JP6495813B2 - Remote control system and remote control device - Google Patents

Description

  The present invention relates to a remote control technique, and more particularly, to a technique of an RC car, a drone, etc. (remote control target apparatus) and a remote control apparatus (remote control apparatus) for maneuvering them.

  Currently, there exists a remote control device that remotely controls a remote control target device. For example, a remote control device for an RC car includes a travel lever for operating the RC car, a steering lever for operating the RC car, and a control signal based on the operation of the travel lever or the steering lever. And a transmitter for wirelessly transmitting. On the other hand, the RC car has a receiver that wirelessly receives a control signal from the remote control device, and a speed that controls the speed, acceleration, and forward / backward direction of the RC car based on the operation of the travel lever on the remote control device. A controller and a motor, and a steering servo for controlling the left and right traveling directions of the RC car based on the operation of the steering lever by the remote control device are provided.

“Tamiya RC Start Guide”, [online], [Search on November 30, 2015], <URL: http://www.tamiya.com/japan/cms/rcstartguide.html>

  However, since the conventional remote control device has only the function of operating the remote control target device such as the above-described traveling lever and steering lever, what kind of force is mechanically applied to the remote control target device. There has been a problem that it is not known what is occurring or what kind of force the remote control target device is receiving from the outside.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to allow a user to feel inertial force generated in a remote control target device through the remote control device.

In order to solve the above-described problems, a remote control system according to the present invention includes a remote control target device that is remotely controlled and a remote control device that remotely controls the remote control target device. The control target device includes a measurement unit that measures the inertial force generated in the remote control target device, and a transmission unit that transmits a value of the measured inertial force. The remote control device is connected to the remote control target device. A receiving unit that receives the value of the inertial force, and an output unit that outputs a traction force according to the value of the received inertial force to the remote control device, and the measurement unit is configured to calculate the inertial force from the measured value of the inertial force. The gist is to subtract the gravitational acceleration of the remote control target device .

  Further, the gist of the remote control system of the present invention is the remote control system according to claim 1, wherein the output unit outputs the traction force by an asymmetric vibrator having an asymmetric acceleration in a positive direction and a negative direction. .

The gist of the remote control system of the present invention is the remote control system according to claim 1 or 2 , wherein the measurement unit measures acceleration or angular acceleration generated in the remote control target device.

The remote control system according to the present invention is the remote control system according to claim 1 or 2 , wherein the measurement unit calculates acceleration in each axial direction or each axis in a plurality of axes orthogonal to each other in the remote control target device. Each of the angular accelerations measured at the center is measured, and the output unit is configured to generate an acceleration generated on a predetermined axis in the remote control target device or a traction force corresponding to the angular acceleration in a predetermined range of the remote control device previously associated with the predetermined axis. The gist is to output on the shaft.

Further, the remote control system of the present invention is the remote control system according to any one of claims 1 to 4 , wherein the measurement unit measures an inertial force generated by remote control of the remote control device. To do.

The remote control system of the present invention is the remote control system according to any one of claims 1 to 5 , wherein the measuring unit is external to the remote control target device regardless of whether the remote control device is remotely controlled. The gist is to measure the inertial force received from.

Further, the remote control device of the present invention is a value of an inertia force generated in the remote control target device in the remote control device for remotely controlling the remote control target device, and the remote control target device uses the value of the remote control target device. The gist of the invention is to include a receiving unit that receives the value of the inertial force obtained by subtracting the gravitational acceleration , and an output unit that outputs a traction force corresponding to the received value of the inertial force to the remote control device.

  According to the present invention, the user can feel the inertial force generated in the remote control target device through the remote control device.

