DE102015213200C5 - Haptic remote control - Google Patents

Abstract

Remote control (1) for a real or virtual moving object (5), with- at least one operating element (10) which, for generating first control signals (S1) relating to a movement of the object (5), can be manually adjusted between a number of adjustment positions is, wherein an adjustment range (V) defines limits of the manual adjustability of the at least one operating element (10), - at least one actuator (11), which is designed and set up to adjust the at least one operating element (10) between the adjustment positions, and at least one control unit (13), which is designed and set up to control the at least one actuator (11) and to regulate the adjustment position of the at least one operating element (10) with respect to a target adjustment position by means of the at least one actuator (11), the at least one operating element (10) of the at least one actuator (11) for adjusting the adjustment position with an all the greater The further the adjustment position of the at least one operating element (10) deviates from the respective target adjustment position, the greater the force (F) and/or the greater the torque (M) applied, with the adjustment range (V) defining the limits of the possible target adjustment positions , and in the event of a deviation between the adjustment position of the at least one operating element (10) and the respective target adjustment position, the at least one operating element (10) is controlled by the at least one actuator (11) with an even greater force (F) and/or with a the greater the torque (M) applied, the greater the coupling strength selected for the at least one operating element (10), the coupling strength being adjustable on the remote control (1).

Description

The invention relates to a remote control for a real or virtual moving object.

Such a remote control for a real or virtual moving object comprises at least one operating element which can be manually adjusted between a plurality of adjustment positions in order to generate first control signals which relate to a movement of the object. An adjustment range defines the limits of the manual adjustability of the at least one operating element. Such a remote control also includes at least one actuator that is designed and set up to adjust the at least one operating element between the adjustment positions of the adjustment range.

Such a remote control can be, for example, a model flight remote control. However, it can also be a remote control for a model car or a model boat, for example. The moving objects mentioned by way of example - e.g. B. model airplane, model car or model boat - be real or virtual objects.

Virtual moving objects play a role, for example, in the context of computer-implemented model simulations for game or training purposes. The movement of the virtual object can be followed on a screen and controlled using a remote control connected to the computer. The remote control can be provided with a force feedback function, as is known from manned aviation in connection with fly-by-wire controls. In this case, an operating element of the remote control is acted upon by an actuator with forces and/or torques in order to give an operator the impression of physical counterforces which become effective in the case of certain control movements or flight conditions. In this way, for example, a flight simulation or a car racing game can be experienced as more realistic.

A joystick with the force feedback function described is, for example, from US 6,429,849 B1 known. Accordingly, a motor is provided on a joystick, which is controlled by a controller to apply torques to the joystick along two axes of rotation.

Known remote controls of the type described can give an operator the impression of counterforces and countertorques, but they do not allow an operating element to be automatically adjusted in such a way that the movable object could actually be controlled with these movements. However, this can be desirable, for example, in the training of model flight students to convey corrective remote control movements by a model flight instructor or at an air show to enable the spectators to feel the remote control movements of a model flight artist.

the DE 10 2013 003 245 A1 discloses a device for teaching the control of a remote-controllable model device with at least one movable operating element, which is provided with at least one actuator each, which can also be controlled by control commands for controlling the model device at the same time to control movements of the operating element. The movements of the operating element are identical to those that are to be carried out by hand to correspondingly control the model device.

In the U.S. 2007/0162192 A1 describes a training system for remote-controlled vehicles, in particular aircraft such as helicopters. A slave unit uses signals transmitted by a master unit to mimic the movements of the control input on the master unit.

The object of the present invention is to provide a remote control for a real or virtual moving object, which allows remote control movements of an entity, for example from a remote control of a model flight instructor, to be conveyed haptically to an operator of the remote control.

This object is achieved by a remote control having the features of claim 1.

Accordingly, at least one control unit is also provided on a generic remote control, which is designed and set up to control the at least one actuator and to regulate the adjustment position of the at least one operating element with respect to a target adjustment position by means of the at least one actuator. The adjustment range defines the limits of the possible setpoint adjustment positions.

The invention is based on the idea that remote control movements can be conveyed haptically if all adjustment positions into which an operating element can be adjusted manually can also be approached automatically, ie by the actuator. By means of the control unit, for example, a target adjustment position of the control element can be approached, which corresponds to a current adjustment position of a control element of a model flight instructor remote control. For the operator, for example a model flight shooter ler, it is therefore possible to feel the remote control movements of the flight instructor at the same time as observing the real model aircraft in order to be able to memorize the necessary control stick movement sequences.

It is also conceivable in a flight simulator to send control signals from a simulated model airplane back to the remote control and convert them there into movements of the joystick. For example, previously recorded flight sequences can be played back and the appropriate control stick movements can be tactilely conveyed to a training operator.

For example, the moving object can be an unmanned land vehicle, watercraft and/or aircraft. For example, the object can be a remote-controllable model vehicle for operation on land, on water and/or in the air, in particular a remote-controllable model airplane or a remote-controllable model helicopter. Remote control of such models generally requires comparatively complex training, in which the haptic transmission of remote control movements by a model flight instructor to a model flight student according to the invention can be used particularly advantageously.

According to a further aspect of the invention, a dummy remote control in the manner of a model remote control is provided. The dummy remote control has at least two operating elements, which are designed as joysticks and can be adjusted according to the adjustment positions of the joysticks of a model remote control between a plurality of adjustment positions within an adjustment range. For example, the joysticks can each be pivotable about at least two axes. The remote control dummy also includes at least one actuator for each control element, wherein the at least one actuator is designed and set up to adjust the respective control element between the adjustment positions of the adjustment range, and at least one control unit that is designed and set up to control the at least one actuator for each control element and to regulate the adjustment position of the respective control element with respect to a target adjustment position by means of the at least one actuator. The adjustment range defines the limits of the possible setpoint adjustment positions. With such a remote control dummy, for example, a model flight student or a spectator of a model flight show can haptically feel the joystick movements of a flight instructor or model flight artist. For example, the control element can be a control stick that can be continuously pivoted about a number of axes, or a continuously adjustable slider. It is precisely with such continuously adjustable control elements that complex control movements can be communicated particularly intuitively by haptic empathy using a remote control according to the invention.

