Unmanned device training system, training method, controller and readable storage medium

Abstract

The present invention provides an unmanned device training system, a training method, a controller and a readable storage medium. The controller includes a rocker component, a communication module and a main control module. The rocker component includes a rocker, an X offset sensor and a Y offset sensor. The X offset sensor is used to obtain the X offset of the rocker, and the Y offset sensor is used to obtain the Y offset of the rocker. The main control module is connected to the X offset sensor and the Y offset sensor, and the communication module is connected to the main control module. The controller further includes a passive driving component, and the passive driving component includes an X driving device and a Y driving device connected to the main control module. The X driving device drives the rocker to move along the X direction, and the Y driving device drives the rocker to move along the Y direction. By having a trainee hold the controller to follow and learn, it is possible to better understand the elements such as the strength, angle, amplitude, etc. that need to be felt by the limbs of the action, more effectively understand complex operations, and improve the learning efficiency.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and particularly to an unmanned device training system, an unmanned device training method, a controller, and a readable storage medium. Background Art

[0002] Unmanned devices include unmanned aerial vehicles, unmanned vehicles, unmanned ships, model airplanes, model cars, model ships, etc. Taking drones as an example, the existing drone training systems on the market mainly consist of a controller, a decoder, and simulation flight software. During the training process, trainees need to use the controller to connect to the simulation flight software to train the sense of direction required for flight in a simulated environment. The decoder converts the remote control signal into a protocol recognizable by the computer. This learning method is active. The trainee first imagines an action in the mind, coordinates the hand to make the corresponding movement to push the joystick, and then the simulation flight software feeds back this movement signal and makes a corresponding reaction. If the reaction is different from what is imagined in the mind, the trainee needs to try again. Through multiple attempts, the trainee's brain finally forms the correct conditioned reflex. The disadvantage is that trainees need to try many times to master the sense of direction. Without the presence of teaching staff for guidance, the learning efficiency is not high.

[0003] Another one is the practical training mode with a coach, which mainly consists of a real drone, a main controller, and a sub - controller. In the practical training mode, the coach first flies the plane into the air, and then switches to the trainee's sub - remote control, allowing the trainee to operate the drone by himself. If the coach finds danger, he will immediately switch back to the main remote control. At this time, the sub - remote control has no control right. The disadvantage of this mode is that trainees cannot feel the actual operation of the coach at that time, which in turn affects the learning effect. Summary of the Invention

[0004] The first object of the present invention is to provide a controller that can realize follow - up learning by using the linkage of a joystick.

[0005] The second object of the present invention is to provide an unmanned device training system having the above - mentioned controller.

[0006] The third object of the present invention is to provide an unmanned device training method applied to the above - mentioned controller.

[0007] The fourth object of the present invention is to provide a readable storage medium that can store the above - mentioned unmanned device training method.

[0008] In order to achieve the first objective of the present invention, the present invention provides a controller, including a rocker assembly, a communication module and a main control module, the rocker assembly including a rocker, an X offset sensor and a Y offset sensor, the X offset sensor is used to obtain the X offset of the rocker, the Y offset sensor is used to obtain the Y offset of the rocker, the main control module is connected with the X offset sensor and the Y offset sensor, the communication module is connected with the main control module, the controller also includes a passive drive assembly, the passive drive assembly includes an X drive device and a Y drive device connected with the main control module, the X drive device drives the rocker to move along the X direction, and the Y drive device drives the rocker to move along the Y direction.

[0009] It can be seen from the above scheme that the position of the joystick is detected by the X offset sensor and the Y offset sensor, and then the controller can realize normal unmanned equipment control. In addition, the main control signal collected by the X offset sensor and the Y offset sensor can be output to other controllers through the communication module, and then the X drive device and the Y drive device can be driven according to the main control signal, so that the joystick of the controller follows the movement, so that the trainees can follow and learn by holding the controller. Not only the manually input main control signal can be used, but also the main control signal simulated by the program can be used, and then the coach's step-by-step teaching mode can be simulated, and the trainees follow the operation to avoid the trial process and correct the wrong cognition. In addition, the standardized program allows the trainees to better understand the elements that require physical feeling, such as the strength, angle, and amplitude of the action, and more effectively understand the complex operations and improve the learning efficiency.