It is a figure which shows the whole structure and functional block structure of the remote control system which concern on 1st Embodiment. It is a figure which shows the example of determination of the axis | shaft with a remote control object apparatus and a remote control apparatus. It is a figure which shows the structural example and arrangement example of an acceleration output device. It is a figure which shows the example of the control waveform (propulsive force) in a remote control apparatus. It is a figure which shows the example of the detailed waveform from the microcomputer of a remote control apparatus. It is a figure which shows the example of the control waveform (impact force) in a remote control apparatus. It is a figure which shows the example of the control waveform (centrifugal force) in a remote control apparatus. It is a figure which shows the operation example (at the time of progress) of RC car. It is a figure which shows the operation example (at the time of turning) of RC car. It is a figure which shows the operation example (at the time of a collision) of RC car. It is a figure which shows the operation example (at the time of progress) of a drone. It is a figure which shows the operation example (at the time of turning) of a drone. It is a figure which shows the operation example (at the time of a collision) of a drone. It is a figure which shows the operation example (at the time of fall) of a drone. It is a figure which shows the operation example (when receiving a wind) of a drone. It is a figure which shows the method of removing the gravitational acceleration of a remote control object apparatus. It is a figure which shows the whole structure and functional block structure of the remote control system which concern on 2nd Embodiment. It is a figure which shows the structural example and arrangement example of an angular acceleration output device. It is a figure which shows the operation example (left-right rotation) of RC car. It is a figure which shows the operation example (front-back rotation) of RC car. It is a figure which shows the operation example (up-and-down rotation) of RC car.

  Hereinafter, an embodiment for carrying out the present invention will be described with reference to the drawings.

<First Embodiment>
FIG. 1 is a diagram showing an overall configuration and a functional block configuration of a remote control system 1 according to the first embodiment. The remote control system 1 includes a remote control target device 10 that is remotely controlled, and a remote control device 30 that remotely controls the remote control target device 10. The remote control target device 10 and the remote control device 30 can communicate with each other via wireless or wired communication.

  First, the remote control target device 10 will be described. The remote control target device 10 is, for example, an RC car, a drone (unmanned aircraft), a ship, a robot, or the like. Taking an RC car as an example, as shown in FIG. 1, the vehicle includes a traveling motor 11, a steering motor 12, an acceleration sensor 13, a microcomputer 14, and a wireless circuit 15. The conventional RC car further includes an acceleration sensor 13 for sensing the acceleration of the RC car. Each function will be described below.

  The traveling motor 11 controls traveling in the front-rear direction of the remote control target device 10 based on the operation of the traveling lever in the remote control device 30.

  The steering motor 12 controls traveling in the left-right direction of the remote control target device 10 based on the operation of the steering lever in the remote control device 30.

  The acceleration sensor 13 is a three-axis acceleration sensor that can measure accelerations in three directions of the XYZ axes, and measures acceleration generated in the remote control target device 10. For example, the acceleration of the remote control target device 10 caused by the remote control by the remote control device 30 and the acceleration arbitrarily received by the remote control target device 10 from the outside regardless of the presence or absence of the remote control by the remote control device 30 are measured. To do. Specifically, for example, an acceleration value, an axial direction in which the acceleration occurs, and the like are measured. Instead of the 3-axis acceleration sensor, three 1-axis acceleration sensors may be used, or a combination of the 1-axis acceleration sensor and the 2-axis acceleration sensor may be used. In addition, only a biaxial acceleration sensor may be used.

  The microcomputer 14 transmits a control signal for operating the remote control target device 10 transmitted from the remote control device 30 to the traveling motor 11 or the steering motor 12. The control signal includes identification information for identifying the type of the lever operated by the remote control device 30. After determining and specifying the type of the lever, the control signal based on the operation of the driving lever is used for driving. The control signal is transmitted to the motor 11 and a control signal based on the operation of the steering lever is transmitted to the steering motor 12.

  Further, the microcomputer 14 transmits acceleration information from the acceleration sensor 13 to the remote control device 30 via the wireless circuit 15. The acceleration information includes, for example, an acceleration value, an axial direction in which the acceleration occurs, an acceleration measurement unit, and the like.

  The radio circuit 15 receives the control signal transmitted from the remote control device 30 and transmits it to the microcomputer 14. Further, acceleration information including the acceleration value measured by the acceleration sensor 13 is transmitted to the remote control device 30.

  Next, the remote control device 30 will be described. The remote control device 30 is a remote control device held by an operator (user) who operates the remote control target device 10. When the remote control target device 10 is an RC car, as shown in FIG. 1, the remote control target device 10 includes a travel lever 31, a steering lever 32, an acceleration output device 33, a microcomputer 34, and a wireless circuit 35. The An acceleration output device 33 that outputs an acceleration corresponding to the acceleration generated in the RC car is further provided for the conventional remote control device. Each function will be described below.

