KR101885960B1 - Rc controller - Google Patents

Abstract

The present invention relates to a radio-controlled robot for a radio-controlled aircraft, which comprises a stick-shaped body, a thrust control button mounted on an upper part of the body and connected to a potentiometer circuit, A vibration motor in which a plurality of vibration motors are mounted in a zigzag shape on an outer circumferential surface of a body so as to transmit a distance and a position of the obstacle to a user in terms of the position of the vibration and the intensity of the vibration; A control unit for converting the front, rear, left, right, and rotational displacements of the body measured by an inertial (IMU) sensor and an inertial (IMU) sensor constituted by a geomagnetic sensor into electrical signals; (IMU) sensor, a control unit, and a battery for supplying electric power to the transmitting and receiving unit, It relates to a wireless transmitter.

Description

Radio Controllers for Radio Controlled Vehicles {RC CONTROLLER}

[0001] The present invention relates to a radio control device for a radio-controlled vehicle, and more particularly, it relates to a radio control device for a radio-controlled vehicle, which is capable of intuitively controlling the movement direction of the radio- The present invention relates to a radio remote controller for a radio-controlled aircraft.

In general, a joystick is a device for designating a two-dimensional coordinate value of a system by moving a bar-shaped lever in a desired direction, and is used for a construction such as an entertainment game machine, a joint articulated robot, It is widely used as a device for adjusting the machine.

In such a joystick, a sliding or rotary variable resistor is often used to detect the operating range of the operation lever.

In addition, such a joystick has the form of a pushbutton of a pressure button type, and is also applied to a general wireless remote controller.

However, when using a conventional wireless remote controller having a push button type of a pressure button type, the weight is heavy and the structure is complicated, making it difficult for the user to control.

An invention such as that disclosed in Korean Patent Registration No. 10-1194321 (entitled Universal Motion Controller) has been proposed in the prior art.

A problem to be solved by the present invention is to provide a radio manipulator for a radio-controlled aircraft in which the direction of movement of the radio-controlled aircraft is coincident with the control surface of the radio-controlled aircraft, so that intuitive manipulation is possible.

Another object of the present invention is to provide a radio controller for a radio-controlled aircraft, which can transmit information about an obstacle around a radio-controlled aircraft to a user through a vibration motor.

In order to solve the above-mentioned problem, the present invention adjusts a radio-controlled air vehicle equipped with an ultrasonic sensor capable of detecting a distance from an obstacle to an entire range of 360 degrees from six directions in total, A radio remote controller for a radio-controlled aircraft, comprising: a stick-shaped body; A thrust regulating button mounted on an upper portion of the body, connected to the potentiometer circuit, for regulating the thrust of the radio-controlled aircraft; At least one vibration motor mounted on an outer circumferential surface of the body for transmitting an obstacle detected by the ultrasonic sensor to a user by vibration; An inertia (IMU) sensor comprising an acceleration sensor, a gyro sensor and a geomagnetic sensor to measure acceleration, angular velocity and magnetic field of the body; A controller for converting the front, rear, left, right, and rotational displacements of the body measured by the inertial (IMU) sensor into electrical signals; And a battery for supplying electric power to the vibration motor, the inertial (IMU) sensor, the control unit, and the transmitting and receiving unit, Can be provided.

A plurality of vibration motors are disposed on an outer circumferential surface of the body so as to transmit a distance and a position of the obstacle sensed by the ultrasonic sensor to the user at a vibration position and a vibration intensity, Can be arranged in a zigzag shape while being spaced apart by a distance of 10 to 12 mm.

The transmitting and receiving unit may be connected to the radio-controlled aircraft through any one of Bluetooth, Wi-Fi, and Zigbee communication methods.

