CN106178537B - A kind of force feedback aircraft remote controler - Google Patents
A kind of force feedback aircraft remote controler Download PDFInfo
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- CN106178537B CN106178537B CN201610813131.0A CN201610813131A CN106178537B CN 106178537 B CN106178537 B CN 106178537B CN 201610813131 A CN201610813131 A CN 201610813131A CN 106178537 B CN106178537 B CN 106178537B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H27/00—Toy aircraft; Other flying toys
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Abstract
Description
技术领域technical field
本发明涉及飞行器遥控器领域，具体涉及到一种力反馈飞行器遥控器，用于对飞行器的遥控操作。The invention relates to the field of aircraft remote controllers, in particular to a force feedback aircraft remote controller for remote control operations on aircraft.
背景技术Background technique
目前，四旋翼无人机等飞行器在国防应用、农业植保、航拍影像、玩具游乐等领域中占据有很大的市场，专业人士或爱好者热衷于飞行器的操控体验，人们不但要求遥控器方便使用，且要求简单易学、操控简单。对于一些拆爆除险无人机的操控，还要求精准可控。然而，市面上已有的遥控器在使用方便性、易学性、精准性等方面还有待提高，特别是在人机互动性方面性能较差。这些遥控器对于飞行器专业人士尚可使用，对于普通飞行器爱好者而言，其遥控体验性就差强人意，使用极为不便。At present, quadrotor drones and other aircraft occupy a large market in the fields of national defense applications, agricultural plant protection, aerial photography, toys and entertainment. Professionals or enthusiasts are keen on the control experience of aircraft. People not only require the remote control to be convenient to use , and requires easy learning and simple operation. For the control of some demolition drones, precision and controllability are also required. However, the existing remote controllers on the market still need to be improved in terms of ease of use, ease of learning, and accuracy, especially in terms of human-computer interaction. These remote controllers can still be used by aircraft professionals, but for ordinary aircraft enthusiasts, the remote control experience is not satisfactory and it is extremely inconvenient to use.
发明内容Contents of the invention
针对上述现有技术中存在的缺陷，本发明要解决的技术问题是：克服现有技术之不足，提供一种可以方便使用的飞行器遥控器，其结构紧凑，按钮少，简单易学，能实现精准操控，人机互动性好。Aiming at the defects in the above-mentioned prior art, the technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a conveniently-used aircraft remote controller, which has a compact structure, fewer buttons, is easy to learn, and can realize precise control. Control, human-computer interaction is good.
本发明解决其技术问题所采用的技术方案是：一种力反馈飞行器遥控器，包括遥控器本体和内部的计算装置，在遥控器本体的左右两侧面设置有系背带的背带挂钩，在遥控器本体的正面设有方向控制器、左力反馈控制器、显示器、扬声器、右力反馈控制器，在遥控器本体的底部设有USB接口，在遥控器本体的正面上部从左到右依次设有天线、选择按钮一、选择按钮二、选择按钮三、电源开关，其特征是：分状态显示区和图像/视频显示区两区显示的显示器设置于遥控器本体的正面中部，内部设有可自由移动的重力球和力反馈传感器一的方向控制器设置于显示器的上边，扬声器设置于显示器的下方，呈握手形状并且内装有力反馈传感器二的左力反馈控制器设置于显示器的左边，呈握手形状并且内装有力反馈传感器三的右力反馈控制器设置于显示器的右边。The technical solution adopted by the present invention to solve the technical problem is: a force feedback aircraft remote control, including a remote control body and an internal computing device, strap hooks for straps are arranged on the left and right sides of the remote control body, and on the remote control The front of the body is equipped with a direction controller, a left force feedback controller, a display, a speaker, and a right force feedback controller. There is a USB interface at the bottom of the remote control body. Antenna, selection button 1, selection button 2, selection button 3, power switch, it is characterized in that: the display divided into the status display area and the image/video display area is set in the middle of the front of the remote control body, and there is a free The moving gravity ball and the direction controller of force feedback sensor 1 are set on the upper side of the display, and the speaker is set below the display in a handshake shape. The left force feedback controller with force feedback sensor 2 is set on the left side of the display in a handshake shape. And the right force feedback controller with the force feedback sensor three built in is arranged on the right side of the display.
