KR20180079084A - Apparatus and Controller for remote controlling thereof - Google Patents

Abstract

According to an embodiment of the present invention, a handle-type wireless controller capable of solving the difficulty of a user in operation comprises: a first communication unit transmitting a control signal for controlling a moving direction and a speed of a moving object having a photographing device whose photographing direction is adjusted by a head mounted type wireless controller; a first sensor unit detecting position information of the wireless controller; and a first control unit generating the control signal based on a detection result of the sensor unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a moving body and a radio remote controller,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile body such as a radio control car, a drone or the like, and a radio control unit capable of wirelessly controlling the mobile body.

Currently, various UAVs such as quadcopter and radio control automobile are attracting worldwide attention, and the market for UAV is increasing, and the world market for radio control is expected to be about 50 billion dollars. The manipulator is important, but the manipulator also plays an important role. As the market for UAV is growing, people are enjoying various sports culture and leisure related to UAV.

According to the related art, a radio control device for a radio-controlled aircraft according to Korean Patent Laid-Open Publication No. 10-2012-0065545 discloses a remote control device capable of remote control of a flying object. However, Since the image is transmitted to the display device provided in the controller, there is a limitation in ensuring the field of view on the moving object, and the controller is formed of a complex shape and a plurality of operation buttons.

As described above, most of the users who are new to the radio controller having various functions have difficulty in operating the system. Therefore, it is necessary to spend a lot of time and effort in learning the maneuvering method together with the accurate knowledge of the manual. Also, even after learning the control method, it is difficult to control the direction and speed control of the remote control object due to a mistake during use and to cope with sudden emergency situation quickly and properly.

Korean Patent Laid-Open Publication No. 10-2012-0065545

The present invention can provide an intuitive radio controller and a mobile robot controlled by a radio controller that can solve the difficulty of a user who is new to the radio controller having various functions for the first time.

In addition, it is possible to provide a mobile body which is radio controlled by an intuitive radio controller and a radio controller, which induce a quick and proper response in case of sudden change of direction and speed control of the mobile body.

A steering wheel type wireless remote controller according to an embodiment of the present invention includes a first communication unit for transmitting a control signal for controlling a moving direction and a speed of a moving body having a photographing device whose photographing direction is adjusted by a head mounted wireless controller; A first sensor unit for detecting its own position information; And a first controller for generating the control signal based on the detection result of the sensor unit.

Also, the first sensor unit of the handle-type radio remote controller according to another embodiment of the present invention may include a first gyro sensor and a first acceleration sensor.

The steering wheel type radio remote controller according to another embodiment of the present invention may further include a main body including the first communication unit, the first sensor unit, and the first control unit, The moving direction of the moving body is controlled and the speed of the moving body is controlled in proportion to the rotation angle of the main body.

According to another aspect of the present invention, there is provided a handle-type radio remote controller comprising: a first handle portion extending from one side of the main body; And a second handle portion extending from the other side of the main body portion, wherein the first and second handle portions are symmetrical with respect to each other with respect to the main body portion.

Further, the first controller of the handle-type radio remote controller according to another embodiment of the present invention may calculate the pitch angle calculated based on the angular velocity and the acceleration information from the first sensor unit in the initial position of the main body unit, And the reference value is set to a reference value as a reference point of the main body unit.

In addition, the head-mounted type wireless remote controller according to another embodiment of the present invention includes a second communication unit for transmitting a control signal for controlling a photographing direction of a photographing apparatus installed on a mobile body, ; A second sensor unit for detecting its own position information; And a second control unit for generating the control signal based on the detection result of the second sensor unit, and may also provide a radio controller mounted on the head of the user.

In addition, the wireless remote controller of the head mounted type according to another embodiment of the present invention may further include a display device for receiving and displaying the photographed image of the photographing device.

Further, the second sensor unit of the head mounted wireless controller according to another embodiment of the present invention may include a second gyro sensor, a second acceleration sensor, and a geomagnetic sensor.

In addition, the wireless remote controller of the head mounted type according to another embodiment of the present invention may change the shooting area of the photographing apparatus in accordance with the rotation direction of the user's head.

In addition, the wireless remote controller of the head mounted type according to another embodiment of the present invention may have a yaw angle calculated based on the detection results from the second gyro sensor, the second acceleration sensor, Is set as a reference value having its own reference point.

The embodiment of the present invention allows the user to intuitively control the moving object by using a handle-type wireless manipulator capable of adjusting the speed and direction of the moving object and a head-mounted wireless manipulator capable of adjusting the shooting direction of the camera on the moving object.

In addition, the embodiment of the present invention makes it possible to realize more realistic and interesting radio control based on an augmented reality by securing the field of view of the moving object.

