Control method for operating rod assembly of remote controller and remote controller

Abstract

The invention discloses a control method of a remote controller operating rod assembly and a remote controller, the operating rod assembly is mounted on the remote controller, the remote controller is operated by shifting a rocker in the operating rod assembly to control an external remote control object, and the operating rod assembly comprises a mounting frame, an X-direction rotating base, the rocker, an X-direction brushless holder motor and a Y-direction brushless holder motor. A return-to-center button and a holding button on the remote controller are used for switching the state of the rocker after operation; an operator pokes the rocker to promote the rocker and / or the X-direction rotating base to swing in the Y direction and / or the X direction relative to the mounting frame, and the corresponding Y-direction brushless holder motor and / or the X-direction brushless holder motor generate opposite force opposite to the swing direction to simulate the damping effect; after the rocker is loosened by the hand, the rocker is automatically centered and reset or the position of the rocker is kept to be stopped at will according to the selected working mode; tactile feedback and damping adjustment can be realized; the actual control mode of the remote controller is effectively improved and enhanced, and the operation experience is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control devices, in particular to a control method of a remote control operating rod assembly and a remote control. Background Art

[0002] When controlling a device including a drone, a remote controller is usually used, and the operator holds the remote controller to operate the device.

[0003] In the prior art, the operating lever assembly for direction change inside the remote control has a complex structure and occupies a large space, resulting in a large size of the remote control. This is not only inconvenient for the operator to flexibly hold the remote control, but also leads to limited operation of the external remote control object through the remote control. For example, when the external remote control object is operated through the joystick on the remote control, the deformation of the spring generates damping of the joystick operation to form an operating feel, and the joystick will reset under the elastic force of the spring. The existing control form of the external remote control object through the remote control is simple and limited, and the operator's operating experience is poor. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a control method of a remote control operating rod assembly and a remote control with a reasonable structure, thereby effectively improving and enhancing the actual control mode of the remote control and greatly improving the operating experience.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A method for controlling a remote control lever assembly, wherein the lever assembly is mounted on the remote control, and the remote control is operated by toggling a rocker in the lever assembly to control an external remote control object; the lever assembly comprises a mounting frame, an X-axis rotation base, a rocker, an X-axis brushless pan-tilt motor, and a Y-axis brushless pan-tilt motor, the mounting frame is fixedly mounted relative to the remote control, the rotor of the X-axis brushless pan-tilt motor is mounted on the X-axis rotation base, and the stator of the X-axis brushless pan-tilt motor is mounted on the mounting frame; the rotor of the Y-axis brushless pan-tilt motor is mounted on the rocker, and the stator of the Y-axis brushless pan-tilt motor is mounted on the X-axis rotation base;

[0007] The remote controller is provided with a return button and a hold button for switching the state of the rear joystick;

[0008] The control method includes: switching the working mode to the return mode or the hold mode by using the return button and the hold button;

[0009] The operator's hand rotates the rocker, causing the rocker and / or the X-direction rotation base to swing relative to the mounting bracket in the Y-direction and / or the X-direction; during the operation, the corresponding Y-direction brushless gimbal motor and / or the X-direction brushless gimbal motor will generate a reverse force in the opposite direction of the swing to simulate the damping effect; when the centering button is selected to be in the centering mode, after the hand releases the rocker, the rocker will automatically return to the center and reset relative to the mounting bracket; when the hold button is selected to be in the hold mode, after the hand releases the rocker, the rocker will maintain its position relative to the mounting bracket, achieving arbitrary stop of the rocker.

[0010] As a further improvement of the above technical solution:

[0011] It further includes a microcontroller, which is electrically connected to each button on the remote controller. The microcontroller controls and drives the X-direction brushless gimbal motor and the Y-direction brushless gimbal motor to work, and the microcontroller communicates with the external remote control object in real time.

[0012] It also includes the tactile feedback of the rocker to the operator's hand caused by the external remote control object; a state detector is installed on the external remote control object, and a receiver is included in the microcontroller. The receiver receives the motion state signal of the state detector in real time and transmits it to the microcontroller. The microcontroller controls the X-direction brushless gimbal motor and the Y-direction brushless gimbal motor to rotate in a preset direction, and the motion state of the external remote control object is real-time fed back to the rocker of the remote controller through the rotation in the preset direction to achieve tactile feedback.

