A rocker calibration device

Abstract

The application provides a rocker calibration device, which comprises a base and a rocker arranged on the base, 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, one end of the connecting assembly is sleeved on the rocker, and the other end is arranged on the driving assembly; the calibration mechanism comprises a quadrant plate, a recording piece and a detection assembly, the quadrant plate is arranged opposite to the base, one end of the recording piece is arranged on the connecting assembly and is signal-connected with the quadrant plate, and the detection assembly is magnetically connected with the rocker. The quadrant plate divides the moving area of the rocker into several fan-shaped areas, two adjacent fan-shaped areas overlap to form a buffer area, and the parameter jump caused by the switching of the rocker between the adjacent fan-shaped areas is prevented. The above-mentioned rocker calibration device calibrates the dynamic process of the movement of the rocker through the arrangement of the control mechanism and the calibration mechanism. The quadrant plate records the movement track of the rocker, and the buffer area is further arranged, so that the smooth calibration compensation is realized when the rocker transits between adjacent areas.

Description

Technical Field

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

[0002] In modern drone systems, the joystick, as the primary control input component, is widely used to control parameters such as flight attitude, speed, and direction. Especially in consumer and professional drones, a high-precision, high-response joystick input system is crucial for ensuring flight stability and a superior user experience. Traditional mechanical potentiometer joysticks suffer from structural wear and contact aging issues. In recent years, Hall effect joysticks, with their non-contact sensing principle and high responsiveness, have gradually become the mainstream configuration for high-end drone remote controllers.

[0003] To address the accuracy issues of Hall effect joysticks during signal acquisition, various calibration methods have been proposed in existing technologies. A common approach is based on a "multi-point sampling + dynamic compensation" strategy. This involves moving the joystick to multiple preset positions, acquiring the sensor output signals at each point, and calculating correction coefficients between these points and the theoretical positions. The system then uses the corresponding correction coefficients based on the current sector of the joystick to perform linear compensation on the original input signal, thereby improving overall control accuracy and consistency.

[0004] However, the aforementioned calibration method based on partition compensation still has certain drawbacks. When the joystick is at the boundary between two sectors and moves across sectors, the compensation coefficients, derived from reference values ​​of different sectors, cause significant jumps in the final output signal. When the joystick moves frequently in the boundary region, this discontinuity in compensation can 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 abrupt changes in compensation between regions, making joystick control smoother and more continuous, improving 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 phenomenon of abrupt compensation changes between regions in order to solve the above problems.

[0006] Embodiments of this application provide a rocker calibration device, including a base and a rocker arm disposed on the base, the calibration device further including:

[0007] The control mechanism includes a drive component and a connection component. The drive component is disposed on the base, and one end of the connection component is sleeved on the rocker arm, while the other end is disposed on the drive component.

[0008] The calibration mechanism includes a quadrant plate, a recording component, and a detection component. The quadrant plate is disposed opposite to the base. One end of the recording component 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.

[0009] The driving component drives the joystick to move, thereby causing the recording device to transmit the movement trajectory of the joystick to the quadrant plate to generate quadrant information, and divides the movement area of ​​the joystick into several sector areas. The detection component generates a first calibration parameter corresponding to each sector area based on the quadrant information and magnetic field changes.

[0010] In this configuration, the boundary of each sector extends towards the adjacent region, and two adjacent sectors overlap to form a buffer zone. The detection component generates a second calibration parameter corresponding to the buffer zone to prevent parameter jumps caused by the joystick switching between adjacent sectors.

[0011] In at least one embodiment of this application, the quadrant plate records the movement of the joystick through the buffer to generate overlap information, and the detection component generates a second calibration parameter corresponding to the buffer based on the first calibration parameter corresponding to the two overlapping sector areas and the overlap information.

[0012] In at least one embodiment of this application, the detection component compares the absolute difference between the first calibration parameters corresponding to two adjacent sector regions to dynamically adjust the expansion angle of each sector region.

[0013] The boundary extension angle of each sector is denoted as D, where 1° ≤ D ≤ 4°. In at least one embodiment of this application, the standard calibration parameter is denoted as Y, where 0.2Y is a preset threshold, and the absolute difference between the first calibration parameters corresponding to two adjacent sector regions is denoted as ΔK.

