Model-based graded control method, medium, and equipment for sports equipment based on race segment recognition

Abstract

This application relates to a graded auxiliary control method for model sports equipment based on race segment recognition, applied to a remote control system. The method includes: acquiring the original remote control input and the operating state of the model sports equipment, wherein the original remote control input includes at least attitude control channel input and power control channel input; determining the current race segment based on the operating state, and determining the control correction level based on the deviation of the operating state from the target passing state of the current race segment; and correcting the original remote control input based on the race segment control parameters and control correction level corresponding to the current race segment, so that the generated target control output can match the target passing requirements of the current race segment, and reduce the passing deviation caused by the incoordination between attitude control and power control, thereby improving the passing stability of the model sports equipment in different race segments and the control fault tolerance during training.

Description

Technical Field

[0001] This application relates to the field of control system technology, and in particular to a method, medium, and device for graded control of model sports equipment based on race segment recognition. Background Technology

[0002] In the teaching, training, or competitive experience of model sports equipment, teaching tracks with different passage requirements are usually set up. The model sports equipment needs to pass through different sections in sequence, such as straight sections, turning sections, and crossing sections. Among them, the crossing section corresponding to the crossing markers has high requirements for the stability of the model sports equipment. The operator not only needs to control the direction and posture of the model sports equipment, but also needs to pay attention to the speed and rhythm of movement. Therefore, this section is often one of the sections most prone to operation errors in teaching and training. Especially for operators with insufficient training experience, when approaching the crossing markers, they are prone to making excessive posture adjustments, improper power control, or making too frequent continuous corrections, which can lead to deviation from the passing trajectory, instability, or even failure to complete the crossing successfully.

[0003] Most existing remote control methods for model sports equipment still rely primarily on direct operator input and output, or only provide general amplitude limiting, steady-state maintenance, or cue assistance at the overall control level. These control methods typically fail to differentiate the control process based on the specific requirements of different race stages. Especially in traversing stages, current technologies generally lack specialized control mechanisms addressing the coupling relationship between motion direction, posture, and power, and also lack means to adaptively adjust relevant control quantities when the model sports equipment deviates from the target passing state of the current stage. Consequently, even in high-demand stages, the control output may still be mismatched with the actual passing requirements, making it difficult to balance passing accuracy, operational stability, and controllability during training.

[0004] Therefore, there is a need to provide a graded auxiliary control method for model sports equipment based on race segment recognition, so as to at least solve the technical problem in the existing technology that the model sports equipment lacks a control auxiliary mechanism that matches the target passing requirements in different race segments, especially traversing race segments, resulting in insufficient passing stability and low training fault tolerance. Summary of the Invention

[0005] The purpose of this application is to provide a graded auxiliary control method for model sports equipment based on race segment recognition, so as to at least solve the technical problem in the prior art that model sports equipment lacks a control auxiliary mechanism that matches the target passing requirements in different race segments, especially traversing race segments, resulting in insufficient passing stability and low training fault tolerance.

[0006] According to one aspect of this application, a graded auxiliary control method for model sports equipment based on race segment recognition is provided, applied to a remote control system, the method comprising: S10. Obtain the original remote control input and the operating status of the model motion equipment. The original remote control input includes at least the attitude control channel input and the power control channel input. S20. Determine the current stage based on the operating status, and determine the control correction level based on the deviation of the operating status from the target passing status of the current stage; S30. Based on the control parameters of the current race segment and the control correction level, the original remote control input is corrected. The correction includes restricting the linkage output relationship between the attitude control channel and the power control channel, and generating a target control output based on the restricted linkage output, which is then sent to the model motion equipment.

[0007] According to another aspect of this application, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the steps of any one of the methods in a model sports equipment grading auxiliary control method based on race segment recognition.

[0008] According to another aspect of this application, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of any one of the methods in a model sports equipment grading auxiliary control method based on race segment recognition.

[0009] This application has the following beneficial effects: In this application, the remote control system does not directly output the original remote control input to the model sports equipment. Instead, it first determines the current stage of the competition based on the operating state of the model sports equipment, then determines the control correction level based on the deviation of the operating state from the target passing state of the current stage, and corrects the original remote control input in conjunction with the stage control parameters corresponding to the current stage. Furthermore, the linkage output relationship between the attitude control channel and the power control channel is restricted during the correction process. This ensures that the generated target control output matches the target passing requirements of the current stage, reduces the passing deviation caused by the incoordination between attitude control and power control, and thus improves the passing stability of the model sports equipment in different stages and the control fault tolerance during training. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0011] Figure 1 This is a flowchart illustrating the steps of a model-based graded control method for sports equipment based on race segment recognition. Detailed Implementation

[0012] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0013] Please refer to Figure 1 This embodiment provides a graded auxiliary control method for model sports equipment based on race segment recognition, applied to a remote control system. The remote control system includes a processor and a memory. The memory pre-stores race segment information corresponding to the track, the target passing status corresponding to each race segment, and the race segment control parameters corresponding to each race segment. In each control cycle, the processor calls up the above data and combines it with the original remote control input and the operating status of the model sports equipment collected in the current control cycle to complete the determination of the current race segment, the determination of the control correction level, and the generation of the target control output.

[0014] Before the method begins execution, the remote control system completes initialization. This initialization includes: establishing a race segment sequence table; establishing a corresponding target passage state for each race segment; establishing corresponding race segment control parameters for each race segment; establishing a control correction level set; and setting the control cycle. After initialization, the remote control system enters a cyclic control process, executing steps S10, S20, and S30 sequentially within each control cycle.

[0015] S10. At the start of the current control cycle, the remote control system first reads the original remote control inputs entered by the operator within that control cycle. These original remote control inputs include at least attitude control channel inputs and power control channel inputs. Specifically, the processor reads the current sampled value of each control channel from the remote control input interface and associates this current sampled value with the timestamp of the current control cycle to form the input record for this control cycle. If multiple samples exist within a control cycle, the multiple sampling results within the same control cycle are resampled within the cycle or time-aligned to generate a set of original remote control input data uniquely corresponding to the current control cycle. For the read attitude control channel inputs and power control channel inputs, the processor further performs an input validity check; when the input value is within the allowable range, it is retained as the original remote control input for the current control cycle; when the input value exceeds the allowable range, it is truncated to the allowable range boundary before being used as the original remote control input for the current control cycle. After completing this step, the remote control system obtains the attitude control channel inputs and power control channel inputs corresponding to the current control cycle.

[0016] After acquiring the initial remote control input, the remote control system further acquires the operating status of the model sports equipment within the current control cycle. Specifically, the processor receives status data transmitted back from the model sports equipment or status data output from an external detection device. When both types of status data exist simultaneously, the processor aligns the two types of status data in time and combines them according to the same control cycle to form a status data set corresponding to the current control cycle. Subsequently, the processor checks the validity of the status data set; for missing items, it calls the corresponding status value from the previous control cycle or the most recent valid status value to fill in the gaps; for obviously abnormal instantaneous jumps in data, it uses adjacent status data before and after the current control cycle for correction. After completing the above processing, the processed status data is taken as the operating status of the model sports equipment within the current control cycle. At this point, the processor has simultaneously acquired the initial remote control input and the operating status within the same control cycle, and subsequent steps continue processing based on these two types of data.

[0017] S20. After obtaining the running status of the current control cycle, the processor first executes the current segment determination process. Specifically, the processor reads the segment sequence table established during the initialization phase and the segment determination information corresponding to each segment from memory. Then, it sequentially matches the running status of the current control cycle with the determination information of each segment. During matching, the processor does not simply compare the running status with all segments in an unordered manner. Instead, it prioritizes reading the segment results determined in the previous control cycle and selects a set of candidate segments from the current segment, adjacent preceding segments, and adjacent subsequent segments corresponding to those segments. Then, it compares the running status of the current control cycle with the determination information of each segment in the candidate segment set. When the running state meets the judgment requirements of a certain segment, the processor identifies that segment as the current segment. When the running state simultaneously meets the judgment requirements of multiple candidate segments, the processor prioritizes selecting the segment that is continuous with the segment result of the previous control cycle as the current segment, according to the continuity principle in the segment sequence table. When the running state does not meet the judgment requirements of any segment in the candidate segment set, the processor retains the segment result of the previous control cycle or marks the current segment as a transitional state, waiting for the next control cycle to make another judgment. Through the above processing, the processor can obtain the current segment based on the running state in each control cycle.

[0018] After the current stage is determined, the processor reads the target passage status corresponding to that stage from memory. Then, the processor compares the current control cycle's running state with the target passage status to determine the deviation within the current control cycle. Specifically, the processor first converts the running state into the same data representation as the target passage status, then compares the consistency between the running state and the target passage status item by item. When the running state is consistent with the target passage status in any item, that item is recorded as no deviation; when the running state deviates from the target passage status in any item, that item is recorded as having a deviation. The processor synthesizes the deviation results of all comparison items to form the deviation situation corresponding to the current control cycle. This deviation situation can be represented as a set of deviation judgment results or as a comprehensive deviation result; its essence is the degree of inconsistency between the current running state and the target passage status of the current stage.