  The travel lever 31 operates the progress of the remote control target device 10.

  The steering lever 32 operates the traveling direction of the remote control target device 10.

  The acceleration output device 33 outputs an acceleration corresponding to the acceleration generated in the remote control target device 10 to the remote control device 30. Specifically, an acceleration output device (X axis) 33 a that outputs an acceleration corresponding to the acceleration generated in the X axis direction of the remote control target device 10 in the X axis direction of the remote control device 30, and the remote control target device 10. An acceleration output device (Y axis) 33b for outputting an acceleration corresponding to the acceleration generated in the Y-axis direction in the Y-axis direction of the remote control device 30, and an acceleration corresponding to an acceleration generated in the Z-axis direction of the remote control target device 10 And an acceleration output device (Z-axis) 33c that outputs the signal in the Z-axis direction of the remote control device 30 and is fixed inside the housing of the remote control device 30. By outputting an acceleration corresponding to the acceleration generated in the remote control target device 10 to the remote control device 30, a traction force corresponding to the value of the inertia force generated in the remote control target device 10 is generated in the remote control device 30.

  The microcomputer 34 transmits a control signal based on an operation at the traveling lever 31 or the steering lever 32 to the remote control target device 10 via the wireless circuit 35. The control signal includes identification information for identifying the traveling lever 31 or the steering lever 32.

  The microcomputer 34 controls the acceleration output device (X axis) 33a to the acceleration output device (Z axis) 33c based on the acceleration information transmitted from the remote control target device 10, respectively. More specifically, the acceleration output device (refer to the acceleration value and the axial direction in which the acceleration is generated is referred to from the received acceleration information so that the acceleration corresponding to the acceleration is output by the acceleration output device 33 in the axial direction. X axis) 33a to acceleration output device (Z axis) 33c are controlled.

  The radio circuit 35 transmits a control signal based on an operation at the traveling lever 31 or the steering lever 32 to the remote control target device 10. In addition, the acceleration information transmitted from the remote control target device 10 is received and transmitted to the microcomputer 34.

  Next, a method for determining the axes of the remote control target device 10 and the remote control device 30 will be described. Considering relative coordinates around the remote control target device 10 and the remote control device 30, the axes of the remote control target device 10 and the remote control device 30 do not always match. In this state, the traveling direction of the remote control target device 10 and the acceleration output direction in the remote control device 30 cannot be matched.

  Therefore, in the present embodiment, as shown in FIG. 2, the front of the remote control target device 10 is the X axis, the side surface direction is the Y axis, and the direction perpendicular to the ground is the Z axis. Further, since the remote control device 30 is generally gripped with the installation side of the antenna farthest from the user, the direction in which the antenna is located from the center of the casing forming the remote control device 30 is set to the X axis, The direction in which the opposite side surfaces held by both hands of the user face each other is defined as the Y axis, and the direction perpendicular to the ground is defined as the Z axis. Then, the respective accelerations corresponding to the respective accelerations generated in the X axis direction, the Y axis direction, and the Z axis direction of the remote control target device 10 are respectively indicated in the X axis direction, the Y axis direction, and the Z axis direction of the remote control device 30. Output. Thereby, as shown in FIG. 3, for example, when the remote control target device 10 accelerates forward, the acceleration output device (X axis) 33a outputs acceleration in the + X axis direction, and the position of the antenna of the remote control device 30 Propulsive force (traction force) is generated in a pseudo direction. In addition, depending on the direction of acceleration generated in the remote control target device 10, impact force in the -X-axis direction, centrifugal force in the + Y-axis direction or -Y-axis direction, increase in the + Z-axis direction, decrease in the -Z-axis direction, etc. Generate traction force.

  Next, the configuration of the acceleration output device 33 will be described. In the present embodiment, an asymmetric vibrator (for example, an actuator or the like) whose acceleration is asymmetric in a predetermined direction (positive direction) and the opposite direction (negative direction) is used. Hereinafter, the configuration and operation principle of the asymmetric vibrator will be outlined.