[0014] When ΔK = 0.2Y, D = 2.5°;

[0015] When ΔK > 0.2Y, 2.5° < D ≤ 4°;

[0016] When ΔK < 0.2Y, 1° ≤ D < 2.5°.

[0017] In at least one embodiment of this application, the first calibration parameters corresponding to two adjacent sector regions are denoted as a and b, respectively, and the second calibration parameter is denoted as c, satisfying c = (a + b) / 2.

[0018] In at least one embodiment of this application, the driving component includes a first slide rail and a second slide rail disposed on the first slide rail, the first slide rail being disposed on the base, and the first slide rail and the second slide rail being perpendicular to each other in the horizontal direction;

[0019] The connecting component is mounted on the second slide rail. The first slide rail and the second slide rail drive the connecting component to move, thereby causing the rocker arm to generate a movement trajectory.

[0020] In at least one embodiment of this application, the rocker includes a main body control lever, the main body is fixedly connected to the base, one end of the control lever is rotatably connected to the main body, and the other end extends outward;

[0021] The connecting assembly includes a connecting rod and a rotating component. One end of the connecting rod is disposed on the second slide rail, and the other end is movably connected to the rotating component. The rotating component is disposed at the end of the control lever away from the main body. The rotating component rotates to adapt to the rotation angle of the control lever driven by the driving assembly.

[0022] In at least one embodiment of this application, the rotating member includes a first rotating part, a second rotating part, and a guide part, wherein the first rotating part is disposed on opposite sides of the connecting rod to form a first rotating shaft;

[0023] The first rotating part is sleeved on the second rotating part, and the two ends of the second rotating part are attached to the first rotating part to form a second rotating shaft. The second rotating part is movably connected to the guide part, and the guide part is coaxially arranged with the control lever.

[0024] In at least one embodiment of this application, the first rotation axis and the second rotation axis are perpendicular to each other.

[0025] In at least one embodiment of this application, the recording device is disposed at the end of the guide portion away from the second rotating portion, the recording device is coaxially arranged with the guide portion, the joystick rotates to drive the recording device to rotate, the recording device sends the movement trajectory of the joystick to the quadrant plate in real time, the quadrant plate records the movement trajectory to generate visualized quadrant information, so as to record the angle range of the sector area and the buffer zone.

[0026] The aforementioned joystick calibration device precisely drives and dynamically calibrates the joystick movement process by setting up a control mechanism and a calibration mechanism. The control mechanism drives the joystick to move in various directions through a drive component, and a recorder collects its trajectory in real time and transmits it to a quadrant plate, forming finely divided sector-shaped area information. By sensing changes in the magnetic field through a detection component, first calibration parameters are generated for each sector-shaped area, effectively improving the calibration accuracy within the area. Furthermore, by setting a buffer zone between adjacent sector-shaped areas and generating independent second calibration parameters within the buffer zone, continuous and smooth calibration data can still be obtained when the joystick transitions between adjacent areas. This avoids the output jump problem caused by cross-area compensation differences in traditional solutions, significantly improving the stability of UAV control. Attached Figure Description

[0027] Figure 1 This is a perspective view of a rocker calibration device according to an embodiment of this application.

[0028] Figure 2 for Figure 1 Another perspective view of the aforementioned joystick calibration device.

[0029] Figure 3 for Figure 1 A three-dimensional exploded view of the aforementioned joystick calibration device.

[0030] Figure 4 for Figure 3 An enlarged view of part A of the aforementioned rocker calibration device.

[0031] Figure 5 for Figure 1 A partial three-dimensional view of the rocker calibration device.

[0032] Figure 6 for Figure 1 A schematic diagram of the sector area of ​​the aforementioned rocker calibration device.

[0033] Figure 7 for Figure 1 A schematic diagram of the buffer zone of the aforementioned joystick calibration device.

[0034] Figure 8 for Figure 1 A schematic diagram of the dynamic adjustment of the buffer zone of the aforementioned joystick calibration device.

[0035] Figure 9 for Figure 1 A flowchart illustrating the calibration process of the aforementioned joystick calibration device.