Provision can also be made for an operating element of a remote control or a remote control dummy to be adjusted between the adjustment positions under the superimposed effects of the actuating drive on the one hand and manual actuation by the operator on the other. This means that such a superimposed actuation of the operating element is also provided according to the design of the operating element and the actuator and cannot only be brought about by “brute force” during manual actuation. For example, a joystick can be fastened as an operating element to a shaft of an electric motor, which forms an actuator, with the shaft of the electric motor being designed to run smoothly and be rotatable from the outside. In this case, the actuator does not represent a design-related mechanical inhibition for manual adjustment of the control element.

In a further development, the control unit of the remote control or the remote control dummy is designed to limit the force and/or the torque with which the actuating drive acts on the operating element. In particular, the limits of the force and/or the torque can be variably set. In this way, the effect of the actuator can superimpose a manual actuation of the operating element to a greater or lesser extent. For example, an adjustment device for upper limits of the force and/or the torque of the actuator can be provided on the remote control. An operator then z. B. the possibility of selecting the limits of the force and/or the torque of the actuator within an interval from zero to a respective maximum upper limit for the force and/or the torque. If a low upper limit is set by the operator, he essentially actuates the operating element himself manually, with only slight haptic corrections being provided by the relatively low forces and/or torques of the actuating drive. If, on the other hand, a relatively high upper limit is set, the operator can essentially leave the control to the actuating drive and only feel its control movements of the operating element largely passively.

In one variant, the remote control or the remote control dummy also includes a sensor unit for detecting the adjustment position, in which is a control element, and for translating the detected adjustment position in second control signals, and a signal output for outputting the second control signals. For example, a current adjustment position of the control element can be detected by means of potentiometers arranged on the control element or optical and/or magnetic sensors. In the context of the sensor unit, measurement signals, for example the potentiometer, can be encoded in the second control signals. The second control signals can be output externally via the signal output of the remote control. The signal output can e.g. B. include a radio transmitter unit for the second control signals. However, it is also conceivable for the signal output to have a socket for wired output of the control signals.

For example, the operator can be a model flight instructor, and the adjustment positions of one or more operating elements on his remote control detected by the sensor unit can be transmitted as second control signals to a further inventive remote control of a model flight student. The control unit of the remote control of the model flight student can regulate a corresponding control element with respect to a target adjustment position, the target adjustment position z. B. can correspond to a transmitted by means of the second control signals current adjustment position of a control element of the remote control of the model flight instructor.

According to a further aspect of the invention, a system for the haptic mediation of remote control movements is provided. The system has at least one haptic operating device, which includes a remote control according to the invention and/or a remote control dummy according to the invention. The dummy remote control comprises at least one actuator and one control unit, as has been described above with reference to a remote control according to the invention, but is not designed to generate the first control signals relating to the movement of an object. The system also includes at least one instance for providing second control signals from which a target adjustment position of the at least one operating element of the haptic operating device can be derived. The second control signals can be transmitted from the at least one instance to the control unit of the at least one haptic operating device.

For example, the instance for providing second control signals can include a remote control according to the invention with a sensor unit, with which an adjustment position of an operating element can be detected and translated into second control signals. It can be provided that the second control signals are output via a signal output of the remote control and are transmitted, for example by radio or wired, to one or more haptic operating devices of the system. A target adjustment position of one or more operating elements of the at least one haptic operating device can be derived from the transmitted second control signals, so that the control unit of the respective haptic operating device can regulate the operating element in relation to this position. The radio device representing the entity can e.g. B. be operated by a model flight instructor. Accordingly, one or more haptic operating devices, which can receive the second control signals from the entity, e.g. B. be served by model flight students.

This aspect of the invention is based on the idea that with the system according to the invention, remote control movements of an entity, for example a model flight instructor or model simulator, can be haptically conveyed to one or more operators of one or more haptic operating devices, for example in the manner of a model flight remote control. Using the system, for example, a model flight student can be corrected in his remote control movements by a model flight instructor. It is also conceivable that several operators of remote controls or remote control dummies, which implement a haptic operating device, follow the remote control movements of a model flight instructor or, for example, a model flight artist at a model flight show purely passively by haptic empathy.

It is also within the scope of the invention that the entity comprises a computer and/or a server. In particular, the instance for providing the second control signals can be a model simulator which is executed on the computer and/or the server. For example, remote control movements that relate to certain movement sequences of a virtual object within the framework of the model simulator can be stored in a database of the computer and/or server and can be transmitted as second control signals to a remote control or remote control dummy connected to the computer and/or server. The second control signals can, for example, within a network such. B. be stored on the Internet. It is also conceivable that the second control signals are generated by a remote control according to the invention with a sensor unit and are transmitted to at least one haptic operating device via the Internet. The transmission can take place immediately or with a delay, i.e. by storing the control signals in a database for later retrieval.

It is also within the scope of the invention that the haptic operating device includes a remote control according to the invention for a real moving object, the object having a telemetry unit for acquiring measurement data. The telemetry unit can form an entity (or a part thereof) within the framework of the system, with the second control signals being derived from the measurement data of the telemetry unit. For example, flight models according to the prior art already have the option of sending current operating data such as flight altitude, speed, rotor speed, battery capacity, etc. back to a remote control via such a telemetry unit. In previous solutions, this data is displayed to the operator visually or by voice via the remote control. It is also known to provide haptic feedback on the remote control when an error situation occurs, with vibration of a joystick, for example, being able to indicate to the operator the existence of the error situation.

With the telemetry unit as an instance in a system according to the invention, the second control signals can now be used to transmit sensor-based control information, for example for automatically reducing pitch when the rotor speed of a model helicopter drops, to the remote control as a haptic operating device. On the basis of these second control signals, a control element for setting the pitch, for example, can be automatically adjusted, with this automatic emergency correction being conveyed to the operator in a tactile manner. An adjustment position of the control element is only then automatically approached by the control unit and the actuator of the remote control if the manual actuating or holding force applied by the operator is too small to counteract the actuating force of the actuator or if the operator releases the control element completely Has. In any case, the direction of the automatic correction by the telemetry unit can be felt by the operator.

The object is also achieved by a method for the haptic mediation of remote control movements, which uses a system according to the invention.