In addition, embodiments of the present invention can provide a radio control device capable of precisely adjusting a moving object.

In addition, the embodiment of the present invention has an effect that the user can receive an image transmitted in real time, thereby securing the side view of the moving object.

It also has the advantage of being able to steer in the situation where the mobile object disappears from the user's field of vision.

Further, it is possible to intuitively adjust the direction of the photographing apparatus on the moving body, thereby ensuring the field of view.

1 is a block diagram showing a configuration of a steering wheel type radio control device.
Fig. 2 is a block diagram showing a configuration of a head mounted radio controller. Fig.
3 is a block diagram showing a configuration of a moving body.
4 is a perspective view of a steering wheel type radio remote controller.
5 is a front view of a handle-type radio remote control.
6 is a side view of a handle-type radio remote controller.
7 is a rear view of a handle-type radio remote controller.
8 shows a method of adjusting a direction and a speed of a moving body by changing the angle of a steering wheel type radio control unit.
Fig. 9 is a schematic view showing the moving direction of the moving body according to the change of the angle of the steering wheel type radio control unit.
10 shows a method of adjusting the photographing direction of the photographing apparatus on the moving body by changing the angle of the head mounted type radio controller.
11 schematically shows the photographing direction in accordance with the change of the angle of the photographing apparatus on the head mounted radio control device.
12 is a block diagram of the complementary filter.
13 is a graph showing the pole and zero of G1.
14 is a graph showing the pole and zero of G2.
15 is a Bode diagram of G1.
16 is a Bode diagram of G2.
17 is a flowchart of a radio control method of a mobile body using a handle-type radio controller.
18 is a flowchart of a radio control method of a moving body using a head mounted type radio controller.
19 is a flowchart of a moving body driving method based on data received from a radio control device.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms. In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Also, the singular expressions include plural expressions unless the context clearly dictates otherwise. Also, the terms include, including, etc. mean that there is a feature, or element, recited in the specification and does not preclude the possibility that one or more other features or components may be added. Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

Fig. 1 is a block diagram showing a configuration of a steering wheel type radio-controlled device, and Fig. 2 is a block diagram showing the configuration of a head-mounted type radio-controlled device. And Fig. 3 is a block diagram showing the configuration of the moving body.

1 to 3, the blocks are divided into lines, but this is for clarity of each configuration. Actually, the division of the components may not be clearly defined, and a plurality of devices may be represented as one device or as a configuration independent of each other It will be apparent to those skilled in the art.

Further, in describing the embodiment of the present invention, the moving body is not limited to a radio controller automobile but may be a public moving body such as a drone.

- Handle type radio remote control

Referring to FIG. 1, a handle-type radio remote controller 100 may include a first main device 101 and a first power device 102.

The first main unit 101 may include a first measurement unit 110, a first control unit 120, a manipulator output unit 130, and a first communication unit 140.

The first measuring unit 110 may include a switch unit 111 and a first sensor unit 112.

The sensor unit 112 may include a first gyro sensor 1121 and a first acceleration sensor 1122.

In addition, each of the first gyro sensor 1121 and the first acceleration sensor 1122 may be a three-axis sensor.

The first controller 120 may include a first main board 121.

The manipulator output unit 130 may include a manipulator light source unit 131.

The first communication unit 140 may include a first wireless communication module 141.

The first power supply unit 102 may include a first battery unit 150, a first protection circuit 160, a first boost circuit 170, and a first regulator 180.

Also, each of the switch unit 111 and the first sensor unit 112 may transmit data through the I 2 C communication with the first main board 121, but is not limited thereto.

Also, the first main board 121 can transmit data through the SPI communication with the first wireless communication module 141, but the present invention is not limited thereto.

The first booster circuit 170 may provide power to the first main board 121 and the first regulator 180 may provide power to the first wireless communication module 141.

- Head (user's head) mounted radio control

The head mounted wireless remote control 200 may include a second main unit 201 and a second power supply unit 202. Also, the display device 203 can be detachably mounted on the head mounted radio control device 200.

The second main unit 201 may include a second measurement unit 210, a second control unit 220, and a second communication unit 240.

The second measuring unit 210 may include a second sensor unit 212.

The second sensor unit 212 may include a second gyro sensor 2121, a second acceleration sensor 2122, and a geomagnetic sensor 2123.

Each of the second gyro sensor 2121, the second acceleration sensor 2122, and the geomagnetic sensor 2123 may be a three-axis sensor.

The second controller 220 may include a second main board 221.

The second communication unit 240 may include a second wireless communication module 241.

The second power supply unit 202 may include a second battery unit 250, a second protection circuit 260, a second boost circuit 270, and a second regulator 280.

