Rocker calibration device

Abstract

The invention provides a rocker calibration device which comprises a base station and a rocker arranged on the base station and further comprises a control mechanism and a calibration mechanism. The control mechanism comprises a driving assembly and a connecting assembly, the driving assembly is arranged on the base table, one end of the connecting assembly sleeves the rocker, and the other end of the connecting assembly is arranged on the driving assembly. The calibration mechanism comprises a quadrant plate, a recording piece and a detection assembly, the quadrant plate is opposite to the base station, one end of the recording piece is arranged on the connecting assembly and is in signal connection with the quadrant plate, and the detection assembly is magnetically connected with the rocker. The movement area of the rocker is equally divided into a plurality of fan-shaped areas by the quadrant plates, and every two adjacent fan-shaped areas are overlapped to form a buffer area, so that parameter jump caused by switching of the rocker between the adjacent fan-shaped areas is prevented. According to the rocker calibration device, the control mechanism and the calibration mechanism are arranged to dynamically calibrate the moving process of the rocker. The quadrant plate records the motion trail of the rocker, and a buffer area is further arranged, so that smooth calibration compensation is realized when the rocker is transited between adjacent areas.

Description

Technical Field

[0001] This application relates to the technical field of drone joystick calibration, and particularly to a joystick calibration device. Background Art

[0002] In modern drone systems, the joystick, as the main control input component, is widely used in the control of flight attitude, speed, direction and other parameters. Especially in consumer and professional drones, a high-precision and high-response joystick input system is a key link to ensure flight stability and user control experience. Due to problems such as structural wear and contact aging of traditional mechanical potentiometer joysticks, in recent years, Hall effect joysticks have gradually become the mainstream configuration of high-end drone remote controllers due to their advantages such as non-contact induction principle and sensitive response.

[0003] Regarding the accuracy problem of Hall joysticks during signal acquisition, various calibration methods have been proposed in the prior art. A relatively common method is based on the strategy of "multi-point sampling + dynamic compensation". By moving the joystick to multiple preset positions, the sensor output signals at each point are collected, and the correction coefficient between the actual position and the theoretical position is calculated. The system calls the corresponding correction coefficient according to the current sector where the joystick is located to linearly compensate the original input signal, thereby improving the overall control accuracy and consistency.

[0004] However, the above calibration method based on partition compensation still has certain defects. When the joystick is at the boundary position between two sectors and moves across sectors, since the compensation coefficients come from the reference values of different sectors, obvious jumps occur in the final output signal. When the joystick moves frequently in the boundary area, this problem of discontinuous compensation may cause abnormal changes in the drone's attitude during actual flight, affecting flight stability and control feel. Therefore, it is still necessary to propose a joystick calibration device that can eliminate the compensation mutation phenomenon between regions, making the joystick control smoother and continuous, and improving the control accuracy and user experience. Summary of the Invention

[0005] In view of this, it is necessary to provide a joystick calibration device that can eliminate the compensation mutation phenomenon between regions to solve the above problems.

[0006] An embodiment of this application provides a joystick calibration device, including a base and a joystick disposed on the base. The calibration device further includes: A control mechanism, including a driving component and a connecting component. The driving component is disposed on the base, one end of the connecting component is sleeved on the joystick, and the other end is disposed on the driving component; The calibration mechanism includes a quadrant plate, a recording member, and a detection component. The quadrant plate is disposed opposite to the base. One end of the recording member is disposed on the connection component, and the other end faces the quadrant plate and is signal-connected to the quadrant plate. The detection component is disposed on the base and is magnetically connected to the rocker arm; The driving component drives the rocker arm to move, so as to drive the recording member to transmit the movement track of the rocker arm to the quadrant plate to generate quadrant information, divide the movement area of the rocker arm into several fan-shaped areas, and the detection component generates a first calibration parameter corresponding to each of the fan-shaped areas based on the quadrant information and magnetic field changes; Wherein, the boundary of each of the fan-shaped areas extends towards the adjacent area direction, and adjacent two of the fan-shaped areas overlap to form a buffer area, and the detection component generates a second calibration parameter corresponding to the buffer area to prevent parameter jumps caused by the rocker arm switching between adjacent fan-shaped areas.

[0007] In at least one embodiment of the present application, the quadrant plate records the rocker arm moving through the buffer area to generate overlap information, and the detection component generates a second calibration parameter corresponding to the buffer area based on the first calibration parameters corresponding to the two overlapping fan-shaped areas and the overlap information.

