Multi-rotor carrier control device and control method

Abstract

The multi-rotor carrier control device comprises a base body and further comprises a first control joint and a second control joint which are connected in series, and the second control joint is installed on the base body. The first control joint and the second control joint are rocker units; or, the first control joint is a rocker unit, and the second control joint is a translation rod unit. A traditional rocker is replaced with the structure that the two control joints are connected in series, so that control over translation and rolling can be achieved at the same time through a single hand, a side button does not need to be clicked, and control is more convenient. Meanwhile, continuous control signals can be sent out, and control is more accurate and flexible. The invention not only can be used for multi-rotor unmanned aerial vehicles, but also can be used for underwater unmanned aerial vehicles, hovercars and other carrier devices capable of moving in fluid with multiple degrees of freedom.

Description

Technical Field

[0001] The present invention belongs to the technical field of multi-rotor vehicle control, and specifically relates to a multi-rotor vehicle control device and also relates to a multi-rotor vehicle control method. Background Art

[0002] Currently, most common drone remote control handles on the market are equipped with two joysticks on the left and right, and the two joysticks have their respective functions. For example, in an FPV drone, the left joystick is mainly used to control ascending / descending and left / right turning, and the right joystick has two working modes. One is to control left / right / front / back translation (manual mode), and the other is to control left / right / front / back rolling (self-stabilization mode). When using it, the working mode needs to be changed through the switching button on the left, and only one of the two modes can be selected.

[0003] With the development of drone control technology, new types of drones such as tilt-rotor multi-rotor, fixed multi-lift direction multi-rotor, and hybrid multi-rotor and fixed-wing drones have emerged continuously. These new multi-rotor drones can perform rolling actions while translating (such as barrel rolls with a freely increasing or decreasing roll radius), and can complete more complex tasks. The traditional dual-joystick control device can only work in one of the modes at a certain moment, which limits the control redundancy of the drone and cannot be applied to the new drones with more redundant motion modes that are emerging continuously.

[0004] For this reason, new solutions have been proposed. One typical solution is to add a four-redundancy button (or four ordinary buttons in a cross layout) beside the right joystick. The right joystick and the button are respectively used for translation control and rolling control. While operating the right joystick with the right thumb, the index finger or middle finger also needs to press the button. Although this method can theoretically achieve simultaneous control of translation and rolling, there are the following defects in actual operation: First, it is very difficult for the operator to accurately and timely press the button while controlling the joystick, especially when two buttons need to be pressed simultaneously, and the operation difficulty is high. Second, the button itself only has two states of "pressed" and "released", and cannot perform stepless adjustment like the joystick and output continuous control signals, so it is impossible to accurately control the translation / rolling speed.

[0005] At the same time, other vehicles with multi-rotors (such as underwater drones, flying cars, etc.) also have the same problem when implementing complex motion control. Summary of the Invention

[0006] The present invention provides a multi-rotor vehicle control device and a control method, and the purpose is to solve the problems of inconvenient operation and inability to achieve accurate control when controlling a multi-rotor vehicle to perform translation and rolling simultaneously.

[0007] The technical solution of the present invention is as follows: A multi-rotor vehicle control device includes a base body, and also includes a first control section and a second control section connected in series. The second control section located at the root is installed on the base body.

[0008] As a further improvement of the multi-rotor vehicle control device: both the first control section and the second control section are rocker units; Or, the first control section is a rocker unit and the second control section is a translation rod unit; The rocker unit includes a control lever and a base frame. The control lever can rock back and forth and left and right relative to the base frame. The rocker unit also includes a first angle detection device for detecting the front-back rocking angle and a second angle detection device for detecting the left-right rocking angle; The translation rod unit includes a translation control rod and a base. The vertical translation control rod can move horizontally relative to the base. The translation rod unit also includes a first position detection device and a second position detection device for detecting the position of the translation control rod relative to the base.

[0009] As a further improvement of the multi-rotor vehicle control device: the rocker unit also includes a connecting frame and a cross shaft. The lower end of the control lever is connected to the top of the inverted U-shaped connecting frame. The connecting frame is rotationally connected to the longitudinal shaft portion of the cross shaft to achieve left-right swing relative to the cross shaft. The transverse shaft portion of the cross shaft is rotationally connected to the base frame to achieve front-back swing relative to the base frame; The first angle detection device is installed on the base frame for detecting the angle of the transverse shaft portion relative to the base frame; the second angle detection device is installed on the connecting frame for detecting the angle of the longitudinal shaft portion relative to the connecting frame.