Further, the radio-controlled radiotelephone manipulator further includes a power generating member for supplying power to the battery or the vibration motor, the inertial (IMU) sensor, the control unit, and the transmitting and receiving unit when the battery is discharged, A frame disposed within the body in a plate shape; A rim gear mounted on the shaft of the frame so as to be rotatable and having an inner peripheral surface formed with a triangular inclined surface; A cam shape is mounted to rotate on the shaft and a triangle of a triangle formed on the protruded portion is formed so as to face the triangular inclined surface of the rim gear to rotate the rim gear in one direction, A triangular slope of the rim gear and a rotation cam that slips and allows rotation only in one direction; A cylindrical shape is fixed to the rotary cam so as to rotate the rotary cam by an external force, and a first row is wound on the outer peripheral surface of the rotary cam, and one side of the helical spring is inserted into the cylindrical inner peripheral surface The other side being fixed to the shaft, and a handle ring coupled to the first row such that the user pulls the first string in one direction; And a generator that is fixed to the frame and generates power by connecting the outer circumferential surface of the rim gear and the outer circumferential surface of the generator rotor wound with the coils to rotate.

The radiotelephone manipulator for radio-controlled aircraft is connected to the generator rotor and rotates the generator rotor in one direction when rotated in one direction by an external force. When the generator is rotated in the other direction by an external force, A free wheel clutch rotated in the other direction; And a second line connecting the outer circumferential surface of the free wheel clutch and the outer circumferential surface of the drum.

The radio controller for the radio-controlled aircraft according to the embodiment of the present invention can be intuitively controlled by matching the direction of movement of the radio-controlled aircraft with the control surface of the radio controller.

In addition, the radio controller for the radio-controlled aircraft according to the embodiment of the present invention can transmit information about the obstacle around the radio-controlled aircraft to the user through the vibration motor.

1 is a perspective view illustrating a radio remote controller for a radio-controlled aircraft according to a first embodiment of the present invention;
Fig. 2 is an exemplary view showing the operation of the radio-controlled air conditioner for the radio-controlled aircraft shown in Fig. 1. Fig.
3 is a plan view showing the position of the ultrasonic sensor attached to the radio-controlled aircraft shown in FIG.
Fig. 4 is a block diagram of a radio remote controller for radio-controlled aircraft shown in Fig. 1. Fig.
5 is a perspective view illustrating a radio remote controller for a radio-controlled aircraft according to a second embodiment of the present invention.
FIG. 6 and FIG. 7 are cross-sectional views schematically showing a power generating member mounted inside a radio-controlled radiator for a radio-controlled aircraft shown in FIG. 5;
Fig. 8 is a side view showing the power generating member shown in Figs. 6 and 7 from the side; Fig.

Hereinafter, the description of the present invention with reference to the drawings is not limited to a specific embodiment, and various transformations can be applied and various embodiments can be made. It is to be understood that the following description covers all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In the following description, the terms first, second, and the like are used to describe various components and are not limited to their own meaning, and are used only for the purpose of distinguishing one component from another component.

Like reference numerals used throughout the specification denote like elements.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise. It is also to be understood that the terms " comprising, "" comprising, "or" having ", and the like are intended to designate the presence of stated features, integers, And should not be construed to preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a radio remote controller for a radio-controlled aircraft according to a first embodiment of the present invention, FIG. 2 is an exemplary view showing the operation of a radio remote controller for a radio- 2 is a plan view showing the position of the ultrasonic sensor attached to the radio-controlled aircraft shown in FIG. 2, and FIG. 4 is a configuration diagram of the radio-controlled air conditioner for the radio-controlled aircraft shown in FIG.

1 to 4, the radio-controlled aircraft radio controller 1 includes a body 10, a thrust control button 20, a vibration motor 30, an inertia (IMU) sensor 40, a controller 60, A transmitting and receiving unit 70, and a battery 80. [

The body 10 may be formed in a stick shape. The body 10 may be formed around the outer circumferential surface of the body 10 when the user grasps the user's hands. The body 10 may be hemispherical on both sides.

The throttle control button 20 is a vertical dial type and can adjust the throttle of the radio-controlled vehicle 300 according to the direction of turning the throttle. The thrust control button 20 may be connected to the potentiometer circuit 50.

Here, the potentiometer circuit 50 is a variable resistor that causes the slide contact to move while contacting the resistance element to cause a change in resistance according to the amount of displacement of the contact, in order to represent the rotation angle as a voltage corresponding to the resistance change.

