A communication type contactless master controller and control method thereof

Abstract

The invention discloses a master controller, aiming to provide a communication-type contactless master controller and a control method thereof, which are simple to operate, convenient to control, can automatically reset when not in use, and have good control effect. The key points of the technical solution are to control the device by moving a control handle in the controller, and a device for detecting the movement state of the control handle is provided in the base. The controller can judge the position of the control handle and generate and send the control signal according to the signal transmitted to the signal receiver by the Hall sensor and the transmission gear group, and the signal receiver can also detect and feedback the movement state of the control handle, that is, the signal receiver can compare the control handle movement signal transmitted by the Hall sensor and the transmission gear group, and can compare the two signals, so as to further improve the control accuracy and improve the control effect. The invention is applicable to the technical field of electric transmission devices.

Description

Technical Field

[0001] The present invention relates to a master controller, and more particularly to a communication type contactless master controller and a control method thereof. Background Art

[0002] The vertical master controller is a manual control appliance, mainly used for starting, speed regulation, reversing, braking, etc. of motors in lifting and transportation machinery and equipment. The vertical master controllers currently used are all contact-type, which control the electrical equipment by controlling the rotation of the cam piece and breaking according to the concave and convex program of the cam piece. At present, the contacts of the master on the linkage platform of the tower crane of the mainstream main engine factory are universal contacts, and there are no specially customized contacts according to the use environment and working conditions of the tower crane. At the same time, the rebound reset structure of the master controller; the rebound reset function of the master controller currently on the market is mainly realized by the twisting or rotating spring relying on its return force to achieve the rebound reset of the master controller, but this is easy to reduce the elasticity of the spring, causing irreversible damage to the spring, increasing the number of subsequent maintenance and repair costs, and also causing great waste of resources; the support structure of the master controller is too complicated, with many supporting parts and fixing parts, resulting in the master controller being too large and difficult to place, high in manufacturing, and difficult to maintain in the later stage. When the master controller is damaged, the broken pieces produced by the damage to the internal supports and fixings may affect the operation of the master controller and even cause irreversible damage to important components inside the master controller, ultimately resulting in a significant increase in maintenance costs.

[0003] At present, the main command controller on the market is usually provided with a plurality of different contacts, and each contact is electrically connected to the control center. The circuit is turned on by pushing the control handle to the corresponding contact, and then the device is controlled. During the control process, the control handle needs to be frequently pushed back and forth between different contacts. The staff needs to overcome the resistance of the control handle when moving between different contacts in the process of pushing the control handle, which can easily cause fatigue of the staff's hands after long-term operation. At the same time, in the process of controlling the device through the control handle, the control handle will stay on the corresponding contact. If the control handle is not actively reset, the device will continue to move, resulting in poor use effect. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide a communication-type contactless master controller and a control method thereof which is simple to operate, convenient to control, can automatically reset when not in use, and has good control effect.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a communication type master command controller, comprising a base and a control handle arranged on the base, the control handle is also provided with a control button, the connection between the control handle and the base is also provided with a handle bracket, the control handle is slidably connected to the handle bracket and can slide on the handle bracket, and a signal receiver is also provided in the base, and the signal receiver is used to detect the movement state of the control handle and generate control instructions.

[0006] The present invention is further configured as follows: the handle bracket includes a positioning ring and a movable frame arranged in the positioning ring, the movable frame has a first sliding frame arranged along a first direction and a second sliding frame arranged along a second direction, the first sliding frame and the second sliding frame are arranged crosswise, and the first sliding frame and the second sliding frame are both provided with sliding grooves, and the sliding grooves are configured to allow the control handle to slide along its length direction and prevent the control handle from moving along its width direction.

[0007] Preferably, a rotating member is provided at one end of the first sliding frame and the second sliding frame, and the rotating member includes a mounting plate fixedly connected to the side wall of the base and a rotating bearing arranged on the mounting plate, and the inner diameter of the rotating bearing matches the outer diameter of the first sliding frame and the second sliding frame, and the rotating bearing is used to connect the mounting plate and the first sliding frame and / or the second sliding frame and allow the first sliding frame and / or the second sliding frame to rotate along its axial direction.

[0008] Preferably, a transmission gear set is provided at the other end of the first sliding frame and the second sliding frame, and the transmission gear set includes a sector gear arranged on the first sliding frame and the second sliding frame, and a bevel gear arranged at the lower end of the sector gear and transmission-connected to the sector gear.