[0010] As a further improvement of the multi-rotor vehicle control device: the rocker unit also includes a reset mechanism for driving the control lever back to the middle position; The reset mechanism includes a first reset torsion spring sleeved on the transverse shaft portion and a second reset torsion spring sleeved on the longitudinal shaft portion; Both ends of the spring wire of the first reset torsion spring are respectively connected with first torsion arms parallel to the transverse shaft portion. A first limiting piece is fixedly connected to the base frame, and a second limiting piece is fixedly connected to the cross shaft. The first limiting piece and the second limiting piece are arranged collinearly and are both located between the front and back two first torsion arms; Both ends of the spring wire of the second reset torsion spring are respectively connected with second torsion arms parallel to the longitudinal shaft portion. A third limiting piece is fixedly connected to the connecting frame, and a fourth limiting piece is fixedly connected to the cross shaft. The third limiting piece and the fourth limiting piece are arranged collinearly and are both located between the left and right two second torsion arms.

[0011] As a further improvement of the multi-rotor vehicle control device: the rocker unit also includes a locking mechanism for locking the control lever; The locking mechanism includes a locking rod installed on the base frame in a rotational connection manner, and a positioning groove is provided on the locking rod; a groove is provided on the driving rod, and a spring detent is provided in the groove. When the locking rod rotates into the groove, the spring detent cooperates with the positioning groove.

[0012] As a further improvement of the multi-rotor vehicle control device: the translation rod unit further includes a first moving slide and a second moving slide; The first moving slide is horizontally arranged in the front-rear direction, and a first through groove penetrating up and down is formed in the front-rear direction on the upper surface. The first moving slide is slidably connected to the base to realize left-right movement; The second moving slide is horizontally arranged in the left-right direction, and a second through groove penetrating up and down is formed in the left-right direction on the upper surface. The second moving slide is slidably connected to the base to realize front-rear movement; The upper end of the translation joystick is used for fixedly connecting with the base frame of the rocker unit above, and the lower end passes through the limiting hole formed by the intersection of the first through groove and the second through groove; Two groups of second return springs are further installed on the base. One group of second return springs is used to drive the first moving slide to reset, and the other group of second return springs is used to drive the second moving slide to reset; The first position detection device for detecting the position of the first moving slide and the second position detection device for detecting the position of the second moving slide are further installed on the base.

[0013] As a further improvement of the multi-rotor vehicle control device: the translation rod unit further includes a positioning rod and a first return spring; the translation joystick is cylindrical, the positioning rod passes through the translation joystick, and the first return spring is used to push the positioning rod upward; a plurality of positioning holes are arranged on the base, and the lower end of the positioning rod is used to cooperate with the positioning holes Two sets of retaining rings are further installed on the translation joystick to realize axial limit relative to the first moving slide and the second moving slide; The translation rod unit further includes a position locking mechanism for locking the axial position of the positioning rod; The position locking mechanism includes an elastic sheet installed on the outer wall of the positioning rod and a locking groove formed on the inner wall of the translation joystick, and further includes a self-resetting button installed on the translation joystick for pushing the elastic sheet; Or, The position locking mechanism includes an L-shaped groove composed of a vertical groove and a horizontal groove provided on the translation joystick, and the lower end of the vertical groove is connected to one end of the horizontal groove; the position locking mechanism further includes a pin shaft installed on the positioning rod, and the pin shaft is located in the L-shaped groove.

[0014] As a further improvement of the multi-rotor vehicle control device: A plurality of positioning holes are arranged on the base, and the lower end of the translation joystick is used to cooperate with the positioning holes; It further includes a third return spring for pushing the translation joystick to reset upward and a position locking mechanism for locking the position of the translation joystick; The position locking mechanism includes a sliding sleeve wrapped outside the translation joystick. The sliding sleeve passes through the limiting hole, and retaining rings are installed at both the upper end and the lower end of the sliding sleeve to achieve axial limitation; Elastic pieces are provided on the outside of the translation joystick, and a locking groove and a self-return button for pushing the elastic piece are provided on the inner wall of the sliding sleeve.

[0015] The present invention also provides a multi-rotor vehicle control method, using the above multi-rotor vehicle control device; The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform translational movements according to the control signals provided by the first control section, and controls the multi-rotor vehicle to perform rolling movements according to the control signals provided by the second control section; Or, The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform rolling movements according to the control signals provided by the first control section, and controls the multi-rotor vehicle to perform translational movements according to the control signals provided by the second control section.