进一步地，所述的左力反馈控制器、右力反馈控制器内部还设有弹簧阻尼器，左力反馈控制器和右力反馈控制器均可沿遥控器本体上下滑动，滑动距离越大，阻力越大，当停止滑动时，左力反馈控制器和右力反馈控制器回归原位置。通过上下滑动左力反馈控制器和右力反馈控制器，可方便地实现飞行器的左右转向、加减速等组合动作或特定动作。Further, the left force feedback controller and the right force feedback controller are also provided with spring dampers inside, the left force feedback controller and the right force feedback controller can slide up and down along the remote controller body, the greater the sliding distance, The greater the resistance, when the sliding stops, the left force feedback controller and the right force feedback controller return to their original positions. By sliding the left force feedback controller and the right force feedback controller up and down, you can conveniently realize combined or specific actions such as left and right steering, acceleration and deceleration of the aircraft.
进一步地，在所述的左力反馈控制器、右力反馈控制器上保护套表面下方还分别设有力反馈传感器二、力反馈传感器三，并且力反馈传感器二、力反馈传感器三可设置一处或两处或三处，用力握压左力反馈控制器、右力反馈控制器，力反馈传感器二、力反馈传感器三可接收到信号及其强弱并反馈到计算装置，从而判断遥控意图。Further, the force feedback sensor 2 and the force feedback sensor 3 are respectively provided under the surface of the upper protective cover of the left force feedback controller and the right force feedback controller, and the force feedback sensor 2 and the force feedback sensor 3 can be set in one place Or two or three places, firmly hold and press the left force feedback controller and the right force feedback controller, the force feedback sensor 2 and the force feedback sensor 3 can receive the signal and its strength and feed back to the computing device, thereby judging the remote control intention.
进一步地，所述的方向控制器在透明护板内部设置有一个可自由移动的重力球，重力球和透明护板之间设有空隙，在透明护板的内壁设置有八个力反馈传感器一，在遥控器倾斜时，重力球可根据倾斜方向碰撞到该方向的力反馈传感器一上，倾斜程度越大，碰撞越剧烈，内部计算装置便可迅速确定出倾斜方向。在飞行器停飞位置或悬停时，遥控器水平，重力球在中央位置；当需要向前飞行时，遥控器向前倾斜，重力球向前方移动，并碰撞到该方向的力反馈传感器一上，根据倾斜的程度，碰撞的程度不同，因此可控制前向飞行的速度和距离；同理，将遥控器向后、左、右等方向倾斜，可操控飞行器向后、左、右等方向飞行。Further, the direction controller is provided with a freely movable gravity ball inside the transparent guard, a gap is provided between the gravity ball and the transparent guard, and eight force feedback sensors are arranged on the inner wall of the transparent guard. , when the remote control is tilted, the gravity ball can collide with the force feedback sensor 1 in the direction according to the tilt direction. The greater the tilt, the more violent the collision, and the internal computing device can quickly determine the tilt direction. When the aircraft is grounded or hovering, the remote controller is horizontal and the gravity ball is in the center; when it needs to fly forward, the remote controller tilts forward, and the gravity ball moves forward and collides with the force feedback sensor 1 in this direction , according to the degree of tilt, the degree of collision is different, so the speed and distance of forward flight can be controlled; similarly, tilt the remote control backward, left, right, etc., and the aircraft can be controlled to fly backward, left, right, etc. .
进一步地，所述的选择按钮一外形设置为正五边形，选择按钮二外形设置为正三角形，选择按钮三外形设置为正方形。选择按钮一、选择按钮二、选择按钮三可根据需要自行设定功能，其按钮形状不同，方便用户记忆和使用。Further, the shape of the selection button 1 is set as a regular pentagon, the shape of the selection button 2 is set as an equilateral triangle, and the shape of the selection button 3 is set as a square. The functions of selection button 1, selection button 2 and selection button 3 can be set according to the needs. The buttons have different shapes, which are convenient for users to remember and use.
本发明的有益效果是：所述的一种力反馈飞行器遥控器，其结构紧凑，按钮少，简单易学，能实现精准操控，人机互动性好，可根据人的使用习惯来进行方便操控：在飞行器停飞位置或需要悬停时，遥控器水平，重力球在中央位置；当需要向前飞行时，遥控器向前倾斜，重力球向前方移动，并碰撞到该方向的力反馈传感器一上，根据倾斜的程度，碰撞的程度不同，因此可控制前向飞行的速度和距离；同理，将遥控器向后、左、右等方向倾斜，可操控飞行器向后、左、右等方向飞行；通过上下滑动左力反馈控制器和右力反馈控制器，可方便地实现飞行器的左右转向、加减速等组合动作或特定动作。比起现有遥控器拨杆繁多、按钮复杂、难学难控制来说，本发明具有操控简便、易学好用的有益效果。The beneficial effects of the present invention are: the force feedback aircraft remote controller has a compact structure, fewer buttons, is easy to learn, can realize precise control, has good human-machine interaction, and can be conveniently controlled according to people's usage habits: When the aircraft is grounded or needs to hover, the remote controller is horizontal and the gravity ball is in the center; when it needs to fly forward, the remote controller is tilted forward, and the gravity ball moves forward and collides with the force feedback sensor 1 in this direction. According to the degree of tilt, the degree of collision is different, so the speed and distance of forward flight can be controlled; in the same way, tilt the remote control backward, left, right, etc., and the aircraft can be controlled backward, left, right, etc. Flying: By sliding the left force feedback controller and the right force feedback controller up and down, you can conveniently realize combined actions or specific actions such as left and right steering, acceleration and deceleration of the aircraft. Compared with the existing remote controller with many levers, complicated buttons, and difficult to learn and control, the present invention has the beneficial effects of simple and convenient manipulation, easy to learn and easy to use.