[0019] After the deviation is identified, the processor executes the control correction level determination process. Specifically, the processor first reads the set of control correction levels established during the initialization phase and the corresponding decision rules for each level from memory. Then, it compares the deviation obtained in the current control cycle with the decision rules for each level sequentially. When the deviation satisfies the decision rule for a certain level, the processor determines that level as the control correction level for the current control cycle. When the deviation is located in the boundary region between two levels, the processor combines the control correction level result from the previous control cycle and performs level continuity processing to avoid frequent jumps in the control correction level between adjacent control cycles. After completing the above processing, the control correction level corresponding to the current control cycle is determined.

[0020] S30. After determining the current race segment and control correction level, the processor first reads the race segment control parameters corresponding to the current race segment from the memory. Then, it combines the race segment control parameters with the control correction level of the current control cycle to generate the correction rules corresponding to the current control cycle. In specific processing, the processor does not directly change the original remote control input. Instead, it first determines the allowed linkage output relationship between the attitude control channel and the power control channel under the current race segment based on the race segment control parameters, and then determines the strength of the restriction on this linkage output relationship based on the control correction level, thereby forming the linkage restriction conditions for the current control cycle.

[0021] After the linkage constraints are established, the processor performs correction processing on the original remote control inputs within the current control cycle. The specific process is as follows: First, the attitude control channel input is used as the basic attitude control input, and the power control channel input is used as the basic power control input; then, the attitude control basic input and the power control basic input are used to construct the initial linkage output for the current control cycle; subsequently, the initial linkage output is substituted into the linkage constraints corresponding to the current control cycle for checking. When the initial linkage output meets the linkage constraints of the current control cycle, the processor keeps the initial linkage output unchanged; when the initial linkage output does not meet the linkage constraints of the current control cycle, the processor adjusts the combination relationship between the attitude control basic input and the power control basic input according to the correction rules corresponding to the current control cycle until the adjusted linkage output meets the linkage constraints of the current control cycle. This adjustment is not an independent processing of a single channel, but rather a joint processing that always uses the combination relationship between the attitude control channel and the power control channel as the constraint object. That is, during the adjustment process, the processor continuously judges whether the coordination relationship between the attitude control channel output and the power control channel output meets the control requirements of the current stage.

[0022] Once the adjusted linkage output meets the linkage constraints of the current control cycle, the processor determines the adjusted linkage output as the restricted linkage output. Subsequently, the processor generates a target control output based on the restricted linkage output. Specifically, the processor writes the restricted linkage output into the data frame of the target control output, appending the current control cycle timestamp and output verification information to form a target control output message that can be sent in the current control cycle. After generating the target control output message, the processor sends it to the model motion equipment via the communication interface. Upon receiving the target control output, the model motion equipment executes the corresponding action according to the target control output within the current control cycle, and returns new status data to the remote control system in the next control cycle, allowing S10, S20, and S30 to be repeated in the next control cycle.

[0023] In one specific embodiment, the race segment control parameters are not generated temporarily during the control process, but are pre-established according to the layout of the teaching or competitive track before the remote control system enters the control process. Specifically, the track is first divided into multiple sequentially connected race segments based on the spatial distribution and passage requirements of each functional section; then, corresponding race segment control parameters are configured for each race segment. For each race segment, the race segment control parameters include at least the segment entry conditions, segment exit conditions, target passage status, and linkage restriction parameters corresponding to that segment, and the above contents are associated with the race segment for storage, so that after the remote control system identifies a race segment, it can directly read all the race segment control parameters corresponding to that segment.

[0024] Specifically, the entry conditions for a race segment characterize the state under which a model sports equipment can be deemed to have entered the corresponding segment. These entry conditions are established based at least on the segment's spatial location within the track and the required direction of passage. In other words, when establishing entry conditions, the spatial entry area corresponding to the segment is first determined, and then combined with the allowed flight direction range for that segment to form the entry criteria. Only when the model sports equipment's current position falls within the spatial entry area, and its current flight direction meets the required flight direction range for that segment, is the model sports equipment considered to have met the entry conditions for that segment.

[0025] Furthermore, the segment exit condition is used to characterize the state under which the model sports equipment is no longer considered to be in the corresponding segment. Specifically, the segment exit condition can be set according to the end boundary of the segment, the departure area, or the range of flight directions allowed to be maintained in the segment. That is, when the model sports equipment leaves the effective area of ​​the segment, or its flight direction no longer meets the maintenance requirements of the segment, it is considered that the model sports equipment meets the segment exit condition. Thus, the segment entry condition is used to determine "whether to enter," and the segment exit condition is used to determine "whether to leave." Both are used together to achieve stable switching between adjacent segments, avoiding frequent erroneous switching when the model sports equipment is near the segment boundary.

[0026] Furthermore, the target passage state is used to characterize the passing target that the model sports equipment should strive to achieve in the corresponding race segment. The target passage state includes the target flight direction and the target attitude range. Specifically, when establishing the target passage state for a race segment, the target flight direction of the model sports equipment in that segment is first determined based on the passage path of that segment. Then, the target attitude range matching the target flight direction is determined based on the passage stability requirements of that segment. The target flight direction and the target attitude range are stored together as the target passage state for that segment. Subsequently, during the control process, once the current race segment is determined, the remote control system can retrieve the target flight direction and target attitude range for that segment, which are used as the basis for subsequent deviation judgment and input correction.

[0027] Furthermore, the linkage constraint parameters are used to characterize the permissible linkage constraint rules between the attitude control channel and the power control channel in this race segment. Since the difficulty and requirements for passing different race segments vary, different race segments correspond to different linkage constraint parameters. Specifically, during setup, corresponding linkage constraint parameters can be configured for each race segment based on its requirements for stability, passing accuracy, and operational fault tolerance, and then associated with that race segment for storage. In this way, once the current race segment is determined, the remote control system can synchronously read the linkage constraint parameters corresponding to that segment for subsequent correction of the original remote control input.

[0028] In one specific embodiment, the process of determining the current race segment based on the running status is as follows: At the current sampling moment, the remote control system first extracts the current position and flight direction of the model sports equipment from the operating status. The current position represents the model sports equipment's current spatial location on the track, and the flight direction represents the model sports equipment's current flight orientation. After extraction, the remote control system then reads the segment already determined at the previous sampling moment, and further reads the segment exit conditions corresponding to that segment at the previous sampling moment.

[0029] Subsequently, the remote control system first determines whether the model's current position and flight direction meet the segment exit conditions of the segment at the previous sampling time. If the segment exit conditions are not met, it is assumed that the model is still within the segment at the current sampling time, and thus the segment at the previous sampling time is retained as the current segment. This is because during continuous flight, the model often remains in the same segment across multiple adjacent sampling times. Maintaining the current segment if the exit conditions are not met avoids accidental segment switching due to minor position fluctuations or instantaneous changes in direction within the segment.

[0030] If the current position and flight direction meet the segment exit conditions of the segment at the previous sampling time, it indicates that the model's motion equipment is ready to leave the segment at the previous sampling time. At this point, the remote control system further determines candidate segments. These candidate segments are not an indiscriminate set of all segments, but rather one or more segments that are adjacent in segment order to the segment at the previous sampling time or correspond spatially to the current position. After the candidate segments are determined, the remote control system reads the segment entry conditions corresponding to each candidate segment and compares the current position and flight direction at the current sampling time sequentially with the segment entry conditions of each candidate segment.

[0031] When the current position and flight direction meet the segment entry conditions of a candidate segment, the remote controller system determines that candidate segment as the current segment. If the current position and flight direction simultaneously meet the segment entry conditions of multiple candidate segments, the system further selects the candidate segment that is sequentially continuous with the segment at the previous sampling time as the current segment; if the segment sequence is insufficient to distinguish them, the system selects the candidate segment that is deeper into the valid area of ​​the corresponding segment from the current position as the current segment. If neither the current position nor the flight direction meets the segment entry conditions of any candidate segment, the remote controller system can either retain the segment at the previous sampling time as the current segment, or mark the current state as a segment transition state and continue to perform the same determination process at the next sampling time.

[0032] In one specific embodiment, the restriction on the linkage output relationship between the attitude control channel and the power control channel can be implemented in each control cycle according to the following processing procedure.

[0033] First, the remote control system reads the linkage restriction parameters corresponding to the current race segment, and obtains from these parameters the preset attitude output threshold applicable to the current control cycle, as well as the allowable output upper limit and / or allowable output change rate upper limit for the power control channel. The preset attitude output threshold here is not a simple record of the operator's original attitude input, but rather the maximum attitude control quantity that the remote control system allows the attitude control channel to output externally under the current race segment. The allowable output upper limit and allowable output change rate upper limit for the power control channel are used to constrain the maximum allowable power value output by the power control channel within the current control cycle and the maximum allowable change amplitude between adjacent control cycles, respectively.