[0013] The state detector transmits the signal of the external remote control object being blocked during operation to the receiver in real time; when the microcontroller receives the signal of being blocked during operation, it will increase the reverse force of the corresponding X-direction brushless gimbal motor and / or Y-direction brushless gimbal motor to enhance the damping effect, and act on the operator's hand through the rocker, so as to simulate the state of being blocked during operation.

[0014] The state detector transmits the bump signal of the external remote control object to the receiver in real time; when the microcontroller receives the bump signal, it will drive the corresponding X-direction brushless gimbal motor and / or Y-direction brushless gimbal motor to rotate back and forth at a preset frequency and amplitude, and act on the operator's hand through the rocker, so as to simulate the bump state.

[0015] It further includes an X-direction magnetic ring and a Y-direction magnetic ring respectively installed in the rotation directions of the X-direction brushless gimbal motor and the Y-direction brushless gimbal motor. An X-direction Hall sensor and a Y-direction Hall sensor are arranged to match the X-direction magnetic ring and the Y-direction magnetic ring; the X-direction Hall sensor and the Y-direction Hall sensor detect the actual rotation angles of the X-direction brushless gimbal motor and the Y-direction brushless gimbal motor in real time, and transmit them to the microprocessor, and the microprocessor communicates with the external remote control object to achieve the control of the driving state of the external remote control object.

[0016] The remote controller is provided with a damping adjustment button. Through the damping adjustment button, the magnitude of the reverse force generated by the Y-direction brushless gimbal motor and / or the X-direction brushless gimbal motor during the rocker control process, which is opposite to the swinging direction, is adjusted, thereby adjusting the damping magnitude when operating the rocker.

[0017] A remote controller, which controls an external remote-controlled object by using the control method described in any one of the above, and the external remote-controlled object includes but is not limited to a drone.

[0018] As a further improvement of the above technical solution:

[0019] The rocker in the joystick assembly penetrates through the mounting bracket and the X-direction rotating base. X-direction brushless gimbal motors and the first rotation connection components are respectively installed between the two opposite sides of the X-direction rotating base and the mounting bracket. Y-direction brushless gimbal motors and the second rotation connection components are respectively installed between the two opposite sides of the rocker and the X-direction rotating base; the X-direction brushless gimbal motor applies a force to the X-direction rotating base to swing relative to the mounting bracket with the X-direction as the axis, and the Y-direction brushless gimbal motor applies a force to the rocker to swing relative to the X-direction rotating base with the Y-direction as the axis.

[0020] The structures of the first rotation connection component and the second rotation connection component are the same. The structure of the second rotation connection component is: including a bracket installed on the X-direction rotating base, a rotating shaft part is accommodated inside the bracket, and the rotating shaft part is connected with the rocker to rotate relative to the X-direction rotating base together; a PCB board is installed on the outer wall surface of the bracket, and the PCB board is press-fitted and fixed on the bracket through a pressing block; a magnetic ring is sleeved on the rotating shaft part, and a Hall sensor is further included, and the actual rotation angle of the magnetic ring is detected by the Hall sensor.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] When the present invention controls an external remote-controlled object through the rocker on the remote controller, the working mode can be selected according to actual needs, including the automatic centering and reset of the rocker or the position holding and arbitrary stop of the rocker, effectively improving and enhancing the actual control method of the remote controller, and greatly improving the operation experience;

[0023] The present invention also has the following advantages:

[0024] In actual operation, the reaction force generated by the brushless gimbal motor can be adjusted according to actual use needs, thereby adjusting the magnitude of the reaction force felt by the hand, which helps to improve and match the operation experience of the operator;

[0025] Through tactile feedback, the real-time operation state of the external remote-controlled object can be timely fed back to the operator's hand through the rocker, improving the human-machine relationship and helping to enhance the operator's operation experience;

[0026] In combination with the use of a brushless gimbal motor, while realizing the operation of the joystick in the X and Y directions, it simplifies the overall structure of the remote control and makes the layout compact, effectively helping to reduce the volume of the remote control and facilitating the operator's handheld control. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic flow chart of the control method of the present invention.

