A drone control handle

Abstract

The invention discloses an unmanned aerial vehicle (UAV) operating handle, comprising: a base, a throttle lever and an adjustment dial, which are arranged on the base, an intervention handle, the intervention handle comprising an operating disk, the operating disk being connected to the base through a plurality of displacement springs, a processor, connected to the throttle lever, the adjustment dial and the intervention handle, the processor comprising a displacement spring detection module, the displacement spring monitoring module being used for monitoring deformation information of the displacement spring, the processor being used for controlling the UAV according to the deformation information, the operating handle has the capability of navigation-level operation, simplifies the handle structure on the basis of automatic control of the UAV, makes the handle operation more intuitive, makes the manual operation more stable, makes the UAV control transition smoothly, and has instantaneous intervention capability, and is suitable for navigation-level operation and emergency intervention of medium and large autonomous UAVs.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle control, and more specifically, relates to an unmanned aerial vehicle control handle. Background Art

[0002] With the development of modern aircraft control technology, various aircraft have gradually shown a high degree of autonomy. However, fully autonomous drones still face great challenges when landing in complex conditions such as low altitude and close to the ground and turbulent wind fields. At present, there is a lack of control handles on the market that can assist in real-time value adjustment while autonomously controlling drones. Existing devices are also difficult to adjust for navigation-level remote control, especially for navigation-level assisted intervention. Summary of the invention

[0003] The purpose of the present invention is to provide a drone control handle to address the deficiencies in the prior art. The control handle has the capability of navigation-level control. On the basis of automatic control of the drone, the handle structure is simplified to make the handle control more intuitive, the manual control more stable, the drone control transition smoother, and the handle has instantaneous intervention capability. The handle is suitable for navigation-level control and emergency intervention of medium and large autonomous drones.

[0004] In order to achieve the above object, the present invention provides a drone control handle, comprising:

[0005] Base;

[0006] A throttle lever and an adjustment dial are arranged on the base;

[0007] An intervention handle, the intervention handle comprising an operating disk, the operating disk being connected to the base via a plurality of displacement springs;

[0008] A processor is connected to the throttle lever, the adjustment dial and the intervention handle, the processor includes a displacement spring detection module, the displacement spring monitoring module is used to monitor the deformation information of the displacement spring, and the processor is used to control the drone according to the deformation information.

[0009] Optionally, the adjustment dial is an incremental adjustment dial.

[0010] Optionally, buttons are provided on the side walls of the base, the buttons include an enable button and a reset button, and indicator lights corresponding to the buttons are also provided on the front of the base.

[0011] Optionally, the throttle lever is a discrete value gear lever, including a climbing gear, a cruising gear, a descending gear and a stop gear.

[0012] Optionally, the processor is connected to the autopilot of the UAV, and the processor can change the control instructions of the autopilot to the UAV according to the deformation information, the control instructions including lateral adjustment speed instructions and vertical adjustment speed instructions, which respectively perform incremental adjustment intervention on the autopilot instruction values ​​of the lateral lateral movement and vertical height of the UAV navigation-level movement.

[0013] Optionally, three displacement springs are provided, and the three displacement springs are respectively a first displacement spring, a second displacement spring, and a third displacement spring. The first displacement spring is provided in the middle of the rear end of the operating disk, the second displacement spring and the third displacement spring are provided on both sides of the front end of the operating disk, and the second displacement spring and the third displacement spring are symmetrically provided on both sides of the first displacement spring.

[0014] Optionally, the deformation information includes deformation amount, and the deformation amounts of the first displacement spring, the second displacement spring, and the third displacement spring are L3, L2, and L1, respectively, and changing the control instruction of the autopilot according to the deformation information includes:

[0015] obtaining an intervention instruction according to the deformation amount;

[0016] Changing the control instruction of the autopilot to the drone according to the intervention instruction;

[0017] The intervention instruction includes a right instruction calculation value, a left instruction calculation value, an upward instruction calculation value and a downward instruction calculation value, wherein the right instruction calculation value and the left instruction calculation value are opposite numbers to each other, and the upward instruction calculation value and the downward instruction calculation value are opposite numbers to each other;

[0018] The rightward instruction calculation value is calculated by the following formula 1:

[0019] K H *arctan[(L1-L2) / H]

[0020] Wherein, H is the left and right span of the displacement spring, K H is the left-right gain of the displacement spring;

[0021] The upward instruction calculation value is calculated by the following formula 2:

[0022] K V *arctan{[(L1+L2) / 2–L3] / V}

[0023] Wherein, V is the upper and lower span of the displacement spring, K V is the up and down gain of the displacement spring.

[0024] Optionally, a pre-tightening structure is provided at one end of the displacement spring, and the pre-tightening structure is used to adjust the operating stiffness of the intervention handle.