[0034] After the current control cycle begins, the remote control system first receives the attitude control channel input and power control channel input from the operator. Then, the remote control system prioritizes restricting the attitude control channel input. Specifically, it first acquires the attitude control channel input value within the current control cycle, then determines whether the absolute value of this input value is greater than a preset attitude output threshold. When the absolute value is less than the preset attitude output threshold, the input value is directly used as the target output. When the absolute value is greater than the preset attitude output threshold, the target output is limited to an output value with the same sign as the input value and an absolute value equal to the preset attitude output threshold. In other words, in this step, the remote control system does not directly use the original attitude control channel input as the final attitude output, but rather compresses the original input to an allowable range bounded by the preset attitude output threshold to obtain the target attitude control channel output.

[0035] After generating the target output of the attitude control channel, the remote control system further determines whether the absolute value of the target output reaches the preset attitude output threshold. "Reaching" here includes two scenarios: one is that the original attitude control channel input value itself has reached or exceeded the preset attitude output threshold, and after limitation, the target output of the attitude control channel falls on the boundary of the preset attitude output threshold; the other is that although the original attitude control channel input value has not exceeded the threshold, its absolute value is exactly equal to the preset attitude output threshold. As long as the absolute value of the target output of the attitude control channel is within this threshold boundary, it is considered that the attitude control channel has entered a higher output state within the current control cycle.

[0036] When the remote control system determines that the absolute value of the target output of the attitude control channel has not reached the preset attitude output threshold, it indicates that the attitude control channel output is still within the threshold boundary in the current control cycle. At this time, the power control channel maintains its original allowable output upper limit and / or allowable output change rate upper limit under the current stage. Subsequently, the remote control system checks the power control channel input in the current control cycle according to the unadjusted allowable output upper limit and / or allowable output change rate upper limit, and generates the output result of the power control channel.

[0037] When the remote control system determines that the absolute value of the target output of the attitude control channel reaches the preset attitude output threshold, it indicates that the attitude control channel output has reached the allowed attitude output boundary for the current stage within the current control cycle. At this time, the remote control system activates the linkage constraint between the attitude control channel and the power control channel. Specifically, the remote control system reduces the allowed output upper limit of the power control channel to a restricted upper limit lower than the original allowed output upper limit for the current stage, and / or reduces the allowed output change rate upper limit of the power control channel to a restricted change rate lower than the original allowed output change rate upper limit for the current stage. In other words, when the target output of the attitude control channel reaches the preset attitude output threshold, the power control channel no longer uses the conventional output constraints for the current stage, but switches to stricter power constraints to reduce the disturbance of the power control channel to the current attitude adjustment process of the model's motion equipment.

[0038] After the power control channel constraint parameters are switched, the remote control system restricts the power control channel input for the current control cycle. If an upper limit for allowed output is used, the power control channel input value for the current control cycle is first compared with the currently effective upper limit for allowed output. When the power control channel input value is not greater than the upper limit for allowed output, the input value is retained as a candidate power output. When the power control channel input value is greater than the upper limit for allowed output, the input value is truncated to the upper limit for allowed output, and the truncated value is used as a candidate power output. If an upper limit for allowed output change rate is used, after obtaining the candidate power output, the power control channel output value already output in the previous control cycle is read, and the change in the current candidate power output relative to the power control channel output value of the previous control cycle is calculated. When the change does not exceed the currently effective upper limit for allowed output change rate, the candidate power output remains unchanged. When the change exceeds the currently effective upper limit for allowed output change rate, the current candidate power output is corrected so that its change relative to the power control channel output value of the previous control cycle does not exceed the upper limit for allowed output change rate. After the above processing, the limited output result of the power control channel within the current control cycle is obtained.

[0039] Furthermore, within the same control cycle, the remote control system combines the target output of the attitude control channel and the restricted output of the aforementioned power control channel as a restricted linked output, and encapsulates this restricted linked output as the target control output for the current control cycle before sending it to the model motion equipment. At this point, the output boundaries of the attitude control channel and the power control channel are no longer independently determined, but rather a linked relationship is established through the sequence of "first restricting the attitude control channel output, and then determining the constraint strength of the power control channel based on whether the attitude control channel output reaches a threshold." In other words, whether the target output of the attitude control channel reaches a preset attitude output threshold directly determines whether the power control channel uses conventional output constraints or tightened output constraints within the current control cycle, thereby restricting the linked output relationship between the attitude control channel and the power control channel.

[0040] In one specific embodiment, the above processing is repeated within each control cycle. When a new control cycle arrives, the remote control system reads the attitude control channel input and the power control channel input again, and re-executes the attitude control channel input limit, threshold attainment judgment, power control channel allowable output upper limit and / or allowable output change rate upper limit switching, and power control channel output limit. Thus, the constraint strength of the power control channel can dynamically change with the target output state of the attitude control channel within adjacent control cycles. When the model motion equipment requires significant attitude correction in the current segment, the power control channel output is automatically tightened; when the target output of the model motion equipment's attitude control channel falls back below the threshold, the power control channel output constraint returns to the normal constraint level for that segment.

[0041] In one specific embodiment, the control correction level is not determined solely based on the deviation of the model's current operating state from the target passing state of the current segment, but rather jointly determined by the changes in the original remote control input and the deviation. Specifically, at each sampling moment, the remote control system saves the original remote control input, operating state, current segment, and corresponding data from the previous sampling moment. When entering the control correction level determination process, it first generates the changes in the original remote control input and the deviation, then jointly determines the control correction level corresponding to the current sampling moment.

[0042] Specifically, the remote control system reads the current raw remote control input at the current sampling moment and reads the raw remote control input from the previous sampling moment from the historical cache. The raw remote control input includes at least the attitude control channel input and the power control channel input. In this embodiment, the changes in the raw remote control input include at least the rate of change of the attitude control channel input or the number of reverse switchings between adjacent sampling moments. Therefore, the remote control system prioritizes constructing a change determination result based on the attitude control channel input.

[0043] For the input change rate of the attitude control channel, the remote control system first reads the attitude control channel input value at the current sampling moment, then reads the attitude control channel input value at the previous sampling moment, and obtains the sampling time interval between the current and previous sampling moments. Subsequently, it subtracts the attitude control channel input value at the previous sampling moment from the current sampling moment's input value to obtain the attitude control channel input change amount. Then, it divides the attitude control channel input change amount by the sampling time interval to obtain the attitude control channel input change rate corresponding to the current sampling moment. To reduce the impact of input sampling noise on the input change rate, the remote control system can also perform noise reduction or low-amplitude filtering on the attitude control channel input values ​​at the current and previous sampling moments before calculating the input change rate. Only when the attitude control channel input value is greater than a preset minimum effective input amplitude is the attitude control channel input value included in the input change rate calculation. Through the above processing, the remote control system can obtain the rate of change of the current attitude control channel input relative to the previous sampling moment at each sampling moment, thus using the attitude control channel input change rate as a representation of the original remote control input change.

[0044] For the number of reverse switching between adjacent sampling times, the remote control system first stores the attitude control channel input values ​​of multiple consecutive sampling times in a buffer, and then reads the continuous input sequence within a preset statistical window at the current sampling time. Subsequently, the remote control system compares the attitude control channel input directions of two adjacent sampling times sequentially. When the attitude control channel input signs of two adjacent sampling times are opposite, and the absolute values ​​of the attitude control channel inputs at both sampling times are greater than a preset minimum effective input amplitude, the remote control system determines this change as a reverse switching and increments the corresponding reverse switching count by one. When the attitude control channel input signs of two adjacent sampling times are the same, or the absolute value of the attitude control channel input at either sampling time is not greater than the preset minimum effective input amplitude, it is not counted as a reverse switching. After performing the above comparison on all adjacent sampling times within the current statistical window, the remote control system obtains the number of reverse switching times corresponding to the current sampling time. In this way, whether the operator frequently changes the attitude control direction within a short period can be transformed into a quantifiable result of input change.

[0045] After obtaining the input change rate and / or reverse switching count of the attitude control channel, the remote controller system further generates a judgment result of the original remote control input change at the current sampling time. Specifically, the input change rate and reverse switching count of the attitude control channel are first compared with their respective change judgment thresholds. When neither the input change rate nor the reverse switching count reaches its corresponding threshold, the change in the current original remote control input is judged as small. When at least one of the input change rate or reverse switching count reaches its corresponding threshold, the change in the current original remote control input is judged as large. When both the input change rate and reverse switching count exceed their corresponding thresholds, or either one exceeds a higher-level change threshold, the change in the current original remote control input is judged as large. Through these steps, the remote controller system converts the originally continuously changing attitude control channel input behavior into an input change result that can be used for subsequent joint judgment.