[0009] Preferably, a plug-in slot is further provided in the mounting plate, and a plug-in piece is provided on one side of the first sliding frame and the second sliding frame that extends downwardly close to the mounting plate, and the other end of the plug-in piece is arranged in the plug-in slot and can slide in the plug-in slot, and when the first sliding frame and / or the second sliding frame rotate along their axial direction, the moving trajectory of the plug-in piece matches the shape of the plug-in slot, and spring sliders are also provided at both ends of the plug-in slot, and the spring sliders are used to push the plug-in piece in the plug-in slot to reset.

[0010] The present invention is further configured as follows: a permanent magnet is further provided at the bottom of the control handle, a Hall sensor is further provided on the base, and the Hall sensor comprises a first electromagnetic coil and a second electromagnetic coil, and the first electromagnetic coil and the second electromagnetic coil are electrically connected to a signal receiver.

[0011] The present invention is further configured as follows: the control handle is also provided with a dust cover, and the dust cover is provided on the outside of the control handle to form a seal for the control handle.

[0012] The present application also provides a control method for a communication-type master controller, wherein an angle detection device is further provided at the bottom of the transmission gear set, and the angle detection device is used to detect the rotation angle of the bevel gear and upload data to a signal receiver, and a signal processing device is further provided in the Hall sensor, and the signal processing device is used to detect and process the magnetic field and voltage data of the Hall sensor and upload them to the signal receiver. When the processing device is an angle detection device, the method comprises the following steps: S11, pushing the control handle, and the angle detection device detects the rotation state of the two bevel gears at the same time;

[0013] S12, the angle detection device detects the rotation state of the bevel gear corresponding to the first sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed backward. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed forward. On the contrary, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the front-back direction, and the device jumps to S13 to continue detection;

[0014] S13, the angle detection device detects the rotation state of the bevel gear corresponding to the second sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed to the right. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed to the left. Conversely, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the left or right direction.

[0015] S14, the angle detection device combines the rotation angle data of the bevel gear in steps S12 and S13, and generates a control signal according to the rotation angle data;

[0016] S15, the angle detection device uploads a control signal to a signal receiver, and the signal receiver issues a control instruction;

[0017] When the processing device is a Hall sensor, the following steps are included: S21, before pushing the control handle, the Hall sensor detects the magnetic field forces on the base as F1, F2, F3, and F4 respectively, and sets the above data as the threshold value when the control handle is stationary;

[0018] S22, push the control handle, the Hall sensor detects the change of the magnetic field force on the base, if the F1 value increases, it is judged that the current control handle is pushed backward, if the F3 value increases, it is judged that the current control handle is pushed forward, conversely, if the F2 value increases, it is judged that the current control handle is pushed to the left, if the F4 value increases, it is judged that the current control handle is pushed to the right;

[0019] S23, the signal processing device detects the change of the magnetic field force in step S22, and converts the change of the magnetic field force into a Hall voltage, and at the same time converts the voltage data into electrical signal information and outputs it to the signal receiver, and the signal receiver issues a control instruction.

[0020] Preferably, the control method further includes feedback of the state of the control handle, including the following steps: S31, using the angle detection device as a processing device to detect the motion state of the control handle, and uploading the state of the control handle to a signal receiver;

[0021] S32, again using the Hall sensor as a processing device to detect the position data of the control handle, and uploading the position data of the control handle to a signal receiver;

[0022] S33, the signal receiver compares the movement direction data of the control handle. If the movement direction data of the control handle are different, it is determined that there is a problem with the controller, and the controller cuts off the control of the equipment and notifies the staff to come for maintenance. Otherwise, it jumps to S34 to determine the displacement.

[0023] S34, the signal receiver detects the signal transmitted by the Hall sensor, and determines the displacement of the control handle according to the signal strength and amplitude change;

[0024] S35, the signal receiver detects the signal transmitted by the monitoring detection device, and determines the displacement of the control handle according to the rotation detection of the bevel gear;

[0025] S36. The signal receiver compares the displacement of the control handle. If the displacement of the control handle is different, it is determined that there is a problem with the controller. The controller cuts off control of the equipment and notifies the staff to come for maintenance. Otherwise, the controller is normal.

[0026] Preferably, a pressure sensor is further provided on the spring slider, and the pressure sensor is used to detect whether the spring slider is in contact with the connector. The reset detection method comprises the following steps: S41, the staff stops pushing the control handle and waits for T1 time for the control handle to automatically reset;

[0027] S42, after the T1 time period, if the pressures detected by the spring sliders at both ends of the connector are not 0, it is determined that the control handle is reset, and the process jumps to S43 to continue testing. Otherwise, it is determined that the control handle is stuck and cannot be reset, and the controller notifies the staff to come for maintenance;

[0028] S43, the Hall sensor detects the magnetic field force on the base again, which are Fx1, Fx2, Fx3, and Fx4 respectively, and compares the above data with the threshold value when the control handle is stationary. If Fx1, Fx2, Fx3, and Fx4 are different from the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is not in the initial position, and the controller notifies the staff to come for maintenance. Otherwise, if Fx1, Fx2, Fx3, and Fx4 are all the same as the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is reset.