[0036] Explanation of main component symbols

[0037] 100. A joystick calibration device; 10. Base; 20. Joystick; 21. Body; 22. Control lever; 23. Movement trajectory; 30. Control mechanism; 31. Drive assembly; 311. First slide rail; 312. Second slide rail; 32. Connecting assembly; 321. Connecting rod; 322. Rotating component; 322a. First rotating part; 322b. Second rotating part; 322c. Guide part; 40. Calibration mechanism; 41. Quadrant plate; 411. Quadrant information; 412. Sector area; 412a. Boundary; 413. Buffer zone; 414. Overlap information; 42. Recording component; 43. Detection assembly; 431. First calibration parameter; 432. Second calibration parameter. Detailed Implementation

[0038] The embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0039] 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 may also have an intervening component. When a component is considered to be "placed" on another component, it can be directly placed on the other component or may also have an intervening component. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "back," and similar expressions used in this article are for illustrative purposes only.

[0040] Embodiments of this application provide a rocker calibration device, including a base and a rocker arm disposed on the base, the calibration device further including:

[0041] The control mechanism includes a drive component and a connection component. The drive component is disposed on the base, and one end of the connection component is sleeved on the rocker arm, while the other end is disposed on the drive component.

[0042] The calibration mechanism includes a quadrant plate, a recording component, and a detection component. The quadrant plate is disposed opposite to the base. One end of the recording component 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.

[0043] The driving component drives the joystick to move, thereby causing the recording device to transmit the movement trajectory of the joystick to the quadrant plate to generate quadrant information, and divides the movement area of ​​the joystick into several sector areas. The detection component generates a first calibration parameter corresponding to each sector area based on the quadrant information and magnetic field changes.

[0044] In this configuration, the boundary of each sector extends towards the adjacent region, and two adjacent sectors overlap to form a buffer zone. The detection component generates a second calibration parameter corresponding to the buffer zone to prevent parameter jumps caused by the joystick switching between adjacent sectors.

[0045] The aforementioned joystick calibration device precisely drives and dynamically calibrates the joystick movement process by setting up a control mechanism and a calibration mechanism. The control mechanism drives the joystick to move in various directions through a drive component, and a recorder collects its trajectory in real time and transmits it to a quadrant plate, forming finely divided sector-shaped area information. By sensing changes in the magnetic field through a detection component, first calibration parameters are generated for each sector-shaped area, effectively improving the calibration accuracy within the area. Furthermore, by setting a buffer zone between adjacent sector-shaped areas and generating independent second calibration parameters within the buffer zone, continuous and smooth calibration data can still be obtained when the joystick transitions between adjacent areas. This avoids the output jump problem caused by cross-area compensation differences in traditional solutions, significantly improving the stability of UAV control.

[0046] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0047] Please see Figures 1-9 The embodiments of this application provide a joystick calibration device 100, including a base 10 and a joystick 20 disposed on the base 10. The calibration device also includes a control mechanism 30 and a calibration mechanism 40.

[0048] The control mechanism 30 includes a drive assembly 31 and a connection assembly 32. The drive assembly 31 is mounted on the base 10. One end of the connection assembly 32 is sleeved on the rocker arm 20, and the other end is mounted on the drive assembly 31. The calibration mechanism 40 includes a quadrant plate 41, a recording component 42, and a detection component 43. The quadrant plate 41 is disposed opposite to the base 10. One end of the recording component 42 is mounted on the connection assembly 32, and the other end faces the quadrant plate 41 and is signal-connected to the quadrant plate 41. The detection component 43 is mounted on the base 10 and is magnetically connected to the rocker arm 20.

[0049] The drive component 31 drives the joystick 20 to move, so that the recording component 42 transmits the movement trajectory 23 of the joystick 20 to the quadrant plate 41 to generate quadrant information 411, and divides the movement area of ​​the joystick 20 into several 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.

[0050] In this process, the boundary 412a of each sector 412 extends towards the adjacent region, and two adjacent sector 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 412.