[0046] After generating the original remote control input changes, the remote control system further generates the deviation information corresponding to the current sampling moment. Specifically, the remote control system first reads the target passage status corresponding to the current race segment, extracts the state quantity corresponding to the target passage status from the operating status at the current sampling moment, and then compares the current operating status with the target passage status of the current race segment. The deviation information includes at least one of the following: flight direction deviation, attitude deviation, and speed deviation. Therefore, the remote control system can calculate these three types of deviations separately and select at least one as the component of the current deviation information based on the actual race segment settings.

[0047] For the flight direction deviation, the remote control system first extracts the actual flight direction at the current sampling moment from the operating status, and then reads the target flight direction from the target passage status corresponding to the current segment. Subsequently, the difference in angle between the actual flight direction and the target flight direction is taken as the flight direction deviation. To avoid abnormal calculation results caused by the angle crossing zero or circumferential boundaries, the remote control system first converts the actual flight direction and the target flight direction to a unified angle domain during calculation, and then takes the minimum angle difference between the two as the flight direction deviation at the current sampling moment. After the above processing, the larger the flight direction deviation, the greater the deviation of the model's current flight direction from the target flight direction of the current segment.

[0048] For attitude deviation, the remote control system first extracts the actual attitude at the current sampling moment from the running status, and then reads the target attitude range from the target passage status corresponding to the current segment. Subsequently, the remote control system determines whether the current actual attitude falls within the target attitude range; if the current actual attitude falls within the target attitude range, the attitude deviation at the current sampling moment is recorded as zero; if the current actual attitude does not fall within the target attitude range, the difference between the current actual attitude and the nearest boundary of the target attitude range is calculated, and this difference is used as the attitude deviation at the current sampling moment. If the target attitude range is defined by multiple attitude components, the remote control system compares the relationship between each attitude component and the target attitude range, and then uses the result with the largest deviation among all attitude components as the attitude deviation at the current sampling moment, or combines the deviation results of each attitude component to obtain a comprehensive attitude deviation. Through the above steps, the remote control system transforms the deviation of the current attitude relative to the target attitude range of the current segment into a quantifiable deviation result.

[0049] For speed deviation, the remote control system first extracts the actual speed at the current sampling moment from the operating status, and then reads the target speed requirement from the target passage status corresponding to the current segment. If the target passage status of the current segment is represented by a target speed value, the remote control system uses the difference between the current actual speed and the target speed value as the speed deviation. If the target passage status of the current segment is represented by a target speed range, the remote control system first determines whether the current actual speed falls within the target speed range. When the current actual speed is within the target speed range, the speed deviation at the current sampling moment is recorded as zero. When the current actual speed is higher than the upper limit of the target speed range or lower than the lower limit of the target speed range, the difference between the current actual speed and the nearest boundary of the target speed range is used as the speed deviation. In this way, the remote control system can convert the current actual speed relative to the speed requirement in the target passage status of the current segment into a speed deviation.

[0050] After obtaining at least one of the deviations in flight direction, attitude, and speed, the remote controller system further generates a deviation assessment result for the current sampling moment. Specifically, the system first compares the deviations in flight direction, attitude, and speed with their respective deviation thresholds. When all deviations are below their respective thresholds, the current deviation is classified as small. When at least one deviation reaches its corresponding threshold, the current deviation is classified as large. When multiple deviations simultaneously reach their corresponding thresholds, or when a deviation reaches a higher-level threshold, the current deviation is classified as large. Thus, the remote controller system converts the degree of deviation of the current operating state relative to the target passage state of the current segment into a deviation result that can be used for subsequent level determination.

[0051] After obtaining the results of the original remote control input change and deviation assessments, the remote control system performs a joint determination process for the control correction level. Specifically, the remote control system first reads pre-established control correction level determination rules, which describe the corresponding control correction levels for different combinations of input changes and deviations. Then, the remote control system combines the input change and deviation assessment results at the current sampling time according to these rules. When both the input change and deviation are small, a lower control correction level is determined; when both the input change and deviation increase, a higher control correction level is determined; when one of the input change and deviation is smaller than the other, the corresponding control correction level is selected from adjacent levels according to a preset priority rule. If the system has multiple level settings, the remote control system maps the combined results of the input change and deviation to each level setting in the same manner. In this way, the determination of the control correction level is no longer solely determined by the degree to which the current operating state deviates from the target passing state, but also considers whether the operator's current input has characteristics of rapid changes or frequent reverse switching. Thus, the control correction level reflects both the degree of mismatch in the current passing state of the model's motion equipment and the intensity of the operator's current control behavior.

[0052] In one specific embodiment, to avoid frequent fluctuations in the control correction level between adjacent sampling times, after obtaining the initial control correction level at the current sampling time, the remote control system can also read the control correction level at the previous sampling time and continuously correct the initial control correction level at the current sampling time. Specifically, when the initial control correction level at the current sampling time changes by only one level compared to the control correction level at the previous sampling time, and the input change or deviation does not continuously exceed the corresponding level boundary, the remote control system maintains the control correction level of the previous sampling time unchanged. Only when the input change and deviation at the current sampling time meet the judgment conditions corresponding to a higher level for multiple consecutive sampling times will the remote control system raise the control correction level to a higher level. Only when the input change and deviation at the current sampling time fall back to the judgment range corresponding to a lower level for multiple consecutive sampling times will the remote control system lower the control correction level. Through the above processing, the control correction level can be kept relatively stable between adjacent sampling times.

[0053] In one specific embodiment, based on the linkage limitation process, the remote control system further establishes a correspondence between control correction levels and linkage limitation strengths, so that different control correction levels correspond to different linkage limitation strengths. Specifically, before entering the control process, the remote control system first establishes a corresponding configuration relationship between control correction levels and linkage limitation parameters, and stores this corresponding configuration relationship in a memory. The corresponding configuration relationship includes at least: a preset attitude output threshold corresponding to each control correction level, and an upper limit for the allowed output of the power control channel corresponding to each control correction level. If the system simultaneously uses the upper limit for the allowed rate of change of output as the linkage limitation content, the upper limits for the allowed rate of change of output corresponding to different control correction levels can also be stored together; however, in this embodiment, the linkage limitation strength is distinguished at least by the preset attitude output threshold and / or the upper limit for the allowed output of the power control channel.

[0054] Specifically, when establishing the corresponding configuration relationship, the order of multiple control correction levels is first determined, and then the corresponding linkage limitation parameters are configured for each level according to the linkage limitation strength from weakest to strongest. That is, for lower control correction levels, a larger preset attitude output threshold and / or a larger upper limit for the allowable output of the power control channel are configured; for higher control correction levels, a smaller preset attitude output threshold and / or a smaller upper limit for the allowable output of the power control channel are configured. Thus, as the control correction level increases, the range that the attitude control channel can directly output decreases, and the upper limit that the power control channel can output simultaneously tightens, thereby increasing the linkage limitation strength as the control correction level increases.

[0055] In one specific embodiment, the remote control system first establishes a level parameter table according to the number of control correction levels. Each level record in the level parameter table includes at least: the level identifier corresponding to the level, the preset attitude output threshold corresponding to the level, and the upper limit of the allowed output of the power control channel corresponding to the level. After establishment, the remote control system further checks the parameter relationship between adjacent levels to ensure that the preset attitude output threshold corresponding to the higher level is not greater than the preset attitude output threshold corresponding to the lower level, and that the upper limit of the allowed output of the power control channel corresponding to the higher level is not greater than the upper limit of the allowed output of the power control channel corresponding to the lower level. If the system adopts a multi-level configuration, the check process is performed sequentially for all levels to ensure that the linkage restriction parameters tighten step by step as the control correction level changes from low to high. After completing the above checks, the level parameter table serves as the basis for calling the linkage restriction parameters in subsequent control processes.

[0056] At each sampling moment or within each control cycle, after determining the control correction level, the remote control system first reads the preset attitude output threshold and the maximum allowable output of the power control channel corresponding to the current control correction level from the level parameter table, and determines them as the linkage restriction parameters effective at the current moment. Subsequently, the remote control system, according to the processing order, first uses the preset attitude output threshold effective at the current moment to restrict the input of the attitude control channel to obtain the target output of the attitude control channel at the current moment; then it determines whether the absolute value of the target output of the attitude control channel reaches the preset attitude output threshold effective at the current moment; when it reaches the preset attitude output threshold, it then uses the maximum allowable output of the power control channel corresponding to the current control correction level to restrict the input of the power control channel. Thus, the control correction level does not simply exist as an identifier, but directly affects the linkage restriction process of the attitude control channel and the power control channel by calling different preset attitude output thresholds and different maximum allowable output of the power control channel.