[0016] The present invention also provides another multi-rotor vehicle control method, using the above multi-rotor vehicle control device; The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform rolling movements according to the control signals provided by the first control section, and controls the multi-rotor vehicle to perform translational movements according to the control signals provided by the second control section; When constant-speed and directional translation is required, first move the translation joystick to the corresponding position, and then the position locking mechanism locks the state of the second control section. At this time, the multi-rotor vehicle performs translation according to the set direction and speed, and the multi-rotor vehicle can be controlled to perform rolling movements on the basis of the current translational movement through the first control section.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts a structure in which two control sections are connected in series instead of the traditional joystick, which can expand the motion control redundancy of the vehicle, so that the control of translation and rolling can be achieved simultaneously with one hand. Since it is a series structure, there is no need to click the side buttons, so the operation is more convenient.

[0018] 2. The present invention uses an angle detection device or a position detection device to issue continuous control signals, which is more accurate and flexible compared to button control.

[0019] 3. The rocker unit can be locked by a locking mechanism, thereby switching to a single rocker mode (or single translation rod mode). This mode is more suitable for simple control scenarios, can reduce the control difficulty, and effectively avoid misoperations.

[0020] 4. In the solution where the rocker unit is adopted at the top and the translation rod unit is adopted at the bottom, due to the obvious difference in the control methods, the operator can better perceive whether it is translation or rolling that is currently being controlled, and the operation is more convenient and accurate.

[0021] 5. In the solution where the translation rod unit is provided with a position locking mechanism, on the one hand, the translation rod unit can be locked by the position locking mechanism to switch to the single rocker mode. On the other hand, the translation rod unit can be moved to the desired orientation and then locked to achieve constant speed and constant direction translation cruise. At this time, the upper rocker can be controlled separately to perform the rolling action simultaneously, and the operation is more simple and direct. Especially when implementing the solution where the second control section can be locked by pressing the entire first control section, the operation is more convenient.

[0022] 6. This control device can be used not only for flying unmanned aerial vehicles, but also for underwater unmanned aerial vehicles, flying cars and other devices that can perform multi-degree-of-freedom motion in a fluid.

[0023] 7. This control device is an independent control unit. It can not only be used as the right control unit of the controller, but also as the left control unit, or even replace two or more control units of the controller with this control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 One of the perspective views of Embodiment 1; Figure 2 One of the perspective views of Embodiment 2; Figure 3 One of the cross-sectional views of the rocker unit; Figure 4 One of the cross-sectional views of the rocker unit; Figure 5 The cross-sectional view of Embodiment 2; Figure 6 For Figure 5 The partial enlarged view of part A in Figure 7 For Figure 6 The partial enlarged view of part B in Figure 8 The structural schematic diagram of the L-shaped sliding groove in the translation rod unit in Embodiment 3; Figure 9 The top view of the base and positioning holes in Embodiments 2 and 3.

[0025] The reference signs include: 1. First control section; 2. Second control section; 101. Control stick; 102. Locking lever; 103. Base frame; 104. Connecting frame; 105. Cross shaft; 106. First return torsion spring; 1061. First torsion arm; 107. Second return torsion spring; 1071. Second torsion arm; 108. Spring bead; 109. First angle detection device; 110. First limit piece; 111. Second limit piece; 112. Second angle detection device; 113. Fourth limit piece; 114. Third limit piece; 201. Positioning rod; 202. First return spring; 203. Translation control lever; 204. First moving slide plate; 205. Second return spring; 206. Second moving slide plate; 207. Positioning hole; 208. Base; 209. Elastic piece; 210. Self - reset button; 211. Locking groove; 212. Vertical sliding groove; 213. Horizontal sliding groove; 214. Pin shaft. Detailed implementation mode

[0026] The technical solution of the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0027] The multi - rotor vehicle includes a flying unmanned aerial vehicle, and also includes a flying car, an underwater multi - rotor unmanned aerial vehicle, etc. Hereinafter, the unmanned aerial vehicle will be taken as an example for elaboration, but the present control device and control method can also be used for other vehicles, not limited to the unmanned aerial vehicle. Embodiment 1

[0028] As Figure 1 and 2 , a multi - rotor vehicle control device can replace the right rocker on the handle. It includes a base body (such as the body of the handle), and also includes a series - connected first control section 1 and second control section 2, and the second control section 2 is installed on the base body.

