WO2016049922A1 - 拨轮组件、遥控器以及无人机控制方法 - Google Patents

拨轮组件、遥控器以及无人机控制方法 Download PDF

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Publication number
WO2016049922A1
WO2016049922A1 PCT/CN2014/088048 CN2014088048W WO2016049922A1 WO 2016049922 A1 WO2016049922 A1 WO 2016049922A1 CN 2014088048 W CN2014088048 W CN 2014088048W WO 2016049922 A1 WO2016049922 A1 WO 2016049922A1
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WO
WIPO (PCT)
Prior art keywords
dial
roller
handle
remote controller
sensor
Prior art date
Application number
PCT/CN2014/088048
Other languages
English (en)
French (fr)
Inventor
唐尹
赵涛
桂国柱
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2014/088048 priority Critical patent/WO2016049922A1/zh
Priority to CN201710470977.3A priority patent/CN107256625B/zh
Priority to CN201480006659.6A priority patent/CN105517656B/zh
Priority to JP2017511819A priority patent/JP6418669B2/ja
Publication of WO2016049922A1 publication Critical patent/WO2016049922A1/zh
Priority to US15/471,141 priority patent/US10518173B2/en
Priority to US16/729,478 priority patent/US11141652B2/en

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C19/00—Electric signal transmission systems
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/218—Input arrangements for video game devices characterised by their sensors, purposes or types using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/23—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console
    • A63F13/235—Input arrangements for video game devices for interfacing with the game device, e.g. specific interfaces between game controller and console using a wireless connection, e.g. infrared or piconet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A63F13/245—Constructional details thereof, e.g. game controllers with detachable joystick handles specially adapted to a particular type of game, e.g. steering wheels
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C23/00—Non-electrical signal transmission systems, e.g. optical systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories

Definitions

  • the invention relates to a wireless remote control technology, in particular to a dial wheel assembly, a remote controller and a drone control method.
  • the remote control is widely used to control the flight direction of an aircraft such as an Unmanned Aerial Vehicle (UAV).
  • UAVs or high-end aircraft will carry some equipment.
  • drones usually carry cameras through the gimbal for aerial missions.
  • the gimbal itself has a controller and a rotating shaft, which can eliminate the jitter caused by the flight of the aircraft, and can also drive the camera to perform proper operation to adjust the shooting angle of the camera.
  • ground users usually use the application (APP) software on the mobile phone to transmit signals to the controller of the PTZ to control the rotation of the PTZ.
  • APP application
  • the APP software on the mobile phone is inconvenient to operate, the accuracy is not high, and the control is not Smooth, mobile phone crash or repeater signal can not be controlled when interrupted.
  • users need to take care of both the remote control and the mobile phone, which inevitably has many inconveniences.
  • One technical problem solved by the embodiments of the present invention is to provide a dial assembly that transmits a control signal to a pan/tilt on a drone through a simple mechanical structure and has an automatic return function.
  • Another technical problem solved by the embodiments of the present invention is to provide a remote controller that integrates a scroll wheel in a remote controller that controls the entire drone.
  • Still another technical problem to be solved by the embodiments of the present invention is to provide a drone control method.
  • the present invention provides a dial assembly including a dial base, the dial base is provided with a first rotating passage and a second rotating passage; and a roller, the roller is seated on the first rotating passage. And rotating along the first rotating passage; a dial handle, the dial handle is rotatably coupled to the dial base, and rotatable along the second rotating passage; the dial handle and the roller Connecting and rotating together with the roller; resetting the elastic member for providing a restoring force to the dial handle, automatically resetting the dial handle after rotating relative to the dial base; and a sensor The sensor is coupled to the dial handle, and the rotation angle of the roller is obtained by sensing the rotation of the dial handle and converted into a control signal to be emitted.
  • the dial base includes a chassis and a boss disposed on the chassis, the edge of the chassis is provided with a first vertical wall, and an edge of the boss is provided with a second vertical wall, a third vertical wall is disposed on the boss, the first vertical wall and the second vertical wall defining the first rotating passage, the second vertical wall and the third vertical on the chassis A wall defines the second rotational passage on the boss.
  • the dial handle is provided with a shaft
  • the dial base is provided with a shaft hole
  • the shaft is inserted into the shaft hole, so that the dial handle and the dial base are rotatably connected
  • first rotating channel and the second rotating channel are both disposed around the shaft hole, and are arc-shaped passages centered on the shaft hole.
  • the return elastic member is a torsion spring
  • the dial handle is further provided with two abutting portions respectively located on two sides of the shaft
  • the torsion spring has a reed pipe and extends from the reed pipe
  • the spring tube is sleeved on the shaft, and the two legs respectively abut against the two abutting portions, and when an external force is applied to the roller, the roller drives the dialing
  • the handle rotates, the abutting portion drives the leg to be twisted and deformed, and when the external force disappears, the leg rebounds by elastic force, so that the dial handle and the roller return to the original position.
  • the shaft extends downward from the bottom of the dial handle, and the abutting portion extends downward from the left and right sides of the dial handle, and the abutting portions of the left and right sides A gap is formed between the two legs that pass out of the gap against the end of the abutment and further extend out of the abutment.
  • the roller has an opening, and the inner hollow is formed with a circular arc-shaped enclosing ring, and an inner wall of the circular arc-shaped enclosing ring is provided with a mounting hole, the dial handle is provided with a lever, and the dial handle is from the opening The arc-shaped enclosing ring is accommodated, and the lever is fixedly fitted into the fitting hole.
  • the shaft extends downward from a bottom of the dial handle
  • the lever extends rearward from a rear sidewall of the dial handle
  • the abutting portion is from the dial handle
  • the left and right sides extend downwardly, and a gap is formed between the abutting portions on the left and right sides, and the two legs pass through the notch and abut against the end of the abutting portion, and further extend Out of the abutment.
  • a rear sidewall of the dial handle extends a stop block toward both ends, the dial base is provided with a stop wall, and a preset distance between the stop block and the stop wall defines the The maximum angle at which the dial handle rotates relative to the dial base.
  • the upper end surface of the dial handle is provided with a connecting portion
  • the sensor is provided with a matching hole
  • the connecting portion extends into the matching hole
  • the sensor obtains the rotation by sensing the rotation of the connecting portion The angle of rotation of the dial handle.
  • the dial assembly further includes a circuit board for providing a circuit to the sensor, the circuit board and the dial base are fixed to each other, the sensor is fixed on the circuit board, and the connecting portion passes through The circuit board is coupled to the sensor.
  • the senor is a potentiometer or an encoder.
  • an embodiment of the present invention provides a remote controller including a housing and a rocker disposed on the housing for controlling a direction, further comprising the above-mentioned dial assembly, the dial assembly Within the housing, and a roller of the dial assembly exposes the housing.
  • the rocker includes two, each rocker includes a crank handle and a potentiometer assembly connected to the crank handle, the potentiometer assembly is configured to sense up, down, left, right, and rotational motion of the crank handle, And converted into the corresponding control signal emitted.
  • an embodiment of the present invention provides a drone control method, the drone having a cloud platform for carrying a camera, and the drone control method includes:
  • the roller is rotated to adjust the attitude angle of the pan/tilt to adjust the shooting angle of the camera.
  • attitude angle of the pan/tilt head includes at least one of the following: a pitch angle, a pan angle, and a roll angle.
  • an embodiment of the present invention further provides a remote controller.