Also, the second sensor unit 212 can transmit data through the I 2 C communication with the second main board 221, and the second main board 221 can transmit data with the second wireless communication module 241 through the SPI communication. But is not limited to, transmission.

The second booster circuit 270 may provide power to the second main board 221 and the second regulator 280 may provide power to the second wireless communication module 241.

- Mobile

Referring to FIG. 3, the mobile device 300 may include a third main device 301, a third power source device 302, and a photographing device 304.

The third main device 301 may include a third control unit 320, a moving object output unit 330, and a third communication unit 340.

The third controller 320 may include a third main board 321 and a motor driver 322.

The motor driver 322 may include at least one protection diode for protecting other devices from the output counter electromotive force. Also, the motor driver 322 preferably includes but is not limited to two H-Bridge circuits to regulate the motor in forward and reverse directions and RPM.

The third main board 321 may include a first microcontroller unit 3211 and a second microcontroller unit 3212.

The moving body output unit 330 may include a moving body light source unit 331, a first motor 332, and a second motor 333.

The moving body light source unit 331 can emit light when the mobile body 300 is changed in position, and can include at least one light emitting diode. The light source unit 331 may include a direction display light source for displaying a moving direction of the moving object 300 and a high luminance front view light source for ensuring a field of view forward of the moving object 100. The light source unit 331 Can be controlled by the steering wheel-type radio remote controller 100. [0064]

The first motor 332 may be a DC motor to move the position of the moving body 300, but is not limited thereto.

The second motor 333 can control the photographing direction of the photographing apparatus 304 by adjusting the position of the photographing apparatus 304. [ The second motor 333 may be a servo motor for rotating the roll axis and the pitch axis of the photographing apparatus 304, but is not limited thereto.

In addition, the first and second motors 332 and 333 may be provided in plurality.

The third communication unit 340 may include a third communication module 341.

The third power supply unit 302 may include a third battery unit 350, a third protection circuit 360, a third-first regulator 381, and a third-second regulator 382.

Also, the third wireless communication module 341 can transmit data through the SPI communication with the second microcontroller 3212, and the second microcontroller 3212 can transmit data through the UART communication with the first microcontroller 3211 But is not limited to, transmission.

The third protection circuit 360 can supply power to the first motor 332 and the third-first regulator 381 supplies power to the second motor 333 and the third main board 321 And the third-second regulator 382 can provide power to the third wireless communication module 341.

Also, the photographed image of the photographing apparatus 304 can be transmitted to the head mounted type wireless remote controller 200 and displayed through the display apparatus 203. [

Also, the first to third wireless communication modules 141, 241, and 341 may provide six channels, but are not limited thereto. In addition, communication can be performed using a 2.4 GHz high frequency signal. Therefore, it is excellent in overcoming obstacles such as buildings and trees, and can extend the communication distance long. However, the frequency of the signal is not limited to the above.

The wireless remote controller 100 of the handle type can control the speed and direction of the mobile 300 and the wireless remote controller 200 of the head mounted type can control the photographing device 304 of the mobile 300 in the same direction .

<Handle type Radio remote control >

FIG. 4 is a perspective view of a handle-type radio remote controller, FIG. 5 is a front view of a handle-type radio transmitter, FIG. 6 is a side view of a handle-type radio transmitter, and FIG.

4 to 7, the X axis is a shaft that the user holds the first handle portion 191 with the left hand and the second handle portion 192 with the right hand, and the Y axis connects the both hands in a straight line, And the Z axis is defined as an axis connecting the main body 190 and the paper surface in a straight line. The direction of the first handle portion 191 is the negative X-axis and the direction of the second handle portion 192 is the positive X-axis about the intersection of the X-axis and the Y-axis. The direction toward the user is the positive Y axis, and the direction away from the user is the negative Y axis. The lower direction is defined as a positive Z axis and the upper direction is defined as a negative Z axis with respect to the intersection of the Z axis and the Y axis or the X axis.

4, the handle-type radio remote controller 100 may include a body portion 190 and first and second handle portions 191 and 192.

The body portion 190 may have a rectangular box shape, but is not limited thereto. Also, the manipulator light source unit 131 and the switch unit 111 installed on the front surface of the main body unit 190 viewed by the user can be exposed and viewed.

The first handle portion 191 may extend from the upper region of the left side surface of the main body portion 190 so as to be gripped by the left hand of the user and the second handle portion 192 may extend from the right side surface In a form that allows gripping with the user &apos; s right hand from the upper region of the handle.

The first handle portion 191 may include a first-first extended portion 1911, a first-second extended portion 1912, and a first-third extended portion 1913.