[0029] The control section includes a first part and a second part that are mechanically connected to each other to achieve relative movement, and also includes a detection device for detecting the relative position of the first part and the second part.

[0030] In this embodiment, the first control section 1 and the second control section 2 are both rocker units.

[0031] Specifically, as Figures 1 to 4 , the rocker unit includes a control stick 101 and a base frame 103. The control stick 101 can rock back - and - forth and left - and - right relative to the base frame 103. The rocker unit also includes a first angle detection device 109 for detecting the back - and - forth rocking angle and a second angle detection device 112 for detecting the left - and - right rocking angle. The frame of the first control section 1 is fixedly connected to the control stick 101 of the second control section 2, and the base frame 103 of the second control section 2 is fixedly connected to the base body.

[0032] Further, the rocker unit further includes a connecting frame 104 and a cross shaft 105. The lower end of the joystick 101 is connected to the top of the inverted U-shaped connecting frame 104. The connecting frame 104 is rotatably connected to the longitudinal shaft portion of the cross shaft 105 to achieve left and right swinging relative to the cross shaft 105. The transverse shaft portion of the cross shaft 105 is rotatably connected to the base frame 103 to achieve front and back swinging relative to the base frame 103.

[0033] The first angle detection device 109 is installed on the base frame 103 for detecting the angle of the transverse shaft portion relative to the base frame 103. The second angle detection device 112 is installed on the connecting frame 104 for detecting the angle of the longitudinal shaft portion relative to the connecting frame 104. Both the first angle detection device 109 and the second angle detection device 112 are potentiometers.

[0034] Further, the rocker unit further includes a reset mechanism for driving the joystick 101 to return to the middle position.

[0035] Such as Figure 3 and 4 As shown, the reset mechanism includes a first reset torsion spring 106 sleeved on the transverse shaft portion and a second reset torsion spring 107 sleeved on the longitudinal shaft portion.

[0036] Both ends of the spring wire of the first reset torsion spring 106 are respectively connected with a first torsion arm 1061 parallel to the transverse shaft portion. A first limiting piece 110 is fixedly connected to the base frame 103, and a second limiting piece 111 is fixedly connected to the cross shaft 105. The first limiting piece 110 and the second limiting piece 111 are arranged collinearly and are both located between the front and rear first torsion arms 1061. When the cross shaft 105 rotates back and forth, the second limiting piece 111 will push one of the first torsion arms 1061, while the other first torsion arm 1061 still abuts against the first limiting piece 110, and the first reset torsion spring 106 deforms to store energy for resetting. After releasing the cross shaft 105, the first reset torsion spring 106 will push the cross shaft 105 to reset through the second limiting piece 111.

[0037] Both ends of the spring wire of the second reset torsion spring 107 are respectively connected with a second torsion arm 1071 parallel to the longitudinal shaft portion. A third limiting piece 114 is fixedly connected to the connecting frame 104, and a fourth limiting piece 113 is fixedly connected to the cross shaft 105. The third limiting piece 114 and the fourth limiting piece 113 are arranged collinearly and are both located between the left and right second torsion arms 1071. Its reset principle is the same as that of the first reset torsion spring 106 and will not be elaborated here.

[0038] It should be noted that the first reset torsion spring 106 and the second reset torsion spring 107 in the second control section 2 have greater stiffness and can provide greater centering force, so as to give the operator obvious feedback and more directly perceive which control section's angle has been changed currently.

[0039] Further, the rocker unit further includes a locking mechanism for locking the control stick 101.

[0040] The locking mechanism includes a locking lever 102 rotatably connected to the base frame 103. A spherical positioning groove is provided on the locking lever 102. A groove is provided on the control stick 101, and a spring detent 108 is provided in the groove. When the locking lever 102 rotates into the groove, the spring detent 108 cooperates with the positioning groove to achieve locking. At this time, the rocker unit where it is located will not be able to move. Pushing the locking lever 102 forcefully can unlock it. In order to prevent the locking lever 102 from interfering with the operation, an elastic detent can be provided on the side to fix the locking lever 102.

[0041] During operation, the division of labor of the two operating joints can be freely set: Mode 1: The UAV control module controls the UAV to perform translational movements according to the control signals provided by the first operating joint 1, and controls the UAV to perform rolling movements according to the control signals provided by the second operating joint 2.

[0042] Mode 2: The UAV control module controls the UAV to perform rolling movements according to the control signals provided by the first operating joint 1, and controls the UAV to perform translational movements according to the control signals provided by the second operating joint 2.