[0057] Furthermore, when the control correction level at the current sampling moment increases compared to the previous sampling moment, the remote control system immediately stops using the linkage limit parameters corresponding to the previous sampling moment and instead calls the linkage limit parameters corresponding to the increased control correction level. Specifically, the system first reads the smaller preset attitude output threshold corresponding to the increased control correction level and uses this smaller preset attitude output threshold to re-limit the attitude control channel input at the current sampling moment. If the absolute value of the re-obtained attitude control channel target output reaches the smaller preset attitude output threshold, then the system reads the smaller allowable output upper limit of the power control channel corresponding to the increased control correction level and uses this smaller allowable output upper limit of the power control channel to limit the power control channel input at the current sampling moment. If the power candidate output value originally obtained at the current sampling moment according to the parameters of the previous sampling moment is greater than the allowable output upper limit of the power control channel corresponding to the increased control correction level, the remote control system directly truncates the power candidate output value to the new allowable output upper limit of the power control channel, thereby immediately tightening the power control channel output to the range allowed by the higher control correction level.

[0058] Furthermore, when the control correction level at the current sampling moment decreases compared to the previous sampling moment, the remote control system invokes the larger preset attitude output threshold and / or the larger allowable output limit of the power control channel corresponding to the reduced control correction level. Specifically, the remote control system uses the new preset attitude output threshold to re-limit the attitude control channel input at the current sampling moment. If the absolute value of the target output of the attitude control channel at the current sampling moment does not reach the new preset attitude output threshold, the power control channel can maintain the normal allowable output limit corresponding to the lower control correction level for the current stage. If the absolute value of the target output of the attitude control channel at the current sampling moment still reaches the new preset attitude output threshold, the allowable output limit of the power control channel corresponding to the lower control correction level continues to limit the power control channel input. In this way, as the control correction level decreases, the linkage restriction strength weakens simultaneously, restoring the output range of the attitude control channel and the power control channel to a more relaxed restriction state.

[0059] In one specific embodiment, if the linkage limitation strength corresponding to the control correction level is achieved simultaneously through both "reducing the preset attitude output threshold" and "reducing the upper limit of the allowable output of the power control channel," the remote control system updates both parameters simultaneously when calling parameters, and executes them in the following order: First, the attitude control channel input is limited according to the preset attitude output threshold corresponding to the current control correction level to obtain the target output of the attitude control channel; then, based on whether the target output of the attitude control channel reaches the preset attitude output threshold corresponding to the current control correction level, it is determined whether to call the upper limit of the allowable output of the power control channel corresponding to the current control correction level to limit the input of the power control channel. That is to say, at a higher control correction level, the attitude control channel enters the threshold boundary state earlier, and once it enters this state, the power control channel is constrained by the lower output upper limit earlier, thereby simultaneously enhancing the linkage limitation strength in two dimensions.

[0060] In another specific embodiment, if the linkage limitation strength corresponding to the control correction level is achieved solely by reducing the preset attitude output threshold, the remote control system only updates the preset attitude output threshold at different control correction levels, while the upper limit of the allowable output of the power control channel remains unchanged. In this implementation, as the control correction level increases, the target output of the attitude control channel is more likely to reach the preset attitude output threshold corresponding to the current control correction level, thus triggering the linkage limitation process of the power control channel more frequently. Correspondingly, if the linkage limitation strength corresponding to the control correction level is achieved solely by reducing the upper limit of the allowable output of the power control channel, the remote control system keeps the preset attitude output threshold unchanged at different control correction levels, while only updating the upper limit of the allowable output of the power control channel. In this implementation, once the target output of the attitude control channel reaches the preset attitude output threshold, the lower upper limit of the allowable output of the power control channel corresponding to a higher control correction level will subject the power control channel output to more stringent limitations. Both of these implementations satisfy the requirement that "as the control correction level increases, the preset attitude output threshold decreases, and / or the upper limit of the allowable output of the power control channel decreases."

[0061] Furthermore, during continuous sampling, the remote control system repeatedly executes the process of "reading the current control correction level—calling the linkage limit parameters corresponding to that level—generating the target output of the attitude control channel and the restricted output of the power control channel according to the linkage limit parameters corresponding to that level" at each sampling moment. Thus, the linkage limit strength is not fixed but dynamically adjusted between different sampling moments according to the control correction level. When the control correction level continuously increases, the preset attitude output threshold continuously decreases, and / or the allowed output upper limit of the power control channel continuously decreases, gradually tightening the output of the model's motion equipment; when the control correction level continuously decreases, the preset attitude output threshold rises again, and / or the allowed output upper limit of the power control channel rises again, gradually relaxing the output of the model's motion equipment. Therefore, a stable one-to-one correspondence is formed between different control correction levels and different linkage limit strengths.

[0062] In one specific embodiment, when the current race segment is determined to be a crossing segment corresponding to a crossing marker, the remote control system no longer uses the target passage state of a normal race segment for that segment. Instead, it calls the crossing control data pre-stored and associated with that crossing segment. The crossing control data includes at least the centerline of the crossing marker, the target flight direction established along the centerline of the crossing marker, the target attitude range established around the target flight direction, and linkage limit parameters corresponding to the lateral deviation. The centerline of the crossing marker can be pre-entered during the system initialization phase. Specifically, it can be determined by the two endpoints of the crossing marker, or it can be formed by connecting multiple center points sequentially to form a set of centerline segments. When using a set of centerline segments, adjacent centerline segments are connected end-to-end to represent the central path that the model sports equipment should follow when crossing the crossing marker.

[0063] Specifically, after the current sampling time is determined to be a crossing segment, the remote controller system first reads the current position and flight direction at the current sampling time, and then reads the centerline of the crossing marker corresponding to the crossing segment. Subsequently, based on the spatial relationship between the current position and the centerline of the crossing marker, the remote controller system determines the corresponding reference position of the current position on the centerline of the crossing marker. If the centerline of the crossing marker is represented by a single straight line segment, the perpendicular position of the current position on that straight line segment is taken as the corresponding reference position; if the centerline of the crossing marker is composed of multiple centerline segments, the distance from the current position to each centerline segment is calculated first, then the centerline segment closest to the current position is selected, and the perpendicular position of the current position on that closest centerline segment is taken as the corresponding reference position. After determining the corresponding reference position, the remote controller system reads the extension direction of the centerline segment containing the corresponding reference position and determines this extension direction as the target flight direction at the current sampling time. Therefore, the target flight direction is not a fixed and independent parameter, but a direction result that is dynamically called or determined within the crossing section based on the positional relationship of the current position relative to the center line of the crossing marker, so that the model sports equipment always uses the direction along the center line of the crossing marker as the reference during the crossing process.

[0064] Furthermore, after the target flight direction is determined, the remote controller system establishes the target attitude range at the current sampling time based on the target flight direction. Specifically, during system initialization, the allowable attitude deflection range corresponding to the crossing section is pre-set. Then, at the current sampling time, this allowable attitude deflection range is expanded around the currently determined target flight direction, forming the target attitude range around the target flight direction. Subsequently, the remote controller system extracts the actual attitude of the model's motion equipment from the current operating state and determines whether the current actual attitude falls within the target attitude range. If it does, it indicates that the current attitude of the model's motion equipment meets the attitude requirements for crossing the section; if it does not, it indicates that the current attitude of the model's motion equipment has deviated from the attitude requirements for crossing the section, and this can be used to determine the control correction level and attitude control channel output correction. In this way, the target passage status in the crossing section is specifically defined as "the target flight direction along the center line of the crossing marker" and "the target attitude range around the target flight direction," thus enabling the system to directly call and determine the passage requirements in the crossing section.

[0065] Furthermore, when the current segment is a crossing segment, the remote control system also calculates the lateral deviation of the model's motion equipment relative to the center line of the crossing marker based on the spatial relationship between the current position and the center line of the crossing marker. Specifically, the current position is first read, followed by the corresponding reference position, where the reference position is the projection of the current position onto the center line of the crossing marker or the nearest corresponding position. Then, the shortest distance between the current position and the reference position is used as the lateral deviation at the current sampling moment. If the center line of the crossing marker consists of a single straight line segment, the lateral deviation is the vertical distance from the current position to that straight line segment; if the center line of the crossing marker consists of multiple center line segments, the lateral deviation is the shortest distance from the current position to the nearest center line segment. Through this step, the remote control system converts the lateral offset of the model's motion equipment's current position relative to the crossing center path into a quantifiable lateral deviation.

[0066] After obtaining the lateral deviation amount, the remote control system compares it with a preset deviation threshold. This preset deviation threshold, stored during system initialization and corresponding to the crossing section, characterizes the maximum lateral deviation range allowed for the model's motion equipment to deviate from the centerline of the crossing marker during the crossing section. Specifically, during the comparison, when the lateral deviation is less than the preset deviation threshold, the remote control system determines that the model's motion equipment is still within the allowed lateral deviation range, and the power control channel maintains its basic allowable output limit unchanged for the current crossing section. When the lateral deviation reaches the preset deviation threshold, the remote control system determines that the model's motion equipment has deviated to a state requiring restriction of propulsion intensity, and immediately invokes the linkage restriction parameters corresponding to the crossing section to reduce the allowable output limit corresponding to the power control channel.