The first 1-1 extending portion 1911 may extend in the negative X-axis direction from the left side surface of the main body portion 190. More specifically, it can extend in the direction of the negative X-axis and the negative Z-axis and the positive Y-axis, and can have a generally curved shape (i.e., a negative Z when extending in the direction in which the absolute value of the negative X- Axis direction can be extended in the direction in which the positive Y-axis value increases while extending in the direction in which the absolute value of the axis increases.

Further, the 1-2 extending portion 1912 may extend in the Z-axis direction from the end of the 1-1 extending portion 1911. More specifically, it can extend in the positive Z-axis direction and the positive Y-axis direction, and can have a generally curved shape (i.e., in the direction in which the value of the positive Y-axis increases when the positive Z- Lt; / RTI &gt;

Further, the first-third extending portion 1913 may extend in the negative Y-axis direction from the end of the first-second extending portion 1912. (I.e., in a direction in which the value of the positive Z-axis increases when the absolute value of the negative Y-axis is increased in the direction in which the absolute value of the negative Y-axis is increased) Lt; / RTI &gt;

The length of the first 1-1 extended portion 1911 is not much different from that of the first 1-2 extended portion 1912, Or the length of the 1-2 extending portion 1912 may be shorter than the length.

The second handle portion 192 may include a second-first extension portion 1921, a second-second extension portion 1922, and a second-third extension portion 1923.

The 2-1 extended portion 1921 may extend in the positive X-axis direction from the left side surface of the body portion 290. More specifically, it can extend in the direction of the positive X-axis and the negative Z-axis and the positive Y-axis, and can have a generally curved shape (i.e., when the positive X- Axis direction can be extended in the direction in which the positive Y-axis value increases while extending in the direction in which the absolute value increases.

Further, the 2-2 extended portion 1922 may extend in the Z-axis direction from the end of the 2-1 extended portion 1921. More specifically, it can extend in the positive Z-axis direction and the positive Y-axis direction, and can have a generally curved shape (i.e., in the direction in which the value of the positive Y-axis increases when the positive Z- Lt; / RTI &gt;

The second to third extension portion 1923 may extend from the end of the second-second extension portion 1922 in the negative Y-axis direction. (I.e., in a direction in which the value of the positive Z-axis increases when the absolute value of the negative Y-axis is increased in the direction in which the absolute value of the negative Y-axis is increased) Lt; / RTI &gt;

The length of the second-1 extension 1921 is not much different from that of the second-second extension 1922, but the length of the second-third extension 1913 is longer than that of the second- Or may be shorter than the length of the second-second extension portion 1922.

The first handle portion 191 and the second handle portion 192 may have a symmetrical shape with respect to the body portion 190. Accordingly, the second-1 extension 1921 has a symmetrical shape with respect to the first-first extended portion 1911 around the main body 190, and the second-second extended portion 1922 has the main body 190 And the second to third extension portion 1923 has a symmetrical shape with the first to third extension portions 1913 around the main body portion 190, have.

As described above, the handle-type radio remote controller 100 according to the embodiment of the present invention is configured as a handle having a superior grip feeling, and the mobile device 300 can be manipulated intuitively on the same principle as that of the handle.

The first and second handle portions 191 and 192 symmetrical with respect to the main body 190 are provided so that when the user holds the steering wheel type radio remote controller 100, So that the convenience of the manipulator can be improved and the reference point can be set easily and intuitively.

<Handle type wireless A manipulator  Direction and Speed Control of Moving Object Using>

8 shows a method of adjusting a direction and a speed of a moving body by changing the angle of a steering wheel type radio control unit. And FIG. 9 is a schematic view illustrating a moving direction of the moving object according to a change in angle of the steering wheel-type radio control unit.

8 and 9, the handle-type radio remote controller 100 can rotate in various directions and angles around the main body 190.

For example, when the handle-type radio remote controller 100 rotates in the forward direction F, the mobile unit 300 can advance, and when the radio unit 100 rotates in the backward direction B, the mobile unit 300 can move backward, The movable body 300 can be moved in the left direction by rotating the movable body 300 in the right direction R and the movable body 300 can be moved in the right direction by rotating in the right direction R, The mobile unit 300 can move in response to the angular rotation of the mobile unit 100. Also, the moving speed of the mobile unit 300 can be adjusted in proportion to the rotation angle of the steering wheel-type wireless remote controller 100.

<Head mounted type Radio remote control  Control of shooting area using>

10 shows a method of adjusting the photographing direction of the photographing apparatus on the moving body by changing the angle of the head mounted type radio controller. And Fig. 11 schematically shows the photographing direction according to the angle change of the photographing apparatus on the head mounted radio control device.