[0043] The translation refers to leftward movement, rightward movement, forward movement, and backward movement. The rolling movements include rolling left, rolling right, rolling forward, and rolling backward.

[0044] Mode 3: For a tilt-rotor multi-rotor UAV, the first operating joint can be set to control the tilt angle of the rotor to achieve that the spatial position of the UAV remains unchanged but the body tilts at an angle, and the second operating joint is responsible for controlling the translation or rolling of the UAV. If necessary, both the left and right joysticks of the UAV controller can also be replaced with the two-section control device of the present invention to further expand the control margin of the UAV.

[0045] Mode 4: For a UAV combining a tilt-rotor multi-rotor UAV and a fixed wing, the first operating joint can be set to control the tilt angle of the rotor to achieve that the attitude of the UAV remains unchanged but the spatial position moves left, right, forward, and backward, and the second operating joint is responsible for controlling the front, back, left, and right flips of the UAV.

[0046] The operator can completely freely assign the control functions of the left conventional joystick and the right control device of the present invention. For example, the lifting function can be assigned to the second operating joint 2 on the right, and the translation can be assigned to the joystick on the left of the handle, and so on.

[0047] For an FPV UAV, the operator can also operate in cooperation with FPV glasses.

[0048] During operation, the operator mainly holds the joystick 101 of the first control section 1. Further, the size of the control section can also be designed according to needs. For example, the control section can be designed to be smaller for convenient pinching operation with fingers. If it is equipped on a flying car or used to control a large unmanned aerial vehicle, the control section can also be set larger, held by hand, and the first section is controlled by small-scale movement of the wrist, and the second section is controlled by overall movement of the arm. Embodiment 2

[0049] In this embodiment, as Figure 5 , the first control section 1 is a rocker unit, and the second control section 2 is a translation rod unit.

[0050] As Figures 5 to 7 , the translation rod unit includes a translation joystick 203 and a base 208. The vertical translation joystick 203 can move horizontally relative to the base 208. The translation rod unit further includes a first position detection device and a second position detection device for detecting the position of the translation joystick 203 relative to the base 208.

[0051] Further, the translation rod unit further includes a first moving slide plate 204 and a second moving slide plate 206. The first moving slide plate 204 is horizontally arranged in the front-rear direction, and a first through groove is formed in the front-rear direction on the upper surface. The first moving slide plate 204 is slidably connected to the base 208 to realize left-right movement. The second moving slide plate 206 is horizontally arranged in the left-right direction, and a second through groove is formed in the left-right direction on the upper surface. The second moving slide plate 206 is slidably connected to the base 208 to realize front-rear movement.

[0052] In this embodiment, the base 208 adopts a multi-layer stacked structure and is connected into one body by bolts. Guide rails are formed by strip-shaped protrusions between adjacent layers, and the guide rails are slidably mated with the grooves at the ends of the moving slide plates.

[0053] The upper end of the translation joystick 203 is used for fixedly connecting with the base frame 103 of the upper rocker unit, and the lower end passes through the limiting hole formed by the intersection of the first through groove and the second through groove. Two sets of retaining rings are also installed on the translation joystick 203 to realize axial limiting relative to the first moving slide plate 204 and the second moving slide plate 206. When the translation joystick 203 translates, the first moving slide plate 204 and the second moving slide plate 206 will move accordingly.

[0054] Two sets of second return springs 205 are also installed on the base 208. One set of second return springs 205 is used to drive the first moving slide plate 204 to return to the middle position, and the other set of second return springs 205 is used to drive the second moving slide plate 206 to return to the middle position. The second return springs 205 are arranged in pairs and can be hidden and installed at the guide rails.

[0055] The first position detection device for detecting the position of the first moving slide plate 204 and the second position detection device for detecting the position of the second moving slide plate 206 are also installed on the base 208. The first position detection device and the second position detection device are sliding resistors, and their moving ends are connected to the corresponding moving slide plates. When the position of the moving slide plate changes, the resistance value of the sliding resistor changes, so as to emit different analog signals by means of an externally connected power supply.

[0056] Further, as Figure 6 and 7 , the translation rod unit further includes a positioning rod 201 and a first return spring 202. The translation control lever 203 is cylindrical, the positioning rod 201 passes through the translation control lever 203, and the first return spring 202 is used to push the positioning rod 201 upward. In order to prevent the positioning rod 201 from popping out, axial limitation needs to be performed on the positioning rod 201. It can be to provide a protrusion at the lower part of the positioning rod 201, which contacts the bottom of the translation control lever 203 after bouncing upward, or to install a limiting plate inside the base frame 103 (but this may affect the operation of the positioning rod 201).

