值匀化处理。具体地，将高位最小值nMaxAreaMin减去中位的死区范围nMid_FiltTopArea后将结果作为中间量nValue。
步骤S518，判断A/D值是否大于等于中位最小值且小于等于中位最大值。
当A/D值大于等于中位最小值nMidAreaMin且小于等于中位最大值nMinAreaMax时，电位器摇杆的位置处于中位的死区范围，需要对该A/D值进行死区滤波处理，也即执行步骤S520，反之执行步骤S522。
步骤S520，将中位值作为中间量。
当A/D值位于中位的死区范围内时，将该值过滤掉，并直接将中位值nMid作为中间量nValue。
步骤S522，判断A/D值是否小于中位最小值。
通过前面步骤的判断，可以知道该A/D值对应的摇杆的位置不在死区范围内。根据中位的死区范围确定其他位置向中位移动的预设偏移量，从而将所有的A/D值向中位移动，实现对数值的压缩。具体地，当A/D值小于中位最小值nMidAreaMin时，则执行步骤S524。当A/D值大于等于中位最小值nMidAreaMin时，也即表示其位于中位最大值nMinAreaMax和高位最小值nMaxAreaMin之间时，执行步骤S526。
步骤S524，将A/D值加上中位的死区范围并将结果作为中间量。
将A/D值加上中位的死区范围nMid_FiltBotArea后将结果作为中间量nValue，从而实现该区域的A/D值向中位压缩的目的。
步骤S526，将A/D值减去中位的死区范围并将结果作为中间量。
将A/D值减去中位的死区范围nMax_FiltBotArea后将结果作为中间量nValue，从而实现该区域的A/D值向中位压缩。
通过上述步骤对A/D值进行死区滤波和匀化处理后，可以得到处理后的中间量nValue对应的新通道量程。新通道量程的量程范围为(nMinAreaMax+nMid_FiltBotArea)～(nMaxAreaMin-nMid_FiltTopArea)。在 对A/D值进行处理后，处理后得到的中间量nValue仍保持递加关系(被压缩区域中的多值变成一个值，其它位置则一值对应一值，仍然保持递增(非线性)关系)。
步骤S528，根据目标档位量程和新通道量程对中间量进行档位转换，以得到目标档位量程下的采样值。
具体地，接收目标档位量程信息。目标档位量程信息包括档位中值nMid_ConValue和与该档位中值对应的偏差范围nMid_ConValue_Offset。根据上述信息可以确定出目标档位量程在(nMid_ConValue－nMid_ConValue_Offset)～(nMid_ConValue+nMid_ConValue_Offset)之间。
根据目标档位量程信息、新通道量程信息对采样值进行档位变换，以将其变换为在目标档位量程下的采样值。在一实施例中，当新通道量程下的采样值小于等于中位值nMid时，采用以下公式进行档位坐标变换：
Figure PCTCN2018079788-appb-000001
当新通道量程下的采样值大于中位值nMid时，采用以下公式进行档位坐标变换：
Figure PCTCN2018079788-appb-000002
在其他的实施例中，还可以根据新通道量程下的采样值与其他位置的相对位置关系来进行档位变换，而并不限于上述实现方式。
在一实施例中，目标校准位置包括中位。在根据预设校准顺序对各目标校准位置进行校准时(也即步骤S140中)，在同一通道的校准中，中位为第一个进行校准的位置。在对中位进行校准时，根据中位的采样值确定中位的新中位校准值。在对同一通道内的其他目标校准位置进行校准时，以该新中位校准值与各目标校准位置的采样值判定各目标校准位置的新校准值。例如，可以根据采样值与新中位校准值之间的偏差量确定采样值是否可以作为目标校准位置的校准值，并将满足要求的采样值作为新校准值并存储。在一实施例中，在进行校准过程中，遥控装置会发出提示信息，提示当前校准通道以及步骤。在另一实施例中，在对除中位之外的其他目标校准位置进行校准后，均还会执行对电 位器摇杆进行归中校准的步骤。对电位器摇杆进行归中校准包括，读取电位器摇杆的目标通道的采样值并判断其是否等于新中位校准值，若是则认为电位器摇杆能够归中，完成校准过程，否则继续读取电位器摇杆的目标通道的采样值并判断其是否等于新中位校准值，直至采样值等于新中位校准值。通过在每次目标校准位置的校准后增加电位器摇杆的归中校准步骤，可以进一步校验目标校准位置的校准有没有出错。当电位器摇杆无法实现归中，则表示该校准过程出错。
在一实施例中，由于每个通道的目标校准位置相同，均包括低位、中位和高位，故每个通道下的校准流程均相同。因此本实施例中，仅以一个通道的初始校准流程为例进行说明，参见图10。根据预设校准顺序对目标通道进行初始校准，包括以下步骤：
步骤S602，提示用户正在校准目标通道的中位值。
在本实施例中，提示步骤均可以通过LCD或者扬声器等设备来实现，也即将提示信息通过显示或者语音播放的方式输出。中位值也即中位的校准值。在提示输出后，用户根据提示将电位器摇杆移动至目标通道的中位，以进行中位校准。
步骤S604，连续读取目标通道的A/D值并累加求取平均值或者滤波处理后得到中位值。
步骤S606，提示目标通道的中位值校准完成。