[0025] Optionally, the maximum stroke rebound force of the button is not less than 0.10 kg, the effective trigger stroke is 0.8 cm, the button in the extended state is 1.0 cm higher than the mounting surface, and the button in the locked trigger state is 0.4 cm higher than the mounting surface.

[0026] Optionally, the operating panel is provided with a plurality of grooves adapted to the fingers, and the inner partition of the index finger (the leftmost protrusion) protrudes beyond the other partitions by not less than 0.5 cm, and the outer partition (the rightmost flush protrusion) has a lateral width of not less than 1.0 cm, so as to facilitate the force applied to the handle.

[0027] The present invention provides a drone control handle, which has the following beneficial effects:

[0028] The joystick is designed for navigation-level control. Based on automatic control of the UAV, it simplifies the handle structure to make handle control more intuitive, manual control more stable, and UAV control transition smoother. It also has instantaneous intervention capabilities and is suitable for navigation-level control and emergency intervention of medium and large autonomous UAVs.

[0029] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A schematic structural diagram of a drone control handle according to an embodiment of the present invention is shown.

[0032] Figure 2 A front view of a drone control handle according to an embodiment of the present invention is shown.

[0033] Figure 3 A bottom view of a drone control handle according to an embodiment of the present invention is shown.

[0034] Figure 4 A control schematic diagram of a drone control handle according to an embodiment of the present invention is shown.

[0035] Description of reference numerals:

[0036] 1. Base; 2. Throttle lever; 3. Adjustment dial; 4. Intervention handle; 5. Button; 6. Indicator light; 7. Displacement spring. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0038] Figure 1 A schematic structural diagram of a drone control handle according to an embodiment of the present invention is shown; Figure 2 A front view of a drone control handle according to an embodiment of the present invention is shown; Figure 3 A bottom view of a drone control handle according to an embodiment of the present invention is shown.

[0039] like Figure 1-3 As shown, a drone control handle comprises:

[0040] Base 1;

[0041] A throttle lever 2 and an adjustment dial 3 are arranged on the base;

[0042] An intervention handle 4, the intervention handle 4 comprises an operating disk, and the operating disk is connected to the base 1 via a plurality of displacement springs 7;

[0043] The processor is connected to the throttle lever 2, the adjustment dial 3 and the intervention handle 4. The processor includes a displacement spring detection module. The displacement spring monitoring module is used to monitor the deformation information of the displacement spring 7. The processor is used to control the drone according to the deformation information.

[0044] Specifically, the power output of the UAV is controlled by the throttle lever 2, and the adjustment dial 3 is located in the middle of the handle. The UAV steering is controlled by adjusting the dial 3. If the UAV is rotated to the left, it will rotate to the left, and if the UAV is rotated to the right, it will rotate to the right. When the UAV lands on the runway, the UAV heading trajectory command value is adjusted to achieve the control purpose of re-capturing the heading and aligning with the runway when landing in combination with the side adjustment. In the high-frequency control stage of landing, mis-touch is avoided. The upper, lower, left and right quadrants can be established by the intervention handle 4. When the UAV is automatically cruising, the UAV can be quickly intervened so that the UAV is aligned with the runway or the key route position laterally without changing the heading command. When the intervention handle 4 rolls to the right, it means right, and when the front side of the handle rises, it means upward. Both rolling to the right and the front side rising means upper right, and the command value is proportional to the rolling stroke and pitching stroke. The processor is an AVR single-chip microcomputer. The control command signal of the throttle lever 2 and the direction control structure is processed by the processor, and the control command signal is transmitted to the main control computer through the USB interface.

[0045] Furthermore, the intervention handle 4 and the base 1 are realized through the displacement spring 7 and the embedded unit electrically connected to the processor. The embedded unit comprehensively measures the compression / extension of the displacement spring 7 to calculate the extension and further comprehensively calculate the handle posture. The left and right signal amounts are proportional to the handle roll angle, the up and down signal amounts are proportional to the handle pitch angle, and the gain parameters are adjustable through software.

[0046] In this embodiment, the adjustment dial 3 is an incremental adjustment dial.

[0047] Specifically, the direction adjustment dial 3 is a relative incremental adjustment dial rather than an absolute scale value dial. When the UAV rotates left, the heading command is adjusted to the left. When the UAV rotates right, the heading command is adjusted to the right. The adjustment dial 3 protrudes 1.5 cm from the base.

[0048] In this embodiment, buttons 5 are provided on the side wall of the base 1 , and the buttons 5 include an enable button and a reset button. Indicator lights 6 corresponding to the buttons 5 are also provided on the front of the base 1 .