Accordingly, in a first step, the second control signals are provided by the at least one instance, with the second control signals relating to a target adjustment position of the at least one operating element of the haptic operating device. For this purpose, for example, in a remote control according to the invention, the adjustment position of one or more operating elements is detected with a sensor unit, then translated into second control signals and sent to the signal output for output. Alternatively, the second control signals can also be provided by a computer and/or a server on which a model simulator is running. It is also conceivable that the second control signals are provided by a computer and/or a server on which they are stored in a database.

In a second step, the second control signals are transmitted from the instance to the haptic operating device. The second control signals can be transmitted, for example, by radio from a remote control of a model flight instructor to the remote control of a model flight student. However, the transmission can also be wired, for example by cable from a computer to a dummy remote control connected to it.

In a third step, the adjustment position of the at least one operating element of the haptic operating device is regulated as a function of the second control signals. In this case, the regulation takes place by means of the regulation unit and the at least one actuator of the haptic operating device. For example, a control stick on the remote control of a model flight student can be regulated to an adjustment position that corresponds to an adjustment position of a control stick on the remote control of a model flight instructor, which represents the instance. The operating elements of the entity and the haptic operating device are designed in such a way that there is a substantially clear mapping between the adjustment positions of the operating element of the entity on the one hand and the operating element of the haptic operating device on the other.

In a variant of the method, at least two remote controls according to the invention, each having a sensor unit, are used. On the one hand, a first remote control is used as a first entity for a second remote control as a first haptic control element, with the target adjustment position of the at least one control element of the second remote control corresponding to an adjustment position of a corresponding control element of the first remote control. On the other hand, the second remote control is used as a second entity for the first remote control as a second haptic control device, with the target adjustment position of the at least one control element of the first remote control corresponding to an adjustment position of a corresponding control element of the second remote control. For example, a remote control of a model flight student can on the one hand receive second control signals from a remote control of a model flight instructor and in this way his Feel remote control movements on a joystick, and vice versa, the model flight instructor can also use his remote control to receive second control signals from the remote control of the model flight student, so that the model flight instructor can feel the remote control movements of the model flight student.

In the method according to the invention and in the remote control or remote control dummy according to the invention, the at least one control element is acted upon by the at least one actuator for adjusting the adjustment position with an all the greater force and/or with an all the greater torque the further the adjustment position of the at least one control element is from the respective target adjustment position deviates. For example, the force and/or the torque can depend essentially linearly on the deviation. In this way, an e.g. elastic, haptic coupling can be realized between an operating element of the first remote control (e.g. the model flight instructor) and an operating element of the second remote control (e.g. the model flight student). Such a haptic coupling is to be understood analogously to a coupling of the control horns of a pilot and a co-pilot, as is known from manned aviation.

In a further development, it can be provided that if there is a deviation between the adjustment position of the at least one operating element and the respective target adjustment position, the at least one operating element is acted upon by the at least one actuator with an all the greater force and/or with an all the greater torque, depending greater a coupling strength for the at least one control element is selected. The coupling strength is set on the at least one haptic operating device and/or on the at least one entity.

For example, it can be provided that a coupling strength of a haptic coupling between a first remote control and a second remote control is variably adjusted as required by means of the control units. The coupling strength can be set, for example, in a range from zero to a maximum coupling strength, with the maximum coupling strength e.g. B. (depending on the performance of the actuator) can correspond to a substantially rigid coupling between the controls of the first remote control and the second remote control. The coupling strength for the respective remote control can be set on the remote control itself. Alternatively or additionally, the coupling strength for both remote controls can be set on one of the remote controls.

• 1A eine schematische Ansicht einer Fernsteuerung in einer ersten Variante;
• 1B eine schematische Ansicht einer Fernsteuerung in einer zweiten Variante;
• 1C eine schematische Ansicht einer Fernsteuerungsattrappe;
• 2A eine schematische Ansicht eines Bedienelements mit einem Stellantrieb in einer ersten Variante;
• 2B eine schematische Ansicht eines Bedienelements mit einem Stellantrieb in einer zweiten Variante;
• 2C eine schematische Ansicht eines Bedienelements mit einem Stellantrieb in einer dritten Variante;
• 3 eine schematische Ansicht eines Systems für die haptische Vermittlung von Fernsteuerbewegungen in einer ersten Variante;
• 4 eine schematische Ansicht eines Systems für die haptische Vermittlung von Fernsteuerbewegungen in einer zweiten Variante;
• 5 eine schematische Ansicht eines Systems für die haptische Vermittlung von Fernsteuerbewegungen in einer dritten Variante; und
• 6 eine schematische Ansicht eines Systems für die haptische Vermittlung von Fernsteuerbewegungen in einer vierten Variante.

The idea on which the invention is based is to be explained in more detail below with reference to the exemplary embodiments illustrated in the figures. Show it:

• 1A a schematic view of a remote control in a first variant;
• 1B a schematic view of a remote control in a second variant;
• 1C a schematic view of a remote control dummy;
• 2A a schematic view of a control element with an actuator in a first variant;
• 2 B a schematic view of a control element with an actuator in a second variant;
• 2C a schematic view of a control element with an actuator in a third variant;
• 3 a schematic view of a system for the haptic mediation of remote control movements in a first variant;
• 4 a schematic view of a system for the haptic mediation of remote control movements in a second variant;
• 5 a schematic view of a system for the haptic mediation of remote control movements in a third variant; and
• 6 a schematic view of a system for the haptic mediation of remote control movements in a fourth variant.

the 1A and 1B show a remote control 1 for a real or virtual moving object 5 in a first and second variant. For example, the remote controls 1 shown can be used for a model airplane or a model helicopter. The remote controls 1 can also z. B. be provided and set up for remote control of other unmanned land vehicles, watercraft and / or aircraft.

The remote controls 1 shown have operating elements 10, which are shown here by way of example as two joysticks 10 in the manner of a model flight remote control. An operator B of the remote control 1 can adjust the controls 10 manually between several possible adjustment positions (the manual action on the controls is symbolized here with a thin arrow from the operator B to the controls 10). The operating elements 10 and, if necessary, a microcontroller send first control signals S1 for controlling the movement of the Object 5 generated and given to a first signal output 16. The first signal output 16 can, for example, be a transmission unit, e.g. B. include the high-frequency part of a conventional model flight remote control. In other embodiments, the first signal output 16 can also include a cable socket for wired output of the first control signals S1.