步骤S608，提示用户正在校准目标通道的低位值。
步骤S610，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
步骤S612，判断处理后的A/D值是否小于中位值第一偏差量。
在本实施例中，低位的采样值最小，高位的采样值最大，因此在进行低位校准时，需要判断A/D值是否小于中位值第一偏差量。第一偏差量可以测试获得。在其他的实施例中，也可以令低位的采样值最大，高位的采样值最小，此时则需要判断A/D是否大于中位值第一偏差量。
若否，则返回执行步骤S608，若是，则执行步骤S614，
步骤S614，提示目标通道的低位值校准完成。
步骤S616，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
在完成低位值校准后，需要进行归中校准。
步骤S618，判断A/D值是否等于中位值。
若A/D值等于中位值，则表示电位器摇杆可以归中，继续对下一目标校准位置进行校准，执行步骤S620，否则返回执行步骤S616。
步骤S620，提示用户正在校准目标通道的高位值。
步骤S622，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
步骤S624，判断处理后的A/D值是否大于中位值第二偏差量。
第二偏差量可以测试获得。在一实施例中，第二偏差量可以等于第一偏差量。若判断出A/D值大于中位值第二偏差量，则执行步骤S626，否则返回执行步骤S620。
步骤S626，提示目标通道的高位值校准完成。
步骤S628，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
在完成高位值校准后，需要进行归中校准。
步骤S630，判断A/D值是否等于中位值。
若A/D值等于中位值，则表示电位器摇杆可以归中，高位值校准没有出错，则完成目标通道的校准，执行下一通道的校准，反之则返回执行步骤S628。
在完成目标通道的校准后，将校准完成时的中位值作为新校准值存储到遥控装置的存储器中。在进行校准值设定时，可以通过串口通信或者拨码开关灯方式进行设定。
在另一实施例中，根据预设校准顺序对各目标校准位置进行校准的步骤中，根据预设控制信号判断校准的开始和结束。预设控制信号可以为按键信号。图11为另一实施例中根据预设校准流程对目标通道进行初始校准的流程图。在本实施例中，目标校准通道为左摇杆的X轴，其最左边为低位，最右边为高位。参见图11，其包括以下步骤：
步骤S702，提示用户将左摇杆拨到最左边，在预设时间间隔后操作按键进入下一步。
通过LCD或者语音提示用户需要执行的步骤。预设时间间隔可以设置为1 秒。
步骤S704，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
步骤S706，判断按键操作是否有效。
通过对按键操作的有效性进行判断，可以降低误操作率。当按键操作有效则执行步骤S708，否则返回执行步骤S704。
步骤S708，得到左摇杆X轴低位的预设值。
步骤S710，提示用户将左摇杆归中，在预设时间间隔后操作按键进入下一步。
步骤S712，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
步骤S714，判断按键操作是否有效。
通过对按键操作的有效性进行判断，可以降低误操作率。当按键操作有效则执行步骤S716，否则返回执行步骤S712。
步骤S716，得到左摇杆X轴中位的预设值。
步骤S718，提示用户将左摇杆拨到最右边，在预设时间间隔后操作按键进入下一步。
步骤S720，连续读取目标通道的A/D值并累加求取平均值或者滤波处理。
步骤S722，判断按键操作是否有效。
通过对按键操作的有效性进行判断，可以降低误操作率。当按键操作有效则执行步骤S724，否则返回执行步骤S720。
步骤S724，得到左摇杆X轴高位的预设值。
在完成该通道校准后，将得到的各位置的预设值作为校准值进行存储，从而作为电位器摇杆平时使用的校准预设值。
校准值的存储可以在每个通道校准完成之后执行，也可以待所有的通道均校准完再执行。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细， 但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种遥控装置的电位器摇杆的校准方法，包括：
    获取所述遥控装置内存储的目标通道的目标校准位置的校准值；
    判断所述校准值是否正常：
    当判断所述校准值正常时，执行所述遥控装置的默认校准流程；
    当判断所述校准值异常时，执行初始校准流程。
  2. 根据权利要求1所述的校准方法，其特征在于，对获取的所述校准值进行校验，当确认所述校准值是通过正常校准后保存的有效值时，判定所述校准值正常；否则，判定所述校准值异常。
  3. 根据权利要求1或2所述的校准方法，其特征在于，所述初始校准流程包括根据预设校准顺序对各目标校准位置进行校准的步骤；其中，对各目标校准位置进行校准包括：
    控制所述电位器摇杆运动至目标校准位置并读取采样值；以及