The thrust adjusting button 20 may be disposed on the upper portion of the body 10 so as to be adjustable by a user's thumb. The thrust regulating button 20 may be a variety of configurations such as a small lever, a dial, and a jog dial which can change the size of the input value according to a user's operation.

The vibration motor 30 is a motor that can transmit the distance and position of the obstacle detected by the ultrasonic sensor 310 of the radio-controlled flight vehicle 300 to the user at the position of the vibration and the intensity of the vibration. The vibration motor 30 may be mounted on the outer circumferential surface of the body 10 in a zigzag shape. The vibration motor 30 may be disposed in the forward and backward directions and two on both sides of the thrust force adjusting button 20 as a reference.

Here, the distance between the plurality of vibration motors 30 can be arranged in a zigzag shape while being spaced apart by a distance of 10 to 12 mm.

In addition, since the average stimulus or resolution of hands is 11 mm, the position of the vibration motor 30 may be arranged at a distance of 20 mm.

The vibrating motor 30 may be formed in a hemispherical shape so as to protrude from the outer circumferential surface of the body 10.

The inertial measurement unit (IMU) sensor 40 may be constituted by an acceleration sensor 41, a gyro sensor 42 and a geomagnetic sensor 43 so as to measure acceleration, angular velocity and magnetic field. The inertial (IMU) sensor 40 can sense and measure changes in the displacement of the body 10 in the front, rear, left, right, and rotational directions. The inertial (IMU) sensor 40 may communicate the measured measurement to the controller 60.

The control unit 60 may convert the front, rear, left, right, and rotational displacements of the body 10 measured by the inertial (IMU) sensor 40 into electrical signals and transmit them to the transmitting and receiving unit 70.

Here, as shown in FIG. 2, the radio-controlled flight vehicle 300 having received the signal can operate as a flight operation (roll, pitch, yaw).

The control unit 60 can receive the information about the obstacle around the radio-controlled flight vehicle 300 and operate the vibration motor 30. [

For example, when an obstacle is detected in any one of the ultrasonic sensors 310 mounted on all directions of the radio-controlled flight vehicle 300, the body 10 at a position corresponding to the detected position of the ultrasonic sensor 310, The vibration motor 30 can be operated.

The vibration motor 30 disposed in the body 10 corresponding to the position of the ultrasonic sensor 310 that senses the obstacle may be a direction in which the body 10 is tilted forward.

That is, when the body 10 is tilted in a direction opposite to the thrust control button 20, the radio-controlled flight vehicle 300 moves forward in the direction of movement, and when an obstacle is detected in the forward direction, The vibration motor 30 arranged in the opposite direction can be operated.

In addition, when the body 10 is tilted toward the thrust adjusting button 20, the radio-controlled flight vehicle 300 moves backward in the direction of movement, and when an obstacle is detected in the rearward direction, ) Direction of the vibration motor 30 can be operated.

Here, the radar of the radio-controlled flight vehicle 300 can be arbitrarily set by a user in the case of a quad-copter.

The tilting direction of the body 10 and the traveling direction of the radio navigation flight body 300 may be coincident with each other on the basis of the nose of the radio navigation flight body 300.

For example, when the body 10 is tilted toward the thrust control button 20, the radio-controlled flight vehicle 300 moves rearward, and when it is tilted in the opposite direction of the thrust control button 20, 300 move forward and the body 10 is not tilted forward and rearward but is tilted to one side or the other side and laterally sideways in a tilting direction, (300) can be moved.

The control unit 60 can adjust the speed of the radio-controlled flight vehicle 300 in accordance with the inclination of the body 10.

The control unit 60 gradually increases the vibration intensity of the vibration motor 30 when the distance between the radiofrequering vehicle 300 and the obstacle becomes closer or increases the vibration intensity when the distance between the radiofrequering vehicle 300 and the obstacle becomes longer The vibration intensity of the motor 30 can be gradually lowered.