[0029] By adopting the above technical solution, the beneficial effects are as follows: 1. The device is controlled by moving the control handle in the controller, and a device for detecting the movement status of the control handle is provided in the base. Specifically, a Hall sensor and a transmission gear set are provided in the base. The controller can judge the position of the control handle and generate and send the control signal according to the signal transmitted to the signal receiver by the Hall sensor and the transmission gear set, and the signal receiver can also detect and feedback the movement status of the control handle, that is, the signal receiver can compare the control handle movement signal transmitted by the Hall sensor and the transmission gear set, and can compare the two signals, so as to further improve the control accuracy and improve the control effect.

[0030] 2. Furthermore, during the pushing process of the control handle, a transmission gear set is arranged in the base. During the pushing process of the control handle, if the control handle is pushed in the front-back direction, the control handle can move in the slide groove of the first sliding frame along the length direction of the slide groove and can conflict with the slide groove of the second sliding frame during the movement and drive the second sliding frame to rotate. When the second sliding frame rotates, the fan gear below it rotates and drives the bevel gear to rotate synchronously. Conversely, if the control handle is pushed in the left-right direction, the control handle can move in the slide groove of the second sliding frame along the length direction of the slide groove and can conflict with the slide groove of the first sliding frame during the movement and drive the first sliding frame to rotate. When the first sliding frame rotates, the fan gear below it rotates and drives the bevel gear to rotate synchronously. At the same time, the angle detection device arranged at the bottom of the transmission gear set can detect the rotation angle of the bevel gear, and calculate the moving direction and moving distance of the control handle according to the rotation direction and angle. By converting the pushing direction and pushing distance of the control handle into the rotation direction and rotation angle of the bevel gear to replace the control handle between different contacts, the force required to push the control handle is small, which prevents fatigue of the staff after moving the control handle for a long time, and has good practicality.

[0031] 3. At the same time, during the process of pushing the control handle, the Hall sensor and the transmission gear set can detect the moving direction and moving distance of the control handle. Specifically, the Hall sensor can form a magnetic field in the base and detect the magnetic field force. At the same time, a permanent magnet is provided at the bottom of the control handle. When the control handle is pushed, the permanent magnet at the bottom of the control handle will move accordingly. In the process of the movement of the permanent magnet, if the permanent magnet is close to the electromagnetic coil in the Hall sensor, the magnetic field force at the corresponding position will increase, so that the signal receiver can process and calculate the above information based on the information of the Hall sensor. For example, the Hall sensor has magnetic field forces in four directions. During the process of pushing the control handle, the moving position of the control handle is limited by the handle bracket, and a fulcrum is formed at the handle bracket. According to the principle of lever, the moving direction of the control handle when pushed is opposite to the moving direction of the permanent magnet. When the control handle is pushed forward, the permanent magnet moves backward in the base and approaches the rear end of the base. At this time, the Hall sensor detects that the value of the magnetic field force corresponding to the rear end of the base increases, and uploads the movement data of the control handle to the signal receiver. The signal receiver generates a control instruction according to the signal sent by the Hall sensor and sends it to the device to control the device.

[0032] 4. Furthermore, in order to ensure the control effect of the controller, the controller can also compare and detect the movement state of the control handle based on the signals transmitted by the angle detection device and the Hall sensor when in use. Specifically, the signal receiver receives the bevel gear rotation information transmitted by the angle detection device, and generates corresponding control handle movement information according to the bevel gear rotation information. Correspondingly, the signal receiver synchronously receives the Hall voltage signal transmitted by the Hall sensor, and generates corresponding control handle movement information according to the frequency and width of the Hall voltage. The signal receiver can compare the signal transmitted by the angle detection device with the signal transmitted by the Hall sensor, so as to conveniently detect the movement state of the control handle to ensure the consistency of the signals at the Hall sensor and the angle detection device, thereby improving the control accuracy of the controller. At the same time, after the staff stops pushing the control handle, the top of the control handle is not affected by external force. If the control handle is not subjected to other additional forces, the control handle will be unable to return to its position, thereby causing the control handle to shift. At this time, a device for driving the control handle to reset is provided in the transmission gear group. The spring slider pushes the corresponding connector of the first sliding frame and / or the second sliding frame and pushes the connector to the middle of the sliding groove, so that the control handle is reset to the starting position. Specifically, after the control handle is reset, the control handle will be stuck during the resetting process and cannot be returned to the original position. It is necessary to perform a reset detection on the control handle. The spring slider has a pressure detection device, and the pressure detection device can detect the contact state between the spring slider and the connector. Generally speaking, when the spring slider pushes the connector to reset, the pressures detected by the spring sliders at both ends of the connector are not 0. Otherwise, it means that the control handle has not been reset. Further, the Hall sensor determines the reset state of the current control handle by detecting the current magnetic field force. For example, the current magnetic field force value is recorded when the control handle is in the initial position, and the detection is performed again after the reset. If the magnetic field force value after the reset is equal to the recorded value, it means that the control handle has been reset. Otherwise, it is determined that the control handle has not been reset. The reset detection of the control handle by the Hall sensor and the control spring slider has a good detection effect and high control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the specific structure of a communication-type contactless master controller and a control method thereof according to an embodiment of the present invention;