10 and 11, the head mounted radio remote controller 200 has a shape that can be mounted on a user's head, and a display unit 203 can be installed on the front portion. The display device 203 is configured as a terminal and is detachably attachable to the head mounted wireless controller 200. A user wearing the head mounted wireless controller 200 can display an image through a display provided on the terminal can see.

In addition, when the user rotates the head in the direction in which the head mounted radio control device 200 is worn, the photographing angle of the photographing device 304 on the moving object 300 can be changed accordingly. Accordingly, the user can confirm the entire area of the area where the mobile unit 300 is located through the display unit 203.

In addition, the rotation directions of the handle-type radio control device 100 and the head-mounted radio control device 200 are independent of each other, and accordingly, the moving direction of the moving object 300 and the photographing direction of the photographing device 304 are independent . Accordingly, regardless of the moving direction of the moving object 300, the photographing direction of the photographing device 304 can be changed as needed, allowing the user to observe the omnidirectional area while moving on the moving object 300. Accordingly, not only the photographed image of the region matched with the moving direction of the moving object 300 but also the photographed image of the other region irrespective of the moving direction of the moving object 300 can be observed, so that it is possible to promptly and appropriately cope with sudden emergency situations.

<Reference point setting>

Since the attitude of each user is different, it is necessary to set a new reference point every time the user manipulates. Therefore, when the handle-type and head-mounted wireless controllers 100 and 200 are turned on, the posture after a predetermined time is set as the reference point. That is, the positions of the steering wheel type and the head mounted type radio controllers 100, 200 after a predetermined time can be set as reference points.

4, the manipulator light source unit 131 provided in the main body unit 190 of the handle-type radio manipulator 100 includes a central light source and a central light source, A second light source positioned in a lower region, a third light source positioned in a left region, and a fourth light source positioned in a right region. When the handle-type wireless remote controller 100 is powered on, Only the central light source at the center is turned on at a predetermined time when the user holds the steering wheel-type radio remote controller 100 and the pitch of the steering wheel-type radio remote controller 100 Pitch axis can be set as a reference point for controlling the mobile object 300. [

<Control Variable Extraction>

- Applying complementary filter

의 극점과 영점을 나타낸 그래프이고, 도 14는

의 극점과 영점을 나타낸 그래프이고, 도 15는

의 보데선도이며, 도 16은

의 보데선도이다.12 is a block diagram of the complementary filter. And Figure 13

14 is a graph showing the pole and zero of

15 is a graph showing the pole and zero of

Fig. 16 is a Bode plot of Fig.

Of Bode.

Based on the three-axis angular velocity and three-axis acceleration data detected from the first gyro sensor 1121 and the first acceleration sensor 1122 of the first sensor unit 112 of the steering wheel-type radio remote controller 100, ) The angle, roll angle, and yaw angle can be determined.

는 제1 가속도센서(1122)로부터의 출력된 3축 각각에 따른 가속도 값이고,

는 제1 자이로센서(1121)으로부터 나오는 각속도 값이다.Each of the pitch angle, roll angle, and yaw angle may satisfy Equation (1), and Equation

Axis is an acceleration value according to each of the three axes output from the first acceleration sensor 1122,

Is an angular velocity value output from the first gyro sensor 1121.

[Equation 1]

Referring to Fig. 12, the block diagram according to Fig. 12 satisfies the equation (2).

&Quot; (2) &quot;

The first sensor unit 112 may include a complementary filter. An angle obtained as a result of integrating the angular velocity data using the complementary filter is excellent in the response characteristic in the high frequency range, and uses a high-pass filter. Since the response angle is excellent in the low-frequency range, a low-pass filter is used to combine them.

와

는 실험적으로 결정될 수 있다. 또한 본 발명의 실시예에서는

와

각각은 0.46736, 0.03279가 되는 것이 바람직하나 이에 한정하는 것은 아니다. 그리고 수학식 2에 따라 전달함수

과

에 필터 계수

와

를 대입하고 극점과 영점의 상태를 확인하면 도 13 내지 도 16과 같다.In Equation 2,

Wow

Can be determined experimentally. Further, in the embodiment of the present invention

Wow

It is preferable that each of them is 0.46736 and 0.03279, but it is not limited thereto. Then, according to Equation 2,

and

Filter coefficient

Wow

And the state of the pole and the zero point are confirmed as shown in Figs. 13 to 16. Fig.