[0028] Figure 2 It is a schematic connection diagram of the control of the present invention.

[0029] Figure 3 It is a schematic structural diagram of the joystick assembly of the present invention.

[0030] Figure 4 It is an exploded view of the joystick assembly of the present invention.

[0031] Figure 5 It is a schematic installation diagram of the joystick and the X-direction rotation base of the present invention.

[0032] Figure 6 It is a schematic structural diagram of the second rotation connection assembly of the present invention.

[0033] Wherein: 1, mounting bracket; 2, joystick; 3, X-direction rotation base; 4, Y-direction brushless gimbal motor; 5, first rotation connection assembly; 6, X-direction brushless gimbal motor; 7, second rotation connection assembly;

[0034] 21, lever part; 22, Y-direction rotation part; 23, Y-direction motor base; 24, flange; 25, limiting part;

[0035] 31, surrounding wall; 32, X-direction rotation part; 33, X-direction motor base; 34, outward convex arc surface;

[0036] 71, rotating shaft part; 72, bracket; 73, PCB board; 74, pressing block. DETAILED DESCRIPTION OF THE INVENTION

[0037] The following will describe the detailed implementation manners of the present invention with reference to the accompanying drawings.

[0038] As Figure 1As shown in the figure, a control method for a joystick assembly of a remote controller in this embodiment. The joystick assembly is installed on the remote controller, and the remote controller is operated by toggling the joystick 2 in the joystick assembly to control an external remotely controlled object. The joystick assembly includes a mounting bracket 1, an X-direction rotating base 3, a joystick 2, an X-direction brushless gimbal motor 6, and a Y-direction brushless gimbal motor 4. The mounting bracket 1 is fixedly installed relative to the remote controller. The rotor part of the X-direction brushless gimbal motor 6 is installed on the X-direction rotating base 3, and the stator part of the X-direction brushless gimbal motor 6 is installed on the mounting bracket 1. The rotor part of the Y-direction brushless gimbal motor 4 is installed on the joystick 2, and the stator part of the Y-direction brushless gimbal motor 4 is installed on the X-direction rotating base 3.

[0039] The remote controller is provided with a center return button and a hold button for switching the state of the joystick 2 after operation.

[0040] The control method includes: switching and selecting the working mode to the center return mode or the hold mode through the center return button and the hold button.

[0041] The operator's hand toggles the joystick 2 to cause the joystick 2 and / or the X-direction rotating base 3 to swing relative to the mounting bracket 1 in the Y-direction and / or the X-direction. During the operation, a reverse force opposite to the swinging direction generated by the corresponding Y-direction brushless gimbal motor 4 and / or X-direction brushless gimbal motor 6 will simulate a damping effect. When the center return button is selected and in the center return mode, after the hand releases the joystick 2, the joystick 2 will automatically return to the center position relative to the mounting bracket 1. When the hold button is selected and in the hold mode, after the hand releases the joystick 2, the joystick 2 will maintain its position relative to the mounting bracket 1, achieving any stop of the joystick 2.

[0042] In this embodiment, when the external remotely controlled object is controlled through the joystick 2 on the remote controller, the working mode can be selected according to actual needs, including the automatic center return reset of the joystick 2 or the position holding and any stop of the joystick 2, effectively improving and enhancing the actual control method of the remote controller.

[0043] In actual operation, for example, the operator applies force to the joystick 2, causing the joystick 2 to swing in the Y-direction relative to the X-direction rotating base 3 and the mounting bracket 1. During the operation, while the Y-direction brushless gimbal motor 4 assists in achieving Y-direction rotation, a damping force in the Y-direction opposite to the swinging direction will be transmitted from the joystick 2 to the hand. If the center return button is selected at this time, then after the hand releases the joystick 2, the Y-direction brushless gimbal motor 4 will drive the joystick 2 to perform a reset action, and the joystick 2 will return to the center position in the Y-direction relative to the X-direction rotating base 3 and the mounting bracket 1. If the hold button is selected at this time, then after the hand releases the joystick 2, the Y-direction brushless gimbal motor 4 will maintain the current state, and the joystick 2 will maintain its position in the Y-direction relative to the X-direction rotating base 3 and the mounting bracket 1, staying at the last position of the joystick 2 when the hand released it.