An adjustment range V defines the limits of the manual adjustability of the controls 10. In the present case, the control sticks can be moved within a certain radius (corresponding to the respective outer dashed circles around the control element 10 of the 1A-1C) continuously adjust, whereby the radius determines the adjustment range V.

An actuator 11 is also provided on the remote control 1, the actuator 11 being designed to apply a force F and/or a torque to the operating elements 10 and consequently to adjust it within the adjustment range V. For example, an electromechanical unit can be provided as an actuator 11 on one or more operating elements 10 . Examples of this are below with reference to the 2A until 2C explained.

The automatic adjustment of a control element 10 by the actuating drive 11 can be haptically perceived by the operator on the control element 10, ie can be felt. This haptic perception of the automatic adjustment movements of the controls 10 is in the 1A-1C symbolized by a bold arrow from the controls 10 to the operator B.

A control unit 13 of the remote control 1 is designed and set up to control the actuating drive 11 and thereby to regulate the adjustment positions of the operating elements 10 in each case with respect to a target adjustment position. The adjustment range V defines the limits of the possible setpoint adjustment positions, i.e. any adjustment position within the adjustment range V can be approached by means of the control unit 13. The control unit 13 can include a microcontroller, for example. For example, the control unit 13 can be designed to transmit both force-related control signals SF and position-related control signals SP to the actuator 11 as part of the control of the adjustment position of an operating element 10 . In this case, the force-related control signals SF should also be understood to mean control signals which relate to a torque of the actuating drive 11 . As part of the scheme z. B. a feedback channel SR can be provided, via which measurement signals relating to a current adjustment position of the operating element 10 can be transmitted back to a microcontroller of the control unit.

In the exemplary embodiment, the control unit 13 receives second control signals S2 from a signal input 12 of the remote control 1. The control unit 13 can derive target adjustment positions for the operating elements 10 from the second control signals S2 and corresponding control signals SF, SP for controlling the adjustment positions of an operating element 10 to the Submit actuator 11.

The second control signals S2 can be transmitted to the signal input 12 by an entity 32 outside of the remote control 1, for example. In such a constellation, the remote control 1 can implement a haptic operating device 31 in a system 3 for the haptic mediation of remote control movements.

The instance 32, which provides the second control signals S2, can, for example, be another remote control 1 according to the invention, which is 1B is shown schematically. Accordingly, at a remote control 1, as with reference to 1A has been explained, a sensor unit 15 is provided for detecting the adjustment position, in which an operating element 10 is located, and for translating the detected adjustment position into second control signals S2. For example, the sensor unit 15 can have one or more potentiometers, magnetic sensors and/or optical sensors, which can detect a current adjustment position of the operating elements 10 . It is also conceivable that the detected adjustment positions are also used to generate the first control signals S1. The translation of the detected adjustment positions in the second control signals S2 can, for. B. by a microcontroller of the sensor unit 15 can be made.

The second control signals S2 can have a second signal output 14, which is on the remote control 1 according to the 1B intended to be issued. From the second signal output 14, the second control signals S2 are wireless or wired to a haptic operating device 31, such as a remote control 1 after 1A , transmittable.

The second signal output 14 can, for example, be a cable socket or a transmitter unit, e.g. B. include a high-frequency part. For example, in the case of a remote control 1 for a model aircraft 5, a second radio link independent of a radio transmission of first control signals S1 to a model aircraft 5 can be provided for transmitting the second control signals S2. With the second control signals S2 must not already converted by a controller channel values for the individual servos of the model aircraft 5, but for example the original adjustment positions of the control stick 10 are transmitted.

Insofar as the second signal output 14 can, for example, comprise a transmission unit for the second control signals in the form of a high-frequency part and is therefore provided for converting the adjustment positions detected by the sensor unit 15 into second control signals S2 (as radio signals), the second signal output 14 can also be used as part of the Sensor unit 15 are understood or have common components with this.

The adjustment position of at least one operating element 10 of the haptic operating device 31 can then be regulated as a function of the transmitted second control signals S2.

Another remote control 1 according to the 1B serve as a haptic operating device within the framework of a system 3 according to the invention, which, for example, on the one hand receives second control signals S2 via the signal input 12 and on the other hand emits (other) second control signals S2 via the second signal output 14 and transmits them to a further haptic operating device 31.

In one variant, the haptic operating device 31 can also be controlled by a remote control dummy 7 according to FIG 1C be realised. This differs from a remote control 1 according to the 1A in that it is not designed to generate first control signals S1 for remote control of a moving object 5. Such a remote control dummy 7 can be provided, for example, for training purposes for a model flight student as operator B, who can thus empathize with the remote control movements of a model flight instructor.

It can also be provided that the controls 10 on the remote control dummy 7 of 1C cannot be adjusted manually at all, but only automatically by the at least one actuator 11.

In contrast, with remote controls 1 after 1A and 1B the operating element 10 can be adjusted under the superimposed effects of the actuator 11 on the one hand and manual actuation by the operator B on the other hand. The force F and/or the torque M, with which the actuating drive 11 acts on the operating element 10, can be limited by means of the control unit 13. In a variant, the limits of the force 11 and/or the torque can be variably adjusted by means of the control unit 13, for example via a rotary control.

the 2A until 2C show a schematic view of various embodiments of a control element 10 with an actuator 11 arranged thereon. The control element 10 according to FIG 2A is a joystick, which is shown here as an example only in a single-axis design (ie with only one plane of action). The joystick 10 is arranged on a shaft of an electric motor 110 which forms part of the actuator 11 . In this case, in an advantageous embodiment, the electric motor 110 can be structurally designed for a high torque and a low speed. Furthermore, the shaft of the electric motor 110 can be designed to run smoothly and be rotatable from the outside. For example, in order to achieve corresponding ease of movement, the joystick 10 can be attached directly to the shaft without an intermediate gear being provided.

In this embodiment, the joystick 10 can be adjusted over its entire adjustment range V under the superimposed effects of a manual action by the operator on the one hand and the torque applied to the shaft by the electric motor 110 on the other. In this case, restoring springs 113 can be provided on the joystick 10, which move the joystick 10 back into a centering or starting position when the two drive effects are removed.