은 저주파 성분인 드리프트 영향을 많이 받는 자이로센서의 잡음을 제거하기 위해 적합하며,

는 고주파 성분인 미세한 진동에 영향을 많이 받는 가속도 센서의 잡음을 제거하기 위해 적합하다. 전술한

과

필터를 적용함으로써 제1 자이로센서(1121)와 제1 가속도센서(1122)로부터의 측정한 데이터의 잡음을 효과적으로 제거할 수 있고, 조종 변량 산출에 필요한 정확한 각도를 구할 수 있다.12,

Is suitable for removing the noise of the gyro sensor which is influenced by the drift of the low frequency component,

Is suitable for eliminating the noise of the acceleration sensor which is influenced by the minute vibration which is a high frequency component. Described above

and

The noise of the measured data from the first gyro sensor 1121 and the first acceleration sensor 1122 can be effectively removed and an accurate angle required for calculation of the steering variable can be obtained.

The description of the first gyro sensor 1121 and the first acceleration sensor 1122 may be applied equally to the second gyro sensor 2121 and the second acceleration sensor 2122 of the head mounted wireless controller 200 Therefore, detailed explanation is omitted.

- Tilt compensation

이다. 제2 제어부(220)는 지자기 값으로만 요(Yaw) 각을 계산하면 기울어짐에 대한 오차가 발생할 수 있다. 따라서 상보필터의 출력 값인 피치(Pitch) 각도(

)와 롤(Roll)각도(

)와

을 입력으로 사용하여 X값과 Y값 그리고 요(Yaw)각도를 결정할 수 있다.Further, geomagnetism data may be output from the geomagnetic sensor 2123 of the head mounted type radio remote controller 200. [ The geomagnetic value

to be. The second control unit 220 may calculate an error of inclination when calculating the yaw angle only with the geomagnetism value. Therefore, the output value of the complementary filter, the pitch angle (

) And the roll angle (

)Wow

Can be used as inputs to determine the X and Y values and the Yaw angle.

Also, the X value, the Y value, and the Yaw angle can satisfy Equation (3).

&Quot; (3) &quot;

The second control unit 220 can obtain a more accurate yaw angle than the geomagnetic sensor 2123. The actual yaw angle is a value calculated by integrating the angular velocity of the second gyro sensor 2121. The yaw angle value obtained by the geomagnetism sensor 2123 is used as a reference point . In addition, in order to prevent the cumulative error of the angular velocity of the second gyro sensor 2121, initialization can be performed to a reference point set with respect to the initial posture of the head mounted type radio remote controller 200.

<Handle type Radio-controlled  Data transmission method>

17 is a flowchart of a radio control method of a mobile body using a handle-type radio controller.

The steering wheel type radio remote controller 100 receives three-axis acceleration and three-axis angular velocity data, converts each data to an angle, and uses it as an input to the complementary filter to calculate a pitch angle and a roll angle have. Further, a direction can be displayed as an output value through the manipulator light source unit 131. In addition, the reference value can be set by the pitch angle, and when the setting is completed, the setting range of the pitch angle and the roll angle can be confirmed and the data can be transmitted. In addition, the switch unit 111 can receive data and transmit data for controlling the on / off state of the front visual field light source of the mobile unit 300.

17, the first sensor unit 112 converts the three-axis angular velocity measured by the first gyro sensor 1121 and the three-axis acceleration measured by the first acceleration sensor 1122 into angles And the pitch, roll angle, and yaw angle can be determined through a second complementary filter. In this case, when the reference point is set, the control light source 131 may be driven to indicate that the reference point is set.

When the switch unit 111 is turned on or off, light source control signal data for turning on or off the moving body light source unit 331 of the moving body 300 may be generated and transmitted to the mobile body 300.

When the reference point setting is completed, the first controller 120 confirms the angle information of each of the pitch angle and the roll angle from the first sensor unit 112, and when the pitch angle is a negative a It is possible to transmit pitch angle information data to the mobile unit 500 through the first communication unit 140 when the angle is within the range between positive and b angles. When the roll angle is within a range between a negative c angle and a positive d angle, the roll angle information data may be transmitted to the moving object 500 through the first communication unit 140. If the pitch angle is smaller than the negative a angle, the predetermined initial pitch angle information data may be transmitted to the mobile 300 if the pitch angle information is larger than the positive b angle. The predetermined minimum roll angle information data is smaller than the c angle of the roll angle sound, and the predetermined maximum roll angle information data is transmitted to the mobile 300 when the angle is larger than the positive d angle.

Meanwhile, the above-mentioned values a and b may be equal to each other. In this case, the angle b may be 45 degrees, but the present invention is not limited thereto. The above-described values of c and d may be equal to each other. But is not limited to.

<Head mounted type Radio-controlled  Data transmission method>

18 is a flowchart of a radio control method of a moving body using a head mounted type radio controller.