[0008] In at least one embodiment of the present application, the detection component compares the absolute difference between the first calibration parameters corresponding to adjacent two of the fan-shaped areas to dynamically adjust the extension angle of each of the fan-shaped areas; The boundary extension angle of each of the fan-shaped areas is denoted as D, 1°≤D≤4°. In at least one embodiment of the present application, the standard calibration parameter is denoted as Y, 0.2Y is a preset threshold, and the absolute difference between the first calibration parameters corresponding to adjacent two of the fan-shaped areas is denoted as ΔK; When ΔK = 0.2Y, D = 2.5°; When ΔK>0.2Y, 2.5°<D≤4°; When ΔK<0.2Y, 1°≤D<2.5°.

[0009] In at least one embodiment of the present application, the first calibration parameters corresponding to adjacent two of the fan-shaped areas are respectively denoted as a and b, and the second calibration parameter is denoted as c, satisfying c = (a + b) / 2.

[0010] In at least one embodiment of the present application, the driving component includes a first slide rail and a second slide rail disposed on the first slide rail. The first slide rail is disposed on the base, and the first slide rail and the second slide rail are perpendicular to each other in the horizontal direction; The connection component is arranged on the second slide rail, and the first slide rail and the second slide rail drive the connection component to move so as to drive the rocker to generate a moving track.

[0011] In at least one embodiment of the present application, the rocker includes a body joystick, the body is fixedly connected to the base, one end of the joystick is rotatably connected to the body, and the other end extends outward; The connection component includes a connecting rod and a rotating member. One end of the connecting rod is arranged on the second slide rail, and the other end is movably connected to the rotating member. The rotating member is arranged at one end of the joystick away from the body, and the rotating member rotates to adapt to the rotation angle of the driving component driving the joystick.

[0012] In at least one embodiment of the present application, the rotating member includes a first rotating portion, a second rotating portion and a guiding portion. Opposite sides of the first rotating portion are arranged on the connecting rod to form a first rotating shaft; The first rotating portion is sleeved on the second rotating portion. Opposite ends of the second rotating portion are attached to the first rotating portion to form a second rotating shaft. The second rotating portion is movably connected to the guiding portion, and the guiding portion is coaxially arranged with the joystick.

[0013] In at least one embodiment of the present application, the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0014] In at least one embodiment of the present application, the recording member is arranged at one end of the guiding portion away from the second rotating portion. The recording member is coaxially arranged with the guiding portion. The joystick rotates to drive the recording member to rotate. The recording member sends the moving track of the joystick to the quadrant plate in real time, and the quadrant plate records the moving track to generate visual quadrant information so as to record the angular ranges of the sector area and the buffer area.

[0015] The provided rocker calibration device drives and dynamically calibrates the rocker accurately during the moving process by setting a control mechanism and a calibration mechanism. The control mechanism drives the rocker to move in all directions through a driving component. The recording member collects its track in real time and transmits it to the quadrant plate to form finely divided sector area information. By detecting the magnetic field change through a detection component to generate the first calibration parameter of each sector area, the calibration accuracy within the area is effectively improved. Further, by setting a buffer area between adjacent sector areas and generating an independent second calibration parameter within the buffer area, when the rocker transitions between adjacent areas, continuous and smooth calibration data can still be obtained, avoiding the output jump problem caused by cross-region compensation differences in the traditional solution, and significantly improving the stability of the UAV control. Description of the Drawings

[0016] Figure 1Isometric view of a rocker calibration device in an embodiment of the present application.

[0017] Figure 2 Is Figure 1 Another perspective isometric view of the described rocker calibration device.

[0018] Figure 3 Is Figure 1 Exploded isometric view of the described rocker calibration device.

[0019] Figure 4 Is Figure 3 Enlarged view of part A of the described rocker calibration device.

[0020] Figure 5 Is Figure 1 Isometric view of the local structure of the described rocker calibration device.

[0021] Figure 6 Is Figure 1 Schematic diagram of the fan-shaped area of the described rocker calibration device.

[0022] Figure 7 Is Figure 1 Schematic diagram of the buffer area of the described rocker calibration device.

[0023] Figure 8 Is Figure 1 Schematic diagram of the dynamic adjustment of the buffer area of the described rocker calibration device.

[0024] Figure 9 Is Figure 1 Flow chart of the calibration process of the described rocker calibration device.