In the embodiment of 2 B a slider is mounted on a spindle 111 as the operating element 11 . The spindle 111 is driven by an electric motor 110 . The electric motor 110 applies a force F to the slide controller 10 via the spindle 111 , as a result of which the slide controller 10 can be linearly adjusted along the spindle 111 . This is an example of an arrangement in which manual actuation of the slider 10 from the outside, that is to say by an operator B, is made more difficult or even impossible due to the design. Such an arrangement can, for example, in a remote control dummy 7 according to the 1C be used. The slide controller 10 serves the operator B, for example, exclusively for learning suitable slide positions, for example in the context of complex flight sequences of a model airplane.

If the slider is 10, as in 2C shown, on the other hand mounted on a belt 112 which is driven by an electric motor 110, its adjustment position can be adjusted both by the electric motor 110 as the actuator 11 and manually by the operator B. A design-related mechanical escapement as in the embodiment of 2 B is not present. Preferably, the electric motor 110 is structurally designed for a high torque and a low speed and also has a smooth-running shaft that can be rotated from the outside. Such a slider 10 can, for example, in a remote control 1 according to 1A or 1B Find use with which an operator B can remotely control an object 5 himself at the same time and can also experience remote control movements from an instance 32 haptically.

The following are based on the 3 until 6 various embodiments of the system 3 according to the invention for the haptic mediation of remote control movements are described, the remote controls 1 or remote control dummies 7 described above according to FIG 1A until 1C can be used as haptic operating devices 31.

In the 3 a system 3 for the haptic mediation of remote control movements is shown schematically in a first variant. In the system 3 shown, a first remote control 1-1 of a first operator B1 serves as entity 32, which provides second control signals S2-2 to a second remote control 1-2 as a haptic operating device 31. Adjusting positions of operating elements 10 of the first remote control 1-1 are encoded in the second control signals S2-2. The second control signals S2-2 are transmitted to the second remote control 1-2, for example by radio, and the adjustment positions of operating elements 10 of the second remote control 1-2 are regulated with respect to the setpoint adjustment positions transmitted with the second control signals S2-2.

Conversely, the second remote control 1-2 can provide second control signals S2-1 for controlling the adjustment positions of the operating elements 10 of the first remote control 1-1 in a completely analogous manner. In this way, the operating elements 10 of the first remote control 1-1 and the second remote control 1-2 can be coupled to one another.

This exemplary embodiment is based on the idea, for example, of conveying haptic feedback to a model flight student B2 via the operating elements 10 of his second remote control 1-2, which feedback is generated by a model flight instructor B1 with his first remote control 1-1. For this purpose, in particular, a complete image of the operating elements 10 of the first remote control 1-1 of the model flight instructor B1 can be haptically transmitted to the model flight student B2 with the system 3 shown.

The system 3 according to the invention implements a coupling between the operating elements of the first remote control 1-1 of the model flight instructor B1 on the one hand and the second remote control 1-2 of the model flight student B2 on the other hand, which is to be understood analogously to the coupling of the pilot and copilot control horns in manned aviation. Both the pilot and co-pilot can fly the plane and both can feel what the other is doing at all times so that they can intervene quickly if there is a problem.

In particular, it can be provided that a coupling strength of the coupling can be variably adjusted as required by means of the control units 13 . The coupling strength can be adjustable, for example, in a range from zero to a maximum coupling strength, with the maximum coupling strength z. B. may correspond to a substantially rigid coupling between the controls 10 of the first remote control 1-1 and the second remote control 1-2.

In the exemplary embodiment of 3 the first remote control 1-1 of the model flight instructor B1 is coupled to the model aircraft 5 by radio. Thus, the model flight instructor B1 has the main responsibility for controlling the model aircraft 5 correctly.

If the model flight instructor B1 now adjusts his control stick 10, then their adjustment positions are converted into first control signals S1 in a controller for controlling the model airplane 5, which z. B. include servo signals, calculated and via the first signal output 16 (compare 1B) radioed to the model airplane 5. On the other hand, the adjustment positions of the joystick 10 are detected by the sensor unit 15 and sent via the second signal output 14 as second control signals S2-2 to the signal input 12 of the second remote control 1-2 of the model flight student B2.

At the second remote control 1-2, the second control signals S2-2 received are converted by the control unit 13 into setpoint adjustment positions for controlling the joystick 10. The control unit 13 supplies the actuating drive 11 with corresponding input signals SP, SF relating to a force, a torque and/or a position. As a result, the control by the control unit 13 and the actuator 11 leads to an electromotive operation of the control stick 10, the control stick 10 without manual influence from the outside in both axes precisely assume that adjustment position which corresponds to an adjustment position of the corresponding control stick 10 on the first Remote control 1-1 corresponds. This enables model flight students B2 empathize with the remote control movements of the model flight instructor B1.

Since the coupling described is realized in both directions, the model flight student B2 can also operate the joystick 10 of his second remote control 1-2 manually, with their adjustment positions being transmitted in the form of second control signals S2-1 to the first remote control 1-1 of the model flight instructor B1 . If the model flight instructor B1 z. B. lets go of his joystick 10 and applies no manual force against the actuating force F (or an actuating torque M) of the actuator 11, his joystick 10 takes the adjustment position of the joystick 10 of the second remote control 1-2 of the model flight student B2. In this case, the first remote control 1-1 of the model flight instructor B1 is “remotely controlled” by the model flight student B2, with the model flight student B2 controlling the model airplane 5 transitively via the first remote control 1-1.

In the event that the model flight student B2 makes a critical control error, the model flight instructor B1 can intervene at any time and correct this accordingly with his control sticks 10, which are ultimately decisive for the remote control of the model aircraft 5. The model flight instructor B1 must manually overcome the actuating force F of the actuator 11, whereby provision can be made for him to set a maximum actuating force and/or a maximum torque of the actuator 11 via an additional operating element of the first remote control 1-1 (e.g. via a rotary potentiometer or a slider) can be set variably.

As a result of this manual intervention by the model flight instructor B1, the actuator 11 of the first remote control 1-1 cannot move to the adjustment position of the control stick 10 specified by the model flight student B2, and the control stick 10 of the first remote control 1-1 reach the adjustment positions required to rescue the model airplane 5 according to the specifications of the model flight instructor B1.

The model flight student B2 feels the force F of his actuator 11 caused by the correction of the model flight instructor B1 via the joystick 10 of his second remote control 1-2. As a result, the model flight student B2 receives immediate feedback about his control error and, in particular, feels exactly the correct position of the control stick 10 to be aimed for. The model flight student B2 also has the opportunity to apply a maximum actuating force and/or maximum torque to the second remote control 1-2 Adjust actuator 11. Depending on the training progress and application (e.g. slow glider pilot, fast and hard aerobatics, helicopter 3D flight, etc.), different settings can be useful.