  • a remote control comprising:
  • a housing as a carrier
  • a roller disposed on the housing and rotatable relative to the housing;
  • a sensor for sensing motion state information of the roller and corresponding to outputting an inductive signal
  • controller disposed in the housing and communicatively coupled to the sensor; the controller is configured to receive the sensing signal of the sensor and output a control signal correspondingly.
  • the roller is rotatable relative to the housing, and the motion state information includes rotation state information of the roller.
  • the rotation state information includes at least one of: a rotational angular displacement of the roller, and a rotational acceleration of the roller.
  • the senor includes at least one of: an angular displacement sensor for sensing a rotational angular displacement of the roller, and an angular acceleration sensor for sensing a rotational acceleration of the roller.
  • the roller is released, and the roller can automatically return to the original position
  • the roller is released, and the roller can stay in the current rotational position.
  • the roller is slidable relative to the housing, and the motion state information further includes sliding state information of the roller.
  • the sliding state information includes at least one of the following: a sliding displacement of the roller, and a sliding force of the roller.
  • the senor further includes at least one of: a displacement sensor for sensing a sliding displacement of the roller, and a pressure sensor for sensing a magnitude of the force of the roller.
  • the roller is released, and the roller can be automatically reset to the original position
  • the roller is released, and the roller can stay in the current sliding position.
  • control signal includes at least one of: a signal for controlling an attitude angle of the carrier, and a signal for controlling an operating parameter of the imaging device.
  • attitude angle of the carrier body includes at least one of the following: a pitch angle, a pan angle, and a roll angle.
  • the operating parameters of the imaging device include at least one of: an operating mode of the imaging device, a shutter time of the imaging device, and an aperture size of the imaging device.
  • the dial base is provided with a first rotating passage and a second rotating passage;
  • the roller is seated on the first rotating passage and rotatable along the first rotating passage;
  • the dial handle is rotatably coupled to the dial base, and rotatable along the second rotating passage; the dial handle is coupled to the roller and rotates together with the roller;
  • the resilient member is configured to provide a restoring force to the dial handle to automatically reset the dial handle relative to the dial base; the sensor is coupled to the dial handle.
  • the dial base includes a chassis and a boss disposed on the chassis, the edge of the chassis is provided with a first vertical wall, and an edge of the boss is provided with a second vertical wall, a third vertical wall is disposed on the boss, the first vertical wall and the second vertical wall defining the first rotating passage, the second vertical wall and the third vertical on the chassis A wall defines the second rotational passage on the boss.
  • the dial handle is provided with a shaft
  • the dial base is provided with a shaft hole
  • the shaft is inserted into the shaft hole, so that the dial handle and the dial base are rotatably connected
  • the first rotating passage and the second rotating passage are both disposed around the shaft hole, and are arcuate passages centered on the shaft hole.
  • the return elastic member is a torsion spring
  • the dial handle is further provided with two abutting portions respectively located on two sides of the shaft
  • the torsion spring has a reed pipe and extends from the reed pipe
  • the spring tube is sleeved on the shaft, and the two legs respectively abut against the two abutting portions, and when an external force is applied to the roller, the roller drives the dialing
  • the handle rotates, the abutting portion drives the leg to be twisted and deformed, and when the external force disappears, the leg rebounds by elastic force, so that the dial handle and the roller return to the original position.
  • the shaft extends downward from the bottom of the dial handle, and the abutting portion extends downward from the left and right sides of the dial handle, and the abutting portions of the left and right sides A gap is formed between the two legs that pass out of the gap against the end of the abutment and further extend out of the abutment.
  • the roller has an opening, and the inner hollow is formed with a circular arc-shaped enclosing ring, and an inner wall of the circular arc-shaped enclosing ring is provided with a mounting hole, the dial handle is provided with a lever, and the dial handle is from the opening The arc-shaped enclosing ring is accommodated, and the lever is fixedly fitted into the fitting hole.
  • a rear sidewall of the dial handle extends a stop block toward both ends, the dial base is provided with a stop wall, and a preset distance between the stop block and the stop wall defines the The maximum angle at which the dial handle rotates relative to the dial base.
  • the upper end surface of the dial handle is provided with a connecting portion
  • the sensor is provided with a matching hole
  • the connecting portion extends into the matching hole
  • the sensor obtains the rotation by sensing the rotation of the connecting portion The angle of rotation of the dial handle.
  • a circuit board for providing a circuit for the sensor, the circuit board and the dial base are fixed to each other, the sensor is fixed on the circuit board, and the connecting portion passes through the circuit board and The sensor is connected.
  • the two reset elastic members are respectively located on opposite sides of the dial handle, and two ends of each of the return elastic members are respectively fixedly connected to the dial handle and the dial base.
  • the return elastic member comprises at least one of the following: a tension spring, an elastic rubber rope.
  • the dial assembly of the embodiment of the invention realizes the movement and automatic return of the roller member by resetting the elastic member, and detects and transmits the control signal through the sensor to avoid using the APP software of the mobile phone;
  • the remote controller with the dial assembly integrates The dial assembly and the rocker can thus transmit signals to two receiving ends, such as a drone and a pan/tilt;
  • the remote controller with a scroll wheel uses the movement of the scroll wheel to indicate the motion of the remote control object;
  • the drone control method utilizes The UAV remote control can control the PTZ.
  • FIG. 1 is a perspective view of a dial assembly according to an embodiment of the present invention.
  • Figure 2 is an exploded perspective view of the dial assembly of Figure 1;
  • Figure 3 is a cross-sectional view showing the assembly of the dial base, the return elastic member, the dial handle and the roller in the dial assembly of Figure 2;
  • FIG. 4 is substantially the same as FIG. 1, and is only a perspective view of FIG. 1 after being turned 180 degrees;
  • FIG. 5 is a perspective view of a remote controller according to an embodiment of the present invention.
  • Figure 6 is a circuit schematic diagram of the remote controller shown in Figure 5;
  • FIG. 7 is a schematic flow chart of a drone control method according to an embodiment of the present invention.
  • Dial assembly 100 Dial base 10 Reset elastic 20 Dial handle 30 Wheel 40 Circuit board 50 sensor 60 Chassis 11 Boss 12 First vertical wall 111 Second vertical wall 121 Shaft hole 122 Third vertical wall 123 First rotation channel 114 Second rotation channel 124 Through hole twenty one Feet twenty two Assembly hole 42 Side wall 31 gap 312 Shaft 32 Pole 34 Connection 35 Stop block 36 Matching hole 62 remote control 200 case 210 Rocker 220 switch 230 Signal light 240 Shake 2202
  • the invention provides a dial assembly, which transmits a control signal to a pan/tilt on a drone through a simple mechanical structure, and has an automatic return function; and a remote controller provided, the integrated roller controls the whole In the remote control of the drone.
  • the drone can be extended to other high-end aircraft, which can be an adjustment-equipped device for high-end aircraft.
  • the drone assembly and the remote control are taken as an example to describe the dial assembly and the remote controller. For details, refer to the following description.
  • the dial assembly 100 of the embodiment of the present invention includes a dial base 10 , a reset elastic member 20 , a dial handle 30 , a roller 40 , a circuit board 50 , and a sensor 60 .
  • the dial base 10 includes a chassis 11 and a boss 12 projecting from the center of the chassis 11.
  • the edge of the chassis 11 is provided with two first vertical walls 111 separated from each other.
  • the edge of the boss 12 is provided with two second vertical walls 121 separated from each other.
  • the center of the boss 12 is provided with a shaft hole 122.
  • the center of the boss 12 is provided with an arc-shaped third vertical wall 123 around the shaft hole 122.