[0025] Description of the main component symbols 100. A rocker calibration device; 10. Base; 20. Rocker; 21. Body; 22. Joystick; 23. Movement trajectory; 30. Control mechanism; 31. Driving component; 311. First slide rail; 312. Second slide rail; 32. Connecting component; 321. Connecting rod; 322. Rotating part; 322a. First rotating part; 322b. Second rotating part; 322c. Guide part; 40. Calibration mechanism; 41. Quadrant plate; 411. Quadrant information; 412. Fan-shaped area; 412a. Boundary; 413. Buffer area; 414. Overlap information; 42. Recording part; 43. Detection component; 431. First calibration parameter; 432. Second calibration parameter. Detailed implementation manners

[0026] Next, the embodiments of the present application will be described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0027] It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component in between. When a component is considered to be "provided on" another component, it can be directly provided on the other component or there may be an intermediate component in between. The terms "top", "bottom", "upper", "lower", "left", "right", "front", "rear", and similar expressions used herein are for illustrative purposes only.

[0028] An embodiment of the present application provides a rocker calibration device, including a base platform and a rocker provided on the base platform. The calibration device further includes: A control mechanism, including a driving component and a connecting component. The driving component is provided on the base platform. One end of the connecting component is sleeved on the rocker, and the other end is provided on the driving component; A calibration mechanism, including a quadrant plate, a recording member, and a detection component. The quadrant plate is disposed opposite to the base platform. One end of the recording member is provided on the connecting component, the other end faces the quadrant plate, and is in signal connection with the quadrant plate. The detection component is provided on the base platform and is magnetically connected to the rocker; The driving component drives the rocker to move, so as to drive the recording member to transmit the movement trajectory of the rocker to the quadrant plate to generate quadrant information, divide the movement area of the rocker into a plurality of fan-shaped areas on average, and the detection component generates a first calibration parameter corresponding to each of the fan-shaped areas based on the quadrant information and magnetic field changes; Wherein, the boundary of each of the fan-shaped areas extends towards the adjacent area direction, and two adjacent fan-shaped areas overlap to form a buffer area. The detection component generates a second calibration parameter corresponding to the buffer area to prevent parameter jumps caused by the rocker switching between adjacent fan-shaped areas.

[0029] The above-provided rocker calibration device drives and dynamically calibrates the rocker accurately during the movement process by setting the control mechanism and the calibration mechanism. The control mechanism drives the rocker to move in all directions through the driving component. The recording member collects its trajectory in real time and transmits it to the quadrant plate to form finely divided fan-shaped area information. By the detection component sensing magnetic field changes to generate the first calibration parameter for each fan-shaped area, the calibration accuracy within the area is effectively improved. Further, by setting a buffer area between adjacent fan-shaped areas and generating an independent second calibration parameter in the buffer area, when the rocker transitions between adjacent areas, continuous and smooth calibration data can still be obtained, avoiding the output jump problem caused by cross-region compensation differences in the traditional scheme, and significantly improving the stability of the UAV control.

[0030] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0031] See also Figures 1 - 9 An embodiment of the present application provides a rocker calibration device 100, comprising a base 10 and a rocker 20 disposed on the base 10. The calibration device further comprises a control mechanism 30 and a calibration mechanism 40.

[0032] The control mechanism 30 includes a driving component 31 and a connecting component 32. The driving component 31 is arranged on the base 10. One end of the connecting component 32 is sleeved on the rocker 20, and the other end is arranged on the driving component 31. The calibration mechanism 40 includes a quadrant plate 41, a recording component 42 and a detection component 43. The quadrant plate 41 is arranged opposite to the base 10. One end of the recording component 42 is arranged on the connecting component 32, and the other end faces the quadrant plate 41 and is signal-connected to the quadrant plate 41. The detection component 43 is arranged on the base 10 and is magnetically connected to the rocker 20.

[0033] The driving component 31 drives the joystick 20 to move, thereby driving the recording component 42 to transmit the movement trajectory 23 of the joystick 20 to the quadrant board 41 to generate quadrant information 411, and divide the movement area of the joystick 20 into a plurality of sector areas 412. The detection component 43 generates a first calibration parameter 431 corresponding to each sector area 412 based on the quadrant information 411 and the magnetic field change.

[0034] Among them, the boundary 412a of each sector area 412 extends toward the adjacent area, and two adjacent sector areas 412 overlap to form a buffer zone 413. The detection component 43 generates a second calibration parameter 432 corresponding to the buffer zone 413 to prevent parameter jumps caused by the joystick 20 switching between adjacent sector areas 412.

[0035] Specifically, the drive assembly 31, mounted on the base 10, provides controllable and precise motion for the rocker 20. This enables precise adjustment of the rocker 20's angle in all directions, helping to generate accurate motion trajectories and reducing human error. The connecting assembly 32 establishes a motion transmission path between the drive assembly 31 and the rocker 20, effectively transmitting power from the driver to the rocker 20. The rotatable configuration of the connecting assembly 32 adapts to the varying angles of motion of the rocker 20, preventing any jamming or straining of the device.