If the model flight student B2 ignores the correction of the model flight instructor B1 and acts against the actuator 11 with his manual actuating force, this has no consequences for the model aircraft 5, since ultimately only the first remote control 1-1 of the model flight instructor B1 is decisive for the remote control of the model aircraft 5 is. The adjustment positions of the joysticks of the second remote control 1-2 are therefore ignored by the model airplane 5 in this case.

the 4 shows a second variant of a system 3 according to the invention for the haptic mediation of remote control movements. A haptic operating device 31 of a second operator B2 is connected to a computer 320 on which a model simulator is running. The haptic operating device 31 can, for example, be a remote control 1 according to 1A-1B or a remote control dummy 7 after 1C be. The model simulator simulates the movement of a virtual moving object 5, such as a helicopter 5. In 4 a virtual remote control can be seen on the screen of the computer 320 in addition to the virtual object 5, as is often the case with model simulators.

The computer 320 represents an entity 32 for the haptic operating device 31 within the framework of the system 3 in that it provides second control signals S2 for regulating the adjustment positions of the operating elements 10 via a signal input 12 of the haptic operating device 31 .

In a conventional operating mode of a model simulator, the second operator B2 adjusts the control stick 10 of his remote control 1. The adjustment positions of the control stick 10 are transmitted to the computer 320 via a first signal output 16 as first control signals S1. Within the scope of the model simulator, the first control signals S1 are converted into corresponding adjustment positions of the virtual remote control shown on the monitor and into controlling the movement of the virtual object 5 .

The system 3 according to the invention enables a new operating mode in which the second operator B2 enters a flight sequence (e.g. a particularly difficult flight maneuver) previously controlled by an experienced pilot and third operator B3 and stored in a database 322 of the computer 320 in the model simulator can load. The flight sequence can also be uploaded via an Internet platform, for example. If the second operator B2 at the model simulator level the loaded flight sequence starts, the joystick 10 of his haptic control device 31 is moved precisely according to the stored specifications of the flight sequence. In particular in connection with other stored parameters, such as a model type, simulated wind conditions, etc., this can lead to a realistic experience of the remote control movements of the virtual object 5 . This playback of the stored flight sequence is sent from the virtual remote control in the form of second control signals S2 to the signal input 12 of the haptic operating device 31, where it leads via the control unit 13 to control the actuator 11 and ultimately the operating elements 10. The second operator B2 can thus understand the correct deflection of the control sticks 10 for the difficult flight sequence in addition to the visual perception of the virtual remote control on the control sticks 10.

Mixed forms of the two operating modes described are also conceivable, in which the second operator B2 has the option of manually controlling the virtual object 5 himself, but is also gently guided via the haptic feedback of the virtual remote control. The virtual remote control knows the optimal control sequence based on the flight sequence database 322 and can compare this with the manual remote control movements of the second operator B2. If the deviations from the optimal remote control movements become too great, the actuating drive 11 can be used to generate a corresponding counterforce F and/or a corresponding countertorque M on the joystick 10 of the haptic operating device 31 .

With regard to visual feedback, a so-called split-screen approach is also conceivable, with the virtual object 5 optimally controlled by the virtual remote control being shown in the left half of the screen, for example, and the virtual object 5 manually controlled by the second operator B2 being shown on the right half of the screen In addition to the deviations in the movements of the two virtual objects 5, the deviations in the adjustment positions of the joystick 10 of the virtual remote control on the one hand and the haptic operating device 31 on the other hand can be graphically animated and evaluated at the end of the simulated flight. An integral over the deviations of the adjustment positions over the duration of the simulated flight would be a first indication of the execution quality and the learning success of the model flight student B2.

According to a further variant of the embodiment of 4 For example, two model simulations with their respective operators (for example a first operator B1 as a model flight instructor and a second operator B2 as a model flight student) can be coupled live and synchronously via the Internet 321 . This model flight instructor/student model flight scenario is analogous to that referred to 3 described to understand, but with the advantage of complete location and weather independence of the two operators B1, B2.

In this case, the two haptic operating devices 31 are not connected to one another by radio or cable, but each via a model simulator that runs on a computer 320 , the computers 320 in turn being coupled to one another via the Internet 321 . Although there are physically two different remote controls 1 for the first operator B1 and the second operator B2, the coupling leaves only one logical virtual remote control and a logical virtual object 5 which both operators B1, B2 can see and remotely control.

The operator B1 as a model flight instructor can control the virtual remote control with his haptic operating device 31 dominantly, which in turn leads to the virtual object 5 being controlled. For example, the first operator B1 can use headset communication to give the second operator B2 the command to take over the remote control (just like the pilot and copilot communicate in the cockpit of a man-carrying machine using a helmet microphone and headphones). The second operator B2 can then control the single logical virtual remote control and the virtual object 5 via it. The adjustment positions of the joysticks of the virtual remote control are sent via the Internet 321 to the haptic operating device 31 of the first operator B1, where they cause the joysticks 10 to be deflected accordingly.

the 5 shows a further variant of the system 3 according to the invention for the haptic mediation of remote control movements. At the same time, many viewers (both real and virtual via the Internet 321) can haptically feel a model flight demonstration by a competition or show pilot and accordingly experience it “live”.

In this exemplary embodiment, a show pilot controls a real model aircraft 5 as the first operator B1. The joystick movements and thus the control signals S2 required for remote control of the model aircraft 5 are transmitted to haptic operating devices 31 of real spectators B2 present at the flight event. Depending on the second control signals S2, the joysticks 10 of the haptic operating devices 31, which can be implemented as remote controls 1 or dummy remote controls 7, for example can be moved, allowing viewers B2 to feel the show flight.