[0067] Specifically, the process of reducing the allowable output upper limit corresponding to the power control channel is as follows: The remote control system first reads the original allowable output upper limit of the power control channel under the current crossing segment, and then reads the restricted allowable output upper limit in the linkage limitation parameters corresponding to the lateral deviation reaching a preset deviation threshold; subsequently, the restricted allowable output upper limit replaces the original allowable output upper limit of the current power control channel, and the replaced allowable output upper limit is used as the effective allowable output upper limit of the power control channel at the current sampling time. After completing the allowable output upper limit switch, the remote control system reads the power control channel input at the current sampling time and compares the power control channel input with the currently updated effective allowable output upper limit; when the power control channel input is not higher than the effective allowable output upper limit, the power control channel input is kept as the power candidate output at the current sampling time; when the power control channel input is higher than the effective allowable output upper limit, the power control channel input is truncated to the effective allowable output upper limit, and the truncated result is used as the power candidate output at the current sampling time. Thus, when the lateral deviation reaches the preset deviation threshold, the power control channel output is limited to a lower output upper limit.

[0068] Furthermore, within the same sampling moment, the remote control system combines the target output of the attitude control channel obtained at the current sampling moment with the aforementioned candidate power output to form a restricted post-linkage output for traversing the race segment. Based on this restricted post-linkage output, a target control output is generated and sent to the model motion equipment. Thus, when the lateral deviation of the model motion equipment relative to the centerline of the crossing marker increases to a preset deviation threshold, the system does not merely provide a warning message, but directly reduces the propulsion intensity by decreasing the upper limit of the allowable output of the power control channel. This prevents the model motion equipment from maintaining excessively high power output as it continues to approach the centerline of the crossing marker, completes direction correction, and attitude convergence. With the arrival of the next sampling moment, the remote control system recalculates the lateral deviation. If the lateral deviation falls below the preset deviation threshold, the basic allowable output upper limit corresponding to the crossing segment is restored; if the lateral deviation still reaches the preset deviation threshold, the reduced allowable output upper limit remains unchanged.

[0069] Furthermore, during continuous sampling, the remote control system repeatedly executes the process of "determining the target flight direction corresponding to the current position—establishing the target attitude range around the target flight direction—calculating the lateral deviation—comparing the lateral deviation with a preset deviation threshold—reducing the upper limit of the allowable output of the power control channel when the threshold is reached." In this way, within the crossing section, the target's passage status is constantly and dynamically updated around the centerline of the crossing marker, while the linkage limit parameters dynamically take effect depending on whether the model's motion equipment deviates from the centerline to a preset degree, ensuring that the output control during the crossing section is always matched to the current positional relationship of the model's motion equipment relative to the centerline of the crossing marker.

[0070] In one specific embodiment, the control correction level is determined using a quantitative calculation method. Specifically, at each sampling moment, the remote control system first obtains the original remote control input change and the operating state deviation, then converts them into input change sub-values ​​G1 and deviation sub-values ​​G2, respectively. These are then weighted and synthesized according to preset weights to obtain the control correction value G corresponding to the current sampling moment. The control correction level for the current sampling moment is determined based on the numerical range of the control correction value G. Through this processing method, the control correction level no longer depends on a single condition trigger, but is obtained by quantifying both the intensity of the input change and the degree of state deviation.

[0071] Specifically, in the system initialization stage, non - negative weights a and b are preset first, and a + b = 1; then the input change rate normalization parameter R0, the reverse switching times normalization parameter N0, the flight direction deviation normalization parameter D1, the attitude deviation normalization parameter D2, and the speed deviation normalization parameter D3 are preset. Among them, R0, N0, D1, D2, and D3 are all positive values; subsequently, the level thresholds T1 and T2 are preset, and 0 ≤ T1 < T2 ≤ 1. After initialization, the remote control system repeats the calculation of the control correction value and the determination of the control correction level according to the same process at each sampling moment.

[0072] At the current sampling moment, the remote control system first calculates the input change rate r of the attitude control channel. Specifically, first read the input value of the attitude control channel at the current sampling moment, then read the input value of the attitude control channel at the previous sampling moment, and read the sampling time interval between the current sampling moment and the previous sampling moment; then subtract the input value of the attitude control channel at the previous sampling moment from the input value of the attitude control channel at the current sampling moment to obtain the input change amount of the attitude control channel; then divide the input change amount of the attitude control channel by the sampling time interval to obtain the input change rate r of the attitude control channel at the current sampling moment. To reduce the influence of input jitter on the calculation result of the input change rate, the remote control system can also perform smoothing processing on the input values of the attitude control channel at the current sampling moment and the previous sampling moment before calculation, and only when the input value is greater than the preset minimum effective input amplitude, it is used as an effective input to participate in the calculation. After completing this step, the r value at the current sampling moment is obtained.

[0073] Furthermore, the remote control system calculates the number of reverse switches n of the input of the attitude control channel within an adjacent preset time window. Specifically, first, with the current sampling moment as the end moment, trace back multiple consecutive sampling moments within the preset time window length range forward to form the input sequence of the attitude control channel within this preset time window; then compare the input symbols of the attitude control channel at two adjacent sampling moments in this input sequence in turn. When the input symbols of the attitude control channel at two adjacent sampling moments are opposite, and the absolute values of the corresponding inputs at these two sampling moments are both greater than the preset minimum effective input amplitude, this change is recorded as a reverse switch, and the reverse switch count is incremented by one; when the input symbols at two adjacent sampling moments are the same, or the absolute value of any one of the inputs is not greater than the preset minimum effective input amplitude, it is not counted as a reverse switch. After completing the statistics for all adjacent sampling moments within the entire preset time window, the number of reverse switches n corresponding to the current sampling moment is obtained.

[0074] After obtaining r and n, the remote control system calculates the input change sub-value G1. Specifically, it first calculates |r| / R0, where |r| represents the absolute value of r; then it calculates n / N0; then it adds |r| / R0 to n / N0 to obtain the normalized cumulative input change value; finally, it compares the normalized cumulative input change value with 1 and takes the smaller value as the input change sub-value G1 at the current sampling time, i.e., G1 = min(1, |r| / R0 + n / N0). With this processing method, when the input change rate is small and the number of reverse switching is small, G1 takes a smaller value; when the input change rate increases and / or the number of reverse switching increases, G1 increases accordingly; when the input change level has reached or exceeded the preset upper limit, G1 is limited to 1, thereby preventing the input change sub-value from continuing to grow indefinitely.

[0075] After completing the G1 calculation, the remote controller system then calculates the flight direction deviation d1, attitude deviation d2, and speed deviation d3. Specifically, it first reads the current sampling time's operating status and extracts the actual flight direction, actual attitude, and actual speed; then it reads the target passage status corresponding to the current race segment and extracts the target flight direction, target attitude range, and target speed requirement. For the flight direction deviation d1, the current actual flight direction and the target flight direction are first converted to a unified direction expression domain, and then the minimum angle difference between the two is taken as d1. For the attitude deviation d2, it first determines whether the current actual attitude falls within the target attitude range; when the actual attitude falls within the target attitude range, d2 is recorded as 0; when the actual attitude does not fall within the target attitude range, the difference between the current actual attitude and the nearest boundary of the target attitude range is calculated, and this difference is taken as d2. For the speed deviation d3, first determine whether the current actual speed meets the target speed requirement for the current race segment; if it does, record d3 as 0; if it does not, use the difference between the current actual speed and the target speed value, or the difference between the current actual speed and the nearest boundary of the target speed range, as d3. After completing the above processing, d1, d2, and d3 at the current sampling time are obtained.

[0076] After obtaining d1, d2, and d3, the remote control system calculates the deviation sub-value G2. Specifically, first calculate |d1| / D1, |d2| / D2, and |d3| / D3 respectively, where |d1|, |d2|, and |d3| represent the absolute values of d1, d2, and d3 respectively; then add |d1| / D1, |d2| / D2, and |d3| / D3 to obtain the deviation normalized cumulative value; finally, compare the deviation normalized cumulative value with 1, and take the smaller value of the two as the deviation sub-value G2 at the current sampling moment, that is, G2 = min(1, |d1| / D1 + |d2| / D2 + |d3| / D3). After adopting this processing method, when the flight direction deviation amount, the attitude deviation amount, and the speed deviation amount are all small, G2 takes a small value; when at least one of the above three types of deviation amounts increases, G2 increases accordingly; when the comprehensive deviation degree reaches or exceeds the preset upper limit, G2 is limited to 1, so that the deviation sub-value always remains within the range of 0 to 1.

[0077] Furthermore, after obtaining G1 and G2, the remote control system calculates the control correction value G according to the preset weights a and b. Specifically, first calculate aG1, then calculate bG2, and then add the two to obtain the control correction value G at the current sampling moment, that is, G = aG1 + bG2. Since both a and b are non-negative preset weights and satisfy a + b = 1, the control correction value G is actually a weighted comprehensive result of the input change sub-value G1 and the deviation sub-value G2. If the system hopes to pay more attention to the operator's input changes, a can be set to be greater than b; if the system hopes to pay more attention to the deviation degree of the current operating state of the model sports equipment relative to the target passing state, b can be set to be greater than a. Regardless of the weight configuration adopted, the control correction value G still remains within the range of 0 to 1, which is convenient for uniformly using segmented thresholds for subsequent level determination.