[0010] A further solution is that the passive drive assembly also includes an X-axis connecting rod and a positioning bracket, the X-axis connecting rod is hinged between the rocker and the X-drive device; the X-drive device is installed on the positioning bracket, and the Y-drive device is connected to the positioning bracket and drives the positioning bracket to move along the Y direction.

[0011] A further solution is that the passive drive assembly also includes a Y-axis connecting rod, and the Y-axis connecting rod is hinged between the positioning bracket and the Y drive device.

[0012] A further solution is that the controller also includes a fixed bracket, the fixed bracket is installed on the controller housing, the passive drive component is located outside the controller housing, the Y drive device is installed on the fixed bracket, and the positioning bracket is movably arranged on the fixed bracket.

[0013] As can be seen from the above, through the setting of the X-axis connecting rod, the positioning bracket, the Y-axis connecting rod and the fixed bracket, the external installation of the passive drive component is convenient, and the connection drive structure is stable, providing stable X-axis and Y-axis drive for the joystick. The external passive drive device can facilitate the modification of the traditional controller, and then realize the linkage learning function.

[0014] A further solution is that the passive driving component includes an X limit frame. The X limit frame is provided with a first limit groove extending along the Y direction. The rod portion of the rocker passes through the first limit groove. The X driving device is connected to the X limit frame and drives the X limit frame to move along the X direction.

[0015] A further solution is that the passive driving component includes a Y limit frame. The Y limit frame is provided with a second limit groove extending along the X direction. The rod portion of the rocker passes through the second limit groove. The Y driving device is connected to the Y limit frame and drives the Y limit frame to move along the Y direction.

[0016] As can be seen from the above, through the limitation of the rocker by the X limit frame and the Y limit frame, and then through the X driving device and the Y driving device, the rocker can be stably driven in the X direction and the Y direction. The controller

[0017] To achieve the second object of the present invention, the present invention provides an unmanned device training system, including an unmanned device, a main controller and a sub - controller. The main controller and the sub - controller respectively adopt the controller of the above - mentioned solution. The main controller is communicatively connected to the unmanned device, and the main controller is communicatively connected to the sub - controller.

[0018] To achieve the third object of the present invention, the present invention provides an unmanned device training method, which is applied to the controller of the above - mentioned solution, and the controller is used as a sub - controller;

[0019] The unmanned device training method includes:

[0020] Receiving the main control signal output by the main controller;

[0021] Driving the X driving device and the Y driving device according to the main control signal.

[0022] To achieve the third object of the present invention, the present invention provides an unmanned device training method, which is applied to the controller of the above - mentioned solution, and the controller is used as a main controller;

[0023] The unmanned device training method includes:

[0024] Collecting the main control signal for controlling the unmanned device;

[0025] Sending the main control signal to the sub - controller through the communication module.

[0026] To achieve the fourth object of the present invention, the present invention provides a readable storage medium, on which a computer program is stored, characterized in that: when the computer program is executed by a processor, the steps of the unmanned device training method as described above are realized.

[0027] As can be seen from the above solution, through the linkage of the main controller and the secondary controller, the main controller collects the main control signal and sends it to the secondary controller. Subsequently, the secondary controller follows the control actions of the main controller according to the main control signal. The system can also drive the movement of the rocker according to the main control signal generated by the simulation system, enabling the trainee to follow and learn the operations. Description of the Drawings

[0028] Figure 1 is a structural diagram of the first embodiment of the controller of the present invention.

[0029] Figure 2 is a structural diagram of the first embodiment of the controller of the present invention from another perspective.

[0030] Figure 3 is a structural diagram of the passive drive assembly in the first embodiment of the controller of the present invention.

[0031] Figure 4 is a system connection diagram of the secondary controller in the embodiment of the unmanned equipment training system of the present invention.

[0032] Figure 5 is a system connection diagram of the main and secondary controllers in the embodiment of the unmanned equipment training system of the present invention.