附图说明Description of drawings
下面结合附图和实施方式对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1是本发明的结构示意俯视图。Fig. 1 is a schematic top view of the structure of the present invention.
图2是本发明的底部结构示意图。Fig. 2 is a schematic view of the bottom structure of the present invention.
图3是本发明的方向控制器结构放大示意图。Fig. 3 is an enlarged schematic diagram of the structure of the direction controller of the present invention.
图4是本发明的方向控制器P-P剖面结构示意图。Fig. 4 is a schematic diagram of the P-P cross-sectional structure of the direction controller of the present invention.
图中： 1-遥控器本体；2-背带；3-方向控制器；4-左力反馈控制器；5-显示器；6-扬声器；7-右力反馈控制器；8-USB接口；11-天线；12-选择按钮一；13-选择按钮二；14-选择按钮三；15-电源开关；16-背带挂钩；31-透明护板；32-重力球；33-力反馈传感器一；34-空隙；41-力反馈传感器二；51-状态显示区；52-图像/视频显示区；71-力反馈传感器三。In the figure: 1-Remote controller body; 2-Strap; 3-Direction controller; 4-Left force feedback controller; 5-Display; 6-Speaker; 7-Right force feedback controller; 8-USB interface; 11- Antenna; 12-select button 1; 13-select button 2; 14-select button 3; 15-power switch; 16-strap hook; 31-transparent shield; 32-gravity ball; 33-force feedback sensor 1; Gap; 41-force feedback sensor two; 51-status display area; 52-image/video display area; 71-force feedback sensor three.
具体实施方式Detailed ways
现在结合附图对本发明作进一步的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。The present invention will be further described now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.
如图1、图2所示，一种力反馈飞行器遥控器，包括遥控器本体1和内部的计算装置，在遥控器本体1的左右两侧面设置有系背带2的背带挂钩16，在遥控器本体1的正面设有方向控制器3、左力反馈控制器4、显示器5、扬声器6、右力反馈控制器7，在遥控器本体1的底部设有USB接口8，在遥控器本体1的正面上部从左到右依次设有天线11、选择按钮一12、选择按钮二13、选择按钮三14、电源开关15，其特征是：分状态显示区51和图像/视频显示区52两区显示的显示器5设置于遥控器本体1的正面中部，内部设有可自由移动的重力球32和力反馈传感器一33的方向控制器3设置于显示器5的上边，扬声器6设置于显示器5的下方，呈握手形状并且内装有力反馈传感器二41的左力反馈控制器4设置于显示器5的左边，呈握手形状并且内装有力反馈传感器三71的右力反馈控制器7设置于显示器5的右边。状态显示区51和图像/视频显示区52可分设于显示器5的上下或左右。As shown in Figures 1 and 2, a force feedback aircraft remote control includes a remote control body 1 and an internal computing device. On the left and right sides of the remote control body 1, strap hooks 16 for tying straps 2 are arranged. The front of the body 1 is provided with a direction controller 3, a left force feedback controller 4, a display 5, a loudspeaker 6, and a right force feedback controller 7, and a USB interface 8 is provided at the bottom of the remote controller body 1. Antenna 11, selection button 1 12, selection button 2 13, selection button 3 14, and power switch 15 are arranged in sequence from left to right on the upper front. The display 5 is arranged on the front middle part of the remote controller body 1, and the direction controller 3 with a freely movable gravity ball 32 and force feedback sensor one 33 is arranged on the top of the display 5, and the speaker 6 is arranged on the bottom of the display 5. The left force feedback controller 4 that is in the shape of a handshake and has a force feedback sensor 2 41 built in is arranged on the left side of the display 5 , and the right force feedback controller 7 that is in a shape of a handshake and has a force feedback sensor 3 71 built in is arranged on the right of the display 5 . The status display area 51 and the image/video display area 52 can be separately arranged on the top, bottom or left and right of the display 5 .