[0034] Figure 2 It is a schematic diagram of the specific structure of a handle bracket and a transmission gear set of an embodiment of a communication-type contactless master controller and a control method thereof of the present invention;

[0035] Figure 3A schematic diagram of the specific structure of a Hall sensor in an embodiment of a communication-type contactless master controller and a control method thereof of the present invention;

[0036] Figure 4 A schematic diagram of the specific structure of a rotating part of an embodiment of a communication-type contactless master controller and a control method thereof of the present invention;

[0037] Figure 5 It is a flow chart of a control method when an angle detection device is used as a processing device in an embodiment of a communication-type contactless master controller and a control method thereof of the present invention;

[0038] Figure 6 It is a flow chart of a control method when a Hall sensor is used as a processing device in an embodiment of a communication type contactless master controller and a control method thereof of the present invention;

[0039] Figure 7 A control handle state feedback flow chart of a communication-type contactless master controller and a control method thereof according to an embodiment of the present invention;

[0040] Figure 8 It is a flow chart of a reset detection method of a communication type contactless master controller and a control method thereof according to an embodiment of the present invention;

[0041] The reference numerals in the figure are: 1. base; 2. control handle; 3. control button; 4. handle bracket; 41. positioning ring; 42. moving frame; 43. first sliding frame; 44. second sliding frame; 45. slide groove; 5. rotating member; 51. mounting plate; 52. rotating bearing; 53. plug-in groove; 54. plug-in member; 55. spring slider; 6. transmission gear set; 61. sector gear; 62. bevel gear; 7. permanent magnet; 8. first electromagnetic coil; 9. second electromagnetic coil; 10. dust cover. DETAILED DESCRIPTION

[0042] Reference Figures 1 to 8 A communication-type contactless master controller and a control method thereof are further described in an embodiment of the present invention.

[0043] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right" and the like are used in the embodiments to illustrate the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the element described as being "under" other elements or features will be positioned "on" other elements or features. Therefore, the exemplary term "under" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used here can be interpreted accordingly.

[0044] Furthermore, relational terms such as “first” and “second” and the like are merely used to distinguish one component from another having the same name, but do not necessarily require or imply any such actual relationship or order between these components.

[0045] A communication type master command controller comprises a base 1 and a control handle 2 arranged on the base 1, the control handle 2 is also provided with a control button 3, a handle bracket 4 is also provided at the connection between the control handle 2 and the base 1, the control handle 2 is slidably connected to the handle bracket 4 and can slide on the handle bracket 4, and a signal receiver is also provided in the base 1, and the signal receiver is used to detect the movement state of the control handle 2 and generate control instructions.

[0046] The handle bracket 4 includes a positioning ring 41 and a movable frame 42 arranged in the positioning ring 41, the movable frame 42 has a first sliding frame 43 arranged along the first direction and a second sliding frame 44 arranged along the second direction, the first sliding frame 43 and the second sliding frame 44 are arranged crosswise, and the first sliding frame 43 and the second sliding frame 44 are both provided with a sliding groove 45, and the sliding groove 45 is configured to allow the control handle 2 to slide along its length direction and prevent the control handle 2 from moving along its width direction.

[0047] Preferably, a rotating member 5 is provided at one end of the first sliding frame 43 and the second sliding frame 44, and the rotating member 5 includes a mounting plate 51 fixedly connected to the side wall of the base 1 and a rotating bearing 52 arranged on the mounting plate 51, and the inner diameter of the rotating bearing 52 matches the outer diameter of the first sliding frame 43 and the second sliding frame 44, and the rotating bearing 52 is used to connect the mounting plate 51 with the first sliding frame 43 and / or the second sliding frame 44 and allow the first sliding frame 43 and / or the second sliding frame 44 to rotate along its axial direction.

[0048] Preferably, a transmission gear set 6 is provided at the other end of the first sliding frame 43 and the second sliding frame 44, and the transmission gear set 6 includes a sector gear 61 arranged on the first sliding frame 43 and the second sliding frame 44 and a bevel gear 62 arranged at the lower end of the sector gear 61 and transmission-connected to the sector gear 61.