  As shown in FIG. 3, the asymmetric vibrator is formed in a rectangular or cylindrical casing, and has one permanent magnet that slides in the longitudinal direction of the casing inside the casing, and a permanent magnet Two springs that support both ends of the magnet and two coils wound around the N and S poles of the permanent magnet. When a current is supplied to one of the coils, the coil gives an acceleration corresponding to the passed current to the permanent magnet, and the permanent magnet performs a periodic acceleration motion in the longitudinal direction of the casing. As a result, the asymmetric vibrator performs a periodic translational reciprocating motion having a partial acceleration in the positive direction or the negative direction.

  In the present embodiment, three asymmetric vibrators are prepared. As shown in FIG. 3, the asymmetric vibrators are orthogonal to each other, and the longitudinal direction of each asymmetric vibrator is the X axis of the remote control device 30. It is arranged and fixed at the inner center of the remote control device 30 along the Y axis and the Z axis. Thereby, the acceleration output device 33 can output acceleration for each axis. In order to increase the output of acceleration, a plurality of asymmetric vibrators arranged in parallel for each axis may be used. FIG. 3 merely shows an example of the arrangement of the asymmetric vibrators. In addition, the remote control device 30 may be externally attached to the internal upper end, the internal right end, and the external surface of the remote control device 30.

  Next, the operation of the remote control system 1 according to the first embodiment will be described.

  First, in step S101, in the remote control target device 10, the acceleration sensor 13 measures acceleration generated in the three directions of the XYZ axes of the remote control target device 10, and the radio circuit 15 determines the acceleration value and the acceleration. The acceleration information including the generated axial direction and the measurement unit of acceleration is transmitted to the remote control device 30.

  Thereafter, in step S102, in the remote control device 30, the wireless circuit 35 receives the acceleration information transmitted from the remote control target device 10, and the microcomputer 34 generates the acceleration value and the acceleration included in the acceleration information. Based on the axial direction, the acceleration output device (X-axis) 33a to the acceleration output device (Z-axis) 33c are respectively controlled so that the acceleration corresponding to the acceleration is output by the acceleration output device 33 in the axial direction. As a result, an acceleration corresponding to the acceleration generated in the remote control target device 10 is output from the controlled acceleration output device 33. That is, the traction force corresponding to the inertial force generated in the remote control target device 10 is generated in the remote control device 30.

  For example, when the remote control target device 10 accelerates forward, the remote control target device 10 measures acceleration that gently decelerates after rapid acceleration as shown in FIG. It is transmitted to the control device 30. When receiving the acceleration from the remote control target device 10, the remote control device 30 performs a short-period asymmetric vibration with an asymmetric vibrator as shown on the right side of FIG. An acceleration having a similar waveform shape is output (FIG. 4B). Thereby, the propulsive force according to the progress in the remote control target device 10 can be generated in a pseudo manner by the remote control device 30.

  FIG. 5 shows an example of the current that the microcomputer 34 of the remote control device 30 passes through the coil of the asymmetric vibrator at this time. In FIG. 5, a first period t1 in which a positive current (current that gives positive acceleration to a permanent magnet) flows and a second period in which a negative current (current that gives negative acceleration to a permanent magnet) flows. Periodically repeat t2. In this case, according to the ratio between the first period t1 and the second period t2, for example, it is possible to present a pseudo traction force upward or downward in FIG. For example, when the traction force is presented in the upward direction in FIG. 3, a periodic current that satisfies t1> t2 is passed through the coil.

  In addition, when the remote control target device 10 collides with an obstacle and acceleration as shown in FIG. 6A is measured, the remote control device 30 is an asymmetrical vibrator as in the case of traveling forward. By performing a short-period asymmetric vibration, an acceleration as shown in FIG. 6B is output. By making the acceleration output time shorter than in FIG. 4B, the acceleration can be perceived by the user as an impact force.

  Further, when the remote control target device 10 turns and acceleration as shown in FIG. 7A is measured, the remote control device 30 is also an asymmetrical vibrator with a short period as in the case of traveling forward as described above. As shown in FIG. 7B, acceleration is output. By making the acceleration output time shorter than in FIG. 4B and making the acceleration output time longer than in FIG. 6B, the acceleration can be perceived by the user as centrifugal force.