[0036] Furthermore, the quadrant board 41 serves as an information receiver and recorder, capturing the trajectory information of the joystick 20. This facilitates the sectorization of the continuous trajectory of the joystick 20 and generates visual information, improving analytical accuracy. A recording element 42, one end of which is mounted on the connection assembly 32 and the other end faces the quadrant board 41. It is signal-connected to the quadrant board 41 and transmits the physical trajectory information of the joystick 20 to the quadrant board 41 in real time. This achieves automated and accurate trajectory capture, providing a reliable foundation for subsequent sectorization and parameter calculation. The detection assembly 43 senses the motion state, angle, and position changes of the joystick 20 through a magnetic connection.

[0037] Furthermore, the movable area of the rocker 20 is divided into multiple standard sector areas 412, and each sector area 412 is given an independent first calibration parameter 431. Forming personalized parameter compensation for different direction / angle displacements helps to improve the response linearity and accuracy of the rocker 20 during operation in the edge area or at special angles. By expanding the boundary 412a of the sector area 412 to form an overlapping area (buffer area 413), a transition area is introduced between adjacent sector areas 412. By calculating the "second calibration parameter 432", the signal difference is smoothed to prevent problems such as discontinuous operation, jamming or drifting caused by the rocker 20 jumping at the boundary 412a, and to avoid jumping between different areas.

[0038] In a specific embodiment, during the calibration process of the rocker 20 for the first calibration parameter 431, the entire movement range of the rocker 20 is divided into several sector areas 412 by the data collected by the quadrant plate 41 recording member 42, and each sector area 412 represents the movement state of the rocker 20 within a certain specific angle range. At the same time, the detection component 43 (such as a Hall sensor and its processing unit) collects the changing data of the magnetic field during the movement of the rocker 20 in real time. Since the distribution of the magnetic field is usually not completely uniform, there will be a certain deviation between the actual output signal within each sector area 412 and the ideal state.

[0039] To correct this deviation, the detection component 43 uses two parts of information: the quadrant information 411 is composed of multiple sector areas 412 divided by the quadrant plate 41 according to the movement trajectory of the rocker 20 collected by the recording member 42, which reflects the geometric position or angle range where the rocker 20 is located. Magnetic field change: the Hall sensor signal collected by the detection component 43, which reflects the change in the magnetic flux density generated by the magnet when the rocker 20 moves. By processing these two parts of data, the detection component 43 calculates the first calibration parameter 431, which reflects the correction ratio or compensation coefficient between the actually detected signal and the ideal state within each sector area 412.

[0040] Furthermore, due to reasons such as structure, magnet position, and magnetic field distribution within each sector area 412, there may be local errors. The first calibration parameter 431 is used to quantify these local errors and serves as the basis for subsequent calibration. For example, within a certain sector area 412, there is a certain deviation between the actually detected magnetic field intensity and the ideal reference value. At this time, the first calibration parameter 431 will adjust the output within this area so that the corrected output is more in line with the expectation. By dividing the entire movement range of the rocker 20 into sectors, the first calibration parameter 431 is generated separately for each area, enabling the calibration process to independently correct the non-linearity or local errors in different areas, thereby achieving more refined adjustment. In this embodiment, the sector areas 412 are divided into eight.

[0041] Since the specific process of the Hall rocker 20 for detecting the compensation parameters between its various angles is a prior art, it will not be elaborated here.

[0042] In a specific embodiment, the quadrant plate 41 records the movement of the rocker 20 passing through the buffer area 413 to generate overlapping information 414, and the detection component 43 generates a second calibration parameter 432 corresponding to the buffer area 413 based on the first calibration parameter 431 corresponding to two overlapping sector areas 412 and the overlapping information 414.

[0043] Specifically, when the rocker 20 moves between two adjacent sector areas 412, the quadrant plate 41 records this section of the movement trajectory 23 to obtain overlapping data input in multiple directions; these data are the overlapping information 414, including original data such as the angular path and response voltage of the rocker 20 in the buffer area 413. The detection component 43 obtains the first calibration parameter 431 of two adjacent sector areas 412 and simultaneously analyzes the overlapping information 414 recorded by the quadrant plate 41.