In addition to the real viewers B2 on site, the second control signal S2 of the show or competition pilot can also be transmitted to an interested global community via an Internet platform 321 . Virtual viewers B2 can then, for example, use software to be installed on their home PC 320 and a haptic operating device 31 to be connected to the home PC 320 to feel and experience the show flight “live” or with a time delay. The image and control signals S2 required for this must be sent synchronously from the Internet platform 321, e.g. B. by means of a streaming method. The software to be installed on the home PC 320 then again decodes the input signals S2 required for controlling the haptic operating device 31 from the stream

A fourth variant of a system 3 according to the invention is in 6 shown schematically. In this case, an operator B uses a remote control 1, which implements a haptic operating device 31, to control a real remote-controllable object 5, such as a model helicopter. A telemetry unit 51 is arranged on the object 5, which uses a telemetry sensor system 510 to record current operating data such as flight altitude, flight speed, rotor speed, battery capacity, etc. and can transmit it to the remote control 1 of operator B via a telemetry transmitter 511. Such telemetry data is conventionally communicated to an operator B visually or by voice.

In the exemplary embodiment shown, it is provided that the remote control 1 of the operator B and the telemetry unit 51 of the object 5 implement a system 3 according to the invention, the object 5 with the telemetry unit 51 representing an instance 32 for the remote control 1 as a haptic operating device 31.

The operator B controls the remote-controllable object 5 via the joystick 10 of his remote control 1. The first control signals S1 are transmitted via the first signal output 16 to a receiver 52 of the remote-controllable object 5. As a result, the first control signals S1 are converted into movements of individual servos (steering machines) 53 of the remote-controllable object 5, which ultimately control the object 5 physically.

Based on certain flight statuses or flight conditions (e.g. rotor speed too low, altitude too low, battery capacity too low, etc.), the telemetry sensor system 510 can give an alarm and cause the telemetry transmitter 511 to send second control signals S2 to the signal input 12 of the haptic operating device 31 , in order to either activate (de)activate the flight status switch 10 automatically and promptly or to bring the control stick 10 into specific adjustment positions. For example, a different rotor speed of a model helicopter 5 can be automatically selected in this way with a flight mode switch 10 . In the case of a model aircraft 5 z. B. an imminent stall ("stall" due to too low inflow speed or too high angle of attack of a wing) cause a saving "pressing" of the elevator stick.

The operator B does not have to stand by and watch. An automatic control stick position is only approached by the actuating unit 11 if he cannot apply sufficient manual holding forces or holding torques to be able to hold against an adjustable maximum force or an adjustable maximum torque of the actuating drive 11. In any case, the operator B can sense the default direction of the automatic correction through the telemetry unit 51 of the remote-controllable object 5 .

A further exemplary embodiment of the system 3 according to the invention is conceivable in connection with a multicopter drone, which autonomously flies from positions (so-called “waypoints”) specified by GPS. If an operator B starts such an autonomous flight mode, the control impulses calculated by a flight computer of the multicopter drone 5 (to reach the waypoints) can be transmitted with a system 3 according to the invention via a telemetry transmitter 511 of the multicopter drone 5 to a haptic operating device 31 of the operator B are sent, so that the joystick 10 of the haptic control device 31 are controlled like an autopilot. A scenario is also conceivable in which it is no longer necessary to actuate a switch to exit the autopilot mode, but instead the operator B, for example in an emergency, only has to reach for the joystick 10 to regain control of the multicopter drone 5 to take over. A deviation of the adjustment positions of the control stick 10 of the haptic operating device 31 from the optimal adjustment positions calculated by the flight computer can be used as an indicator for exiting the autopilot mode.

According to a further exemplary embodiment, manual actuation of a control stick 10 for carrying out precise control stick movements (“stick moves”) can be supported and facilitated in a remote control 1 according to the invention by the control unit 13 provided in connection with the actuator 11 .

Conventional joysticks often have mechanical properties that undesirably counteract the exact biomotoric execution of specific stick moves by an operator B. This includes a change in the direction of action of a mechanical restoring force when passing through the centering position (ie the position that the joystick assumes after the joystick 10 is released). Also, the four quadrant control surfaces of a conventional joystick 10 generally have different return forces compared to the orthogonal control axes. A movement along the main axes (“up”, “down”, “left”, “right”) is easier for an operator than a diagonal movement. The reason for this is the number and characteristic curves of the restoring springs 113 involved in each case. It is therefore very difficult, for example, to describe a clean circular path with the joystick.

In a remote control 1 according to the invention, actuators 11 can overlay the characteristic curves of the return springs according to individual specifications. It is possible e.g. B. to specify a value for a desired restoring force F in the direction of a freely selectable centering point for each position of the joystick. If, for example, the points of a circular path around the central centering point then have the restoring force zero, moving the joystick 10 on this circular path without restoring force within the adjustment range V is possible without much practice.

In principle, the mechanical return springs 113 can also be completely replaced by the control unit 13 and the actuator 11, e.g. B. electric motor, simulated and therefore saved in the construction of a remote control 1. For safety reasons, however, it can be advantageous to retain mechanical return springs 113 so that if an actuator 11 fails, the control stick 10 is still centered mechanically.

Furthermore, it is possible, for example, to generate an equally large restoring force F in all directions. In addition, undesired damped swinging of the control stick 10 around the centering position when suddenly released from a wide deflection can be avoided. In summary, the effect and properties of a joystick 10 can be modified by means of the control unit 13 and the actuator 11 depending on the situation and state.

Reference List

1

Remote control

1-1

First remote control

1-2

Second remote control

10

control element

11

actuator

110

engine

111

spindle

112

belt

113

return spring

12

signal input

13

control unit

14

Second signal output

15

sensor unit

16

First signal output

3

system

31

Haptic control panel

32

instance

320

computer

321

Servers / Internet

322

Database

5

object

51

telemetry unit

510

telemetry sensors

511

telemetry transmitter

52

recipient

53

servo

7

remote control dummy

B

operator

B1

First operator

B2

Second operator

B3

Third operator

f

power

M

torque

S1

First control signals

S2

Second control signals

S2-1

Second control signals for the first remote control

S2-2

Second control signals for the second remote control

SF

Force-related control signals

SP

Position-related control signals

SR

feedback channel

V

adjustment range

Claims (14)