[0044] Similarly, when the operator applies force to the rocker 2, so that the rocker 2 drives the X-direction rotating base 3 to swing in the X-direction relative to the mounting frame 1, during the operation, the X-direction brushless pan-tilt motor 6 will assist in realizing the X-direction rotation, and at the same time, a damping force in the X-direction opposite to the swinging direction will be transmitted to the hand through the rocker 2; if the return button is selected at this time, then after the hand releases the rocker 2, the X-direction brushless pan-tilt motor 6 will drive the rocker 2 to reset through the X-direction rotating base 3, and the rocker 2 will drive the X-direction rotating base 3 to reset in the X-direction relative to the mounting frame 1; if the hold button is selected at this time, then after the hand releases the rocker 2, the X-direction brushless pan-tilt motor 6 will maintain the current state, and the rocker 2 will be maintained in the X-direction position with the X-direction rotating base 3 relative to the mounting frame 1, and stay at the last position of the rocker 2 when the hand is released.

[0045] Of course, since the operation input is performed through the joystick 2, the joystick 2 can be driven to rotate and swing in the Y direction relative to the X-axis rotating base 3, and the X-axis rotating base 3 can be rotated and swing in the X direction relative to the mounting frame 1, thereby realizing that the joystick 2 can be arbitrarily moved within a rectangular range relative to the mounting frame 1.

[0046] Therefore, in actual operation, the operation input applied by the operator to the joystick 2 is actually a fusion of the oblique or curved directions in the X and Y directions. Therefore, in operation, the joystick 2 will be driven to swing synchronously in the X and Y directions relative to the mounting frame 1, and the X-direction brushless pan-tilt motor 6 and the Y-direction brushless pan-tilt motor 4 will work synchronously. Finally, according to the selection of the return button or the hold button, after the hand releases the joystick 2, the joystick 2 will be reset or held.

[0047] It also includes a microcontroller, which is electrically connected to each button on the remote control. The microcontroller controls and drives the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4 to work, and the microcontroller communicates with the external remote control object in real time.

[0048] It also includes tactile feedback of the joystick 2 to the operator's hand caused by an external remote-controlled object; a state detector is installed on the external remote-controlled object, and a receiver is included in the microcontroller. The receiver receives the motion state signal of the state detector in real time and transmits it to the microcontroller. The microcontroller controls the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4 to rotate in a preset direction. Through the rotation in the preset direction, the motion state of the external remote-controlled object is fed back to the joystick 2 of the remote control in real time to achieve tactile feedback.

[0049] In this embodiment, through tactile feedback, the real-time operating status of the external remote control object can be fed back to the operator's hand via the joystick 2 in a timely manner, thereby improving the human-machine relationship and helping to enhance the operator's operating experience.

[0050] The status detector transmits the signal of the blocked operation of the external remote-controlled object to the receiver in real time; when the microcontroller receives the blocked operation signal, it will increase the reverse force of the corresponding X-axis brushless pan-tilt motor 6 and / or Y-axis brushless pan-tilt motor 4 to enhance the damping effect, and act on the operator's hand through the joystick 2, so as to simulate the blocked operation state.

[0051] The status detector transmits the bump signal of the external remote-controlled object to the receiver in real time; when the microcontroller receives the bump signal, it will drive the corresponding X-axis brushless pan-tilt motor 6 and / or Y-axis brushless pan-tilt motor 4 to rotate back and forth at a preset frequency and amplitude, and act on the operator's hand through the joystick 2, so as to simulate the bump state.

[0052] It also includes an X-axis magnetic ring and a Y-axis magnetic ring respectively installed in the rotation directions of the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4. An X-axis Hall sensor and a Y-axis Hall sensor are arranged to match the X-axis magnetic ring and the Y-axis magnetic ring; the actual rotation angles of the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4 are detected in real time by the X-axis Hall sensor and the Y-axis Hall sensor, and transmitted to the microprocessor, and the microprocessor communicates with the external remote-controlled object to realize the control of the driving state of the external remote-controlled object.