[0049] Preferably, a plug-in slot 53 is further provided in the mounting plate 51, and a plug-in component 54 is downwardly extended from one side of the first sliding frame 43 and the second sliding frame 44 close to the mounting plate 51, and the other end of the plug-in component 54 is arranged in the plug-in slot 53 and can slide in the plug-in slot 53. When the first sliding frame 43 and / or the second sliding frame 44 rotates along its axial direction, the moving trajectory of the plug-in component 54 matches the shape of the plug-in slot 53, and spring sliders 55 are further provided at both ends of the plug-in slot 53, and the spring sliders 55 are used to push the plug-in component 54 in the plug-in slot 53 to reset.

[0050] A permanent magnet 7 is also provided at the bottom of the control handle 2, and a Hall sensor is also provided on the base 1. The Hall sensor includes a first electromagnetic coil 8 and a second electromagnetic coil 9. The first electromagnetic coil 8 and the second electromagnetic coil 9 are electrically connected to a signal receiver.

[0051] The control handle 2 is also provided with a dust cover 10 , and the dust cover 10 is sleeved on the outside of the control handle 2 to form a seal for the control handle 2 .

[0052] The device is controlled by moving the control handle 2 in the controller, and a device for detecting the movement status of the control handle 2 is provided in the base 1. Specifically, a Hall sensor and a transmission gear set 6 are provided in the base 1. The controller can judge the position of the control handle 2 and generate and send the control signal according to the signal transmitted to the signal receiver by the Hall sensor and the transmission gear set 6, and the signal receiver can also detect and feedback the movement status of the control handle 2, that is, the signal receiver can compare the movement signal of the control handle 2 transmitted by the Hall sensor and the transmission gear set 6, and can compare the two signals, so as to further improve the control accuracy and improve the control effect.

[0053] The present application also provides a control method for a communication-type master controller, wherein an angle detection device is further provided at the bottom of the transmission gear set, and the angle detection device is used to detect the rotation angle of the bevel gear and upload data to a signal receiver, and a signal processing device is further provided in the Hall sensor, and the signal processing device is used to detect and process the magnetic field and voltage data of the Hall sensor and upload them to the signal receiver. When the processing device is an angle detection device, the method comprises the following steps: S11, pushing the control handle, and the angle detection device detects the rotation state of the two bevel gears at the same time;

[0054] S12, the angle detection device detects the rotation state of the bevel gear corresponding to the first sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed backward. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed forward. On the contrary, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the front-back direction, and the device jumps to S13 to continue detection;

[0055] S13, the angle detection device detects the rotation state of the bevel gear corresponding to the second sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed to the right. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed to the left. Conversely, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the left or right direction.

[0056] S14, the angle detection device combines the rotation angle data of the bevel gear in steps S12 and S13, and generates a control signal according to the rotation angle data;

[0057] S15, the angle detection device uploads a control signal to a signal receiver, and the signal receiver issues a control instruction;

[0058] When the processing device is a Hall sensor, the following steps are included: S21, before pushing the control handle, the Hall sensor detects the magnetic field forces on the base as F1, F2, F3, and F4 respectively, and sets the above data as the threshold value when the control handle is stationary;

[0059] S22, push the control handle, the Hall sensor detects the change of the magnetic field force on the base, if the F1 value increases, it is judged that the current control handle is pushed backward, if the F3 value increases, it is judged that the current control handle is pushed forward, conversely, if the F2 value increases, it is judged that the current control handle is pushed to the left, if the F4 value increases, it is judged that the current control handle is pushed to the right;

[0060] S23, the signal processing device detects the change of the magnetic field force in step S22, and converts the change of the magnetic field force into a Hall voltage, and at the same time converts the voltage data into electrical signal information and outputs it to the signal receiver, and the signal receiver issues a control instruction.

[0061] Preferably, the control method further includes feedback of the state of the control handle, including the following steps: S31, using the angle detection device as a processing device to detect the motion state of the control handle, and uploading the state of the control handle to a signal receiver;

[0062] S32, again using the Hall sensor as a processing device to detect the position data of the control handle, and uploading the position data of the control handle to a signal receiver;

[0063] S33, the signal receiver compares the movement direction data of the control handle. If the movement direction data of the control handle are different, it is determined that there is a problem with the controller, and the controller cuts off the control of the equipment and notifies the staff to come for maintenance. Otherwise, it jumps to S34 to determine the displacement.