[0051] Specifically, the drive assembly 31, mounted on the base 10, provides controllable and precise movement power to the joystick 20. This enables precise angular movement of the joystick 20 in various 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 joystick 20. This achieves effective power transmission from the driver to the joystick 20. The rotatable design of the connecting assembly 32 can adapt to different movement angles of the joystick 20, preventing jamming or pulling of the device.

[0052] Furthermore, the quadrant plate 41 serves as an information receiving and recording carrier, collecting the trajectory information of the joystick 20. This facilitates the fan-shaped partitioning of the continuous trajectory of the joystick 20, forming visualized information and improving analysis accuracy. One end of the recording component 42 is mounted on the connecting assembly 32, and the other end faces the quadrant plate 41, signal-connected to the quadrant plate 41, transmitting the physical trajectory information of the joystick 20 to the quadrant plate 41 in real time. This automates and improves the accuracy of trajectory capture, providing a reliable foundation for subsequent fan-shaped partitioning and parameter calculation. The detection component 43 senses the motion state, angle, and position changes of the joystick 20 via magnetic connection.

[0053] Furthermore, the movable area of ​​the joystick 20 is divided into multiple standard sector areas 412, each assigned an independent first calibration parameter 431. This creates personalized parameter compensation for different directional / angular displacements, helping to improve the linearity and accuracy of the joystick 20's response when operating in edge areas or at special angles. By expanding the boundary 412a of the sector areas 412 to form an overlapping area (buffer zone 413), a transition area is introduced between adjacent sector areas 412. The signal difference is smoothed by calculating the "second calibration parameter 432," preventing discontinuous operation, stuttering, or drift caused by jumps at the boundary 412a of the joystick 20, and avoiding jumps between different areas.

[0054] In one specific embodiment, during the calibration process of the rocker arm 20 with the first calibration parameter 431, the entire range of motion of the rocker arm 20 is divided into several sector regions 412 by data collected by the quadrant plate 41 and the recording device 42. Each sector region 412 represents the motion state of the rocker arm 20 within a specific angular range. Simultaneously, the detection component 43 (such as a Hall sensor and its processing unit) collects data on the changes in the magnetic field during the movement of the rocker arm 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 in each sector region 412 and the ideal state.

[0055] To correct this deviation, the detection component 43 utilizes two pieces of information: quadrant information 411, which is generated by the quadrant plate 41 dividing the rocker arm 20's movement trajectory based on the recording device 42 into multiple sector regions 412, reflecting the geometric position or angular range of the rocker arm 20; and magnetic field change, which is reflected by the Hall sensor signal acquired by the detection component 43, indicating the change in magnetic flux density generated by the magnet during the rocker arm 20's movement. By processing these two pieces of data, the detection component 43 calculates a first calibration parameter 431, which reflects the correction ratio or compensation coefficient between the actual detected signal and the ideal state within each sector region 412.

[0056] Furthermore, due to structural variations, magnet positions, and magnetic field distribution, local errors may exist within each sector 412. The first calibration parameter 431 is used to quantify these local errors and serves as the basis for subsequent calibrations. For example, if the actual detected magnetic field strength deviates from the ideal reference value within a certain sector 412, the first calibration parameter 431 will adjust the output within that region, making the corrected output more consistent with expectations. By dividing the entire range of motion of the joystick 20 into sectors, and generating a separate first calibration parameter 431 for each region, the calibration process can independently correct nonlinear or local errors in different regions, thereby achieving more precise adjustments.

[0057] In this embodiment, the sector 412 is divided into eight.

[0058] Since the specific process by which the Hall effect rocker 20 detects the compensation parameters between its various angles is existing technology, it will not be described in detail here.

[0059] In one specific embodiment, the quadrant plate 41 records the movement of the joystick 20 through the buffer zone 413 to generate overlap information 414, and the detection component 43 generates a second calibration parameter 432 corresponding to the buffer zone 413 based on the first calibration parameter 431 corresponding to the two overlapping sector areas 412 and the overlap information 414.

[0060] Specifically, when the joystick 20 moves between two adjacent sector areas 412, the quadrant plate 41 records the movement trajectory 23 and acquires overlapping data from multiple directions; this data is the overlap information 414, including the original data such as the angle path and response voltage of the joystick 20 in the buffer 413. The detection component 43 acquires the first calibration parameters 431 of the two adjacent sector areas 412 and simultaneously analyzes the overlap information 414 recorded by the quadrant plate 41.