[0053] In Figure 2 In the shown embodiment, the magnetic rings including the X-axis magnetic ring and the Y-axis magnetic ring are correspondingly matched with the corresponding Hall sensors, including the X-axis Hall sensor and the Y-axis Hall sensor; the Hall sensor is connected to the microprocessor via the SPI (Serial Peripheral Interface - Serial Peripheral Interface) bus.

[0054] In Figure 2 In the shown embodiment, the brushless pan-tilt motors including the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4 are connected to the microprocessor via (pulse width modulation - Pulse Width Modulation) method.

[0055] In Figure 2 In the shown embodiment, the receiver including the receiver transmits back the real-time state of the external remote-controlled object, and the receiver realizes communication with the microprocessor via TX (Transmit - Transmit), RX (Receive - Receive).

[0056] A damping adjustment button is provided on the remote control. Through the damping adjustment button, the magnitude of the reverse force generated by the Y-axis brushless pan-tilt motor 4 and / or the X-axis brushless pan-tilt motor 6 in the opposite direction of the swing during the operation of the joystick 2 is adjusted, so as to adjust the damping magnitude when operating the joystick 2.

[0057] In actual operation, the reaction force generated by the brushless gimbal motor can be adjusted according to actual usage requirements, so as to adjust the magnitude of the reaction force felt by the hand, which helps to improve and match the operating experience of the operator.

[0058] This embodiment also proposes a remote controller, which uses the control method of any one of the above to control an external remotely controlled object, and the external remotely controlled object includes but is not limited to a drone.

[0059] As Figure 3 and Figure 4 As shown in the figure, the rocker 2 in the joystick assembly penetrates through the mounting bracket 1 and the X-direction rotation base 3. X-direction brushless gimbal motors 6 and rotation connection components 5 are respectively installed between the opposite sides of the X-direction rotation base 3 and the mounting bracket 1. Y-direction brushless gimbal motors 4 and rotation connection components 7 are respectively installed between the opposite sides of the rocker 2 and the X-direction rotation base 3; the X-direction brushless gimbal motor 6 applies a force to the X-direction rotation base 3 to swing relative to the mounting bracket 1 with the X direction as the axis, and the Y-direction brushless gimbal motor 4 applies a force to the rocker 2 to swing relative to the X-direction rotation base 3 with the Y direction as the axis.

[0060] In this embodiment, in combination with the use of the brushless gimbal motor, while realizing the X-direction and Y-direction operations of the rocker 2, it simplifies the overall structure of the remote controller and makes the layout compact, effectively helping to reduce the volume of the remote controller and facilitating the handheld control by the operator.

[0061] As Figure 5 As shown in the figure, the X-direction rotation base 3 includes two straight wall surfaces on the opposite sides in the X direction. One straight wall surface forms the X-direction motor base 33, and the X-direction brushless gimbal motor 6 is installed on the outer side surface of the straight wall surface. The outer side surface of the other straight wall surface extends outward to form the X-direction rotation part 32, and the X-direction rotation part 32 is connected and assembled with the rotation connection component 5, so as to realize the rotational installation layout of the X-direction rotation base 3 relative to the mounting bracket 1 based on the rotation of the X-direction brushless gimbal motor 6.

[0062] The X-direction rotation base 3 includes two convex arc surfaces 34 on the opposite sides in the Y direction. The Y-direction brushless gimbal motor 4 and the rotation connection component 7 are respectively arranged on the inner sides of the two convex arc surfaces 34 on both sides of the X-direction rotation base 3, so as to realize the rotational installation layout of the rocker 2 relative to the X-direction rotation base 3 based on the rotation of the Y-direction brushless gimbal motor 4.

[0063] A long hole for the rocker 2 to pass through and swing relatively is opened on the wall surface of the X-direction rotation base 3 that fits the mounting bracket 1. The long hole is arranged along the X direction, which helps to realize the relative swing of the rocker 2 relative to the X-direction rotation base 3 in the X direction; the inner hole edge of the long hole extends inward to form a surrounding wall 31, which constitutes a receiving space for the rocker 2 to be assembled.