[0064] S34, the signal receiver detects the signal transmitted by the Hall sensor, and determines the displacement of the control handle according to the signal strength and amplitude change;

[0065] S35, the signal receiver detects the signal transmitted by the monitoring detection device, and determines the displacement of the control handle according to the rotation detection of the bevel gear;

[0066] S36. The signal receiver compares the displacement of the control handle. If the displacement of the control handle is different, it is determined that there is a problem with the controller. The controller cuts off control of the equipment and notifies the staff to come for maintenance. Otherwise, the controller is normal.

[0067] Preferably, a pressure sensor is further provided on the spring slider, and the pressure sensor is used to detect whether the spring slider is in contact with the connector. The reset detection method comprises the following steps: S41, the staff stops pushing the control handle and waits for T1 time for the control handle to automatically reset;

[0068] S42, after the T1 time period, if the pressures detected by the spring sliders at both ends of the connector are not 0, it is determined that the control handle is reset, and the process jumps to S43 to continue testing. Otherwise, it is determined that the control handle is stuck and cannot be reset, and the controller notifies the staff to come for maintenance;

[0069] S43, the Hall sensor detects the magnetic field force on the base again, which are Fx1, Fx2, Fx3, and Fx4 respectively, and compares the above data with the threshold value when the control handle is stationary. If Fx1, Fx2, Fx3, and Fx4 are different from the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is not in the initial position, and the controller notifies the staff to come for maintenance. Otherwise, if Fx1, Fx2, Fx3, and Fx4 are all the same as the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is reset.

[0070] Furthermore, during the pushing process of the control handle 2, a transmission gear set 6 is provided in the base 1. During the pushing process of the control handle 2, if the control handle 2 is pushed in the front-rear direction, the control handle 2 can move in the slide groove 45 of the first sliding frame 43 along the length direction of the slide groove 45 and can conflict with the slide groove 45 of the second sliding frame 44 during the movement and drive the second sliding frame 44 to rotate. When the second sliding frame 44 rotates, the fan gear 61 below it rotates and drives the bevel gear 62 to rotate synchronously. Conversely, if the control handle 2 is pushed in the left-right direction, the control handle 2 can move in the slide groove 45 of the second sliding frame 44 along the length direction of the slide groove 45 and can During the movement, it conflicts with the slide groove 45 of the first sliding frame 43 and drives the first sliding frame 43 to rotate. When the first sliding frame 43 rotates, the fan gear 61 thereunder rotates and drives the bevel gear 62 to rotate synchronously. At the same time, the angle detection device arranged at the bottom of the transmission gear set 6 can detect the rotation angle of the bevel gear 62, and calculate the moving direction and moving distance of the control handle 2 according to the rotation direction and angle. By converting the pushing direction and pushing distance of the control handle 2 into the rotation direction and rotation angle of the bevel gear 62 to replace the control handle 2 pushing between different contact points, the force required to push the control handle 2 is small, which prevents the fatigue of the staff after moving the control handle 2 for a long time, and has good practicality.

[0071] At the same time, during the pushing process of the control handle 2, the Hall sensor and the transmission gear set 6 can detect the moving direction and moving distance of the control handle 2. Specifically, the Hall sensor can form a magnetic field in the base 1 and detect the magnetic field force. At the same time, a permanent magnet 7 is provided at the bottom of the control handle 2. When the control handle 2 is pushed, the permanent magnet 7 at the bottom of the control handle 2 will move accordingly. In the process of the movement of the permanent magnet 7, if the permanent magnet 7 is close to the electromagnetic coil in the Hall sensor, the magnetic field force at the corresponding position will increase, so that the signal receiver can process and calculate the above information based on the information of the Hall sensor. For example, the Hall sensor The device has magnetic field forces in four directions. In the process of pushing the control handle 2, the moving position of the control handle 2 is limited by the handle bracket 4, and a fulcrum is formed at the handle bracket 4. According to the principle of lever, the moving direction of the control handle 2 when pushed is opposite to the moving direction of the permanent magnet 7. When the control handle 2 is pushed forward, the permanent magnet 7 moves backward in the base 1 and approaches the rear end of the base 1. At this time, the Hall sensor detects that the value of the magnetic field force corresponding to the rear end of the base 1 increases, and uploads the movement data of the control handle 2 to the signal receiver. The signal receiver generates a control instruction according to the signal sent by the Hall sensor and sends it to the device to control the device.