[0061] Furthermore, the entire range of motion of the joystick 20 is divided into multiple sector areas 412; each sector area 412 independently collects the response data of the joystick 20 within its range; the quadrant plate 41 serves as the recording area, marking and storing the angle range of each sector area 412 and the corresponding first calibration parameter 431; essentially establishing a "space-parameter mapping table". There are "hard-cut boundaries 412a" between each sector area 412, extending adjacent sector areas 412 to each other by a preset angle to form an overlapping buffer zone 413. The quadrant plate 41 records the trajectory of the joystick 20 in this part as overlapping information 414.

[0062] Furthermore, the detection component 43 analyzes the parameters of the left and right sector areas 412 and the motion data of the buffer 413 together, and compares and fuses the two dimensions of data. Based on the above comparison results, the detection component 43 integrates the first calibration parameter 431 of the adjacent areas and the actual motion trajectory of the buffer 413, and calculates a set of "second calibration parameters 432" specifically for the buffer 413 to optimize the response of the buffer 413.

[0063] In one specific embodiment, the detection component 43 compares the absolute difference between the first calibration parameters 431 corresponding to two adjacent sector regions 412 to dynamically adjust the boundary 412a expansion angle of each sector region 412.

[0064] The extension angle of the boundary 412a of each of the aforementioned sector regions 412 is defined as D, where 1°≤D≤4°.

[0065] Specifically, the detection component 43 analyzes the "error compensation value" of adjacent regions, i.e., the first calibration parameter 431, to understand the degree of change in error compensation between adjacent regions. It senses whether the error transition between different regions is smooth, thus providing basic data for subsequent adjustment of the region boundary 412a. Based on the error difference, it dynamically adjusts the boundary 412a range of each sector 412, i.e., adjusts the width of the buffer zone 413. This achieves a buffer zone design that varies "depending on the error." The greater the error difference, the wider the buffer zone 413, making the transition smoother; avoiding problems such as abrupt transitions at high differences and redundant buffering at low differences caused by a universal or fixed angle.

[0066] Furthermore, the extension angle D of boundary 412a is set to 1° to 4° to limit the adjustable angle range of buffer 413, so as to ensure system stability and physical constraints, and prevent misidentification or excessive parameter overlap caused by excessive extension angle.

[0067] In one specific embodiment, the standard calibration parameter is defined as Y, 0.2Y is a preset threshold, and the absolute difference between the first calibration parameters 431 corresponding to two adjacent sector regions 412 is ΔK.

[0068] When ΔK = 0.2Y, D = 2.5°;

[0069] When ΔK > 0.2Y, 2.5° < D ≤ 4°;

[0070] When ΔK < 0.2Y, 1° ≤ D < 2.5°.

[0071] Specifically, a standard calibration parameter Y is defined as the baseline value for the error compensation of the joystick 20, and all error comparisons are referenced to it. This provides a unified metric, helping the system to make stable and consistent error judgments. A threshold of 0.2Y is set as the dividing line for judging the significance of errors. Errors within 0.2Y are considered minor errors with a small adaptation range; errors exceeding 0.2Y are considered to indicate significant differences between different sectors, requiring a wider buffer to ensure a smooth transition; this ensures that the "buffer zone 413 response" is targeted and sensitive.

[0072] In one specific embodiment, the operating range of the joystick 20 is divided into eight equally divided sector regions 412, each covering 45°. Each sector region 412 has a corresponding first calibration parameter 431 (compensation value) used to correct for input deviations of the joystick 20 within that region. Calibration parameter switching occurs when the joystick 20 moves across a sector boundary 412a. To avoid parameter jumps, a buffer zone 413 is provided at the boundary 412a.

[0073] Buffer 413 is set at the boundary of each sector, for example, between 42.5° and 47.5° (taking 45° boundary 412a as an example), with a boundary 412a extension angle of ±2.5°. Within this buffer 413 domain, neither of the actual calibration parameters from the two sectors is used; instead, a fixed compensation value (second calibration parameter 432) is used uniformly, such as the weighted median of two adjacent first calibration parameters 431.