Remote control (1) for a real or virtual moving object (5), with - at least one control element (10) which can be manually adjusted between a plurality of adjustment positions in order to generate first control signals (S1) which relate to a movement of the object (5), an adjustment range (V) limiting the manual adjustability of the at least one control element (10) defined, - At least one actuator (11) which is designed and set up to adjust the at least one operating element (10) between the adjustment positions, and - at least one control unit (13) which is designed and set up to control the at least one actuator (11) and to regulate the adjustment position of the at least one operating element (10) with respect to a target adjustment position by means of the at least one actuator (11), wherein the at least one control element (10) is acted upon by the at least one actuator (11) to adjust the adjustment position with a greater force (F) and/or with a greater torque (M) the further the adjustment position of the at least one control element (10 ) deviates from the respective target adjustment position, with the adjustment range (V) defining limits of the possible target adjustment positions, and with a deviation between the adjustment position of the at least one operating element (10) and the respective target adjustment position, the at least one operating element (10 ) by the at least one actuator (11) with an even greater force (F) and/or with the greater the coupling strength selected for the at least one operating element (10), the greater the torque (M), the coupling strength being adjustable on the remote control (1). remote control (1) after claim 1 , characterized in that the at least one operating element (10) can be adjusted between the adjustment positions under the superimposed effects of the at least one actuator (11) on the one hand and a manual actuation on the other hand. remote control (1) after claim 1 or 2 , characterized in that the actuator (11) is designed and set up to act on the at least one control element (10) for adjusting the adjustment position with a force (F) and / or a torque (M), with limits of the force (F) and/or the torque (M) can be variably adjusted by means of the at least one control unit (13). Remote control (1) according to at least one of Claims 1 until 3 , characterized in that the adjustment positions of the at least one operating element (10) are continuously distributed in the adjustment range (V). Remote control (1) according to at least one of the preceding claims, characterized in that the object (5) is a real unmanned land vehicle, water vehicle and/or aircraft. Remote control (1) according to at least one of the preceding claims, characterized in that the object (5) is a real remote-controllable model vehicle for operation on land, on water and/or in the air, in particular a remote-controllable model airplane or a remote-controllable model helicopter. Remote control (1) according to at least one of the preceding claims, characterized by - a sensor unit (15) for detecting the adjustment position in which the at least one operating element (10) is located, and for translating the detected adjustment position into second control signals (S2, S2- 1, S2-2), and - a second signal output (14) for outputting the second control signals (S2, S2-1, S2-2). Remote control dummy (7) in the manner of a model remote control with - at least two operating elements (10), which are designed as joysticks and can be adjusted according to the adjustment positions of the joystick of a model remote control between several adjustment positions within an adjustment range (V), - at least one actuator (11) each Operating element (10), wherein the actuator (11) is designed and set up to adjust the respective operating element (10) between the adjustment positions, and - at least one control unit (13) which is designed and set up to control the at least one actuator (11) to control each control element (10) and to regulate the adjustment position of the respective control element (10) with respect to a target adjustment position by means of the at least one actuator (11), the control elements (10) being controlled by the respective at least one actuator (11) for adjusting the Adjustment position with an even greater force (F) and/or r are subjected to a greater torque (M) the further the adjustment position of the at least one operating element (10) deviates from the respective target adjustment position, with the adjustment range (V) defining the limits of the possible target adjustment positions, and with a deviation between the adjustment position of the at least one operating element (10) and the respective target adjustment position a control element (10) is acted upon by the at least one actuator (11) with a greater force (F) and/or with a greater torque (M), the greater a coupling strength is selected for the at least one control element (10), wherein the coupling strength on the remote control dummy (7) is adjustable. System (3) for the haptic mediation of remote control movements, with - at least one haptic operating device (31), comprising - a remote control (1) according to one of the preceding claims, and/or - a remote control dummy (7). claim 8 , and - at least one entity (32) for providing second control signals (S2, S2-1, S2-2) from which a target adjustment position of the at least one operating element (10) of the at least one haptic operating device (31) can be derived, wherein the second control signals (S2, S2-1, S2-2) can be transmitted from the at least one instance (32) to the at least one control unit (13) of the at least one haptic operating device (31). system (3) after claim 9 , characterized in that the at least one instance (32) according to a remote control (1). claim 7 includes. system (3) after claim 9 or 10 , characterized in that the at least one instance (32) comprises a computer (320) and/or a server (321), in particular with model simulation software installed on the computer (320) and/or the server (321). System (3) according to at least one of claims 9 until 11 , characterized in that the at least one haptic operating device (31) is a remote control (1) for a real moving object (5) according to one of Claims 1 until 7 comprises, wherein the object (5) has a telemetry unit (51) for acquiring measurement data, and that the instance (32) comprises the telemetry unit (51), wherein the second control signals (S2, S2-1, S2-2) from the Measurement data can be derived. Method for the haptic mediation of remote control movements, which using a system (3) according to one of claims 9 until 12 comprises the following steps: - providing the second control signals (S2, S2-1, S2-2) by the at least one entity (32), the second control signals (S2, S2-1, S2-2) a respective target adjustment position of the at least one operating element (10) of the at least one haptic operating device (31); - Transmission of the second control signals (S2, S2-1, S2-2) from the entity (32) to the at least one haptic operating device (31); and - regulation of the adjustment position of the at least one control element (10) of the at least one haptic control device (31) with respect to the respective target adjustment position by means of the at least one control unit (13) and the at least one actuator (11), wherein the at least one control element (10 ) is acted upon by the at least one actuator (11) to adjust the adjustment position with an all the greater force (F) and/or with an all the greater torque (M) the further the adjustment position of the at least one operating element (10) is from the respective target adjustment position deviates, and if there is a deviation between the adjustment position of the at least one operating element (10) and the respective target adjustment position, the at least one operating element (10) is controlled by the at least one actuator (11) with an all the greater force (F) and/or is acted upon with a greater torque (M), the greater a coupling strength for the at least one Operating element (10) is selected, the coupling strength being set on the at least one haptic operating device (31) and/or on the at least one instance (32). procedure after Claim 13 , characterized in that at least two remote controls (1-1, 1-2) after claim 7 are used, wherein - on the one hand a first remote control (1-1) is used as a first entity (32-1) for a second remote control (1-2) as a first haptic operating device (31-1), the target adjustment position of the at least one operating element (10) of the second remote control corresponds to an adjustment position of a corresponding operating element (10) of the first remote control (1-1), and - on the other hand, the second remote control (1-2) as a second instance (32-2) for the first remote control (1-1) is used as a second haptic operating device (31-2), the target adjustment position of the at least one operating element (10) of the first remote control (1-1) being an adjustment position of a corresponding operating element (10) of the second remote control (1-2) corresponds.

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