The head mounted wireless controller 200 receives three-axis acceleration and three-axis angular velocity data. By converting each data to an angle and using it as an input to the complementary filter, you can calculate the pitch angle and the roll angle. Two outputs of the complementary filter and the data of the triaxial geomagnetic sensor 2123 can be calculated according to the above-described tilt compensation. In addition, the reference value is set as the yaw angle, and when the setting is completed, the yaw angle obtained by integrating the angular velocity can be initialized using the reference value. In addition, the setting range of the pitch angle and yaw angle can be confirmed and data can be transmitted.

18, the second sensor unit 212 detects the three-axis angular velocity detected by the second gyro sensor 2121, the three-axis acceleration detected by the second acceleration sensor 2122, and the geomagnetism sensor 2123 Axis angular information detected from the three-axis geomagnetism information. Also, the 3-axis angular velocity detected from the second gyro sensor 2121 and the 3-axis acceleration detected from the second acceleration sensor 2122 can calculate a pitch angle and a roll angle through the second complementary filter have. Further, the second controller 220 calculates the yaw angle according to the above-described tilt compensation, and calculates the yaw angle using the two outputs of the second complementary filter and the data of the triaxial geomagnetic sensor 2123, After the setting of the reference value is completed, the yaw angle obtained by integrating the angular velocity can be initialized using the reference value. After the data initialization, the yaw angle range is confirmed, ).

Also, the second controller 220 checks the pitch angle information to check whether the pitch angle is within the negative e angle and the positive f angle range, and if the pitch angle is within the negative e angle and the positive f angle range The pitch angle information data may be transmitted to the mobile unit 300 through the second communication unit 240. [ The second controller 220 checks the yaw angle information to determine whether the yaw angle is within the negative g angle and the positive h angle range. If the yaw angle is within the negative g angle and positive h angle range And can transmit the yaw angle information data to the mobile unit 300 through the second communication unit 240. [

When the pitch angle is smaller than the negative e angle, the pitch angle information data of the preset minimum value is larger than the positive f angle, and the preset pitch angle information data of the maximum value can be transmitted to the mobile 300, Is smaller than the negative g angle, the yaw angle information data of the preset minimum value can be transmitted to the mobile unit 300 when the yaw angle information data of the maximum value is larger than the positive h angle.

On the other hand, e and f described above can be the same, in which case the e-angle can be 45 degrees negative and f can be 45 degrees positive and g and h can be the same, where g is 90 degrees negative and h is positive But it is not limited thereto.

<Driving Method of Moving Body>

19 is a flowchart of a moving body driving method based on data received from a radio control device.

The moving object 300 can receive data from two different channels, determine a channel, and then determine to which of the first and second microcontroller units 3211 and 3212 to transmit the data.

The second microcontroller unit 3212 can also receive data from the head mounted wireless controller 200 and control the second motor 332. [ In this case, the second motor 332 is composed of two servo motors, and the second microcontroller unit 3212 can control each of the two servo motors.

And can receive data from the steering wheel type radio controller 100 through the UART communication from the second microcontroller unit 3212 to the first microcontroller unit 3211. [ Also, in order to receive data efficiently, data is restored by separating positive and negative numbers, pitch and roll angles from the data of pitch angle and roll angle, and the moving body 300 is driven . For example, if two data are transmitted from the second microcontroller unit 3212 to the first microcontroller unit 3211 and the data is divided for accurate data exchange and efficient transmission speed, for example, data of 7 bytes Bit and bit 6 are transformed into data that distinguishes the axis and data that distinguishes between positive and negative numbers. Bit 0 to bit 5 hold the steering variable data. After receiving the data, the data can be restored to the existing value.

Further, the front view light source of the mobile unit 300 can receive the data from the steering wheel-type wireless remote controller 100 and can operate the remote control unit after determining whether it is on / off.

19, the third communication unit 340 of the mobile unit 300 receives data received through the first channel from among the first and second channels through data received from the hand-operated radio controller 100 And the data received on the second channel can be handled as data received from the radio transmitter 200 of the head mounted type.

The third main board 321 can control the driving of the moving body light source unit 331 based on the moving body light source unit driving control data received from the steering wheel type radio controller 100. [

The second microcontroller unit 3212 transforms the data received from the steering wheel type radio controller 100 into pitch information data and roll information data and transmits the data to the first microcontroller unit 3211 ). The first microcontroller unit 3211 checks whether the seventh bit of the received data is 1, treats it as roll data if it is 1, checks whether the sixth bit is 1, Can be restored. If it is nonzero, it can be restored to positive data. Also, the first microcontroller unit 3211 checks whether the seventh bit of the received data is 1, treats it as pitch data when it is 0, then checks whether the sixth bit is 1, Can be restored. If it is nonzero, it can be restored to positive data. The moving direction and speed of the moving object 300 can be adjusted by driving the first motor 332 based on the restored data.