[0064] The structure of the rocker 2 is as follows: it includes a lever portion 21, the end of the lever portion 21 extends to form a Y-direction motor seat 23, and one side of the Y-direction motor seat 23 extends vertically to form a Y-direction rotating portion 22; both sides of the Y-direction motor seat 23 extend laterally together to form a flange 24 with the Y-direction rotating portion 22 as the center, and both ends of the flange 24 are turned outward to form a limiting portion 25.

[0065] In this embodiment, the rocker 2 rotates together with the rotating connection component 2 7 through the Y-axis rotating part 22, and the side of the Y-axis motor seat 23 away from the Y-axis rotating part 22 is equipped with the rotor part of the Y-axis brushless pan-tilt motor 4; the stator part of the Y-axis brushless pan-tilt motor 4 is installed on the X-axis rotating base 3.

[0066] like Figure 6 As shown, the structures of the rotating connection component 1 5 and the rotating connection component 2 7 are the same. The structure of the rotating connection component 2 7 is as follows: it includes a bracket 72 installed on the X-axis rotating base 3, and the inner side of the bracket 72 accommodates a shaft portion 71, and the shaft portion 71 is connected with the rocker 2 to rotate relative to the X-axis rotating base 3; a PCB board 73 is installed on the outer wall surface of the bracket 72, and the PCB board 73 is press-fitted and fixed on the bracket 72 via a pressure block 74; a magnetic ring is mounted on the shaft portion 71, and also includes a Hall sensor, which detects the actual rotation angle of the magnetic ring.

[0067] In this embodiment, the position change of the magnetic ring can be determined by detecting the Hall sensor, thereby determining the position change of the joystick 2 or the X-axis rotating base 3 that is power-connected to the corresponding rotating shaft portion 71, and generating a control instruction for the external remote control object based on the position change to achieve control of the movement of the remote control object.

[0068] After the rocker 2 swings relative to the mounting frame 1, the magnetic force of the magnetic ring in the corresponding rotating connection assembly will change, which will be fed back to the PCB board 73 in real time through the detection sheet, and the signal will be transmitted to the external remote control object to realize the control of the driving state of the remote control object.

[0069] In this embodiment, the X-axis brushless pan-tilt motor 6 and the Y-axis brushless pan-tilt motor 4 both adopt existing brushless pan-tilt motor standard products, which are selected according to actual parameter requirements.

[0070] The present invention effectively improves and enhances the actual control method of the remote controller, greatly improving the operating experience.

[0071] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0072] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A method for controlling a remote control lever assembly, wherein the lever assembly is mounted on a remote control, and the remote control is operated by toggling a rocker in the lever assembly to control an external remote control object; characterized in that: The operating rod assembly includes a mounting frame, an X-axis rotating base, a rocker, an X-axis brushless pan-tilt motor, and a Y-axis brushless pan-tilt motor. The mounting frame is fixedly mounted relative to the remote control, the rotor of the X-axis brushless pan-tilt motor is mounted on the X-axis rotating base, and the stator of the X-axis brushless pan-tilt motor is mounted on the mounting frame; the rotor of the Y-axis brushless pan-tilt motor is mounted on the rocker, and the stator of the Y-axis brushless pan-tilt motor is mounted on the X-axis rotating base; The remote controller is provided with a return button and a hold button for switching the state of the rear joystick; The control method includes: switching the working mode to the return mode or the hold mode by using the return button and the hold button; The operator moves the joystick by hand to cause the joystick and / or the X-axis rotating base to swing in the Y-axis and / or the X-axis relative to the mounting frame; during the operation, the corresponding Y-axis brushless pan / tilt motor and / or the X-axis brushless pan / tilt motor will generate a reverse force opposite to the swinging direction to simulate the damping effect; when the return button is selected to be in the return mode, after the hand releases the joystick, the joystick will automatically return to the center and reset relative to the mounting frame; when the hold button is selected to be in the hold mode, after the hand releases the joystick, the joystick will maintain its position relative to the mounting frame to achieve arbitrary stop of the joystick.

2. A method for controlling a remote control lever assembly according to claim 1, characterized in that: The invention also includes a microcontroller, which is electrically connected to each button on the remote controller, controls and drives the X-axis brushless pan-tilt motor and the Y-axis brushless pan-tilt motor to work, and communicates with an external remote control object in real time.