[0057] As Figure 9 , a plurality of positioning holes 207 are arranged on the base 208. The positioning holes 207 can be arranged in a matrix or in a multi-circle circumferential arrangement. The lower end of the positioning rod 201 is used to cooperate with the positioning holes 207. After the positioning rod 201 is inserted downward into the positioning holes 207, the translation control lever 203 cannot move and is in a locked state.

[0058] Further, the translation rod unit further includes a position locking mechanism for locking the axial position of the positioning rod 201. In this embodiment, the position locking mechanism includes an elastic piece 209 installed on the outer wall of the positioning rod 201, a locking groove 211 opened on the inner wall of the translation control lever 203, and a self-return button 210 installed on the translation control lever 203 for pushing the elastic piece 209. After pressing the positioning rod 201 downward to insert it into the positioning hole 207, the elastic piece 209 will protrude into the locking groove 211. At this time, when the positioning rod 201 is released, the positioning rod 201 will not return upward. After pressing the self-return button 210 to push the elastic piece 209 out of the locking groove 211, the positioning rod 201 will be reset under the action of the first return spring 202 to achieve unlocking. At this time, the translation control lever 203 can move freely.

[0059] In this embodiment, the UAV control module controls the UAV to perform a rolling action according to the control signal provided by the first control section 1, and controls the UAV to perform a translation action according to the control signal provided by the second control section 2. This control allocation method in which the rocker corresponds to rolling and the translation rod corresponds to translation is more intuitive.

[0060] When a constant-speed and fixed-direction translation is required, first move the translation joystick 203 to the corresponding position, then insert the positioning rod 201 into the positioning hole 207 and lock the positioning rod 201 by means of the position locking mechanism. At this time, the UAV performs a translation according to the set direction and speed, and the operator can control the UAV to perform a rolling action on the basis of the current translation action through the first control section 1. At this time, the operator does not need to manually maintain the state of the second control section 2 below, and the operation is more convenient.

[0061] The operator can also, according to needs, control the translation with the rocker unit, control the roll with the translation rod unit, or control other actions separately. Embodiment III

[0062] The difference between this embodiment and Embodiment II lies in the structure of the position locking mechanism.

[0063] As Figure 8 , the position locking mechanism includes an L-shaped chute formed by a vertical chute 212 and a horizontal chute 213 provided on the translation joystick 203, and the lower end of the vertical chute 212 is connected to one end of the horizontal chute 213; the position locking mechanism further includes a pin shaft 214 installed on the positioning rod 201, and the pin shaft 214 is located in the L-shaped chute.

[0064] When locking, push down the positioning rod 201 to insert its lower end into the positioning hole 207, and then rotate the positioning rod 201 to make the pin shaft 214 slide into the horizontal chute 213, and the locking can be achieved. When unlocking is required, rotate the positioning rod 201 in the reverse direction to make the pin shaft 214 return to the vertical chute 212, and then the positioning rod 201 can be ejected under the action of the first return spring 202. Embodiment IV

[0065] This embodiment is similar to Embodiment II, the difference being that: there is no positioning rod in this embodiment, and a sliding sleeve is introduced at the same time. The translation joystick and the upper first control section in this embodiment can move up and down as a whole, so that pressing the first control section to directly insert the translation joystick into the positioning hole can quickly achieve locking, and the operation is more convenient.

[0066] The specific structure is as follows: A plurality of positioning holes are arranged on the base, and the lower end of the translation joystick is used for cooperation with the positioning holes.

[0067] It further includes a third return spring for pushing the translation joystick to reset upward (which can be directly sleeved outside the translation joystick, with the upper end contacting the base frame or the translation joystick and the lower end contacting the moving slide plate) and a position locking mechanism for locking the position of the translation joystick.

[0068] The position locking mechanism includes a sliding sleeve wrapped around the outer side of the translation joystick. The sliding sleeve passes through the limiting hole, and retaining rings are installed at both the upper and lower ends of the sliding sleeve to achieve axial limitation. At the same time, a protrusion should be added on the outer side of the lower part of the translation joystick, which will contact the bottom of the sliding sleeve when resetting upward to achieve the limitation of upward movement.

[0069] An elastic sheet is provided on the outer side of the translation joystick, and a locking groove and a self-resetting button for pushing the elastic sheet are provided on the inner wall of the sliding sleeve. This part of the structure can be referred to Figure 7 for implementation.