[0049] Specifically, the button 5 is located on the upper side wall to avoid accidental triggering, and the indicator light 6 is located on the front for easy observation. The button 5 and the indicator light 6 are on different surfaces but the horizontal and vertical positions of the position layout correspond one to one. The opening and closing of the joystick is controlled by the enable button, and the joystick is self-restored by the zeroing button, so that the various values ​​of the joystick are restored to the initial state. The working status of the enable button and the zeroing button is displayed by the indicator light 6. At the same time, the base 1 is provided with a spare button and a spare indicator light for expansion.

[0050] In this embodiment, the throttle lever 2 is a discrete value gear lever, including a climbing gear, a cruising gear, a descending gear and a stop gear.

[0051] Specifically, the power output of the UAV is adjusted by the throttle lever 2, the lever length is 5 cm, the gear stop force (lever jamming force) of each gear discrete value is not less than 4N*cm, the gear stroke of the lever is obviously jammed, and the gear paddle stroke is short, so that the pulse intervention of the UAV power under the condition of a large navigation control cycle is suitable for landing of the fixed-wing UAV (the pulse intervention is to briefly increase the power output and then instantly reduce the power output or even stop braking and deceleration, so as to achieve the control purpose of power pulse intervention).

[0052] In this embodiment, the processor is connected to the autopilot of the UAV, and the processor can change the control instructions of the autopilot for the navigation-level motion of the UAV according to the deformation information. The control instructions include lateral adjustment speed instructions and vertical adjustment speed instructions, which perform incremental adjustment intervention on the autopilot instruction values ​​of the lateral lateral movement and vertical height of the navigation-level motion of the UAV respectively.

[0053] Furthermore, if the handle tilts to the left, a corresponding lateral deviation adjustment speed value is generated, and the lateral deviation command value of the fixed-wing UAV is intervened by the autopilot, and changes to the left at the above adjustment speed. When the handle returns to the center, the adjustment speed command value returns to zero, and the lateral lateral deviation command value is offset to the left compared with before (the offset value is the integral of the lateral deviation adjustment speed curve with respect to the intervention time). The movement of the UAV is to adjust the lateral deviation to the left and then continue to move forward; the same is true for the vertical direction.

[0054] Specifically, the flight of the drone is intervened by connecting the processor to the autopilot of the drone, so as to facilitate and timely adjust the flight trajectory of the drone, and intervene in the navigation-level movement of the drone based on the control of the autopilot.

[0055] In this embodiment, three displacement springs are provided, namely a first displacement spring, a second displacement spring, and a third displacement spring. The first displacement spring is provided in the middle of the rear end of the operating disk, the second displacement spring and the third displacement spring are provided on both sides of the front end of the operating disk, and the second displacement spring and the third displacement spring are provided symmetrically on both sides of the first displacement spring.

[0056] Specifically, the first displacement spring, the second displacement spring, and the third displacement spring are respectively arranged on the three vertices of an isosceles triangle, so that the connection between the intervention handle 4 and the base 1 is stable, and the command information of the intervention handle 4 is conveniently collected and distributed.

[0057] The deformation information includes deformation amount. The deformation amounts of the first displacement spring, the second displacement spring and the third displacement spring are L3, L2 and L1 respectively. Changing the control instructions of the autopilot according to the deformation information includes:

[0058] Obtain intervention instructions based on the amount of deformation;

[0059] Change the autopilot's control instructions to the drone according to the intervention instructions;

[0060] The intervention instruction includes a right instruction calculation value, a left instruction calculation value, an upward instruction calculation value and a downward instruction calculation value, the right instruction calculation value and the left instruction calculation value are opposite numbers to each other, and the upward instruction calculation value and the downward instruction calculation value are opposite numbers to each other;

[0061] The right command calculation value is calculated by the following formula:

[0062] K H *arctan[(L1-L2) / H]

[0063] Where H is the left and right span of the displacement spring, K H is the left and right gain of the displacement spring;

[0064] The upward command calculation value is calculated by the following formula 2:

[0065] KV *arctan{[(L1+L2) / 2–L3] / V}

[0066] Where V is the upper and lower span of the displacement spring, K V It is the up and down gain of the displacement spring.

[0067] Specifically, Formula 1 and Formula 2 are used to conveniently and quickly calculate the right command calculation value, the left command calculation value, the upward command calculation value, and the downward command calculation value, so that UAV commands can be issued more quickly and interventions can be more intuitive and timely.

[0068] Further, initialize the command gain K H =1.0, K V =1.0 and the span of the left and right displacement spring is H=10cm, the span of the front and rear displacement spring is V=5cm, and the natural extension condition extension of the displacement spring is 0.

[0069] In this embodiment, a pre-tightening structure is provided at one end of the displacement spring 7 , and the pre-tightening structure is used to adjust the operating stiffness of the intervention handle 4 .

[0070] Specifically, the pre-tightening structure is a pre-tightening adjustment thread structure, and the manipulation stiffness of the intervention handle 4 is changed by adjusting the pre-tightening structure.