[0078] After the control correction value G is calculated, the remote control system determines the control correction level at the current sampling moment according to the preset level thresholds T1 and T2. Specifically, when G < T1, the control correction level at the current sampling moment is determined to be level one; when T1 ≤ G and G < T2, the control correction level at the current sampling moment is determined to be level two; when G ≥ T2, the control correction level at the current sampling moment is determined to be level three. That is to say, level one corresponds to a lower comprehensive correction requirement, level two corresponds to a medium comprehensive correction requirement, and level three corresponds to a higher comprehensive correction requirement. Through this processing method, the remote control system converts the continuously changing control correction value G into a discrete level result, so as to directly call the linkage limit strength parameters corresponding to level one, level two, or level three subsequently.

[0079] In one specific embodiment, to avoid frequent switching of the control correction level between adjacent sampling times due to fluctuations in the G value near the threshold, the remote control system can further perform continuous correction processing after completing the initial level determination for the current sampling time. Specifically, it first reads the control correction level determined at the previous sampling time, and then compares the boundary relationship between the control correction value G at the current sampling time and the corresponding level at the previous sampling time. When the G value at the current sampling time only briefly crosses T1 or T2, and the number of consecutive crossings does not reach the preset number of consecutive determinations, the control correction level at the previous sampling time remains unchanged. When the G value is in the new level range for multiple consecutive sampling times, the control correction level is then switched to the corresponding new level. Through the above processing, the change in the control correction level can be made more stable.

[0080] Furthermore, during continuous control, the remote control system repeatedly executes the following processing flow at each sampling moment: "calculate r and n—calculate G1—calculate d1, d2, and d3—calculate G2—calculate G—determine the control correction level based on T1 and T2". In this way, the control correction level can be dynamically updated in real time according to changes in operator input and deviations in the model's motion. When the rate of change of the operator's attitude control channel input increases, the number of reverse switching increases, and at least one of the deviations in flight direction, attitude, or speed of the model increases, G1 and G2 increase simultaneously, and the control correction value G increases accordingly, thereby raising the control correction level. When the operator's input stabilizes and the model's motion returns to a state closer to the target passage, G1 and G2 decrease, and the control correction value G decreases accordingly, thereby lowering the control correction level.

[0081] In one specific embodiment, when the current stage is a crossing stage, the remote control system no longer uses the linkage output generation method under normal stages. Instead, it performs joint calculations on the attitude control channel and the power control channel according to the parameter group corresponding to the crossing stage, directly generating the target output s1 of the attitude control channel and the target output p1 of the power control channel at the current sampling moment. The calculation process is repeated at each sampling moment, and at each sampling moment, the target output of the power control channel already output at the previous sampling moment is used as the reference value for the power change rate limit at the current sampling moment.

[0082] Specifically, before entering the control phase of the race, the remote control system first completes parameter configuration. This parameter configuration is not a single fixed parameter, but rather multiple parameter groups are established according to different control correction levels. Each parameter group includes at least A, P, k, q, Y, and R. Subsequently, a mapping relationship is established between each parameter group and its corresponding control correction level, and stored. Thus, once the control correction level is determined at each sampling moment, the remote control system can directly read the parameter group corresponding to that control correction level as the calculation parameters for the current sampling moment. Furthermore, the parameter groups corresponding to each control correction level are set in an increasing manner according to the linkage limitation strength; that is, as the control correction level increases, A gradually decreases, P gradually decreases, k gradually increases, q gradually increases, and / or R gradually decreases. Through this parameter configuration method, the higher the control correction level at the current sampling moment, the smaller the range of direct output allowed by the attitude control channel, the lower the upper limit of the allowed output by the power control channel, the stronger the suppression effect of attitude output on power output, the stronger the suppression effect of lateral deviation on power output, and the smaller the allowable variation in power output between adjacent sampling moments.

[0083] At the start of the current sampling moment, the remote control system first reads the original remote control input s corresponding to the attitude control channel, the original remote control input p corresponding to the power control channel, the lateral deviation y of the model's motion equipment relative to the centerline of the crossing marker, and the parameter group A, P, k, q, Y, and R corresponding to the current control correction level. Simultaneously, the remote control system also reads the target output of the power control channel determined at the previous sampling moment and records it as the power output reference value at the previous sampling moment. Then, it reads the sampling time interval dt between the current sampling moment and the previous sampling moment. If the current sampling moment is the first sampling moment after entering the crossing section, the power output reference value at the previous sampling moment can be initialized to the target output of the power control channel, which was the last output before entering the crossing section, or initialized to the candidate power output before the rate of change limit at the current sampling moment.

[0084] Further, the remote control system first calculates the target output s1 of the attitude control channel. Specifically, the original remote control input s is first compared with the upper limit of the attitude output A, and then calculated using the formula s1 = max(-A, min(s, A)). The processing order is as follows: first, the smaller value between s and A is taken to limit the positive attitude output to no more than A; then, this result is compared with -A, and the larger value is taken to limit the negative attitude output to no less than -A. In this way, the calculated s1 always falls within the interval [-A, A]. If s is within this interval, then s1 is the same as s; if s is greater than A, then s1 is truncated to A; if s is less than -A, then s1 is truncated to -A. Through this step, the remote control system first completes the saturation limit of the attitude control channel output at the current sampling time, ensuring that the target output of the attitude control channel is constrained within the allowable attitude range corresponding to the current control correction level.

[0085] After obtaining s1, the remote control system calculates the current effective output upper limit of the power control channel. This effective output upper limit is not fixed at P, but is adjusted in real time according to the changes in the target output s1 of the attitude control channel and the lateral deviation y. Specifically, the remote control system first calculates |s1| to characterize the absolute amplitude of the target output of the attitude control channel at the current sampling moment; then it calculates |y| to characterize the absolute amount of lateral deviation of the model's motion equipment relative to the center line of the crossing marker at the current sampling moment. Subsequently, the remote control system calculates the lateral deviation excess max(0,|y|-Y). In the specific processing, we first obtain the amount by which the lateral deviation exceeds the lateral deviation threshold Y using |y|-Y. When |y|≤Y, |y|-Y is zero or negative. In this case, the result of max(0,|y|-Y) is 0, indicating that the current lateral deviation has not exceeded the threshold and no additional deviation suppression is introduced. When |y|>Y, |y|-Y is positive. In this case, the result of max(0,|y|-Y) is this positive value, indicating that the current lateral deviation has exceeded the threshold and the excess part needs to participate in the dynamic suppression calculation.

[0086] After calculating the two intermediate quantities mentioned above, the remote control system calculates the upper bound of the dynamic constraint at the current sampling moment according to Pk×|s1|-q×max(0,|y|-Y). Here, P represents the basic upper limit of the dynamic output corresponding to the current control correction level, k×|s1| represents the deduction of the target output of the attitude control channel from the upper limit of the dynamic output, and q×max(0,|y|-Y) represents the additional deduction of the lateral deviation excess from the upper limit of the dynamic output. Therefore, the upper bound of the dynamic constraint at the current sampling moment decreases as |s1| increases, and further decreases as the degree of lateral deviation exceeding Y increases. In other words, when the model's motion equipment needs a large attitude correction during the crossing of the track, or when the lateral deviation relative to the center line of the crossing marker has exceeded the threshold, the system automatically reduces the upper limit of the dynamic output allowed at the current sampling moment.

[0087] After the upper bound of the dynamic constraint is calculated, the remote control system further generates candidate outputs for the dynamic control channel that are not subject to rate of change limits. Specifically, the calculation is performed using the formula p'=max(0,min(p,Pk×|s1|-q×max(0,|y|-Y))). The processing order is as follows: first, the smaller value between the original remote control input p and the upper bound of the dynamic constraint at the current sampling time is taken to ensure that the output of the dynamic control channel does not exceed the allowable upper bound of the dynamic constraint at the current sampling time; then, this result is compared with 0, and the larger value is taken to ensure that the output of the dynamic control channel is not lower than 0. In this way, the resulting p' is always not less than 0 and not greater than the upper bound of the dynamic constraint determined by P, k, q, s1, and y at the current sampling time. If p itself is already less than the upper bound of the dynamic constraint at the current sampling time, then p' is the same as p; if p is greater than the upper bound of the dynamic constraint at the current sampling time, then p' is truncated to that upper bound of the dynamic constraint; if the upper bound of the dynamic constraint at the current sampling time has decreased to below 0, then p' is forcibly set to 0.