[0074] Taking the example of joystick 20 sliding from 0° to 90°

[0075] Assume the calibration parameter distribution is as follows:

[0076] Zone 1 (0°~45°): K1 = 1.0, Zone 2 (45°~90°): K2 = 1.2. In the existing technology, during the movement of the joystick 20, the compensation is 1.0 at 44.9° and instantly switches to 1.2 at 45.0°. This jump will cause obvious jolts or sudden changes in control during operation.

[0077] Setting buffer 413, for example, forces the system to use a buffer value of 1.1 within the range of 42.5° to 47.5°. This smoothly transitions from 1.0 to 1.1, and then to 1.2, eliminating control discomfort caused by abrupt parameter changes. Buffer 413 avoids drastic changes caused by direct switching between two sector parameters.

[0078] Furthermore, if the switch is made directly at 45°, the compensation value will abruptly change from 1.0 to 1.2, causing a step in the output signal. Buffer 413, however, acts like a ramp between two steps of different heights, preventing a direct misstep and fall. By fixing the compensation value in the overlapping area, abrupt coefficient changes are completely avoided, resulting in a smooth output signal. Moreover, only the angle range needs to be determined; there is no need for additional storage or calculation of parameters for the transition at boundary 412a. Only the sector range needs to be expanded and a fixed intermediate value set. Locking the compensation value within buffer 413 suppresses coefficient fluctuations caused by sensor noise.

[0079] Furthermore, the size of the buffer 413 will be dynamically adjusted based on the absolute difference between two adjacent first calibration parameters 431. When the difference is large, the range of the buffer 413 will be adaptively expanded to make the transition smoother, and when the difference is small, the range of the buffer 413 will be reduced to improve calibration accuracy.

[0080] In one specific embodiment, the first calibration parameters 431 corresponding to two adjacent sector regions 412 are defined as a and b, respectively, and the second calibration parameter 432 is c, satisfying c = (a + b) / 2.

[0081] Specifically, by averaging the calibration parameters of adjacent sector 412, the joystick 20 can avoid jumps caused by abrupt parameter changes when transitioning from one sector 412 to another. The averaged second calibration parameter 432 provides a smooth transition for the joystick 20, making the operation experience more consistent and natural.

[0082] In one specific embodiment, the drive 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.

[0083] The connecting component 32 is disposed on the second slide rail 312. The first slide rail 311 and the second slide rail 312 drive the connecting component 32 to move, thereby causing the rocker arm 20 to generate a movement trajectory 23.

[0084] Specifically, the drive assembly 31 refers to the system component that provides the power for movement, enabling the rocker arm 20 to move in a specific direction and generate a certain movement trajectory 23. In this design, the drive assembly 31 consists of a first slide rail 311 and a second slide rail 312. These two slide rails cooperate with each other, allowing the connecting assembly 32 to move smoothly in the horizontal direction. The first slide rail 311 is fixed to the base 10, serving as the main part supporting 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 mounted 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.

[0085] Furthermore, the connecting component 32 is mounted on the second slide rail 312, connecting the joystick 20 and the slide rail system together. The first slide rail 311 and the second slide rail 312 control the movement trajectory 23 of the joystick 20 through the mutual driving connecting component 32. The first slide rail 311 and the second slide rail 312 provide drive in different directions, ensuring that the joystick 20 can generate movement in multiple dimensions. This allows for more precise control of the joystick 20's movement trajectory, reduces the influence of the external environment on the joystick 20's movement, and enables independent movement control in different directions, improving the accuracy and flexibility of movement control, realizing omnidirectional movement of the joystick 20, and preventing dead zones from affecting parameter calibration.

[0086] In one specific embodiment, the rocker arm 20 includes a body 21 and a control lever 22. The body 21 is fixedly connected to the base 10, and one end of the control lever 22 is rotatably connected to the body 21, while the other end extends outward.

[0087] The connecting assembly 32 includes a connecting rod 321 and a rotating member 322. One end of the connecting rod 321 is disposed on the second slide rail 312, and the other end is movably connected to the rotating member 322. The rotating member 322 is disposed at the end of the control lever 22 away from the body 21. The rotating member 322 rotates to adapt to the rotation angle of the control lever 22 driven by the driving assembly 31.