如图1、图2所示，所述的左力反馈控制器4、右力反馈控制器7内部还设有弹簧阻尼器，左力反馈控制器4和右力反馈控制器7均可沿遥控器本体1上下滑动，滑动距离越大，阻力越大，当停止滑动时，左力反馈控制器4和右力反馈控制器7回归原位置。通过上下滑动左力反馈控制器4和右力反馈控制器7，可方便地实现飞行器的左右转向、加减速等组合动作或特定动作。As shown in Figure 1 and Figure 2, the left force feedback controller 4 and the right force feedback controller 7 are also provided with spring dampers inside, and the left force feedback controller 4 and the right force feedback controller 7 can be remotely controlled The device body 1 slides up and down, and the greater the sliding distance, the greater the resistance. When the sliding stops, the left force feedback controller 4 and the right force feedback controller 7 return to their original positions. By sliding the left force feedback controller 4 and the right force feedback controller 7 up and down, combined actions or specific actions such as left and right steering, acceleration and deceleration of the aircraft can be realized conveniently.
如图1、图2所示，在所述的左力反馈控制器4、右力反馈控制器7上保护套表面下方还分别设有力反馈传感器二41、力反馈传感器三71，并且力反馈传感器二41、力反馈传感器三71可设置一处或两处或三处，用力握压左力反馈控制器4、右力反馈控制器7，力反馈传感器二41、力反馈传感器三71可接收到信号及其强弱并反馈到计算装置，从而判断遥控意图。As shown in Fig. 1 and Fig. 2, a force feedback sensor 2 41 and a force feedback sensor 3 71 are respectively arranged under the surface of the protective cover on the left force feedback controller 4 and the right force feedback controller 7, and the force feedback sensor Two 41, force feedback sensor three 71 can be set at one or two or three places, firmly hold and press the left force feedback controller 4, right force feedback controller 7, force feedback sensor two 41, force feedback sensor three 71 can receive The signal and its strength are fed back to the computing device, so as to judge the remote control intention.
如图3、图4所示，所述的方向控制器3在透明护板31内部设置有一个可自由移动的重力球32，重力球32和透明护板31之间设有空隙34，在透明护板31的内壁设置有八个力反馈传感器一33，在遥控器倾斜时，重力球32可根据倾斜方向碰撞到该方向的力反馈传感器一33上，倾斜程度越大，碰撞越剧烈，内部计算装置便可迅速确定出倾斜方向。在飞行器停飞位置或悬停时，遥控器水平，重力球32在中央位置；当需要向前飞行时，遥控器向前倾斜，重力球32向前方移动，并碰撞到该方向的力反馈传感器一33上，根据倾斜的程度，碰撞的程度不同，因此可控制前向飞行的速度和距离；同理，将遥控器向后、左、右等方向倾斜，可操控飞行器向后、左、右等方向飞行。As shown in Fig. 3 and Fig. 4, the direction controller 3 is provided with a freely movable gravity ball 32 inside the transparent guard plate 31, and a gap 34 is provided between the gravity ball 32 and the transparent guard plate 31. The inner wall of the guard plate 31 is provided with eight force feedback sensors 33. When the remote controller is tilted, the gravity ball 32 can collide with the force feedback sensors 33 in this direction according to the direction of inclination. The greater the degree of inclination, the more severe the collision. The computing device can quickly determine the direction of inclination. When the aircraft is in the grounded position or hovering, the remote controller is horizontal, and the gravity ball 32 is in the central position; when it needs to fly forward, the remote controller tilts forward, and the gravity ball 32 moves forward, and collides with the force feedback sensor in this direction On a 33, according to the degree of tilt, the degree of collision is different, so the speed and distance of forward flight can be controlled; similarly, tilt the remote control backward, left, right and other directions to control the aircraft backward, left and right Fly in the same direction.
如图1所示，所述的选择按钮一12外形设置为正五边形，选择按钮二13外形设置为正三角形，选择按钮三14外形设置为正方形。选择按钮一12、选择按钮二13、选择按钮三14可根据需要自行设定功能，其按钮形状不同，方便用户记忆和使用。As shown in FIG. 1 , the shape of the first selection button 12 is set to be a regular pentagon, the shape of the second selection button 13 is set to be an equilateral triangle, and the shape of the selection button 3 14 is set to be a square. Select button one 12, select button two 13, and select button three 14 can set functions voluntarily as required, and the buttons have different shapes, which are convenient for users to remember and use.