[0033] Figure 6 is a flowchart of the first embodiment of the unmanned equipment training method of the present invention.

[0034] Figure 7 is a flowchart of the second embodiment of the unmanned equipment training method of the present invention.

[0035] Figure 8 is a structural diagram of the second embodiment of the controller of the present invention.

[0036] Figure 9 is a structural diagram of the second embodiment of the controller of the present invention after omitting the housing.

[0037] The present invention will be further described below in conjunction with the drawings and embodiments. Detailed Embodiments

[0038] First Embodiment of the Controller:

[0039] Referring to Figures 1 to 3 , the controller includes a rocker assembly, a communication module, and a main control module. The rocker assembly includes two passive drive assemblies 2, two rockers 12, an X offset sensor, and a Y offset sensor. The X offset sensor is used to obtain the X offset of the rocker 12, and the Y offset sensor is used to obtain the Y offset of the rocker 12. The main control module is connected to the X offset sensor and the Y offset sensor, and the communication module is connected to the main control module.

[0040] The passive driving assembly 2 includes an X-direction link 211, an X-direction link 212, an X driving device 213, a Y driving device 218, a positioning bracket 214, a Y-direction link 216, and a Y-direction link 217. The passive driving assembly 2 is arranged outside the housing 11 of the controller and is located at the front end in the X direction. The two rockers 12 are distributed along the Y direction, and then the two passive driving assemblies 2 are also distributed along the Y direction. The X driving device 213 and the Y driving device 218 can be driven by a motor.

[0041] The X-direction link 211 and the X-direction link 212 are arranged along the X direction. The X-direction link 211 is horizontally arranged, and the X-direction link 212 is vertically arranged. The X-direction link 211 is hinged to the rocker 12. The X-direction link 211, the X-direction link 212, and the X driving device 213 are sequentially hinged. Driven by the rotation of the X driving device 213, the rocker 12 is driven to move or rotate in the X direction. The X driving device 213 is fixedly installed on the positioning bracket 214. The Y-direction link 216 and the Y-direction link 217 are arranged along the Y direction. One end of the Y-direction link 216 is hinged to the positioning bracket 214. The Y-direction link 216, the Y-direction link 217, and the Y driving device 218 are sequentially hinged. Driven by the rotation of the Y driving device 218, the positioning bracket 214 and the X driving device 213 are driven to move or rotate in the Y direction, and then the rocker 12 is driven to move or rotate in the Y direction.

[0042] The fixing bracket includes a mounting bracket 31 and a clamping bracket 32. The clamping bracket 32 can telescopically move relative to the mounting bracket 31, and then the mounting bracket 31 and the clamping bracket 32 are used for clamping and positioning installation of the housing 11. The mounting bracket 31 is provided with hinge holes on both sides. The positioning bracket 214 is provided with a hinge post 215. The hinge post 215 cooperates with the hinge holes, and then the positioning bracket 214 is rotatably installed on the mounting bracket 31. The Y driving device 218 is fixedly installed on the mounting bracket 31. Of course, the positioning bracket can also be installed on the mounting bracket in the way of a sliding groove and a slider to realize the movable installation of the positioning bracket on the mounting bracket, and can also realize the driving of the rocker.

[0043] Embodiment of the unmanned device training system:

[0044] Refer to Figure 4 and Figure 5 , the unmanned device training system includes an unmanned device, a main controller, and a sub-controller. The unmanned device includes but is not limited to an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, a model aircraft, a model car, a model ship, etc. In this embodiment, the unmanned aerial vehicle 101 is used for illustration. The main controller 102 and the sub-controller 103 respectively adopt the controllers of the above embodiments. In general control and operation, it can be as Figure 4As shown, the secondary controller 203 obtains the control right of the unmanned aerial vehicle 101 and executes step S11. The secondary controller 103 is connected to the unmanned aerial vehicle 101 through the communication module and realizes the control of the unmanned aerial vehicle 101.