The second microcontroller unit 3212 restores pitch data from the head mounted type radio remote controller 200 to drive the first servo motor in the second motor 332 to detect the phase of the image of the photographing apparatus 304 Right rotation of the photographing apparatus 304 and the second servo motor in the second motor 332 to control the left / right rotation of the photographing apparatus 304 by controlling yaw data.

The embodiments of the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program commands, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specifically designed and configured for the present invention or may be those known and used by those skilled in the computer software arts. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROM and DVD, magneto-optical media such as floptical disks, medium, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code, such as those generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be modified into one or more software modules for performing the processing according to the present invention, and vice versa.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as &quot; essential &quot;, &quot; importantly &quot;, etc., it may not be a necessary component for application of the present invention.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

Handle-type radio remote controller (100)
In the first main device 101,
The first measuring unit 110, the switch unit 111, the first sensor unit 112,
The first gyro sensor 1121, the first acceleration sensor 1122,
The first controller 120, the first main board 121,
A manipulator output unit 130, a manipulator light source unit 131,
The first communication unit 140, the first wireless communication module 141,
The first power supply 102,
The first battery unit 150, the first protection circuit 160,
The first booster circuit 170, the first regulator 180,
The body portion 190, the first handle portion 191,
The first 1-1 extending portion 1911, the 1-2 first extending portion 1912, the 1-3 second extending portion 1913,
The second handle portion 192,
The second-first extension 1921, the second-second extension 1922, the second-third extension 1923,
The head mounted type radio remote controller (200)
In the second main device 201,
The second measuring unit 210,
The second sensor unit 212,
A second gyro sensor 2121, a second acceleration sensor 2122, a geomagnetism sensor 2123,
The second controller 220, the second main board 221,
The second communication unit 240, the second wireless communication module 241,
The second power supply 202,
The second battery unit 250, the second protection circuit 260,
The second booster circuit 270, the second regulator 280,
The display device (203)
The moving body 300,
The third main device 301,
The third controller 320, the third main board 321,
The first microcontroller unit 3211, the second microcontroller unit 3212,
Motor driver 322,
The moving object output unit 330, the moving body light source unit 331,
The first motor 332, the second motor 333,
The third communication unit 340, the third communication module 341,
The third power supply 302,
The third battery unit 350, the third protection circuit 360,
The third-first regulator 381, the third-second regulator 382,
The photographing device 304

Claims (10)

A first communication unit for transmitting a control signal for controlling a moving direction and a speed of a moving object having a photographing device whose photographing direction is adjusted by a head mounted type radio controller;
A first sensor unit for detecting its own position information; And
And a first control unit for generating the control signal based on the detection result of the sensor unit
Radio remote control. The method according to claim 1,
Wherein the first sensor unit includes a first gyro sensor and a first acceleration sensor
Radio remote control. 3. The method of claim 2,
Further comprising: a main body unit including the first communication unit, the first sensor unit, and the first control unit,
The moving direction of the moving body is controlled corresponding to the rotating direction of the main body portion,
And the speed of the moving body is controlled in proportion to the rotation angle of the main body portion
Radio remote control. The method of claim 3,
A first handle portion extending from one side of the body portion; And
And a second handle portion extending from the other side of the main body portion,
Wherein the first and second handle portions are symmetrical with respect to each other about the main body portion
Radio remote control. The method of claim 3,
The first control unit
And a pitch angle calculated based on the angular velocity and the acceleration information from the first sensor unit in the initial position of the main body unit is set as a reference value as a reference point of the main body unit.
Radio remote control. A second communication unit for transmitting a control signal for controlling a photographing direction of a photographing apparatus installed on a moving body whose moving direction and speed are controlled by a handle-type radio control unit;
A second sensor unit for detecting its own position information; And
And a second control unit for generating the control signal based on the detection result of the second sensor unit,
Mounted on the user's head
Radio remote control. The method according to claim 6,
And a display device for receiving and displaying the photographed image of the photographing device
Radio remote control. The method according to claim 6,
Wherein the second sensor unit comprises:
A second gyro sensor, a second acceleration sensor and a geomagnetic sensor.
Radio remote control. 9. The method of claim 8,
And the photographing area of the photographing apparatus is changed corresponding to the rotation direction of the head of the user
Radio remote control. 9. The method of claim 8,
And sets the yaw angle calculated on the basis of the detection results from the second gyro sensor, the second acceleration sensor and the geomagnetism sensor as a reference value as its reference point in the initial position state
Radio remote control.

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