[0088] After obtaining the candidate output p' of the power control channel, the remote control system continues to enforce the power output change rate limit to ensure that the target output of the power control channel between adjacent sampling times satisfies |dp| / dt≤R. Specifically, the remote control system first reads the target output of the power control channel that has already been output at the previous sampling time and records it as p_prev; then it calculates the difference between the candidate power output at the current sampling time and the power output at the previous sampling time, i.e., Δp=p'-p_prev; subsequently, based on the upper limit of the power output change rate R corresponding to the current sampling time and the sampling time interval dt, it calculates the maximum allowable power change amplitude Δp_max=R×dt at the current sampling time. After the calculation is completed, the remote control system compares |Δp| ​​with Δp_max. When |Δp|≤Δp_max, it means that the change in the candidate power output at the current sampling time relative to the power output at the previous sampling time does not exceed the allowable range, and p1 is directly taken as p'. When |Δp|>Δp_max, it means that the change in the candidate power output at the current sampling time relative to the power output at the previous sampling time exceeds the allowable range, and p' is not directly output, but p_prev is limited and adjusted according to the direction of change. If Δp is positive, p1 is taken as p_prev+Δp_max; if Δp is negative, p1 is taken as p_prev-Δp_max. After this step, the change in the target output p1 of the power control channel at the current sampling time relative to the power output at the previous sampling time, dp=p1-p_prev, must satisfy |dp| / dt≤R.

[0089] Furthermore, after calculating s1 and p1 at the current sampling moment, the remote control system uses s1 and p1 together as the restricted linkage output under the current sampling moment when traversing the track, and generates a target control output based on the restricted linkage output and sends it to the model motion equipment. Subsequently, the remote control system writes p1 at the current sampling moment into the historical cache, so that it can be used as the power output reference value of the previous sampling moment for the next sampling moment to continue participating in the calculation. Thus, during continuous sampling, the remote control system repeatedly executes the process of "reading the current parameter group - calculating s1 - calculating the lateral deviation excess - calculating the upper bound of the dynamic constraint - generating the dynamic candidate output p' - executing the rate of change constraint to obtain p1 - updating the cache", so that the output control under the track traversing the track is simultaneously constrained by the attitude output amplitude, the degree of lateral deviation, and the rate of change of power at each sampling moment.

[0090] Furthermore, when the control correction level changes, the remote control system no longer uses the parameter set corresponding to the previous control correction level at the next sampling time. Instead, it immediately switches to the parameter set A, P, k, q, Y, and R corresponding to the new control correction level. Specifically, if the control correction level increases, the new parameter set decreases A, decreases P, increases k, increases q, and / or decreases R. Thus, when recalculating s1 at the next sampling time, the target output of the attitude control channel is more easily constrained within a smaller range; when recalculating the upper bound of the dynamic constraints, the dynamic reduction caused by the absolute value of the attitude output is larger, the dynamic reduction caused by the lateral deviation excess is larger, and the allowable dynamic change amplitude between adjacent sampling times is smaller. Conversely, if the control correction level decreases, the system calls a parameter set with relatively weaker constraints, allowing s1 and p1 at the current sampling time to be generated within a more relaxed range. In this way, different control correction levels can be directly reflected in the s1 and p1 calculation process during the crossing of the race segment through different parameter sets.

[0091] In some embodiments, the method can be executed by a computer device storing a computer program for implementing the above steps; when executed by a processor, the computer program causes the computer device to complete the above-described method for graded auxiliary control of model sports equipment based on segment recognition. Correspondingly, this application can also be implemented via a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the above-described method steps.

[0092] The embodiments described above are merely examples of several implementations of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the scope of protection of this application.

Claims

1. A graded auxiliary control method for model sports equipment based on race segment recognition, applied to a remote control system, characterized in that, The method includes: S10. Obtain the original remote control input and the operating status of the model motion equipment. The original remote control input includes at least the attitude control channel input and the power control channel input. S20. Determine the current stage based on the operating status, and determine the control correction level based on the deviation of the operating status from the target passing status of the current stage; S30. Based on the control parameters of the current race segment and the control correction level, the original remote control input is corrected. The correction includes restricting the linkage output relationship between the attitude control channel and the power control channel, and generating a target control output based on the restricted linkage output, which is then sent to the model motion equipment.

2. The model-based sports equipment graded auxiliary control method based on race segment recognition according to claim 1, characterized in that, The segment control parameters include the segment entry conditions, segment exit conditions, target passage status, and linkage restriction parameters corresponding to each segment. The target's transit status includes the target's flight direction and the target's attitude range; The step of determining the current race segment based on the operating status includes: determining the current race segment based on the current position and flight direction of the model's motion equipment, combined with the segment exit conditions corresponding to the race segment at the previous sampling time and the segment entry conditions corresponding to the candidate race segment.

3. The model-based sports equipment graded auxiliary control method based on race segment recognition according to claim 2, characterized in that, The restriction on the linkage output relationship between the attitude control channel and the power control channel includes: first, restricting the input of the attitude control channel according to a preset attitude output threshold to obtain the target output of the attitude control channel; when the absolute value of the target output of the attitude control channel reaches the preset attitude output threshold, reducing the upper limit of the allowable output and / or the upper limit of the allowable output change rate of the power control channel.

4. The model-based sports equipment graded auxiliary control method based on race segment recognition according to claim 2, characterized in that, The control correction level is determined jointly based on the changes in the original remote control input and the deviation of the operating state from the target passing state of the current segment; The changes in the original remote control input include at least the rate of change of the attitude control channel input or the number of reverse switchings between adjacent sampling times; The deviation includes at least one of the following: deviation in flight direction, deviation in attitude, and deviation in speed.

5. The model-based sports equipment hierarchical auxiliary control method based on race segment recognition according to claim 3, characterized in that, Different control correction levels correspond to different linkage restriction intensities. When the control correction level increases, the preset attitude output threshold decreases, and / or the allowable output upper limit corresponding to the power control channel decreases.

6. The model sports equipment graded auxiliary control method based on race segment recognition according to claim 2, characterized in that, When the current stage is a crossing stage corresponding to a crossing marker, the target passing status includes the target flight direction along the centerline of the crossing marker and the target attitude range around the target flight direction; The linkage limit parameter is used to reduce the allowable output upper limit corresponding to the power control channel when the lateral deviation of the model sports equipment relative to the center line of the crossing marker reaches a preset deviation threshold.

7. The method for assisting in grading control of a model sports equipment based on stage recognition according to claim 4, wherein the control correction level is determined by a control correction value G, and the control correction value G satisfies: G = aG1 + bG2; G1 = min(1, |r| / R0 + n / N0); G2 = min(1, |d1| / D1 + |d2| / D2 + |d3| / D3); where G1 is the input change sub-value, G2 is the deviation sub-value, a and b are non-negative preset weights, and satisfy: a + b = 1; where |x| represents the absolute value of x, and min(x1, x2) represents taking the smaller value of x1 and x2; r is the input change rate of the attitude control channel, n is the number of reverse switches of the input of the attitude control channel within an adjacent preset time window, d1 is the flight direction deviation, d2 is the attitude deviation, and d3 is the speed deviation; R0 is the input change rate normalization parameter, N0 is the reverse switch number normalization parameter, D1 is the flight direction deviation normalization parameter, D2 is the attitude deviation normalization parameter, and D3 is the speed deviation normalization parameter; R0, N0, D1, D2, and D3 are all positive preset parameters; when G < T1, the control correction level is determined to be level one; when T1 <= G and G < T2, the control correction level is determined to be level two; when G >= T2, the control correction level is determined to be level three; where T1 and T2 are preset level thresholds and satisfy: 0 <= T1 < T2 <= 1.

8. The method for assisting in grading control of a model sports equipment based on stage recognition according to claim 6, wherein when the current stage is the crossing stage, generating the target output s1 of the attitude control channel and the target output p1 of the power control channel based on the restricted linkage output, including: s1 = max(-A, min(s, A)); p1 = max(0, min(p, P - k×|s1| - q×max(0, |y| - Y))); |dp| / dt <= R; where s is the original remote control input corresponding to the attitude control channel, p is the original remote control input corresponding to the power control channel, y is the lateral deviation of the model sports equipment relative to the center line of the crossing marker, dp is the difference between the target outputs of the power control channel at adjacent sampling times, and dt is the sampling time interval between adjacent sampling times; A is the attitude output upper limit, P is the power output upper limit, k is the attitude-power linkage limit coefficient, q is the lateral deviation suppression coefficient, Y is the lateral deviation threshold, and R is the upper limit of the power output change rate; A and P are positive preset parameters, k and q are non-negative preset parameters, Y is a non-negative preset parameter, and R is a positive preset parameter; where |x| represents the absolute value of x, min(x1, x2) represents taking the smaller value of x1 and x2, and max(x1, x2) represents taking the larger value of x1 and x2; Different control correction levels correspond to different parameter sets (A, P, k, q, Y, R), and when the control correction level increases, A decreases, P decreases, k increases, q increases and / or R decreases.

9. A computer-readable storage medium, characterized in that, The device stores a computer program that, when executed by a processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 8.

10. A computer device, characterized in that, It includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 8.

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