本发明的使用方法是：所述的一种力反馈飞行器遥控器，在使用时，将遥控器用背带悬挂于人肩部，遥控器在初始位置应处于水平位置，双手握住遥控器的左右两边力反馈控制器。首先，开启电源，遥控器加电自检，和接收器对码、通讯，显示器会显示各种力反馈传感器的状态，频段的状态等，成功后，会通过扬声器发出“遥控器就绪”的声音；其次，在飞行器停飞位置或需要悬停时，遥控器水平，重力球在中央位置；当需要向前飞行时，整个遥控器向前倾斜，重力球向前方移动，并碰撞到该方向的力反馈传感器一上，根据倾斜的程度，碰撞的程度不同，因此可控制向前飞行的速度和距离，同理，将遥控器向后、左、右等方向倾斜，可操控飞行器向后、左、右等方向飞行；通过上下滑动左力反馈控制器和右力反馈控制器，可方便地实现飞行器的左右转向、加减速等组合动作或特定动作；用力握压左力反馈控制器、右力反馈控制器，力反馈传感器二、力反馈传感器三可接收到信号及其强弱并反馈到计算装置，从而判断遥控意图。比起现有遥控器拨杆繁多、按钮复杂、难学难控制来说，本发明的遥控操作方法与人的各种操作意识相吻合，因此操控简便、易学好用。The method of use of the present invention is as follows: when using the above-mentioned remote controller of a force feedback aircraft, hang the remote controller on the shoulder of the person with a strap, the remote controller should be in a horizontal position at the initial position, and hold the left and right sides of the remote controller with both hands Force feedback controller. First, turn on the power, self-test the remote control when it is powered on, code and communicate with the receiver, and the display will display the status of various force feedback sensors, the status of the frequency band, etc. After success, the speaker will emit a "remote control ready" sound ;Secondly, when the aircraft is in the grounded position or needs to hover, the remote controller is horizontal, and the gravity ball is in the center; when it needs to fly forward, the entire remote controller is tilted forward, and the gravity ball moves forward and collides with the Once the force feedback sensor is attached, the degree of collision varies according to the degree of inclination, so the speed and distance of forward flight can be controlled. Similarly, tilt the remote control backward, left, right, etc. to control the aircraft backward and left , right and other directions to fly; by sliding the left force feedback controller and the right force feedback controller up and down, you can easily realize the combined actions or specific actions such as left and right steering, acceleration and deceleration of the aircraft; firmly hold and press the left force feedback controller, right force feedback controller The feedback controller, the force feedback sensor 2 and the force feedback sensor 3 can receive the signal and its strength and feed it back to the computing device, so as to judge the remote control intention. Compared with the existing remote controller with many levers, complicated buttons, and difficult to learn and control, the remote control operation method of the present invention coincides with various operation consciousnesses of people, so the operation is simple, easy to learn and easy to use.
上述实施方式只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人士能够了解本发明的内容并加以实施，并不能以此限制本发明的保护范围，凡根据本发明精神实质所作的等效变化或修饰，都应涵盖在本发明的保护范围内。The above-mentioned embodiments are only to illustrate the technical conception and characteristics of the present invention, and its purpose is to enable those familiar with the technology to understand and implement the content of the present invention, and not to limit the protection scope of the present invention. Substantial equivalent changes or modifications shall fall within the protection scope of the present invention.
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| CN1531913A (en) * | 2003-03-26 | 2004-09-29 | 韩国科学技术院 | Wheelchair Control Sensors and Wheelchair Riding Controls Utilizing Shoulder Motion Control |
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| CN206027091U (en) * | 2016-09-09 | 2017-03-22 | 西安航空学院 | Force feedback aircraft remote controller |
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| US7625287B2 (en) * | 2005-10-05 | 2009-12-01 | Nintendo Co., Ltd. | Driving game steering wheel simulation method and apparatus |
| US7793890B2 (en) * | 2007-01-31 | 2010-09-14 | Patrick L. Scherer | Control system for an aircraft |
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|---|---|---|---|---|
| CN1531913A (en) * | 2003-03-26 | 2004-09-29 | 韩国科学技术院 | Wheelchair Control Sensors and Wheelchair Riding Controls Utilizing Shoulder Motion Control |
| CN101815561A (en) * | 2007-07-02 | 2010-08-25 | 雷泽亚太有限公司 | Game controller with clickable trackball |
| CN102375581A (en) * | 2010-08-11 | 2012-03-14 | 深圳富泰宏精密工业有限公司 | Touch type electronic device and method for improving touch accuracy of touch type electronic device |
| CN206027091U (en) * | 2016-09-09 | 2017-03-22 | 西安航空学院 | Force feedback aircraft remote controller |
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