[0071] In this embodiment, the maximum stroke rebound force of the button 5 is not less than 0.10 kg, the effective trigger stroke is 0.8 cm, the stretched state button 5 is 1.0 cm higher than the installation surface, and the locked trigger state button 5 is 0.4 cm higher than the installation surface.

[0072] In this embodiment, the operating panel is provided with a plurality of grooves adapted to the fingers, and the inner partition of the index finger (the leftmost protrusion) protrudes beyond the other partitions by not less than 0.5 cm, and the lateral width of the outer partition (the rightmost flush protrusion) is not less than 1.0 cm, so as to facilitate the force bearing of the handle.

[0073] Specifically, a plurality of grooves adapted to the fingers facilitate the gripping of the fingers and facilitate the manipulation of the intervention handle 4 .

[0074] When the drone control handle of this embodiment is used, taking the use of navigating the landing of the drone as an example, the control handle is adjusted through button 5 and indicator light 6 to confirm the handle status, and the steering command is sent to the autopilot by adjusting the turntable 3 to control the steering of the drone so that the drone is consistent with the direction of the course, the power output of the drone is switched through the throttle lever 2, and the flight attitude of the drone is corrected at any time through the intervention handle 4 to make the drone land smoothly.

[0075] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A drone control handle, characterized in that: include: Base; A throttle lever and an adjustment dial are arranged on the base; An intervention handle, the intervention handle comprising an operating disk, the operating disk being connected to the base via a plurality of displacement springs; a processor connected to the throttle lever, the adjustment dial and the intervention handle, the processor comprising a displacement spring detection module, the displacement spring detection module being used to monitor deformation information of the displacement spring, and the processor being used to control the drone according to the deformation information; The processor is connected to the autopilot of the UAV, and the processor can change the control instructions of the autopilot for the navigation-level motion of the UAV according to the deformation information, wherein the control instructions include a lateral adjustment speed instruction and a vertical adjustment speed instruction, and respectively perform incremental adjustment intervention on the autopilot instruction values ​​of the lateral lateral movement and the vertical height of the navigation-level motion of the UAV; There are three displacement springs, which are respectively a first displacement spring, a second displacement spring and a third displacement spring. The first displacement spring is arranged at the middle of the rear end of the operating disk, the second displacement spring and the third displacement spring are arranged at both sides of the front end of the operating disk, and the second displacement spring and the third displacement spring are symmetrically arranged on both sides of the first displacement spring. The deformation information includes deformation amount, and the deformation amounts of the first displacement spring, the second displacement spring, and the third displacement spring are L3, L2, and L1, respectively. Changing the control instruction of the autopilot according to the deformation information includes: obtaining an intervention instruction according to the deformation amount; Changing the control instruction of the autopilot to the drone according to the intervention instruction; The intervention instruction includes a right instruction calculation value, a left instruction calculation value, an upward instruction calculation value and a downward instruction calculation value, wherein the right instruction calculation value and the left instruction calculation value are opposite numbers to each other, and the upward instruction calculation value and the downward instruction calculation value are opposite numbers to each other; The rightward instruction calculation value is calculated by the following formula 1: K H * arctan[(L1-L2) / H ] Wherein, H is the left and right span of the displacement spring, K H is the left-right gain of the displacement spring; The upward instruction calculation value is calculated by the following formula 2: <h2 style=";text-align:left;direction:ltr">K<h2 style=";text-align:left;direction:ltr"> V <h2 style=";text-align:left;direction:ltr"> * arctan{[(L1+L2) / 2 – L3 ] / V} Wherein, V is the upper and lower span of the displacement spring, K V is the up and down gain of the displacement spring.

2. The drone control handle according to claim 1, characterized in that: The adjustment dial is an incremental adjustment dial.

3. The drone control handle according to claim 1, characterized in that: Buttons are arranged on the side wall of the base, and the buttons include an enable button and a reset button. Indicator lights corresponding to the buttons are also arranged on the front of the base.

4. The drone control handle according to claim 1, characterized in that: The throttle lever is a discrete value gear lever, including a climbing gear, a cruising gear, a descending gear and a stop gear.

5. The drone control handle according to claim 1, characterized in that: A pre-tightening structure is provided at one end of the displacement spring, and the pre-tightening structure is used to adjust the operating stiffness of the intervention handle.

6. The drone control handle according to claim 3, characterized in that: The maximum stroke rebound force of the button is not less than 0.10 kg, the effective trigger stroke is 0.8 cm, the button in the stretched state is 1.0 cm higher than the mounting surface, and the button in the locked trigger state is 0.4 cm higher than the mounting surface.

7. The drone control handle according to claim 1, characterized in that: The operating panel is provided with a plurality of grooves adapted to fingers.

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