[0070] It can be seen that in terms of locking and unlocking, the translation joystick in this embodiment corresponds to the positioning rod in Embodiment 2, and the sliding sleeve corresponds to the translation joystick in Embodiment 2. After pressing the translation joystick, it directly inserts into the positioning hole, and the axial locking of the translation joystick is achieved through the elastic sheet and the locking groove. When unlocking is required, press the self-resetting button located on the outer side of the sliding sleeve to unlock. The action principle is essentially the same as that of Embodiment 2. Other implementation manners

[0071] According to the operator's habits and needs, the first control section 1 can also be set as a translation rod unit, the second control section 2 can be set as a rocker unit, or both sections can be translation rod units. Obviously, other control modules can also be used to replace the rocker unit and the translation rod unit.

[0072] This control device can not only be used as the right control unit of a controller (such as a handle) (replacing the right rocker of a traditional handle), but also be used as the left control unit (replacing the left rocker), or even replace two or more control units of the controller with this control device. For example, both the left and right rockers can be replaced with this control device.

[0073] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. The scope of the present invention is defined by the claims rather than the above description.

Claims

1. A multi-rotor vehicle control device, comprising a base, characterized in that: It also comprises a first control section (1) and a second control section (2) connected in series, wherein the second control section (2) located at the root is mounted on the base.

2. The multi-rotor vehicle control device according to claim 1, characterized in that: The first control section (1) and the second control section (2) are both rocker units; Alternatively, the first control section (1) is a rocker unit, and the second control section (2) is a translation rod unit; The rocker unit comprises a steering column (101) and a base frame (103); the steering column (101) can be rocked forward, backward, left, and right relative to the base frame (103); the rocker unit further comprises a first angle detection device (109) for detecting a forward and backward rocking angle and a second angle detection device (112) for detecting a left and right rocking angle; The translation rod unit comprises a translation joystick (203) and a base (208); the vertical translation joystick (203) is capable of horizontal movement relative to the base (208); and the translation rod unit further comprises a first position detection device and a second position detection device for detecting the position of the translation joystick (203) relative to the base (208).

3. The multi-rotor vehicle control device according to claim 2, characterized in that: The rocker unit further comprises a connecting frame (104) and a cross shaft (105); the lower end of the steering column (101) is connected to the top of the inverted U-shaped connecting frame (104); the connecting frame (104) is rotatably connected to the longitudinal axis of the cross shaft (105) to achieve left-right swing relative to the cross shaft (105); and the transverse axis of the cross shaft (105) is rotatably connected to the base frame (103) to achieve forward and backward swing relative to the base frame (103); The first angle detection device (109) is mounted on the base frame (103) and is used to detect the angle of the transverse shaft portion relative to the base frame (103); the second angle detection device (112) is mounted on the connecting frame (104) and is used to detect the angle of the longitudinal shaft portion relative to the connecting frame (104).

4. The multi-rotor vehicle control device according to claim 3, characterized in that: The rocker unit also includes a reset mechanism for driving the steering column (101) back to center; The reset mechanism comprises a first reset torsion spring (106) sleeved on the transverse shaft portion and a second reset torsion spring (107) sleeved on the longitudinal shaft portion; Both ends of the spring wire of the first return torsion spring (106) are respectively connected to first torsion arms (1061) parallel to the transverse shaft portion; a first limiting plate (110) is fixedly connected to the base frame (103); a second limiting plate (111) is fixedly connected to the cross shaft (105); the first limiting plate (110) and the second limiting plate (111) are colinearly arranged and are both located between the front and rear first torsion arms (1061); The two ends of the spring wire of the second return torsion spring (107) are respectively connected to second torsion arms (1071) parallel to the longitudinal axis, the third limiting piece (114) is fixedly connected to the connecting frame (104), and the fourth limiting piece (113) is fixedly connected to the cross shaft (105), and the third limiting piece (114) and the fourth limiting piece (113) are colinearly arranged and are both located between the left and right second torsion arms (1071).

5. The multi-rotor vehicle control device according to claim 3, wherein: The rocker unit also includes a locking mechanism for locking the steering column (101); The locking mechanism comprises a locking rod (102) mounted on a base frame (103) by means of a rotational connection, wherein a positioning groove is provided on the locking rod (102); a groove is provided on the steering column (101), and a spring top bead (108) is provided in the groove; when the locking rod (102) is rotated into the groove, the spring top bead (108) cooperates with the positioning groove.