[0088] 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 acts as a transmission element, transmitting the motion driven by the slide rail. The rotating member 322 is mounted on the end of the control lever 22 away from the body 21 and is used to control the rotation angle of the control lever 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 arm 20.

[0089] Furthermore, the rotating component 322 provides flexibility during the rotation of the rocker arm 20 to accommodate any deviation of the rocker arm 20. Specifically, by connecting the rocker arm 20 and the drive assembly 31, the rotating component 322 ensures that the rocker arm 20 can adapt to the motion provided by the drive assembly 31 when rotating at different angles and directions. Its function can be understood as providing a flexible connection between the rocker arm 20 and the drive device, allowing the rocker arm 20 to rotate freely according to its movement trajectory 23, preventing the rocker arm 20 from jamming or becoming unstable during movement.

[0090] In one specific embodiment, the rotating member 322 includes a first rotating part 322a, a second rotating part 322b, and a guide part 322c, wherein the first rotating part 322a is disposed on the connecting rod 321 on opposite sides;

[0091] The first rotating part 322a is sleeved on the second rotating part 322b, and the two ends of the second rotating part 322b are attached to the first rotating part 322a. The second rotating part 322b is movably connected to the guide part 322c, and the guide part 322c is coaxially arranged with the control lever 22.

[0092] Specifically, the first rotating part 322a is located on both sides of the connecting rod 321, serving as a connector and support in the overall structure. The second rotating part 322b is sleeved on the first rotating part 322a, connecting to the guide part 322c and rotating together with it. Through its cooperation with the first rotating part 322a, the second rotating part 322b can effectively bear and transmit the rotational movement of the rocker arm 20, ensuring that the angle of the rocker arm 20 can be precisely adjusted.

[0093] Furthermore, since one end of the joystick 22 is fixed to the body 21, it can only rotate, while the movement of the slide rail causes the rocker arm 20 to shift. To ensure smooth rotation of the rocker arm 20, the guide portion 322c, acting as a sliding guide, ensures that the movement of the slide rail and the rotation of the joystick 22 are coordinated, thereby achieving a smooth and precise rotation effect. The guide portion 322c is coaxially arranged with the joystick 22, ensuring that the rocker arm 20 can rotate smoothly along a predetermined trajectory. This ensures that the rocker arm 20 always maintains the correct axis during rotation, reducing errors that occur during the operation of the rocker arm 20.

[0094] In one specific embodiment, the line connecting the first rotating part 322a and the contact end of the connecting rod 321 is a first rotating axis, and the line connecting the second rotating part 322b and the contact end of the first rotating part 322a is a second rotating axis, wherein the first rotating axis and the second rotating axis are perpendicular to each other.

[0095] Specifically, the perpendicularity of the first and second rotation axes greatly enhances the freedom of motion of the rocker arm 20. The perpendicular rotations do not interfere with each other, and the coordination of the first and second rotation axes allows for flexible 360° rotation in the horizontal direction.

[0096] In one specific embodiment, the recording element 42 is located at the end of the guide portion 322c away from the second rotating portion 322b. The recording element 42 is coaxially arranged with the guide portion 322c. The joystick 22 rotates to drive the recording element 42 to rotate. The recording element 42 sends 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 visualized quadrant information 411 to record the angle range of the sector area 412 and the buffer zone 413.

[0097] Specifically, the recording element 42 is mounted on the distal end of the guide portion 322c and is coaxial with the guide portion 322c. It can rotate synchronously with the rotation of the joystick 22, thereby recording the movement trajectory of the joystick 22 in real time. The coaxial configuration ensures a tight fit between the recording element 42 and the joystick 22, ensuring that every rotation of the joystick 22 is accurately recorded. The coaxial setting allows the recording element 42 to precisely synchronize with the movement of the joystick 22, reducing errors caused by deviations between different axes.