  • the two first vertical walls 111 and the two second vertical walls 121 are respectively disposed opposite to each other, and the two first vertical walls 111 and the two second vertical walls 121 define the first on the chassis 11 A rotating channel 114.
  • the two second vertical walls 121 and the third vertical wall 123 define a second rotating passage 124 on the boss 12 .
  • the first rotating passage 114 and the second rotating passage 124 are disposed around the shaft hole 122, and are arcuate passages centered on the shaft hole 122.
  • the return elastic member 20 is a torsion spring having a reed 21 and having two legs 22 extending in different directions.
  • the wire of the torsion spring has a certain hardness to repeatedly withstand the torsional force, and at the same time, the two legs 22 have a certain resilient force.
  • the size of the two legs 22 is determined by the curvature of the torsion spring.
  • the roller 40 has an opening, and the inner portion is hollow to form a circular arc-shaped enclosing ring, and the inner wall of the circular arc-shaped enclosing ring is provided with a fitting hole 42 rearward. A portion of the roller 40 is seated on the first rotating passage 114 of the dial base 10, and another portion is exposed outside the first rotating passage 114.
  • the left and right sides of the dial handle 30 respectively extend downwardly with side walls 31, and a gap 312 is defined between the two side walls 31.
  • the bottom of the dial handle 30 has a shaft 32 extending downwardly, and the rear side wall extends rearward with a lever 34.
  • the two side walls 31 are seated on the second rotating passage 124 of the dial base 10.
  • the lever 34 of the dial handle 30 is fitted into the fitting hole 42 of the roller 40 and fixed by dispensing.
  • the shaft 32 passes through the reed pipe 21 of the return elastic member 20 and is rotatably received in the shaft hole 122 of the dial base 10. As shown in FIG. 4, the shaft 32 is engaged with a screw 15 that is inserted from the bottom end of the dial base 10, so that the shaft 32 can be rotated in the shaft hole 122.
  • the return elastic member 20 is mounted on the third vertical wall 123, and the legs 22 pass through the notch 312 and abut against the ends of the two side walls 31, that is, the two side walls 31 serve as abutting portions. In order to twist the return elastic member 20, the legs 22 of the return elastic member 20 do not slip off the two side walls 31, and the legs 22 extend beyond the ends of the two second vertical walls 121.
  • the rear side wall of the dial handle 30 extends to the left and right ends respectively to extend the stop block 36.
  • the predetermined distance between the stop block 36 and the end of the second vertical wall 121 determines the movement of the dial handle 30.
  • the upper end surface of the dial handle 30 also extends upwardly from the connecting portion 35 for connection with the circuit board 50 and the sensor 60.
  • the circuit board 50 provides the circuitry required for the sensor 60, the circuit board 50 is secured to the dial base 10, and the sensor 60 is attached to the circuit board 50. In other embodiments, the circuit board 50 may not necessarily be disposed in the dial assembly 100, but may be shared with other devices, such as remote controls (described below).
  • the sensor 60 has a fitting hole 62 through which the connecting portion 35 is inserted. The sensor 60 can obtain the angle of rotation of the dial handle 30 and the roller 40 by sensing the rotation of the connecting portion 35.
  • the sensor 60 can be selected from a potentiometer or an encoder.
  • the roller 40 can rotate along the first rotating passage 114 while driving the dial handle 30 to rotate in the second rotating passage 124.
  • the rotation of the dial handle 30 causes one side wall 31 to drive one end of the return elastic member 20 to be twisted and deformed.
  • one end of the return elastic member 20 automatically rebounds with the elastic force, forcing the dial handle 30 and the roller 40 to return to the original position, that is, having an automatic returning function.
  • the sensor 60 can transmit the sensed rotation angle to the controller of the remote controller, and the controller of the remote controller issues a corresponding control command according to the rotation angle, and the control command is transmitted through the wireless signal transmission device on the remote controller. Going out, the controller of the PTZ receives the control command and then makes a corresponding rotation action, so that the PTZ can drive the camera to rotate.
  • the return elastic members 20 may be two, respectively located on opposite sides of the dial handle 30, and two ends of each of the return elastic members 20 are fixedly connected to the dial handle 30 and the dial base 10, respectively;
  • the dial handle 30 is rotated toward the left side, the amount of deformation of the reset elastic member 20 on the left side is smaller than the amount of deformation of the reset elastic member 20 on the right side, and when the dial handle 30 is rotated toward the right side, the reset elastic member on the right side
  • the amount of deformation of 20 is smaller than the amount of deformation of the return elastic member 20 on the left side.
  • the specific structure of the return elastic member can be designed according to different requirements.
  • the return elastic member can be selected from at least one of the following: a tension spring, an elastic rubber rope.
  • a remote controller 200 having a dial assembly is provided in an embodiment of the present invention.
  • the remote controller 200 includes a dial assembly 100, a housing 210, and a controller 250.
  • the dial wheel assembly 100 is disposed in the housing 210 of the remote controller 200, and the roller 40 thereof exposes the side of the housing 210.
  • the housing 210 serves as a carrier.
  • the roller 40 is disposed on the housing 210 and rotatable relative to the housing 210.
  • the sensor 60 is configured to sense motion state information of the wheel 40 and output an inductive signal correspondingly.
  • the roller 40 is rotatable relative to the housing 210, that is, the roller 40 is used as a rotary button, and the motion state information includes rotational state information of the roller 40.
  • the rotation state information includes at least one of: a rotational angular displacement of the roller 40, and a rotational acceleration of the roller 40.
  • the roller 40 can also stay in any position after being rotated, that is, after the roller 40 rotates, the roller 40 is released, and the roller 40 can stay at the current rotational position.
  • the senor 60 includes at least one of an angular displacement sensor for sensing a rotational angular displacement of the roller 40, and an angular acceleration sensor for sensing a rotational acceleration of the roller 40.
  • an angular displacement sensor for sensing a rotational angular displacement of the roller 40
  • an angular acceleration sensor for sensing a rotational acceleration of the roller 40.
  • the roller 40 is slidable relative to the housing 210, ie, the roller 40 can be used as a push button, and the motion state information further includes sliding state information of the roller 40.
  • the sliding state information includes at least one of the following: a sliding displacement of the roller 40, and a sliding force of the roller 40.
  • the roller 40 can also stay at any position after sliding, that is, after the roller 40 slides, the roller 40 is released, and the roller 40 can stay at the current sliding position.
  • the senor 60 further includes at least one of: a displacement sensor for sensing a sliding displacement of the roller 40, and a pressure sensor for sensing a magnitude of the force of the roller 40.
  • a displacement sensor for sensing a sliding displacement of the roller 40
  • a pressure sensor for sensing a magnitude of the force of the roller 40.
  • roller 40 can also be rotated relative to the housing 210 or relative to the housing 210, that is, the roller 40 is simultaneously used as a rotating button and a pressing button, and the specific working principle and the above The same, will not be described in detail here.
  • the controller 250 is disposed within the housing 210 and is in communication with the sensor 60.
  • the controller 250 is configured to receive the sensing signal of the sensor 60 and output a control signal correspondingly.
  • the control signal includes at least one of: a signal for controlling an attitude angle of the carrier, and a signal for controlling an operating parameter of the imaging device.
  • the remote controller 200 can be used to control the carrier, for example, the carrier can be a pan/tilt, a stand for fixing the camera, etc., at this time, the control signal includes a signal for controlling the attitude angle of the carrier.
  • the attitude angle of the carrier body includes at least one of the following: a pitch angle, a translation angle, and a roll angle.