[0072] Furthermore, in order to ensure the control effect of the controller, the controller can also compare and detect the movement state of the control handle 2 based on the signals transmitted by the angle detection device and the Hall sensor when in use. Specifically, the signal receiver receives the rotation information of the bevel gear 62 transmitted by the angle detection device, and generates corresponding movement information of the control handle 2 according to the rotation information of the bevel gear 62. Correspondingly, the signal receiver synchronously receives the Hall voltage signal transmitted by the Hall sensor, and generates corresponding movement information of the control handle 2 according to the frequency and width of the Hall voltage. The signal receiver can compare the signal transmitted by the angle detection device with the signal transmitted by the Hall sensor, so as to conveniently detect the movement state of the control handle 2 to ensure the consistency of the signals at the Hall sensor and the angle detection device, thereby improving the control accuracy of the controller. At the same time, after the staff stops pushing the control handle 2, the top of the control handle 2 is not affected by external force. If the control handle 2 is not subjected to other additional forces, the control handle 2 will be unable to return to its position, thereby causing the control handle 2 to deviate. At this time, a spring slider 55 for driving the control handle 2 to return is provided in the transmission gear set 6. The spring slider 55 is provided in the transmission gear set 6 to drive the control handle 2 to return to its original position. The spring slider 55 pushes the corresponding connector 54 of the first sliding frame 43 and / or the second sliding frame 44, and pushes the connector 54 to the middle of the sliding groove, so that the control handle 2 is reset to the starting position. Specifically, when the control handle 2 is reset, the control handle 2 will be stuck during the reset process and cannot be returned to the original position. It is necessary to perform a reset detection on the control handle 2. The spring slider 55 has a pressure detection device, which can detect the contact state between the spring slider 55 and the connector 54. Generally speaking, when the spring slider 55 pushes the connector 54 to reset, the springs at both ends of the connector 54 The pressure detected by the spring slider 55 is not 0. Otherwise, it means that the control handle 2 has not been reset. Furthermore, the Hall sensor determines the reset state of the current control handle 2 by detecting the current magnetic field force. For example, when the control handle 2 is in the initial position, the current magnetic field force value is recorded, and the test is performed again after the reset. If the magnetic field force value after the reset is equal to the recorded value, it means that the control handle 2 has been reset. Otherwise, it is determined that the control handle 2 has not been reset. The reset detection of the control handle 2 is performed by the Hall sensor and the control spring slider 55, and the detection effect is good and the control accuracy is high.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A communication type master controller, comprising a base (1) and a control handle (2) arranged on the base (1), characterized in that: The control handle (2) is also provided with a control button (3); a handle bracket (4) is also provided at the connection between the control handle (2) and the base (1); the control handle (2) is slidably connected to the handle bracket (4) and can slide on the handle bracket (4); a signal receiver is also provided in the base (1); the signal receiver is used to detect the movement state of the control handle (2) and generate a control instruction; A permanent magnet (7) is also provided at the bottom of the control handle (2), and a Hall sensor is also provided on the base (1), wherein the Hall sensor comprises a first electromagnetic coil (8) and a second electromagnetic coil (9), and the first electromagnetic coil (8) and the second electromagnetic coil (9) are electrically connected to a signal receiver; The handle bracket (4) comprises a positioning ring (41) and a movable frame (42) arranged in the positioning ring (41), wherein the movable frame (42) comprises a first sliding frame (43) arranged along a first direction and a second sliding frame (44) arranged along a second direction, wherein the first sliding frame (43) and the second sliding frame (44) are arranged crosswise, and a sliding groove (45) is provided in each of the first sliding frame (43) and the second sliding frame (44), wherein the sliding groove (45) is configured to allow the control handle (2) to slide along its length direction and prevent the control handle (2) from moving along its width direction; A rotating member (5) is provided at one end of the first sliding frame (43) and the second sliding frame (44); A transmission gear set (6) is provided at the other end of the first sliding frame (43) and the second sliding frame (44), and the transmission gear set (6) comprises a sector gear (61) arranged on the first sliding frame (43) and the second sliding frame (44), and a bevel gear (62) arranged at the lower end of the sector gear (61) and connected to the sector gear (61); An angle detection device is also provided at the bottom of the transmission gear set, and the angle detection device is used to detect the rotation angle of the bevel gear and upload data to the signal receiver. A signal processing device is also provided in the Hall sensor, and the signal processing device is used to detect and process the magnetic field and voltage data of the Hall sensor and upload them to the signal receiver. When the processing device is an angle detection device, the following steps are included: S11, pushing the control handle, and the angle detection device detects the rotation state of the two bevel gears at the same time; S12, the angle detection device detects the rotation state of the bevel gear corresponding to the first sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed backward. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed forward. On the contrary, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the front-back direction, and the device jumps to S13 to continue detection; S13, the angle detection device detects the rotation state of the bevel gear corresponding to the second sliding frame. If the bevel gear rotates in the clockwise direction, it is determined that the control handle is pushed to the right. If the bevel gear rotates in the counterclockwise direction, it is determined that the control handle is pushed to the left. Conversely, if the bevel gear does not rotate, it is determined that the control handle is not pushed in the left or right direction. S14, the angle detection device combines the rotation angle data of the bevel gear in steps S12 and S13, and generates a control signal according to the rotation angle data; S15, the angle detection device uploads a control signal to a signal receiver, and the signal receiver issues a control instruction; When the processing device is a Hall sensor, the following steps are included: S21, before pushing the control handle, the Hall sensor detects the magnetic field forces on the base as F1, F2, F3, and F4 respectively, and sets the above data as the threshold value when the control handle is stationary; S22, push the control handle, the Hall sensor detects the change of the magnetic field force on the base, if the F1 value increases, it is judged that the current control handle is pushed backward, if the F3 value increases, it is judged that the current control handle is pushed forward, conversely, if the F2 value increases, it is judged that the current control handle is pushed to the left, if the F4 value increases, it is judged that the current control handle is pushed to the right; S23, the signal processing device detects the change of the magnetic field force in step S22, and converts the change of the magnetic field force into a Hall voltage, and converts the voltage data into electrical signal information and outputs it to the signal receiver, and the signal receiver issues a control instruction; The control method of the master controller also includes feedback of the state of the control handle, including the following steps: S31, using the angle detection device as a processing device to detect the motion state of the control handle, and uploading the state of the control handle to a signal receiver; S32, again using the Hall sensor as a processing device to detect the position data of the control handle, and uploading the position data of the control handle to a signal receiver; S33, the signal receiver compares the movement direction data of the control handle. If the movement direction data of the control handle are different, it is determined that there is a problem with the controller, and the controller cuts off the control of the equipment and notifies the staff to come for maintenance. Otherwise, it jumps to S34 to determine the displacement. S34, the signal receiver detects the signal transmitted by the Hall sensor, and determines the displacement of the control handle according to the signal strength and amplitude change; S35, the signal receiver detects the signal transmitted by the monitoring detection device, and determines the displacement of the control handle according to the rotation detection of the bevel gear; S36. The signal receiver compares the displacement of the control handle. If the displacement of the control handle is different, it is determined that there is a problem with the controller. The controller cuts off control of the equipment and notifies the staff to come for maintenance. Otherwise, the controller is normal.