[0098] Furthermore, during rotation, the recording device 42 transmits the motion information (i.e., trajectory data) of the joystick 22 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 acquired from the recording device 42 to generate visualized quadrant information 411. The visualized quadrant information 411 intuitively displays the state of the joystick 22 in each area. This information not only helps the operator to perform intuitive control and feedback but also facilitates subsequent adjustments and analysis.

[0099] Furthermore, the quadrant plate 41 records the different angle ranges (including the angle ranges of the sector 412 and the buffer zone 413) during the movement of the joystick 22, and records each region in detail. By accurately recording the angle range of each region, the system can perform better calibration and compensation, avoiding control instability caused by boundary 412a jumps or angle errors.

[0100] In one specific embodiment, the recording device 42 is an infrared emitter, and a photoelectric sensor is provided on the quadrant plate 41. The photoelectric sensor can capture the changes in the light signal emitted by the infrared emitter and track the angle or position of the object in real time by calculating the changes in the intensity of the reflected light.

Claims

1. A rocker calibration device, comprising a base and a rocker mounted on the base, characterized in that, The calibration device also includes: The control mechanism includes a drive component and a connection component. The drive component is disposed on the base, and one end of the connection component is sleeved on the rocker arm, while the other end is disposed on the drive component. The calibration mechanism includes a quadrant plate, a recording component, and a detection component. The quadrant plate is disposed opposite to the base. One end of the recording component 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 joystick to move, thereby causing the recording device to transmit the movement trajectory of the joystick to the quadrant plate to generate quadrant information, and divides the movement area of ​​the joystick into several sector areas. The detection component generates a first calibration parameter corresponding to each sector area based on the quadrant information and magnetic field changes. In this configuration, the boundary of each sector extends towards the adjacent region, and two adjacent sectors overlap to form a buffer zone. The detection component generates a second calibration parameter corresponding to the buffer zone to prevent parameter jumps caused by the joystick switching between adjacent sectors.

2. The rocker calibration device according to claim 1, characterized in that, The quadrant plate records the movement of the joystick through the buffer to generate overlap information. The detection component generates a second calibration parameter corresponding to the buffer based on the first calibration parameter corresponding to the two overlapping sector areas and the overlap 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 sector regions to dynamically adjust the boundary expansion angle of each sector region. The boundary extension angle of each sector is denoted as D, where 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 a preset threshold, and the absolute difference between the first calibration parameters corresponding to two adjacent sector regions 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. The rocker calibration device according to claim 1, characterized in that, The first calibration parameters corresponding to two adjacent sector regions are denoted as a and b, respectively, and the second calibration parameter is denoted as c, satisfying c = (a + b) / 2.

6. The rocker arm calibration device according to claim 1, characterized in that, The drive assembly 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 connecting component is mounted on the second slide rail. The first slide rail and the second slide rail drive the connecting component to move, thereby causing the rocker arm to generate a movement trajectory.

7. A rocker calibration device according to claim 6, characterized in that, The joystick includes a main body control lever, the main body is fixedly connected to the base, one end of the control lever is rotatably connected to the main body, and the other end extends outward; The connecting assembly includes a connecting rod and a rotating component. One end of the connecting rod is disposed on the second slide rail, and the other end is movably connected to the rotating component. The rotating component is disposed at the end of the control lever away from the main body. The rotating component rotates to adapt to the rotation angle of the control lever driven by the driving assembly.

8. A rocker calibration device according to claim 7, characterized in that, The rotating component includes a first rotating part, a second rotating part, and a guide part, with the first rotating part disposed on opposite sides of the connecting rod; The first rotating part is sleeved on the second rotating part, the two ends of the second rotating part are attached to the first rotating part, the second rotating part is movably connected to the guide part, and the guide part is coaxially arranged with the control lever.

9. A rocker calibration device according to claim 8, characterized in that, The line connecting the first rotating part and the contact end of the connecting rod is the first rotating axis, and the line connecting the second rotating part and the contact end of the first rotating part 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 device is located at the end of the guide portion away from the second rotating portion. The recording device is coaxially arranged with the guide portion. The joystick rotates to drive the recording device to rotate. The recording device sends the movement trajectory of the joystick to the quadrant plate in real time. The quadrant plate records the movement trajectory to generate visualized quadrant information to record the angle range of the sector area and the buffer zone.

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