[0044] Furthermore, the active range of the entire rocker 20 is divided into multiple sector areas 412; each sector area 412 independently collects the response data of the rocker 20 within its range; the quadrant plate 41 serves as a recording area to mark and store the angular range of each sector area 412 and the corresponding first calibration parameter 431; essentially establishing a "space-parameter mapping table". There is a "hard cut boundary 412a" between each sector area 412. By extending the adjacent sector areas 412 towards each other by a preset angle, an overlapping buffer area 413 domain is formed, and the quadrant plate 41 records the movement trajectory of the rocker 20 in this part of the activity as the overlapping information 414.

[0045] Still further, the detection component 43 analyzes the parameters of the left and right two sector areas 412 and the movement data of the buffer area 413 together, compares and fuses these two-dimensional data; based on the above comparison results, the detection component 43 synthesizes the first calibration parameter 431 of the adjacent area and the actual movement trajectory of the buffer area 413; calculates a set of "second calibration parameters 432" dedicated to the buffer area 413 for optimizing the response of the buffer area 413.

[0046] In a specific embodiment, the detection component 43 compares the absolute difference between the first calibration parameters 431 corresponding to two adjacent sector areas 412 to dynamically adjust the expansion angle of the boundary 412a of each sector area 412; Define the expansion angle of the boundary 412a of each sector area 412 as D, where 1° ≤ D ≤ 4°.

[0047] Specifically, the detection component 43 understands the degree of change in error compensation between adjacent regions by analyzing the "error compensation value", i.e., the first calibration parameter 431, in the adjacent regions. It senses whether the error transition between different regions is smooth, thereby providing basic data for subsequent adjustment of the region boundary 412a. The boundary 412a range of each sector 412 is dynamically adjusted according to the error difference, that is, the width of the buffer 413 is adjusted. A buffer zone design that "varies according to errors" is achieved. The greater the error difference, the wider the buffer 413, making the transition smoother; avoiding problems such as abrupt transitions at high difference values and redundant buffering at low difference values caused by a general or fixed angle.

[0048] Further, the extended angle D of the boundary 412a is 1° to 4°, defining the adjustable angle range of the buffer 413 to ensure system stability and physical constraints, and preventing misidentification or excessive parameter overlap caused by an overly large extended angle.

[0049] In a specific embodiment, the standard calibration parameter is defined as Y, 0.2Y is the preset threshold, and the absolute difference ΔK between the first calibration parameters 431 corresponding to two adjacent sectors 412; When ΔK = 0.2Y, D = 2.5°; When ΔK > 0.2Y, 2.5° < D ≤ 4°; When ΔK < 0.2Y, 1° ≤ D < 2.5°.

[0050] Specifically, the standard calibration parameter Y defines the reference value for quantifying the error compensation amount of the joystick 20. All error comparisons are made with reference to it. It provides a unified measurement standard, which helps the system to make error judgments stably and uniformly. Setting the threshold 0.2Y serves as the dividing line for error significance judgment. An error within 0.2Y is regarded as a minor error, and the adaptation range is small; exceeding 0.2Y, it is considered that there are significant differences between different sectors, and the buffer needs to be widened to ensure a smooth transition; ensuring that the "buffer 413 response" is targeted and sensitive.

[0051] In a specific embodiment, the operating range of the joystick 20 is divided into eight equal - sector regions 412, and each region covers 45°. Each sector 412 has a corresponding first calibration parameter 431 (compensation value) for correcting the input deviation of the joystick 20 within that region. The calibration parameter switch occurs when the joystick 20 moves across the sector boundary 412a. To avoid parameter jumps, a buffer 413 is set at the boundary 412a.

[0052] The buffer 413 is set at the junction of each sector. For example, between 42.5° and 47.5° (taking the 45° boundary 412a as an example), a boundary 412a extension angle of ±2.5° is set. Within the buffer 413 area, instead of using any real calibration parameter of the two sectors, a fixed compensation value (the second calibration parameter 432) is uniformly used, such as the weighted median of two adjacent first calibration parameters 431.

[0053] Taking the example of the joystick 20 sliding from 0° to 90° Assume the calibration parameter distribution is as follows: The first area (0° - 45°): K1 = 1.0, the second area (45° - 90°): K2 = 1.2. In the prior art, during the movement of the joystick 20, the compensation is 1.0 at 44.9°, and instantaneously switches to 1.2 at 45.0°. This jump will cause obvious jerks or control mutations during operation.

[0054] The buffer 413 is set, for example, within the range of 42.5° - 47.5°. The system forces the use of the buffer value 1.1. It smoothly transitions from 1.0 to 1.1 and then to 1.2, eliminating the control discomfort caused by parameter mutations. The buffer 413 avoids the drastic changes caused by the direct switching of parameters between the two sectors.