  • the remote control 200 can also be used to control an imaging device, for example, the imaging device can be a camera, in which case the control signal includes a signal for controlling the operational parameters of the imaging device.
  • the operating parameters of the imaging device include at least one of: an operating mode of the imaging device, a shutter time of the imaging device, and an aperture size of the imaging device.
  • the remote controller 200 further includes a wireless transmission device 260 for wirelessly transmitting the control signal and receiving an external wireless signal.
  • the remote controller 200 is also provided with a rocker 220, a switch 230, a signal light 240, and the like.
  • the rocker 220 includes two, each rocker 220 includes a rocker 2202 and a potentiometer assembly (not shown) coupled to the rocker 2202 for sensing the upper and lower sides of the rocker 2202 Left and right and rotary motion, and converted into corresponding control signals are emitted.
  • a method for controlling a drone includes the following steps:
  • the roller 40 is rotated to adjust the attitude angle of the pan/tilt to adjust the shooting angle of the camera.
  • the attitude angle of the pan/tilt includes at least one of the following: a pitch angle, a pan angle, and a roll angle.
  • the dial assembly of the embodiment of the present invention realizes the movement and automatic return of the roller member by resetting the elastic member, and detects and transmits the control signal through the sensor, thereby avoiding the use of the APP software of the mobile phone;
  • the remote controller which integrates the dial assembly and the rocker, can therefore transmit signals to two receiving ends, such as a drone and a pan/tilt; the remote controller with a scroll wheel uses the movement of the scroll wheel to indicate the motion of the remote control object;
  • the man-machine control method can control the gimbal by using the drone remote controller.

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Abstract

一种拨轮组件（100）及具有上述拨轮组件（100）的遥控器和无人机控制方法，所述拨轮组件（100）主要包括拨轮底座（10），滚轮（40），拨轮柄（30），复位弹性件（20）和传感器（60）。拨轮底座（10）设置有第一转动通道（114）和第二转动通道（124）。滚轮（40）坐设在第一转动通道（114）上，并且沿第一转动通道（114）可转动。拨轮柄（30）与拨轮底座（10）可转动连接，并且沿第二转动通道（124）可转动；拨轮柄（30）与滚轮（40）连接，且跟随滚轮（40）一起转动。复位弹性件（20）用于提供一回复力给拨轮柄（30），使拨轮柄（30）相对于拨轮底座（10）转动后自动复位。传感器（60）与拨轮柄（30）连接，通过感测拨轮柄（30）的转动获得滚轮（40）的转动角度并转换成控制信号发射出。上述拨轮组件（100）通过简单的机械结构传递控制信号给无人机上的云台，并具有自动回中功能。

Description

拨轮组件、遥控器以及无人机控制方法 技术领域
本发明涉及无线遥控技术，尤其涉及一种拨轮组件、遥控器以及无人机控制方法。
背景技术
遥控器广泛应用于控制飞行器，例如，执行任务的无人机（Unmanned Aerial Vehicle，UAV）等的飞行方向。无人机或高端的飞机器会搭载一些设备，例如，无人机上通常会通过云台搭载相机以进行航拍任务。云台本身具备控制器和转轴，能够消除飞机飞行给相机带来的抖动，也能够带动相机进行适当的运转以调整相机的拍摄角度。
目前，地面使用者通常通过手机上应用(Application, APP)软件来发射信号给云台的控制器，以控制云台的转轴运转，然而手机上APP软件操作不便利，精准度不高，控制不顺畅，手机死机或中继器信号中断时不能控制。另一方面，使用者需要兼顾遥控器和手机，必然存在诸多不便。
发明内容
本发明实施例解决的一个技术问题是提供一种拨轮组件，其通过简单的机械结构传递控制信号给无人机上的云台，并具有自动回中功能。
本发明实施例解决的另一个技术问题是提供一种遥控器，其整合滚轮于控制整个无人机的遥控器中。
本发明实施例解决的再一个技术问题是提供一种无人机控制方法。
一方面，本发明提供一种拨轮组件，包括拨轮底座，所述拨轮底座设置有第一转动通道和第二转动通道；滚轮，所述滚轮坐设在所述第一转动通道上，并且沿所述第一转动通道可转动；拨轮柄，所述拨轮柄与所述拨轮底座可转动连接，并且沿所述第二转动通道可转动；所述拨轮柄与所述滚轮连接，且跟随所述滚轮一起转动；复位弹性件，用于提供一回复力给所述拨轮柄，使所述拨轮柄相对于所述拨轮底座转动后自动复位；以及传感器，所述传感器与所述拨轮柄连接，通过感测所述拨轮柄的转动获得所述滚轮的转动角度并转换成控制信号发射出。