  A description will be given with a specific example. 8 to 15 show the relationship between acceleration sensing and pseudo traction force. In the case of an RC car, since it moves only in a two-dimensional space, a two-axis acceleration sensor is used as the acceleration sensor 13. In the remote control device 30, as an example of the acceleration output device (asymmetric vibrator) 33, two linear actuators are orthogonally arranged on the X axis and the Y axis, and the linear actuator (X axis) 33a and the linear actuator ( Y axis) 33b. A force corresponding to the sensing result of each axis is transmitted to the user by asymmetrically vibrating the linear actuator of each axis. Thereby, propulsive force, centrifugal force, and impact force can be transmitted to the user.

  For example, as shown in FIG. 8, when the RC car 10 accelerates forward, the linear actuator (X axis) 33a performs translational reciprocating vibration in the + X axis direction. Thereby, a propulsive force is generated in the direction in which the antenna is located, and the remote control device 30 can artificially perceive the advance of the RC car 10 in the forward direction.

  As shown in FIG. 9, when the RC car 10 turns right, the linear actuator (Y axis) 33b performs translational reciprocating vibration in the + Y axis direction. Thereby, a centrifugal force is generated in the direction of the left hand of the user holding the remote control device 30, and the right turn of the RC car 10 can be perceived by the remote control device 30 in a pseudo manner.

  As shown in FIG. 10, when the RC car 10 collides with an obstacle, the linear actuator (X axis) 33a performs translational reciprocating vibration in the −X axis direction. Thereby, an impact force is generated for the user, and a collision with the RC car 10 can be perceived in a pseudo manner by the remote control device 30.

  On the other hand, since a drone moves in a three-dimensional space, a three-axis acceleration sensor is used as described above. In addition, three linear actuators are orthogonally arranged on the X axis, the Y axis, and the Z axis, and are respectively set as a linear actuator (X axis) 33a, a linear actuator (Y axis) 33b, and a linear actuator (Z axis) 33c. A force corresponding to the sensing result of each axis is transmitted to the user by asymmetrically vibrating the linear actuator of each axis. Since a triaxial acceleration sensor and a triaxial linear actuator are used, it is possible to further transmit ascending, descending, and gravity as compared with the case of using a biaxial acceleration sensor and a biaxial linear actuator.

  For example, as shown in FIGS. 11 to 13, when the drone 10 accelerates forward, turns right, and collides, the driving force, centrifugal force, and impact force are output as in FIGS. 8 to 10. Can do.

  As shown in FIG. 14, when the drone 10 is lowered, the linear actuator (Z-axis) 33c performs translational reciprocating vibration in the -Z-axis direction. Thereby, gravity is generated in the remote control device 30, and the fall of the drone 10 can be perceived by the remote control device 30 in a pseudo manner.

  In the case of the drone 10, since it moves in the three-dimensional space as described above, the posture becomes unstable, and in particular, the Z axis is inclined with respect to the ground. Therefore, when the drone 10 descends, the acceleration sensor 13 of the drone 10 measures the acceleration in the X-axis direction and the Y-axis direction in addition to the Z-axis direction. Then, in the remote control device 30, the three XYZ axis linear actuators vibrate. However, it is not possible to correctly grasp whether the drone 10 is descending, traveling, or turning. Therefore, when the drone 10 descends or ascends, the remote control device 30 may always generate gravity in a direction equal to the descending direction or ascending direction of the drone 10 regardless of the attitude of the drone 10. For example, the microcomputer 34 of the remote control device 30 compares the accelerations in the respective axial directions received from the drone 10, and when the acceleration in the Z-axis direction is larger than the threshold value, or the acceleration in the Z-axis direction and the acceleration in the other direction If the difference is larger than the threshold value, it is determined that the drone 10 is falling, and gravity is always generated in the gravitational direction (for example, −Z axis direction) equal to the descending direction regardless of the attitude of the drone 10.