[0045] Embodiment of the training method for unmanned devices:

[0046] In an emergency state or in a follow-up learning state, such as Figure 5 and Figure 6 As shown, the main controller executes step S21. The main controller sends a control switching signal. The secondary controller 103 executes step S12 to receive the control switching signal. Subsequently, the main controller 102 is connected to the unmanned aerial vehicle 101 and drives the control right (S22). At the same time, the main controller 102 is connected to the secondary controller 103 through the communication module, and then subsequent somatosensory linkage can be realized. Subsequently, the secondary controller 103 executes step S13, and the secondary controller 103 enters the follow-up learning mode.

[0047] Subsequently, the main controller controls the unmanned aerial vehicle (S23), and then executes step S24. The main controller collects the main control signals for controlling the unmanned aerial vehicle. The main control signals include the X offset signals and Y offset signals of the two joysticks respectively. The X offset signal includes the X-direction travel, X-direction acceleration, and trigger time. The X offset signal includes the Y-direction travel, Y-direction acceleration, and trigger time. Subsequently, step S25 is executed to send the main control signals to the secondary controller 103.

[0048] The secondary controller 103 executes step S14 to receive the main control signals output by the main controller 10. Subsequently, step S15 is executed. The secondary controller 103 drives the X drive device 213 and Y drive device 218 of the two passive drive components 2 corresponding to the X offset signals and Y offset signals of the two joysticks in the main control signals, so that the two joysticks of the secondary controller 103 follow the two joysticks of the main controller 102 to move. Thus, the actions of the coach operating the main controller 102 are followed by the secondary controller 103, enabling the trainee to follow and learn in real time when operating the secondary controller 103.

[0049] In practical applications, a single controller can also be used for individual learning. See Figure 7, that is, connected to the flight device simulation learning system. There is a controller in the simulation learning system, which is set with a control program and stores the joystick actions pre-recorded by the coach. Cooperating with the preset learning scenario, after the simulation learning system is connected to the sub-remote controller, step S31 is executed. The main control signal generated by the simulation system is output to the sub-controller, and after the sub-controller enters the follow-up learning mode and receives the main control signal, it then drives the movement of the joystick according to the main control signal, so that the trainee can follow the simulation system to learn the operation. The flight simulation system is controlled by an experienced coach to connect to the flight simulator. The software records the joystick signals during the control process, or automatically generates joystick signals by setting the actions of the drone through a computer and records them on a readable storage medium. Then, after decoding these joystick signals, they are output in reverse to the controller with a driving device.

[0050] A readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the steps of the unmanned device training method as described above.

[0051] In addition, in the above embodiments, when the XY offset signals of the two joysticks correspond to the control signals of the flight system, one of the XY offset signals represents the roll and pitch of the aircraft, and the other XY offset signal represents the throttle Z and the direction A. Z represents the degree of freedom of the vertical movement of the drone, and A represents the degree of freedom of the horizontal rotation of the drone. In addition, when corresponding to the control of other unmanned devices, it can be defined according to the actual situation. In the drawings, it is shown that another joystick controls AZ, and the above content is described in the XY direction. The control method of AZ is similar.

[0052] Second Embodiment of the Controller:

[0053] Referring to Figure 8 and Figure 9 , the passive drive component of the second embodiment of the controller can be built into the housing. Specifically, a main control circuit board 43 and a battery 46 are provided in the housing 41 of the controller. Two joysticks 42, a main control module and a communication module are provided on the main control circuit board 43.

[0054] The passive drive assembly includes an X limit frame 442 and a Y limit frame 441. The X limit frame 442 and the Y limit frame 441 are respectively arranged in an arc shape. The X limit frame 442 is located outside the Y limit frame 441. The X limit frame 442 is provided with a first limit groove 444 extending in the Y direction, and the Y limit frame 441 is provided with a second limit groove 443 extending in the X direction. The rod portion of the rocker 42 passes through the first limit groove 444 and the second limit groove 443. The X limit frame 442 and the Y limit frame 441 are respectively rotatably arranged on the main control circuit board 42. An X offset sensor 431 is connected to one axial end of the X limit frame 442, and a Y offset sensor 432 is connected to one axial end of the Y limit frame 441. The X offset sensor 431 and the Y offset sensor 432 can use detection devices such as potentiometers and angle sensors to detect the angle. The other axial end of the X limit frame 442 is connected to an X drive device 452, and the X drive device 452 drives the X limit frame 442 to move in the X direction. The other axial end of the Y limit frame 441 is connected to a Y drive device 451, and the Y drive device 218 drives the Y limit frame 441 to move in the Y direction.