进一步的，所述拨轮底座包括底盘和设置在所述底盘上的凸台，所述底盘的边缘设置有第一竖直壁，所述凸台的边缘设置有第二竖直壁，所述凸台上设置有第三竖直壁，所述第一竖直壁和第二竖直壁在所述底盘上限定出所述第一转动通道，所述第二竖直壁和第三竖直壁在所述凸台上限定出所述第二转动通道。
进一步的，所述拨轮柄设有轴杆，所述拨轮底座设有轴孔，所述轴杆***所述轴孔内，使所述拨轮柄与所述拨轮底座可转动连接；
进一步的，所述第一转动通道和所述第二转动通道均围绕所述轴孔设置，并且均为以所述轴孔为圆心的弧形通道。
进一步的，所述复位弹性件为扭簧，所述拨轮柄还设有分别位于所述轴杆两侧的两个抵靠部，所述扭簧具有簧管及自所述簧管延伸出的两个支脚，所述簧管套设在所述轴杆上，所述两个支脚分别抵靠在所述两个抵靠部，当外力施加于所述滚轮，所述滚轮带动所述拨轮柄转动，所述抵靠部驱动所述支脚扭转变形，当外力消失，所述支脚依靠弹力回弹，使所述拨轮柄和滚轮恢复原位。
进一步的，所述轴杆自所述拨轮柄的底部向下延伸出，所述抵靠部自所述拨轮柄的左右两侧向下延伸出，且左右两侧的所述抵靠部之间形成一个缺口，所述两个支脚穿出所述缺口抵靠在所述抵靠部的端部，并进一步延伸出所述抵靠部之外。
进一步的，所述滚轮具有开口，且内部中空形成圆弧形包围圈，所述圆弧形包围圈的内壁开设有装配孔，所述拨轮柄设置有拨杆，所述拨轮柄自所述开口容置入所述圆弧形包围圈，且所述拨杆固定装配入所述装配孔中。
进一步的，所述轴杆自所述拨轮柄的底部向下延伸出，所述拨杆自所述拨轮柄的后侧壁向后延伸出，所述抵靠部自所述拨轮柄的左右两侧向下延伸出，且左右两侧的所述抵靠部之间形成一个缺口，所述两个支脚穿出所述缺口抵靠在所述抵靠部的端部，并进一步延伸出所述抵靠部之外。
进一步的，所述拨轮柄的后侧壁向两端延伸出止挡块，所述拨轮底座设置有止挡壁，所述止挡块与止挡壁之间的预设距离限定所述拨轮柄相对于所述拨轮底座转动的最大角度。
进一步的，所述拨轮柄的上端面设置有连接部，所述传感器开设有配合孔，所述连接部伸入所述配合孔，所述传感器通过感测所述连接部的转动得到所述拨轮柄的转动角度。
进一步的，所述拨轮组件还包括为所述传感器提供电路的电路板，所述电路板与所述拨轮底座相互固定，所述传感器固定在所述电路板上，所述连接部穿过所述电路板与所述传感器连接。
进一步的，所述传感器为电位器或编码器。
另一方面，本发明实施例提供一种遥控器，其包括壳体和设置在壳体上用于控制方向的摇杆，其特征在于，还包括上述的拨轮组件，所述拨轮组件设置在所述壳体内，且所述拨轮组件的滚轮露出所述壳体。
进一步的，所述摇杆包括两个，每个摇杆包括摇柄和与所述摇柄连接的电位器组件，所述电位器组件用于感测所述摇柄的上下左右和旋转运动，并转换成相应的控制信号发射出。
再一方面，本发明实施例提供一种无人机控制方法，所述无人机具有用于承载相机的云台，所述无人机控制方法包括：
将上述的遥控器对准所述无人机；以及
转动所述滚轮，以调节所述云台的姿态角，从而调节所述相机的拍摄视角。
进一步的，所述云台的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
另一方面，本发明实施例又提供一种遥控器。
一种遥控器，包括：
作为载体的壳体；
设于所述壳体上、并且相对于所述壳体可转动的滚轮；
用于感测所述滚轮的运动状态信息、并对应输出感应信号的传感器；以及
设于所述壳体内、并且与所述传感器通讯连接的控制器；所述控制器用于接收所述传感器的所述感应信号，并对应输出控制信号。
进一步的，所述滚轮相对于所述壳体可转动，所述运动状态信息包括所述滚轮的转动状态信息。
进一步的，所述转动状态信息包括如下至少一种：所述滚轮的转动角位移，所述滚轮的转动加速度。
进一步的，所述传感器包括如下至少一种：用于感测所述滚轮的转动角位移的角位移传感器，用于感测所述滚轮的转动加速度的角加速度传感器。
进一步的，所述滚轮转动后，松开所述滚轮，所述滚轮可自动回中至原始位置；
或者，所述滚轮转动后，松开所述滚轮，所述滚轮可停留在当前转动位置。
进一步的，所述滚轮相对于所述壳体可滑动，所述运动状态信息还包括所述滚轮的滑动状态信息。
进一步的，所述滑动状态信息包括如下至少一种：所述滚轮的滑动位移，所述滚轮的滑动受力大小。
进一步的，所述传感器还包括如下至少一种：用于感测所述滚轮的滑动位移的位移传感器，用于感测所述滚轮的受力大小的压力传感器。
进一步的，所述滚轮滑动后，松开所述滚轮，所述滚轮可自动复位至原始位置；
或者，所述滚轮滑动后，松开所述滚轮，所述滚轮可停留在当前滑动位置。
进一步的，所述控制信号包括如下至少一种：用于控制承载体的姿态角的信号，用于控制成像装置的工作参数的信号。
进一步的，所述承载体的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
进一步的，所述成像装置的工作参数包括如下至少一种：所述成像装置的工作模式，所述成像装置的快门时间，所述成像装置的光圈大小。
进一步的，还包括：
拨轮底座，所述拨轮底座设置有第一转动通道和第二转动通道；所述滚轮坐设在所述第一转动通道上，并且沿所述第一转动通道可转动；
拨轮柄，所述拨轮柄与所述拨轮底座可转动连接，并且沿所述第二转动通道可转动；所述拨轮柄与所述滚轮连接，且跟随所述滚轮一起转动；
复位弹性件，用于提供一回复力给所述拨轮柄，使所述拨轮柄相对于所述拨轮底座转动后自动复位；所述传感器与所述拨轮柄连接。
进一步的，所述拨轮底座包括底盘和设置在所述底盘上的凸台，所述底盘的边缘设置有第一竖直壁，所述凸台的边缘设置有第二竖直壁，所述凸台上设置有第三竖直壁，所述第一竖直壁和第二竖直壁在所述底盘上限定出所述第一转动通道，所述第二竖直壁和第三竖直壁在所述凸台上限定出所述第二转动通道。
进一步的，所述拨轮柄设有轴杆，所述拨轮底座设有轴孔，所述轴杆***所述轴孔内，使所述拨轮柄与所述拨轮底座可转动连接；
所述第一转动通道和所述第二转动通道均围绕所述轴孔设置，并且均为以所述轴孔为圆心的弧形通道。
进一步的，所述复位弹性件为扭簧，所述拨轮柄还设有分别位于所述轴杆两侧的两个抵靠部，所述扭簧具有簧管及自所述簧管延伸出的两个支脚，所述簧管套设在所述轴杆上，所述两个支脚分别抵靠在所述两个抵靠部，当外力施加于所述滚轮，所述滚轮带动所述拨轮柄转动，所述抵靠部驱动所述支脚扭转变形，当外力消失，所述支脚依靠弹力回弹，使所述拨轮柄和滚轮恢复原位。
进一步的，所述轴杆自所述拨轮柄的底部向下延伸出，所述抵靠部自所述拨轮柄的左右两侧向下延伸出，且左右两侧的所述抵靠部之间形成一个缺口，所述两个支脚穿出所述缺口抵靠在所述抵靠部的端部，并进一步延伸出所述抵靠部之外。
进一步的，所述滚轮具有开口，且内部中空形成圆弧形包围圈，所述圆弧形包围圈的内壁开设有装配孔，所述拨轮柄设置有拨杆，所述拨轮柄自所述开口容置入所述圆弧形包围圈，且所述拨杆固定装配入所述装配孔中。
进一步的，所述拨轮柄的后侧壁向两端延伸出止挡块，所述拨轮底座设置有止挡壁，所述止挡块与止挡壁之间的预设距离限定所述拨轮柄相对于所述拨轮底座转动的最大角度。