[0055] Furthermore, if a direct switch is made at 45°, the compensation value will mutate from 1.0 to 1.2, resulting in a step change in the output signal. The buffer 413 is like adding a ramp between two steps of different heights, avoiding directly stepping into the void and falling. By fixing the compensation value in the overlapping area, the coefficient mutation is completely avoided, and the output signal is smoothed. And only the angle range needs to be judged, without the need to store or calculate additional parameters for the transition of the boundary 412a. Only the sector range needs to be extended and a fixed intermediate value is set. Locking the compensation value within the buffer 413 can suppress the coefficient fluctuations caused by sensor noise.

[0056] Even further, the size of the buffer 413 will be dynamically adjusted according to the absolute difference between two adjacent first calibration parameters 431. When the difference is large, the range of the buffer 413 is adaptively expanded to make the transition smoother. When the difference is small, the range of the buffer 413 is reduced to improve the calibration accuracy.

[0057] In a specific embodiment, the first calibration parameters 431 corresponding to two adjacent fan-shaped areas 412 are defined as a and b respectively, and the second calibration parameter 432 is c, satisfying c = (a + b) / 2.

[0058] Specifically, by averaging the calibration parameters of adjacent sectors 412, it is possible to avoid the jump phenomenon caused by parameter mutation when the rocker 20 transitions from one sector 412 to another. The averaged second calibration parameter 432 provides a smooth transition for the rocker 20, making the operation experience more coherent and natural.

[0059] In a specific embodiment, the driving assembly 31 includes a first slide rail 311 and a second slide rail 312 disposed on the first slide rail 311. The first slide rail 311 is disposed on the base 10, and the first slide rail 311 and the second slide rail 312 are perpendicular to each other in the horizontal direction. The connecting assembly 32 is disposed on the second slide rail 312. The first slide rail 311 and the second slide rail 312 drive the connecting assembly 32 to move, so as to drive the rocker 20 to generate a movement track 23.

[0060] Specifically, the driving assembly 31 refers to a system component that provides moving power, enabling the rocker 20 to move in a specific direction and generate a certain movement track 23. In this solution, the driving assembly 31 is composed of a first slide rail 311 and a second slide rail 312. These two slide rails cooperate with each other to enable the connecting assembly 32 to move smoothly in the horizontal direction. The first slide rail 311 is fixed on the base 10 and serves as the main part to support the slide rail system. It provides stable support and guidance for the movement of the second slide rail 312. The second slide rail 312 is installed on the first slide rail 311 and moves horizontally along the direction of the first slide rail 311. It provides a platform for the sliding of the connecting assembly 32.

[0061] Furthermore, the connecting assembly 32 is installed on the second slide rail 312, connecting the rocker 20 and the slide rail system. The first slide rail 311 and the second slide rail 312 control the movement track 23 of the rocker 20 by driving the connecting assembly 32 with each other. The first slide rail 311 and the second slide rail 312 provide driving in different directions, ensuring that the rocker 20 can move in multiple dimensions. It can more precisely control the movement track of the rocker 20, reduce the influence of the external environment on the movement of the rocker 20, and can perform independent movement control in different directions, improving the accuracy and flexibility of movement control, realizing the omnidirectional movement of the rocker 20, and preventing the occurrence of dead zones from affecting parameter calibration.

[0062] In a specific embodiment, the rocker 20 includes a body 21 and a joystick 22. The body 21 is fixedly connected to the base 10, and one end of the joystick 22 is rotatably connected to the body 21, and the other end extends outward. The connecting component 32 includes a connecting rod 321 and a rotating member 322. One end of the connecting rod 321 is arranged on the second slide rail 312, and the other end is movably connected to the rotating member 322. The rotating member 322 is arranged at one end of the joystick 22 away from the body 21, and the rotating member 322 rotates to adapt to the rotation angle of the driving component 31 driving the joystick 22.

[0063] Specifically, one end of the connecting rod 321 is connected to the second slide rail 312, and the other end is connected to the rotating member 322. The connecting rod 321 serves as a transmission element to transmit the motion driven by the slide rail. The rotating member 322 is installed at one end of the joystick 22 away from the body 21 and is used to control the rotation angle of the joystick 22. The rotating member 322 can rotate within a certain angle to respond to the drive of the slide rail system and control the movement of the rocker 20.

[0064] Furthermore, the function of the rotating member 322 is to provide flexibility during the rotation of the rocker 20 to cope with the offset of the rocker 20. Specifically, the rotating member 322 connects the rocker 20 and the driving component 31 to ensure that the rocker 20 can adapt to the motion provided by the driving component 31 when rotating at different angles and directions. Its function can be understood as providing a flexible connection method between the rocker 20 and the driving device, allowing the rocker 20 to rotate freely according to its movement track 23 and avoiding jamming or instability of the rocker 20 during the movement process.