[0055] By obtaining the main control signal from other controllers or from the simulation system, the rotation of the two rockers can be driven subsequently.

[0056] As can be seen from the above, by detecting the position of the rocker through the X offset sensor and the Y offset sensor, the controller can then achieve normal control of the unmanned device. In addition, the main control signal collected by the X offset sensor and the Y offset sensor can be output to other controllers through the communication module. Subsequently, the X drive device and the Y drive device can be driven according to the main control signal, so that the rocker of the controller moves accordingly, enabling the trainee to hold the controller and follow the learning. Not only can the main control signal input manually be used, but also the main control signal simulated by the program can be used. Subsequently, the teaching mode of the coach guiding with hands can be simulated, and the trainee follows the operation, avoiding the process of trying and correcting wrong cognitions. Moreover, the standardized program enables the trainee to better understand the elements such as the strength, angle, and amplitude of the action that need to be felt by the body, and to understand complex operations more effectively, improving the learning efficiency.

Claims

1. A controller, comprising a joystick assembly, a communication module, and a main control module. The joystick assembly includes a joystick, an X-offset sensor, and a Y-offset sensor. The X-offset sensor is used to obtain the X-offset of the joystick, and the Y-offset sensor is used to obtain the Y-offset of the joystick. The main control module is connected to the X-offset sensor and the Y-offset sensor, and the communication module is connected to the main control module; Characterized in that: The controller further includes a passive drive assembly. The passive drive assembly includes an X drive device and a Y drive device connected to the main control module. The X drive device drives the joystick to move in the X direction, and the Y drive device drives the joystick to move in the Y direction; The passive drive assembly further includes an X-direction link and a positioning bracket. The X-direction link is hinged between the joystick and the X drive device; The X drive device is installed on the positioning bracket, and the Y drive device is connected to the positioning bracket and drives the positioning bracket to move in the Y direction; The passive drive assembly further includes a Y-direction link. The Y-direction link is hinged between the positioning bracket and the Y drive device; The controller further includes a fixed bracket. The fixed bracket is installed on the housing of the controller. The passive drive assembly is located outside the housing of the controller. The Y drive device is installed on the fixed bracket, and the positioning bracket is movably arranged on the fixed bracket; The fixed bracket includes a mounting bracket and a clamping bracket. The clamping bracket can telescopically move relative to the mounting bracket. The mounting bracket and the clamping bracket clamp and position the housing. The mounting bracket is provided with hinge holes on both sides, and the positioning bracket is provided with hinge posts. The hinge posts cooperate with the hinge holes, and the positioning bracket is rotatably installed on the mounting bracket. The Y drive device is fixedly installed on the mounting bracket.

2. Unmanned device training system, characterized in that, Including an unmanned device, a main controller, and a sub-controller. The main controller and the sub-controller respectively adopt the controller described in claim 1 above. The main controller is communicatively connected to the unmanned device, and the main controller is communicatively connected to the sub-controller.

3. Training method for unmanned device, characterized in that, Applied to the controller described in claim 1 above, the controller is used as a sub-controller; The method for training the unmanned device includes: Receiving a main control signal output by the main controller; Driving the X drive device and the Y drive device according to the main control signal.

4. Training method for unmanned device, characterized in that, Applied to the controller described in claim 1 above, the controller is used as a main controller; The method for training the unmanned device includes: Collecting a main control signal for controlling the unmanned device; Sending the main control signal to the sub-controller through the communication module.

5. A readable storage medium, on which a computer program is stored, characterized in that: When the computer program is executed by a processor, it realizes the steps of the method for training the unmanned device described in claim 3 or 4.

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