进一步的，所述拨轮柄的上端面设置有连接部，所述传感器开设有配合孔，所述连接部伸入所述配合孔，所述传感器通过感测所述连接部的转动得到所述拨轮柄的转动角度。
进一步的，还包括为所述传感器提供电路的电路板，所述电路板与所述拨轮底座相互固定，所述传感器固定在所述电路板上，所述连接部穿过所述电路板与所述传感器连接。
进一步的，所述复位弹性件为两个，分别位于所述拨轮柄的相对两侧，并且每个所述复位弹性件的两端分别与所述拨轮柄及所述拨轮底座固定连接；当所述拨轮柄朝向左侧转动时，左侧的所述复位弹性件的变形量小于右侧的所述复位弹性件的变形量，当所述拨轮柄朝向右侧转动时，右侧的所述复位弹性件的变形量小于左侧的所述复位弹性件的变形量。
进一步的，所述复位弹性件包括如下至少一种：拉伸弹簧，弹性橡胶绳。
本发明实施例的拨轮组件通过复位弹性件实现滚轮构件运动和自动回中，并通过传感器感测和发射控制信号出去，避免使用手机的APP软件；具有该拨轮组件的遥控器，其整合拨轮组件与摇杆，因此可以发射信号给两个接收端，例如无人机和云台；具有滚轮的该遥控器，利用滚轮的运动指示遥控对象的运动；所述无人机控制方法利用无人机遥控器即可控制云台。
 附图说明
图1是本发明实施例提供的一种拨轮组件的立体示意图；
图2是图1的拨轮组件的分解示意图；
图3是图2的拨轮组件中的拨轮底座、复位弹性件、拨轮柄和滚轮装配的剖示图；
图4与图1基本相同，仅是图1翻转180度后的立体示意图；
图5是本发明实施例提供的一种遥控器的立体示意图；
图6是图5所示的遥控器的电路原理图；
图7是本发明实施例提供的无人机控制方法的流程示意图。
主要元件符号说明
拨轮组件 100
拨轮底座 10
复位弹性件 20
拨轮柄 30
滚轮 40
电路板 50
传感器 60
底盘 11
凸台 12
第一竖直壁 111
第二竖直壁 121
轴孔 122
第三竖直壁 123
第一转动通道 114
第二转动通道 124
通孔 21
支脚 22
装配孔 42
侧壁 31
缺口 312
轴杆 32
拨杆 34
连接部 35
止挡块 36
配合孔 62
遥控器 200
壳体 210
摇杆 220
开关 230
信号灯 240
摇柄 2202
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供的一种拨轮组件，其通过简单的机械结构传递控制信号给无人机上的云台，并具有自动回中功能；以及提供的一种遥控器，其整合滚轮于控制整个无人机的遥控器中。在其它应用中，该无人机可以拓展至其它高端飞行器，该云台可以为高端飞行器搭载的一个具备调整功能的设备。本发明实施例以无人机和云台为例，说明该拨轮组件和遥控器，具体参见下面描述。
请参阅图1至图4，本发明实施例提供的拨轮组件100包括依次组装的拨轮底座10、复位弹性件20、拨轮柄30、滚轮40、电路板50和传感器60。
该拨轮底座10包括底盘11和自该底盘11中心凸起的凸台12。该底盘11的边缘设置有两个相互分离的第一竖直壁111，该凸台12的边缘设置有两个相互分离的第二竖直壁121，该凸台12的中心开设有轴孔122，该凸台12的中心在该轴孔122的周围设置有一个弧形的第三竖直壁123。
该两个第一竖直壁111与该两个第二竖直壁121分别相对设置，该两个第一竖直壁111与该两个第二竖直壁121在该底盘11上限定出第一转动通道114。该两个第二竖直壁121与该第三竖直壁123在该凸台12上限定出第二转动通道124。该第一转动通道114和第二转动通道124均围绕该轴孔122设置，并且均为以该轴孔122为圆心的弧形通道。
本实施例中，该复位弹性件20为扭簧，其具有一个簧管21，且具有两个向不同方向延伸出的支脚22。该扭簧的金属线具有一定硬度以反复承受扭转力，同时，该两个支脚22具有一定的回复弹力。该两个支脚22张开的大小决定了扭簧可以扭转的弧度大小。
该滚轮40具有开口，且内部中空形成圆弧形包围圈，该圆弧形包围圈的内壁向后开设有装配孔42。该滚轮40的一部分坐设在该拨轮底座10的第一转动通道114上，另一部分露出该第一转动通道114之外。
该拨轮柄30左右两侧分别向下延伸有侧壁31，该两个侧壁31之间间隔有一个缺口312。该拨轮柄30的底部向下延伸有轴杆32，且后侧壁向后延伸有拨杆34。该两个侧壁31坐设在该拨轮底座10的第二转动通道124上，该拨轮柄30的拨杆34装配入该滚轮40的装配孔42中，并通过点胶固定。该轴杆32穿过该复位弹性件20的簧管21，并可转动地收容入该拨轮底座10的轴孔122中。如图4所示，该轴杆32与自该拨轮底座10的底端穿设而上的螺钉15配合，以该轴杆32能够在该轴孔122中转动即可。该复位弹性件20架设在该第三竖直壁123上，其支脚22穿出上述缺口312并抵靠在两个侧壁31的端部，即该两个侧壁31作为抵靠部。为使复位弹性件20扭转时，该复位弹性件20的支脚22不会滑脱该两个侧壁31，该支脚22延伸至上述两个第二竖直壁121端部之外。
该拨轮柄30的后侧壁向左右两端分别延伸出止挡块36，该止挡块36与该第二竖直壁121的端部的预设距离决定了该拨轮柄30的运动范围，即拨轮柄30相对于拨轮底座10转动的最大角度，因此，该第二竖直壁121可以起到止挡壁的作用。
该拨轮柄30的上端面还向上延伸出连接部35，用于与电路板50和传感器60连接定位。该电路板50提供了该传感器60所需要的电路，该电路板50与该拨轮底座10相互固定，且传感器60固定在该电路板50上。在其它实施例中，该电路板50可以不一定设置在该拨轮组件100中，而可以与其它设备，例如遥控器（见下面描述）共用。该传感器60具有配合孔62供该连接部35伸入，该传感器60通过感测该连接部35的转动可以得到该拨轮柄30和滚轮40的转动角度。该传感器60可以选自电位器或编码器。
具体地，当使用者拨动该滚轮40，该滚轮40可以沿第一转动通道114转动，同时带动该拨轮柄30于该第二转动通道124转动。该拨轮柄30的转动会使其一个侧壁31驱动该复位弹性件20的一端扭转变形。而当使用者不再施力时，该复位弹性件20的一端以弹力自动回弹，迫使该拨轮柄30和滚轮40恢复原来位置，即具有自动回中功能。该传感器60可以将感测到的转动角度，并传送给遥控器的控制器，遥控器的控制器根据所述转动角度发出相应的控制命令，该控制命令通过遥控器上的无线信号传输装置发射出去，使云台的控制器接收到该控制命令后做出相应的转动动作，从而使云台可以带动相机转动。
在其它实施例中，复位弹性件20可以为两个，分别位于拨轮柄30的相对两侧，并且每个复位弹性件20的两端分别与拨轮柄30及拨轮底座10固定连接；当拨轮柄30朝向左侧转动时，左侧的复位弹性件20的变形量小于右侧的复位弹性件20的变形量，当拨轮柄30朝向右侧转动时，右侧的复位弹性件20的变形量小于左侧的复位弹性件20的变形量。该复位弹性件的具体结构可以根据不同的需求来设计，例如，该复位弹性件可以选自如下至少一种：拉伸弹簧，弹性橡胶绳。
请参阅图5及图6，本发明实施例提供的具有拨轮组件的遥控器200。遥控器200包括拨轮组件100、壳体210、以及控制器250。其中，上述拨轮组件100设置在该遥控器200的壳体210内，且其滚轮40露出该壳体210的侧边。
壳体210作为载体。滚轮40设于所述壳体210上、并且相对于所述壳体210可转动。