[0065] In a specific embodiment, the rotating member 322 includes a first rotating portion 322a, a second rotating portion 322b, and a guiding portion 322c. The two opposite sides of the first rotating portion 322a are arranged on the connecting rod 321; The first rotating portion 322a is sleeved on the second rotating portion 322b. The two opposite ends of the second rotating portion 322b are in contact with the first rotating portion 322a. The second rotating portion 322b is movably connected to the guiding portion 322c, and the guiding portion 322c is coaxially arranged with the joystick 22.

[0066] Specifically, the first rotating portion 322a is located on both sides of the connecting rod 321 and plays a role of connection and support in the overall structure. The second rotating portion 322b is sleeved on the first rotating portion 322a, responsible for connecting to the guiding portion 322c and rotating together with the guiding portion 322c. Through cooperation with the first rotating portion 322a, the second rotating portion 322b can effectively carry and transmit the rotational motion of the rocker 20 to ensure that the angle of the rocker 20 can be accurately adjusted.

[0067] Furthermore, since one end of the joystick 22 is fixed to the main body 21, it can only rotate, and the movement of the slide rail will cause the rocker 20 to displace. To ensure that the rocker 20 can rotate smoothly, the guiding portion 322c, as the guiding part of the sliding, ensures the coordinated movement of the slide rail and the rotation of the joystick 22, so as to achieve a smooth and precise rotation effect. The guiding portion 322c is coaxially arranged with the joystick 22, ensuring that the rocker 20 can rotate smoothly along a predetermined trajectory during rotation. It ensures that the rocker 20 always maintains the correct axis during rotation, reducing the error that occurs during the operation of the rocker 20.

[0068] In a specific embodiment, the connection line between the contact end of the first rotating portion 322a and the connecting rod 321 is the first rotation axis, and the connection line between the contact end of the second rotating portion 322b and the first rotating portion 322a is the second rotation axis, and the first rotation axis and the second rotation axis are perpendicular to each other.

[0069] Specifically, the perpendicularity of the first rotation axis and the second rotation axis greatly enhances the degree of freedom of movement of the rocker 20. The perpendicular rotations do not affect each other, and the cooperation of the first rotation axis and the second rotation axis can achieve a flexible 360° rotation in the horizontal direction.

[0070] In a specific embodiment, the recording member 42 is provided at one end of the guiding portion 322c away from the second rotating portion 322b. The recording member 42 is coaxially arranged with the guiding portion 322c. The joystick 22 rotates to drive the recording member 42 to rotate. The recording member 42 transmits the movement trajectory 23 of the joystick 22 to the quadrant plate 41 in real time. The quadrant plate 41 records the movement trajectory 23 to generate visual quadrant information 411 to record the angular ranges of the sector area 412 and the buffer area 413.

[0071] Specifically, the recording member 42 is installed at the distal end of the guiding portion 322c and is coaxially arranged with the guiding portion 322c, and can rotate synchronously with the rotation of the joystick 22, so as to record the movement trajectory of the joystick 22 in real time. The coaxial configuration ensures the close cooperation between the recording member 42 and the joystick 22, ensuring that every rotation of the joystick 22 can be accurately recorded. The coaxial arrangement enables the recording member 42 to accurately synchronize the actions of the joystick 22, reducing the error caused by the deviation between different axes.

[0072] Further, during the rotation of the recording member 42, the motion information (i.e., trajectory data) of the joystick 22 is transmitted to the quadrant plate 41. The quadrant plate 41 analyzes and records the motion trajectory of the joystick 22 based on this data, avoiding errors caused by delays or data omissions. The quadrant plate 41 processes the motion trajectory data obtained from the recording member 42 to generate visual quadrant information 411. The visual quadrant information 411 can intuitively display the state of the joystick 22 in each area. This information not only helps the operator with intuitive control and feedback but also facilitates subsequent adjustment and analysis.

[0073] Still further, the quadrant plate 41 records each area in detail by recording different angular ranges during the movement of the joystick 22 (including the angular ranges of the fan-shaped area 412 and the buffer area 413). By accurately recording the angular range of each area, the system can be better calibrated and compensated, avoiding control instability caused by boundary 412a jumps or angular errors.