The transmission and reception unit 70 is a communication module capable of transmitting an electric signal acquired from the control unit 60 to the radio-controlled flight vehicle 300. The transmitting and receiving unit 70 can communicate with the radio-controlled flight vehicle 300 through any one of a Bluetooth communication method, a Wi-Fi communication method, and a Zigbee communication method.

The battery 80 may be a lithium-polymer battery capable of supplying power to the vibration motor 30, the inertial (IMU) sensor 40, the control unit 60, and the transmitting and receiving unit 70.

FIG. 5 is a perspective view showing a radio remote controller for a radio-controlled aircraft according to a second embodiment of the present invention, and FIGS. 6 and 7 are schematic views of a power generator mounted inside a radio- And Fig. 8 is a side view showing the power generating member shown in Figs. 6 and 7 from the side.

Figs. 5 to 8 show the same components as those of Figs. 1 to 4, except that a generator member is added. Therefore, the same reference numerals are given to the same constituent elements, and redundant description of the same constituent elements is omitted, and the added constituent elements will be mainly described.

Specifically, when the battery 80 is discharged, the power generating member 100 supplies power to the battery 80 or the vibration motor 30, the inertia (IMU) sensor 40, the control unit 60, and the transmission and reception unit 70 Can be supplied. The generator member 100 includes a frame 110, a rim gear 120, a rotation cam 130, a drum 140, a first row 150, a pull ring 170, a generator 180, a free wheel clutch 190 And a second row 160. The second row 160 may include a second row 160,

The frame 110 may be formed in a plate shape. The frame 110 may be disposed within the body 10.

The rim gear 120 can be mounted on the shaft 111 of the frame 110. [ The inner surface of the rim gear 120 may have a triangular sloped surface.

The rotation cam 130 may be formed in a cam shape such that a part of the outer circumferential surface of the circular shape protrudes. The rotation cam 130 can be mounted to rotate on the shaft 111. [ The rotation cam 130 may include a triangular-shaped brace 131 at the protruding portion.

The latch 131 is formed to face the inclined surface of the triangle of the rim gear 120 so that the rim gear 120 is rotated in one direction and the triangular inclined surface of the rim gear 120 is slipped . The latch 131 may include a torsion spring (not shown) so as to have an elastic force in the direction of the inner circumferential surface of the rotation cam 130.

The drum 140 may be formed in a cylindrical shape. The drum 140 may be fixed to the rotation cam 130 while being mounted on the shaft 111 to be rotated. The first row 150 may be wound on the outer circumferential surface of the drum 140.

Here, the first row 150 can be mounted with the handle ring 170 to increase the gripping force when the user pulls the first row 150 in one direction.

In addition, the first row 150 can be taken in and out through holes (not shown) of the body 10.

One end of the helical spring 142 is fixed to the inner circumferential surface of the drum 140, and the other end of the helical spring 142 can be fixed to the shaft 111. The drum 140 may have a split protrusion 141 protruding along the circumference of the outer circumferential surface so that the first string 150 and the second string 160 are not in contact with each other.

The generator 180 may be fixed to the frame 110. The generator 180 is a power generator capable of generating electric power by being connected to the outer peripheral surface of the rim gear 120 and the generator rotor 181 wound with the coil.

Here, the generating rotor 181, which contacts the outer circumferential surface of the rim gear 120, may be connected in a gear-engaging manner.

The free wheel clutch 190 may be connected to the generator rotor 181. The freewheel clutch 190 rotates the generator rotor 181 in one direction when rotated by the second string 160 in one direction, such as the manner in which the rim gear 120, the rotating cam 130, And when it rotates in the other direction by the second row 160, it can be rotated in the other direction while slipping with the power generation rotor 181.

The second line 160 is a line capable of transmitting the rotational force of the drum 140 to the free wheel clutch 190. One end of the second string 160 may be wound on the outer circumferential surface of the free wheel clutch 190 and the other side thereof may be wound on the outer circumferential surface of the drum 140.