2. A communication type master controller according to claim 1, characterized in that: The rotating member (5) comprises a mounting plate (51) fixedly connected to the side wall of the base (1) and a rotating bearing (52) arranged on the mounting plate (51), wherein the inner diameter of the rotating bearing (52) matches the outer diameter of the first sliding frame (43) and the second sliding frame (44), and the rotating bearing (52) is used to connect the mounting plate (51) and the first sliding frame (43) and / or the second sliding frame (44) and allow the first sliding frame (43) and / or the second sliding frame (44) to rotate along their axial direction.

3. A communication type master controller according to claim 2, characterized in that: The mounting plate (51) is further provided with a plug-in slot (53); a plug-in component (54) is provided on one side of the first sliding frame (43) and the second sliding frame (44) close to the mounting plate (51) and extending downward; the other end of the plug-in component (54) is arranged in the plug-in slot (53) and can slide in the plug-in slot (53); when the first sliding frame (43) and / or the second sliding frame (44) rotate along their axial direction, the moving track of the plug-in component (54) matches the shape of the plug-in slot (53); spring sliders (55) are further provided at both ends of the plug-in slot (53); the spring sliders (55) are used to push the plug-in component (54) in the plug-in slot (53) to reset.

4. A communication type master controller according to claim 1, characterized in that: The control handle (2) is also provided with a dust cover (10), and the dust cover (10) is sleeved on the outside of the control handle (2) to form a seal for the control handle (2).

5. The control method of a communication type master controller according to claim 3, characterized in that: The reset detection method is also included. The spring slider is also provided with a pressure sensor, and the pressure sensor is used to detect whether the spring slider is in contact with the connector. The reset detection method includes the following steps: S41, the staff stops pushing the control handle and waits for T1 time for the control handle to automatically reset; S42, after the T1 time period, if the pressures detected by the spring sliders at both ends of the connector are not 0, it is determined that the control handle is reset, and the process jumps to S43 to continue testing. Otherwise, it is determined that the control handle is stuck and cannot be reset, and the controller notifies the staff to come for maintenance; S43, the Hall sensor detects the magnetic field force on the base again, which are Fx1, Fx2, Fx3, and Fx4 respectively, and compares the above data with the threshold value when the control handle is stationary. If Fx1, Fx2, Fx3, and Fx4 are different from the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is not in the initial position, and the controller notifies the staff to come for maintenance. Otherwise, if Fx1, Fx2, Fx3, and Fx4 are all the same as the threshold values ​​when the corresponding control handle is stationary, it is determined that the control handle is reset.

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