3. A method for controlling a remote control lever assembly as claimed in claim 2, characterized in that: The invention also includes tactile feedback of the joystick to the operator's hand caused by an external remote control object; a state detector is installed on the external remote control object, and a receiver is included in the microcontroller. The receiver receives the motion state signal of the state detector in real time and transmits it to the microcontroller. The microcontroller controls the X-axis brushless pan-tilt motor and the Y-axis brushless pan-tilt motor to rotate in a preset direction. The motion state of the external remote control object is fed back to the joystick of the remote control in real time through the rotation in the preset direction, so as to realize tactile feedback.

4. A method for controlling a remote control lever assembly as claimed in claim 3, characterized in that: The state detector transmits a signal indicating that the operation of the external remote control object is blocked to the receiver in real time; When the microcontroller receives the operation obstruction signal, it drives the corresponding X-axis brushless pan / tilt motor and / or Y-axis brushless pan / tilt motor to increase the reverse force to enhance the damping effect, and acts on the operator's hand through the joystick, thereby simulating the operation obstruction state.

5. A method for controlling a remote control lever assembly as claimed in claim 3, characterized in that: The state detector transmits the bump signal of the external remote control object to the receiver in real time; when the microcontroller receives the bump signal, it drives the corresponding X-axis brushless pan-tilt motor and / or Y-axis brushless pan-tilt motor to rotate back and forth at a preset frequency and amplitude, and acts on the operator's hand through the joystick, thereby simulating the bump state.

6. A method for controlling a remote control lever assembly according to claim 1, characterized in that: It also includes an X-direction magnetic ring and a Y-direction magnetic ring respectively installed in the rotation direction of the X-direction brushless pan-tilt motor and the Y-direction brushless pan-tilt motor, and an X-direction Hall sensor and a Y-direction Hall sensor are provided to match the X-direction magnetic ring and the Y-direction magnetic ring; the X-direction Hall sensor and the Y-direction Hall sensor detect the actual rotation angle of the X-direction brushless pan-tilt motor and the Y-direction brushless pan-tilt motor in real time, and transmit the actual rotation angle to the microprocessor, and the microprocessor communicates with the external remote control object to realize the control of the driving state of the external remote control object.

7. A method for controlling a remote control lever assembly according to claim 1, characterized in that: The remote controller is provided with a damping adjustment button, through which the magnitude of the reverse force generated by the Y-axis brushless pan / tilt motor and / or the X-axis brushless pan / tilt motor in the opposite direction of the swinging direction during the joystick manipulation is adjusted, thereby adjusting the damping magnitude when manipulating the joystick.

8. A remote controller, characterized in that: The remote controller controls an external remote control object using the control method described in any one of claims 1 to 7, and the external remote control object includes but is not limited to a drone.

9. A remote controller as claimed in claim 8, characterized in that: The rocker in the operating rod assembly passes through the mounting frame and the X-axis rotating base; the X-axis brushless pan-tilt motor and the first rotating connection component are respectively installed between the two opposite sides of the X-axis rotating base and the mounting frame; the Y-axis brushless pan-tilt motor and the second rotating connection component are respectively installed between the two opposite sides of the rocker and the X-axis rotating base; the X-axis brushless pan-tilt motor applies a force to the X-axis rotating base to swing relative to the mounting frame with the X-axis as the axial direction, and the Y-axis brushless pan-tilt motor applies a force to the rocker to swing relative to the X-axis rotating base with the Y-axis as the axial direction.

10. A remote controller as claimed in claim 9, characterized in that: The structures of the rotating connection component 1 and the rotating connection component 2 are the same. The structure of the rotating connection component 2 is: it includes a bracket installed on the X-axis rotating base, the inner side of the bracket accommodates a rotating shaft part, the rotating shaft part is connected with the rocker and rotates relative to the X-axis rotating base together; a PCB board is installed on the outer wall surface of the bracket, and the PCB board is fixed to the bracket by a pressure block; a magnetic ring is mounted on the rotating shaft part, and also includes a Hall sensor, and the Hall sensor detects the actual rotation angle of the magnetic ring.

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