  So far, the example in which the inertial force is generated in the remote control target device 10 by the operation of the user has been described. However, even when a force is applied to the remote control target device 10 from the outside, the traction force corresponding to the force is remotely controlled. It may be generated by the device 30. In particular, since the drone 10 is located in the air and has no contact with the ground like an RC car, it is easily affected by environmental disturbances. For example, as shown in FIG. 15, even when the user is not operating the drone 10, a wind force may be received. Even in this case, since the acceleration is generated in the drone 10 by the wind pressure, the acceleration sensor 13 can measure the acceleration. Thereby, for example, the linear actuator (X axis) 33a performs translational reciprocating vibration in the + X axis direction, and a propulsive force is generated in the direction in which the antenna is located. Since propulsive force is generated even when the drone 10 is not operated, the user can grasp that the drone 10 is receiving wind and can perceive the wind force in a pseudo manner. In other words, since the drone 10 can transmit to the user the influence of wind and the strength of the wind that the drone 10 receives in the sky, the user can sensuously grasp the wind power in the sky. Therefore, it can be applied to applications such as when it is desired to experience the situation of the wind in the sky.

Next, a method for removing the gravitational acceleration from the acceleration value measured by the acceleration sensor 13 will be described. The acceleration measured by the acceleration sensor 13 includes gravitational acceleration. Therefore, in the case of the RC car 10, the remote control target device 10 subtracts 9.8 m / s ² from the acceleration in the Z-axis direction, as shown in FIG. Since the acceleration in the X-axis direction and the Y-axis direction does not include gravitational acceleration, the measured value is used as it is. Note that the subtraction process may be performed by the acceleration sensor 13 or the microcomputer 14 of the remote control target device 10.

On the other hand, in the case of the drone 10, as shown in FIG. 16B, “9.8 m / s ² × sin α (α: drone pitch angle)” is subtracted from the acceleration in the X-axis direction. Further, “9.8 m / s ² × sin β (β: drone roll angle)” is subtracted from the acceleration in the Y-axis direction. Further, “9.8 m / s ² × cos α × cos β” is subtracted from the acceleration in the Z-axis direction. The pitch angle α and roll angle β can be measured using a known inertial measurement unit. For example, an inertial motion measuring device <URL: http://www.xbow.jp/japandmuahrs.htm> is used.

  As described above, according to the present embodiment, the remote control target device 10 measures the acceleration (inertial force) generated in the remote control target device 10 and transmits the measured acceleration to the remote control device 30. 30 receives the acceleration from the remote control target device 10 and outputs the traction force corresponding to the received acceleration to the remote control device 30, so that the user of the remote control device 30 uses the inertial force generated in the remote control target device 10. It can be sensed through the remote control device 30. That is, the propulsive force due to the advancement of the remote control target device 10, the impact force due to the collision, the centrifugal force due to the turning, the ascending force due to the road surface rise, the falling force due to the road surface depression, the ascending air current, the descending air current, Can be experienced with the remote control device 30.

<Second Embodiment>
FIG. 17 is a diagram illustrating an overall configuration and a functional block configuration of the remote control system 1 according to the second embodiment. The remote control target device 10 is configured using an angular acceleration sensor 16 instead of the acceleration sensor 13. The remote control device 30 is configured using an angular acceleration output device 36 instead of the acceleration output device 33. Other configurations are the same as those described in the first embodiment.

  The angular acceleration sensor 16 is a three-axis angular acceleration sensor capable of measuring angular acceleration that rotates about each of the XYZ axes, and measures the angular acceleration generated in the remote control target device 10. For example, the angular acceleration of the remote control target device 10 caused by the remote control by the remote control device 30 and the angular acceleration arbitrarily received by the remote control target device 10 from the outside regardless of the remote control by the remote control device 30 are detected. taking measurement. Instead of the triaxial angular acceleration sensor, three monoaxial angular acceleration sensors may be used, or a monoaxial angular acceleration sensor and a biaxial acceleration sensor may be used in combination. In addition, only a biaxial angular acceleration sensor may be used.

  The angular acceleration output device 36 outputs angular acceleration corresponding to the angular acceleration generated in the remote control target device 10 to the remote control device 30. Specifically, an angular acceleration output device (around the X axis) 36a that outputs angular acceleration corresponding to the angular acceleration generated around the X axis of the remote control target device 10 around the X axis of the remote control device 30, and remote control An angular acceleration output device (around the Y axis) 36b that outputs angular acceleration corresponding to the angular acceleration generated around the Y axis of the target device 10 around the Y axis of the remote control device 30, and around the Z axis of the remote control target device 10 And an angular acceleration output device (around the Z axis) 36c that outputs an angular acceleration corresponding to the angular acceleration generated in the direction around the Z axis of the remote control device 30, and is fixed inside the remote control device 30.