6. The multi-rotor vehicle control device according to claim 2, wherein: The translation rod unit further comprises a first moving slide plate (204) and a second moving slide plate (206); The first movable slide plate (204) is horizontally arranged along the front-to-back direction, and a first sliding groove is provided on the first movable slide plate along the front-to-back direction, and the first movable slide plate (204) is slidably connected to the base (208) to achieve left-right movement; The second movable slide plate (206) is horizontally arranged in the left-right direction, and a second sliding groove is provided on the upper surface thereof in the left-right direction and passes through the upper and lower parts, and the second movable slide plate (206) is slidably connected to the base (208) to realize forward and backward movement; The upper end of the translation joystick (203) is used for fixed connection with the base frame (103) of the upper rocker unit, and the lower end passes through a limiting hole formed by the intersection of the first slide groove and the second slide groove; Two sets of second return springs (205) are also installed on the base (208), one set of second return springs (205) is used to drive the first movable slide plate (204) to return, and the other set of second return springs (205) is used to drive the second movable slide plate (206) to return; The base (208) is also equipped with the first position detection device for detecting the position of the first movable slide plate (204) and the second position detection device for detecting the position of the second movable slide plate (206).

7. The multi-rotor vehicle control device according to claim 6, characterized in that: The translation rod unit further comprises a positioning rod (201) and a first return spring (202); the translation joystick (203) is cylindrical, the positioning rod (201) passes through the translation joystick (203), and the first return spring (202) is used to push the positioning rod (201) upward; a plurality of positioning holes (207) are arranged on the base (208), and the lower end of the positioning rod (201) is used to cooperate with the positioning hole (207). The translation joystick (203) is also provided with two sets of upper and lower retaining rings to achieve axial positioning relative to the first movable slide plate (204) and the second movable slide plate (206); The translation rod unit further comprises a position locking mechanism for locking the axial position of the positioning rod (201); The position locking mechanism comprises an elastic sheet (209) mounted on the outer wall of the positioning rod (201) and a locking groove (211) provided on the inner wall of the translation joystick (203), and also comprises a self-reset button (210) mounted on the translation joystick (203) for pushing the elastic sheet (209); or, The position locking mechanism comprises an L-shaped slide groove formed by a vertical slide groove (212) and a horizontal slide groove (213) arranged on the translation control rod (203), wherein the lower end of the vertical slide groove (212) is connected to one end of the horizontal slide groove (213); the position locking mechanism also comprises a pin shaft (214) mounted on the positioning rod (201), and the pin shaft (214) is located in the L-shaped slide groove.

8. The multi-rotor vehicle control device according to claim 6, wherein: A plurality of positioning holes (207) are arranged on the base (208), and the lower end of the translation joystick (203) is used to cooperate with the positioning hole (207); It also includes a third return spring for pushing the translation joystick (203) to return upwards, and a position locking mechanism for locking the translation joystick (203); The position locking mechanism comprises a sliding sleeve wrapped around the outside of the translation joystick (203), the sliding sleeve passing through the limiting hole, and retaining rings are installed at the upper and lower ends of the sliding sleeve to achieve axial limiting; an elastic sheet (209) is provided on the outside of the translation joystick (203), and a locking groove (211) and a self-reset button (210) for pushing the elastic sheet (209) are provided on the inner wall of the sliding sleeve.

9. A multi-rotor vehicle control method, characterized in that: Using the multi-rotor vehicle control device as claimed in claim 1; The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform a translational motion according to a control signal provided by the first control section (1), and controls the multi-rotor vehicle to perform a tumbling motion according to a control signal provided by the second control section (2); or, The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform a rolling action according to a control signal provided by the first control section (1), and controls the multi-rotor vehicle to perform a translation action according to a control signal provided by the second control section (2).

10. A method for controlling a multi-rotor vehicle, characterized in that: Using the multi-rotor vehicle control device as claimed in claim 7 or 8; The control module of the multi-rotor vehicle controls the multi-rotor vehicle to perform a rolling action according to a control signal provided by the first control section (1), and controls the multi-rotor vehicle to perform a translation action according to a control signal provided by the second control section (2); When constant-speed directional translation is required, the translation joystick (203) is first moved to a corresponding position, and then the position locking mechanism locks the state of the second control section (2). At this time, the multi-rotor vehicle translates in the set direction and speed, and the first control section (1) can be used to control the multi-rotor vehicle to perform a rolling action based on the current translation action.

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