[0074] In a specific embodiment, the recording member 42 is an infrared emitter, and a photoelectric sensor is provided on the quadrant plate 41. The photoelectric sensor can capture the change in the optical signal emitted by the infrared emitter and, by calculating the change in the reflected light intensity, track the angle or position of the object in real time.

Claims

1. A rocker calibration device, comprising a base platform and a rocker provided on the base platform, characterized in that, The calibration device further includes: A control mechanism, including a driving component and a connecting component. The driving component is arranged on the base, one end of the connecting component is sleeved on the rocker, and the other end is arranged on the driving component; A calibration mechanism, including a quadrant board, a recording member and a detection component. The quadrant board is arranged opposite to the base. One end of the recording member is arranged on the connecting component, the other end faces the quadrant board and is in signal connection with the quadrant board. The detection component is arranged on the base and is magnetically connected to the rocker; The driving component drives the rocker to move, so as to drive the recording member to transmit the movement track of the rocker to the quadrant board to generate quadrant information, divide the movement area of the rocker into several fan-shaped areas, and the detection component generates a first calibration parameter corresponding to each fan-shaped area based on the quadrant information and magnetic field change; Wherein, the boundary of each fan-shaped area extends towards the adjacent area direction, and two adjacent fan-shaped areas overlap to form a buffer area. The detection component generates a second calibration parameter corresponding to the buffer area to prevent parameter jump caused by the rocker switching between adjacent fan-shaped areas.

2. The rocker calibration device according to claim 1, characterized in that, The quadrant board records that the rocker moves through the buffer area to generate overlapping information. The detection component generates a second calibration parameter corresponding to the buffer area based on the first calibration parameters corresponding to the two overlapping fan-shaped areas and the overlapping information.

3. The rocker calibration device according to claim 1, characterized in that: The detection component compares the absolute difference between the first calibration parameters corresponding to two adjacent fan-shaped areas to dynamically adjust the boundary extension angle of each fan-shaped area; The boundary extension angle of each fan-shaped area is denoted as D, and 1°≤D≤4°; 4. The rocker calibration device according to claim 3, characterized in that, The standard calibration parameter is denoted as Y, 0.2Y is the preset threshold, and the absolute difference between the first calibration parameters corresponding to two adjacent fan-shaped areas is denoted as ΔK; When ΔK = 0.2Y, D = 2.5°; When ΔK>0.2Y, 2.5°<D≤4°; When ΔK<0.2Y, 1°≤D<2.5°; 5. A rocker calibration device according to claim 1, characterized in that, The first calibration parameters corresponding to two adjacent fan-shaped areas are respectively denoted as a and b, and the second calibration parameter is denoted as c, satisfying c=(a + b) / 2; 6. A rocker calibration device according to claim 1, characterized in that, The driving component includes a first slide rail and a second slide rail arranged on the first slide rail. The first slide rail is arranged on the base, and the first slide rail and the second slide rail are perpendicular to each other in the horizontal direction; The connecting component is arranged on the second slide rail, and the first slide rail and the second slide rail drive the connecting component to move, so as to drive the rocker to generate a movement track; 7. A rocker calibration device according to claim 6, wherein, The rocker includes a main body control rod. The main body is fixedly connected to the base. One end of the control rod is rotatably connected to the main body, and the other end extends outward; The connecting component includes a connecting rod and a rotating member. One end of the connecting rod is arranged on the second slide rail, and the other end is movably connected to the rotating member. The rotating member is arranged at the end of the control rod far from the main body, and the rotating member rotates to adapt to the rotation angle of the control rod driven by the driving component.

8. A rocker calibration device according to claim 7, characterized in that, The rotating member includes a first rotating portion, a second rotating portion and a guiding portion. The two opposite sides of the first rotating portion are arranged on the connecting rod. The first rotating portion is sleeved on the second rotating portion. The two opposite ends of the second rotating portion are in contact with the first rotating portion. The second rotating portion is movably connected to the guiding portion, and the guiding portion is coaxially arranged with the control rod.

9. A rocker calibration device according to claim 8, wherein The connection line of the contact ends of the first rotating portion and the connecting rod is the first rotating axis, and the connection line of the contact ends of the second rotating portion and the first rotating portion is the second rotating axis. The first rotating axis and the second rotating axis are perpendicular to each other.

10. A rocker calibration device according to claim 8, characterized in that, The recording member is arranged at one end of the guiding portion away from the second rotating portion. The recording member is coaxially arranged with the guiding portion. The control rod rotates to drive the recording member to rotate. The recording member sends the movement track of the control rod to the quadrant plate in real time. The quadrant plate records the movement track to generate visual quadrant information so as to record the angular ranges of the sector area and the buffer area.

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