  Next, the configuration and arrangement of the angular acceleration output device 36 will be described. In the case of the first embodiment, in order to output the acceleration to the remote control device 30, it is sufficient to use at least three asymmetric vibrators associated with the three directions of the XYZ axes. On the other hand, in the case of the present embodiment, in order to rotate the remote control device 30 for each axis, two asymmetric oscillators for each axis and a total of six asymmetric oscillators are used. For example, as shown in FIG. 18, two asymmetrical vibrators whose longitudinal directions are along the Z axis of the remote control device 30 are arranged and fixed at the left and right ends of the remote control device 30 respectively, and the angular acceleration output device (X axis) Rotation) 36a. In addition, two asymmetrical vibrators whose longitudinal directions are along the Z axis of the remote control device 30 are respectively arranged and fixed at the upper and lower ends inside the remote control device 30 to obtain an angular acceleration output device (around the Y axis) 36b. In addition, two asymmetrical vibrators whose longitudinal directions are along the X axis of the remote control device 30 are respectively arranged and fixed at both left and right ends of the remote control device 30 to obtain an angular acceleration output device (around the Z axis) 36c.

  Next, the operation of the remote control system 1 according to the second embodiment will be described.

  First, in step S201, in the remote control target device 10, the angular acceleration sensor 16 measures the angular acceleration generated around the X axis, the Y axis, and the Z axis of the remote control target device 10, and the wireless circuit 15 The angular acceleration information including the value of the angular acceleration, the axis where the angular acceleration has occurred, and the angular acceleration measurement unit is transmitted to the remote control device 30.

  Thereafter, in step S202, in the remote control device 30, the wireless circuit 35 receives the angular acceleration information transmitted from the remote control target device 10, and the microcomputer 34 determines the angular acceleration value and the angular acceleration included in the angular acceleration information. The angular acceleration output device (around the X axis) 36a to the angular acceleration output device (around the Z axis) so that the angular acceleration corresponding to the angular acceleration is output by the angular acceleration output device 36 of the axis based on the axis where the acceleration occurs. ) 36c is controlled respectively.

  For example, as shown in FIG. 19, when the RC car 10 rotates left and right with respect to the traveling direction, the angular acceleration sensor 16 measures the angular acceleration about the Z axis with the RC car 10. In this case, the microcomputer 34 of the remote control device 30 translates the linear actuator (around the Z axis) 36c1 arranged at the left end inside the remote control device 30 in the + X-axis direction by the angular acceleration measured by the RC car 10. Then, the linear actuator (around the Z axis) 36c2 arranged at the inner right end of the remote control device 30 is translated and reciprocated in the −X axis direction.

  As shown in FIG. 20, when the RC car 10 rotates back and forth with respect to the traveling direction, the angular acceleration sensor 16 measures the angular acceleration around the Y axis with the RC car 10. In this case, the microcomputer 34 of the remote control device 30 translates the linear actuator (around the Y axis) 36b1 arranged at the inner upper end of the remote control device 30 in the -Z-axis direction by the angular acceleration measured by the RC car 10. The linear actuator (around the Z axis) 36b2 disposed at the inner bottom end of the remote control device 30 is translated and reciprocated in the + Z axis direction.

  As shown in FIG. 21, when the RC car 10 rotates left and right with respect to the traveling axis, the angular acceleration sensor 16 measures the angular acceleration around the X axis with the RC car 10. In this case, the microcomputer 34 of the remote control device 30 translates the linear actuator (around the X axis) 36a1 arranged at the left end inside the remote control device 30 in the + Z-axis direction by the angular acceleration measured by the RC car 10. Then, the linear actuator (around the X axis) 36a2 arranged at the inner right end of the remote control device 30 is translated and reciprocated in the −Z axis direction.

  That is, the force corresponding to the sensing result of each axis is transmitted to the user by asymmetrically vibrating the linear actuator of the remote control device 30. That is, the two linear actuators are translated and reciprocated in opposite directions, and the pseudo traction force is output in the opposite direction, whereby the angular acceleration and the rotation direction corresponding to the angular acceleration and the rotation direction generated in the remote control target device 10 are remotely controlled. This can be transmitted to the control device 30.