    根据所述采样值确定所述目标校准位置的新校准值并存储。
  4. 根据权利要求3所述的方法，其特征在于，所述目标通道的目标校准位置包括中位，所述中位为目标通道的中间位置；
    在所述控制所述电位器摇杆运动至目标校准位置并读取采样值的步骤之后、所述根据所述采样值确定所述目标校准位置的新校准值并存储的步骤之前，还包括：
    对所述采样值进行死区滤波处理和/或数值匀化处理，以形成新通道量程下的中间量；以及
    根据目标档位量程和新通道量程对所述中间量进行档位转换，以得到目标档位量程下的采样值；
    其中，所述死区滤波处理包括将位于死区范围内的采样值压缩为一目标值 的步骤；所述数值匀化处理包括将采样值向中位移动预设偏移量的步骤。
  5. 根据权利要求4所述的方法，其特征在于，所述对所述采样值进行死区滤波处理和/或数值匀化处理，以形成新通道量程下的中间量的步骤包括：
    接收目标校准位置的死区范围，并根据所述校准值和所述死区范围形成目标通道的当前校准量程；
    当所述目标校准位置处于中位的死区范围内时，对所述采样值进行死区滤波处理后作为新通道量程下的中间量；
    当所述目标校准位置处于非中位的死区范围内时，对所述采样值进行死区滤波处理和数值匀化处理后作为新通道量程下的中间量；
    当所述目标校准位置处于非死区范围内时，对所述采样值进行数值匀化处理后作为新通道量程下的中间量。
  6. 根据权利要求4或5所述的方法，其特征在于，所述目标通道的目标校准位置还包括低位和高位，所述低位和所述高位为所述目标通道的端点位置；
    在所述获取所述遥控装置内存储的目标通道的目标校准位置的校准值的步骤中，获取到的校准值包括分别与所述中位、所述低位和所述高位对应的中位值、低位值和高位值，其中，所述低位值最小，所述高位值最大。
  7. 根据权利要求6所述的方法，其特征在于，在所述死区滤波处理中，根据目标校准位置设置不同的目标值；所述低位的低位目标值为所述低位值与所述低位的死区范围之和；所述中位的中位目标值为所述中位值；所述高位的高位目标值为所述高位值与所述高位的死区范围之差；
    所述数值匀化处理中的预设偏移量等于所述中位的死区范围；当读取到的采样值或者经过死区滤波后的采样值小于所述中位值时，将所述采样值加上所述中位的死区范围；当读取到的采样值或者经过死区滤波后的采样值大于所述中位值时，将所述采样值减去所述中位的死区范围。
  8. 根据权利要求3至7中任一所述的方法，其特征在于，所述根据预设校准顺序对各目标校准位置进行校准的步骤包括：
    根据第一校准顺序依次对电位摇杆器的各目标通道进行校准；以及
    根据第二校准顺序依次对同一通道的目标校准位置进行校准。
  9. 根据权利要求3所述的方法，其特征在于，所述目标通道的目标校准位置包括中位，所述中位为目标通道的中间位置；所述中位为第一个进行校准的位置，在对所述中位进行校准时，根据所述中位的采样值确定所述中位的新中位校准值；
    在对所述目标通道的其他目标校准位置进行校准的步骤中，以所述新中位校准值和各目标校准位置的采样值确定各目标校准位置的新校准值。
  10. 根据权利要求9所述的方法，其特征在于，在对每一目标校准位置进行校准后，还需要执行对所述电位器摇杆进行归中校准的步骤。
  11. 根据权利要求3至10中任一所述的方法，其特征在于，所述根据预设校准顺序对各目标校准位置进行校准的步骤中，根据预设控制信号判断校准的开始和结束。
  12. 根据权利要求1至11中任一所述的方法，其特征在于，所述默认校准流程包括：
    控制所述电位器摇杆运动至目标校准位置并读取采样值；以及
    根据所述采样值和对应的校准值确定所述目标校准位置的新校准值并存储。
  13. 一种遥控装置，包括遥控本体和电位器摇杆；所述电位器摇杆固定在所述遥控本体上；其特征在于，所述遥控本体包括：
    存储器，用于存储目标通道的目标校准位置的校准值；以及
    微控制器，与所述存储设备连接，用于在对所述电位器摇杆进行校准时，从所述存储设备中获取目标通道的目标校准位置的校准值，并在所述校准值正常时执行默认校准流程，在校准值异常时执行初始校准流程。
  14. 根据权利要求13所述的遥控装置，其特征在于，所述微控制器在执行所述初始校准流程时根据预设校准顺序对各目标校准位置进行校准；
    所述遥控装置还包括：
    提示设备，与所述微控制器连接；所述微控制器还用于在对各目标校准位置进行校准时，控制所述提示设备提示用户将所述电位器摇杆运动至目标校准位置；以及
    采样设备，与所述微控制器连接；所述微控制器还用于在所述提示设备提示用户将所述电位器摇杆运动至目标校准位置时，控制所述采样设备读取采样值；所述微控制器还用于根据所述采样值确定所述目标校准位置的新校准值并控制所述存储设备存储所述新校准值。
PCT/CN2018/079788 2017-07-13 2018-03-21 遥控装置及其电位器摇杆的校准方法 Ceased WO2019011001A1 (zh)

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