传感器60用于感测所述滚轮40的运动状态信息，并对应输出感应信号。具体在图示的实施例中，所述滚轮40相对于所述壳体210可转动，即，所述滚轮40作为转动按钮使用，所述运动状态信息包括所述滚轮40的转动状态信息。例如，所述转动状态信息包括如下至少一种：所述滚轮40的转动角位移，所述滚轮40的转动加速度。
进一步的，所述滚轮40转动后，松开所述滚轮40，所述滚轮40可自动回中至原始位置。当然，在本发明中，所述滚轮40转动后也可以停留在任意位置，即，所述滚轮40转动后，松开所述滚轮40，所述滚轮40可停留在当前转动位置。
进一步的，所述传感器60包括如下至少一种：用于感测所述滚轮40的转动角位移的角位移传感器，用于感测所述滚轮40的转动加速度的角加速度传感器。换句话说，当所述转动状态信息为所述滚轮40的转动角位移，所述传感器60为角位移传感器；当所述转动状态信息为所述滚轮40的转动加速度，所述传感器60为角加速度传感器。
在其他实施例中，所述滚轮40相对于所述壳体210可滑动，即，所述滚轮40可作为按压按钮使用，所述运动状态信息还包括所述滚轮40的滑动状态信息。例如，所述滑动状态信息包括如下至少一种：所述滚轮40的滑动位移，所述滚轮40的滑动受力大小。
进一步的，所述滚轮40滑动后，松开所述滚轮40，所述滚轮40可自动复位至原始位置。当然，在本发明中，所述滚轮40滑动后也可以停留在任意位置，即，所述滚轮40滑动后，松开所述滚轮40，所述滚轮40可停留在当前滑动位置。
进一步的，所述传感器60还包括如下至少一种：用于感测所述滚轮40的滑动位移的位移传感器，用于感测所述滚轮40的受力大小的压力传感器。换句话说，当所述滑动状态信息为所述滚轮40的滑动位移，所述传感器60为位移传感器；当所述滑动状态信息为所述滚轮40的滑动受力大小，所述传感器60为压力传感器。
需要说明的是，所述滚轮40也可以既可以相对于壳体210转动，也可以相对于壳体210滑动，即，所述滚轮40同时作为转动按钮和按压按钮使用，具体的工作原理与上述相同，在此不再详细赘述。
控制器250设于所述壳体210内，并且与所述传感器60通讯连接。所述控制器250用于接收所述传感器60的所述感应信号，并对应输出控制信号。
所述控制信号包括如下至少一种：用于控制承载体的姿态角的信号，用于控制成像装置的工作参数的信号。
换句话说，所述遥控器200可以用于控制承载体，例如，承载体可以为云台、用于固定相机的支架等等，此时，控制信号包括用于控制承载体的姿态角的信号。所述承载体的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
所述遥控器200也可以用于控制成像装置，例如，成像装置可以为照相机，此时，控制信号包括用于控制成像装置的工作参数的信号。所述成像装置的工作参数包括如下至少一种：所述成像装置的工作模式，所述成像装置的快门时间，所述成像装置的光圈大小。
进一步的，所述遥控器200还包括用于无线发送所述控制信号、接收外部无线信号的无线传输装置260。
拨轮组件100的其他元件的具体结构如上述实施例所述，在此不再详细赘述。
该遥控器200还设置有摇杆220、开关230和信号灯240等。摇杆220包括两个，每个摇杆220包括摇柄2202和与所述摇柄2202连接的电位器组件（图未示），所述电位器组件用于感测所述摇柄2202的上下左右和旋转运动，并转换成相应的控制信号发射出。
可以理解的是，当遥控器200中设置有多套这样的拨轮组件于不同的方向，便可以达到承载体的多个方向的转动调节，或者，成像装置的多个工作参数的调节。
请参阅图7，本发明实施例提供的无人机控制方法，包括如下步骤：
将上述遥控器对准无人机；
转动所述滚轮40，以调节所述云台的姿态角，从而调节所述相机的拍摄视角。
所述云台的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
综上实施例，本发明实施例的拨轮组件通过复位弹性件实现滚轮构件运动和自动回中，并通过传感器感测和发射控制信号出去，避免使用手机的APP软件；具有该拨轮组件的遥控器，其整合拨轮组件与摇杆，因此可以发射信号给两个接收端，例如无人机和云台；具有滚轮的该遥控器，利用滚轮的运动指示遥控对象的运动；所述无人机控制方法利用无人机遥控器即可控制云台。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (38)

  1. 一种拨轮组件，其特征在于，包括：
    拨轮底座，所述拨轮底座设置有第一转动通道和第二转动通道；
    滚轮，所述滚轮坐设在所述第一转动通道上，并且沿所述第一转动通道可转动；
    拨轮柄，所述拨轮柄与所述拨轮底座可转动连接，并且沿所述第二转动通道可转动；所述拨轮柄与所述滚轮连接，且跟随所述滚轮一起转动；
    复位弹性件，用于提供一回复力给所述拨轮柄，使所述拨轮柄相对于所述拨轮底座转动后自动复位；以及
    传感器，所述传感器与所述拨轮柄连接，通过感测所述拨轮柄的转动获得所述滚轮的转动角度并转换成控制信号发射出。
  2. 如权利要求1所述的拨轮组件，其特征在于，所述拨轮底座包括底盘和设置在所述底盘上的凸台，所述底盘的边缘设置有第一竖直壁，所述凸台的边缘设置有第二竖直壁，所述凸台上设置有第三竖直壁，所述第一竖直壁和第二竖直壁在所述底盘上限定出所述第一转动通道，所述第二竖直壁和第三竖直壁在所述凸台上限定出所述第二转动通道。
  3. 如权利要求2所述的拨轮组件，其特征在于，所述拨轮柄设有轴杆，所述拨轮底座设有轴孔，所述轴杆***所述轴孔内，使所述拨轮柄与所述拨轮底座可转动连接；
    所述第一转动通道和所述第二转动通道均围绕所述轴孔设置，并且均为以所述轴孔为圆心的弧形通道。
  4. 如权利要求3所述的拨轮组件，其特征在于，所述复位弹性件为扭簧，所述拨轮柄还设有分别位于所述轴杆两侧的两个抵靠部，所述扭簧具有簧管及自所述簧管延伸出的两个支脚，所述簧管套设在所述轴杆上，所述两个支脚分别抵靠在所述两个抵靠部，当外力施加于所述滚轮，所述滚轮带动所述拨轮柄转动，所述抵靠部驱动所述支脚扭转变形，当外力消失，所述支脚依靠弹力回弹，使所述拨轮柄和滚轮恢复原位。
  5. 如权利要求4所述的拨轮组件，其特征在于，所述轴杆自所述拨轮柄的底部向下延伸出，所述抵靠部自所述拨轮柄的左右两侧向下延伸出，且左右两侧的所述抵靠部之间形成一个缺口，所述两个支脚穿出所述缺口抵靠在所述抵靠部的端部，并进一步延伸出所述抵靠部之外。
  6. 如权利要求1所述的拨轮组件，其特征在于，所述滚轮具有开口，且内部中空形成圆弧形包围圈，所述圆弧形包围圈的内壁开设有装配孔，所述拨轮柄设置有拨杆，所述拨轮柄自所述开口容置入所述圆弧形包围圈，且所述拨杆固定装配入所述装配孔中。
  7. 如权利要求1所述的拨轮组件，其特征在于，所述拨轮柄的后侧壁向两端延伸出止挡块，所述拨轮底座设置有止挡壁，所述止挡块与止挡壁之间的预设距离限定所述拨轮柄相对于所述拨轮底座转动的最大角度。
  8. 如权利要求1所述的拨轮组件，其特征在于，所述拨轮柄的上端面设置有连接部，所述传感器开设有配合孔，所述连接部伸入所述配合孔，所述传感器通过感测所述连接部的转动得到所述拨轮柄的转动角度。
  9. 如权利要求8所述的拨轮组件，其特征在于，还包括为所述传感器提供电路的电路板，所述电路板与所述拨轮底座相互固定，所述传感器固定在所述电路板上，所述连接部穿过所述电路板与所述传感器连接。
  10. 如权利要求8所述的拨轮组件，其特征在于，所述传感器为电位器或编码器。