  As described above, according to the present embodiment, the remote control target device 10 measures the angular acceleration (inertial force) generated in the remote control target device 10, transmits the measured angular acceleration to the remote control device 30, and remotely Since the control device 30 receives the angular acceleration from the remote control target device 10 and outputs the traction force according to the received angular acceleration to the remote control device 30, the user of the remote control device 30 is generated in the remote control target device 10. The inertial force can be sensed through the remote control device 30. That is, the rotation generated in the remote control target device 10 can be experienced by the remote control device 30.

  In addition, you may combine the structure demonstrated in each embodiment. Thereby, the traction force corresponding to various kinds of inertial forces generated in the remote control target device 10 such as propulsive force, centrifugal force, impact force, gravity, rotation, etc. can be generated by the remote control device 30.

  Further, the configuration and operation principle of the asymmetric vibrator (the method for generating the traction force) are described in detail in Japanese Patent Application Nos. 2007-516866 and 2014-110283. A method for mounting the angular acceleration sensor and a method for notifying rotation by generating a plurality of traction forces are described in detail in Japanese Patent Application No. 2014-110285.

  Finally, the remote control target device 10 and the remote control device 30 described in each embodiment can be realized by a computer having a calculation function such as a CPU and a storage function such as a memory. It is also possible to create a program for causing a computer to function as each of these devices and a storage medium for the program.

1 ... Remote control system 10 ... Remote control target device (RC car, drone)
DESCRIPTION OF SYMBOLS 11 ... Traveling motor 12 ... Steering motor 13 ... Acceleration sensor (measurement part)
14 ... Microcomputer (transmitter)
15 ... Radio circuit (transmitter)
DESCRIPTION OF SYMBOLS 16 ... Angular acceleration sensor 30 ... Remote control device 31 ... Travel lever 32 ... Steering lever 33 ... Acceleration output device (asymmetric vibrator, actuator, output part)
33a ... Acceleration output device (X axis)
33b ... Acceleration output device (Y axis)
33c ... Acceleration output device (Z axis)
34 ... Microcomputer 35 ... Wireless circuit (receiver)
36 ... Angular acceleration output device (output unit)
36a ... Angular acceleration output device (around X axis)
36b ... Angular acceleration output device (around Y axis)
36c ... Angular acceleration output device (around Z axis)
S101 to S102, S201 to S202 ... Step

Claims (7)

In a remote control system comprising: a remote control target device that is remotely controlled; and a remote control device that remotely controls the remote control target device.
The remote control target device is:
A measuring unit for measuring an inertial force generated in the remote control target device;
A transmitter for transmitting the measured inertial force value,
The remote control device is:
A receiver for receiving the value of the inertial force from the remote control target device;
An output unit that outputs a traction force according to the value of the received inertial force to the remote control device ;
The measuring unit is
A remote control system, wherein a gravitational acceleration of the device to be remotely controlled is subtracted from a measured inertial force value . The output unit is
The remote control system according to claim 1, wherein the traction force is output by an asymmetric vibrator having an asymmetric acceleration in a positive direction and a negative direction. The measuring unit is
The remote control system according to claim 1, wherein acceleration or angular acceleration generated in the remote control target device is measured. The measuring unit measures acceleration in each axis direction or angular acceleration around each axis in a plurality of axes orthogonal to each other in the remote control target device;
The output unit is
The traction force according to the acceleration or angular acceleration generated on the predetermined axis in the remote control target device is output on the predetermined axis of the remote control device associated in advance with the predetermined axis. The remote control system described. The measuring unit is
The remote control system according to claim 1, wherein inertial force generated by remote control of the remote control device is measured. The measuring unit is
6. The remote control system according to claim 1, wherein an inertial force received by the remote control target device from the outside is measured regardless of the remote control of the remote control device. In a remote control device for remotely controlling a remote control target device,
A receiving unit that receives a value of an inertial force generated in the remote control target device, and is obtained by subtracting a gravitational acceleration of the remote control target device by the remote control target device;
An output unit for outputting a traction force according to the value of the received inertial force to the remote control device;
A remote control device comprising:

Images