  11. 如权利要求1所述的拨轮组件，其特征在于，所述复位弹性件为两个，分别位于所述拨轮柄的相对两侧，并且每个所述复位弹性件的两端分别与所述拨轮柄及所述拨轮底座固定连接；当所述拨轮柄朝向左侧转动时，左侧的所述复位弹性件的变形量小于右侧的所述复位弹性件的变形量，当所述拨轮柄朝向右侧转动时，右侧的所述复位弹性件的变形量小于左侧的所述复位弹性件的变形量。
  12. 如权利要求11所述的拨轮组件，其特征在于，所述复位弹性件包括如下至少一种：拉伸弹簧，弹性橡胶绳。
  13. 一种遥控器，其包括壳体和设置在壳体上用于控制方向的摇杆，其特征在于，还包括权利要求1~12任一项所述的拨轮组件，所述拨轮组件设置在所述壳体内，且所述拨轮组件的滚轮露出所述壳体。
  14. 如权利要求13所述的遥控器，其特征在于，所述摇杆包括两个，每个摇杆包括摇柄和与所述摇柄连接的电位器组件，所述电位器组件用于感测所述摇柄的上下左右和旋转运动，并转换成相应的控制信号发射出。
  15. 一种无人机控制方法，所述无人机具有用于承载相机的云台，所述无人机控制方法包括：
    将权利要求13所述的遥控器对准所述无人机；以及
    转动所述滚轮，以调节所述云台的姿态角，从而调节所述相机的拍摄视角。
  16. 如权利要求15所述的无人机控制方法，其特征在于，所述云台的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
    作为载体的壳体；
    设于所述壳体上、并且相对于所述壳体可转动的滚轮；
    用于感测所述滚轮的运动状态信息、并对应输出感应信号的传感器；以及
    设于所述壳体内、并且与所述传感器通信连接的控制器；所述控制器用于接收所述传感器的所述感应信号，并对应输出控制信号。
  17. 如权利要求17所述的遥控器，其特征在于，所述滚轮相对于所述壳体可转动，所述运动状态信息包括所述滚轮的转动状态信息。
  18. 如权利要求18所述的遥控器，其特征在于，所述转动状态信息包括如下至少一种：所述滚轮的转动角位移，所述滚轮的转动加速度。
  19. 如权利要求19所述的遥控器，其特征在于，所述传感器包括如下至少一种：用于感测所述滚轮的转动角位移的角位移传感器，用于感测所述滚轮的转动加速度的角加速度传感器。
  20. 如权利要求18所述的遥控器，其特征在于，所述滚轮转动后，松开所述滚轮，所述滚轮可自动回中至原始位置；
    或者，所述滚轮转动后，松开所述滚轮，所述滚轮可停留在当前转动位置。
  21. 如权利要求17所述的遥控器，其特征在于，所述滚轮相对于所述壳体可滑动，所述运动状态信息还包括所述滚轮的滑动状态信息。
  22. 如权利要求22所述的遥控器，其特征在于，所述滑动状态信息包括如下至少一种：所述滚轮的滑动位移，所述滚轮的滑动受力大小。
  23. 如权利要求22所述的遥控器，其特征在于，所述传感器还包括如下至少一种：用于感测所述滚轮的滑动位移的位移传感器，用于感测所述滚轮的受力大小的压力传感器。
  24. 如权利要求22所述的遥控器，其特征在于，所述滚轮滑动后，松开所述滚轮，所述滚轮可自动复位至原始位置；
    或者，所述滚轮滑动后，松开所述滚轮，所述滚轮可停留在当前滑动位置。
  25. 如权利要求17所述的遥控器，其特征在于，所述控制信号包括如下至少一种：用于控制承载体的姿态角的信号，用于控制成像装置的工作参数的信号。
  26. 如权利要求26所述的遥控器，其特征在于，所述承载体的姿态角包括如下至少一种：俯仰角，平移角，横滚角。
  27. 如权利要求26所述的遥控器，其特征在于，所述成像装置的工作参数包括如下至少一种：所述成像装置的工作模式，所述成像装置的快门时间，所述成像装置的光圈大小。
  28. 如权利要求17所述的遥控器，其特征在于，还包括：
    拨轮底座，所述拨轮底座设置有第一转动通道和第二转动通道；所述滚轮坐设在所述第一转动通道上，并且沿所述第一转动通道可转动；
    拨轮柄，所述拨轮柄与所述拨轮底座可转动连接，并且沿所述第二转动通道可转动；所述拨轮柄与所述滚轮连接，且跟随所述滚轮一起转动；
    复位弹性件，用于提供一回复力给所述拨轮柄，使所述拨轮柄相对于所述拨轮底座转动后自动复位；所述传感器与所述拨轮柄连接。
  29. 如权利要求29所述的遥控器，其特征在于，所述拨轮底座包括底盘和设置在所述底盘上的凸台，所述底盘的边缘设置有第一竖直壁，所述凸台的边缘设置有第二竖直壁，所述凸台上设置有第三竖直壁，所述第一竖直壁和第二竖直壁在所述底盘上限定出所述第一转动通道，所述第二竖直壁和第三竖直壁在所述凸台上限定出所述第二转动通道。
  30. 如权利要求30所述的遥控器，其特征在于，所述拨轮柄设有轴杆，所述拨轮底座设有轴孔，所述轴杆***所述轴孔内，使所述拨轮柄与所述拨轮底座可转动连接；
    所述第一转动通道和所述第二转动通道均围绕所述轴孔设置，并且均为以所述轴孔为圆心的弧形通道。
  31. 如权利要求31所述的遥控器，其特征在于，所述复位弹性件为扭簧，所述拨轮柄还设有分别位于所述轴杆两侧的两个抵靠部，所述扭簧具有簧管及自所述簧管延伸出的两个支脚，所述簧管套设在所述轴杆上，所述两个支脚分别抵靠在所述两个抵靠部，当外力施加于所述滚轮，所述滚轮带动所述拨轮柄转动，所述抵靠部驱动所述支脚扭转变形，当外力消失，所述支脚依靠弹力回弹，使所述拨轮柄和滚轮恢复原位。
  32. 如权利要求32所述的遥控器，其特征在于，所述轴杆自所述拨轮柄的底部向下延伸出，所述抵靠部自所述拨轮柄的左右两侧向下延伸出，且左右两侧的所述抵靠部之间形成一个缺口，所述两个支脚穿出所述缺口抵靠在所述抵靠部的端部，并进一步延伸出所述抵靠部之外。
  33. 如权利要求29所述的遥控器，其特征在于，所述滚轮具有开口，且内部中空形成圆弧形包围圈，所述圆弧形包围圈的内壁开设有装配孔，所述拨轮柄设置有拨杆，所述拨轮柄自所述开口容置入所述圆弧形包围圈，且所述拨杆固定装配入所述装配孔中。
  34. 如权利要求29所述的遥控器，其特征在于，所述拨轮柄的后侧壁向两端延伸出止挡块，所述拨轮底座设置有止挡壁，所述止挡块与止挡壁之间的预设距离限定所述拨轮柄相对于所述拨轮底座转动的最大角度。
  35. 如权利要求29所述的遥控器，其特征在于，所述拨轮柄的上端面设置有连接部，所述传感器开设有配合孔，所述连接部伸入所述配合孔，所述传感器通过感测所述连接部的转动得到所述拨轮柄的转动角度。
  36. 如权利要求29所述的遥控器，其特征在于，还包括为所述传感器提供电路的电路板，所述电路板与所述拨轮底座相互固定，所述传感器固定在所述电路板上，所述连接部穿过所述电路板与所述传感器连接。
  37. 如权利要求29所述的遥控器，其特征在于，所述复位弹性件为两个，分别位于所述拨轮柄的相对两侧，并且每个所述复位弹性件的两端分别与所述拨轮柄及所述拨轮底座固定连接；当所述拨轮柄朝向左侧转动时，左侧的所述复位弹性件的变形量小于右侧的所述复位弹性件的变形量，当所述拨轮柄朝向右侧转动时，右侧的所述复位弹性件的变形量小于左侧的所述复位弹性件的变形量。
  38. 如权利要求38所述的遥控器，其特征在于，所述复位弹性件包括如下至少一种：拉伸弹簧，弹性橡胶绳。
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