The power generating member 100 rotates the drum 140 connected to the first row 150 while the user pulls the handle ring 170 and rotates the rotation cam 130 connected to the drum 140 with the rim gear Power can be generated from the generator 180 by rotating the generator rotor 181 connected to the rim gear 120 while rotating the generator rotor 120.

Even when the user pulls the handle ring 170 and then places it thereon, the spiral spring 142 contained in the drum 140 is wound, and the drum 140 rotates counterclockwise by the inherent elastic force, And the second row 160 wound around the drum 140 and the free wheel clutch 190 rotates the generator rotor 181 connected to the free wheel clutch 190 while rotating the free wheel clutch 190, So that power can be generated from the generator 180.

Therefore, even when the radio remote controller for radio navigation pilot 2 is discharged during operation, it can be quickly recharged and the radio navigation flight 300 can be moved to a safe position or a user's position again.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be clear to the person.

1: Radio remote control radio
10: Body
20: Thrust control button
30: Vibration motor
40: Inertia (IMU) sensor
41: Accelerometer
42: Gyro sensor
43: Earth magnetic sensor
50: Potentiometer circuit
60:
70:
80: Battery
2: Radio control for radio control aircraft
100: generator member
110: frame
111: Axis
120: Rim gear
130: rotation cam
131:
140: Drums
141: Split projection
142: helical spring
150: 1st line
160: second line
170: Handle ring
180: generator
181: Generation rotor
190: Freewheel clutch
300: Radio-controlled aircraft
310: Ultrasonic sensor

Claims (5)

The present invention relates to a radio navigator for a radio-controlled aircraft which adjusts a radio-controlled aircraft equipped with an ultrasonic sensor capable of detecting distances from an obstacle to all directions from 6 directions to 360 degrees,
A stick-shaped body;
A thrust regulating button mounted on an upper portion of the body, connected to the potentiometer circuit, for regulating the thrust of the radio-controlled aircraft;
At least one vibration motor mounted on an outer circumferential surface of the body for transmitting an obstacle detected by the ultrasonic sensor to a user by vibration;
An inertia (IMU) sensor comprising an acceleration sensor, a gyro sensor and a geomagnetic sensor to measure acceleration, angular velocity and magnetic field of the body;
A controller for converting the front, rear, left, right, and rotational displacements of the body measured by the inertial (IMU) sensor into electrical signals;
A transmitter and receiver for transmitting the electrical signal obtained from the controller to the radio-controlled flight vehicle;
A vibration motor, an inertia (IMU) sensor, a controller, and a battery for supplying power to the transmitter and receiver,
Further comprising a power generating member for supplying power to the battery or the vibration motor, the inertial (IMU) sensor, the control unit, and the transmitting and receiving unit when the battery is discharged,
The power generating member
A frame disposed within the body in a plate shape;
A rim gear mounted on the shaft of the frame so as to be rotatable and having an inner peripheral surface formed with a triangular inclined surface;
A cam shape is mounted to rotate on the shaft and a triangle of a triangle formed on the protruded portion is formed so as to face the triangular inclined surface of the rim gear to rotate the rim gear in one direction, A triangular slope of the rim gear and a rotation cam that slips and allows rotation only in one direction;
A cylindrical shape is fixed to the rotary cam so as to rotate the rotary cam by an external force, a first row is wound on the outer peripheral surface of the rotary cam, and one side of the helical spring is inserted into the cylindrical inner peripheral surface While the other end is fixed to the shaft and a drum
A handle ring coupled to the first row so that the user pulls the first row in one direction;
And a generator fixed to the frame and generating power by being connected to an outer circumferential surface of the rim gear and an outer circumferential surface of a generator rotor wound with the coil,
A free wheel clutch connected to the generator rotor and rotating the generator rotor in one direction when the generator rotor rotates in one direction by an external force and rotating in the other direction while slipping with the generator rotor when the generator rotor rotates in the other direction due to external force;
And a second line connecting the outer circumferential surface of the free wheel clutch and the outer circumferential surface of the drum. The method according to claim 1,
Wherein the vibration motor includes a plurality of vibration motors disposed on an outer circumferential surface of the body so as to transmit a distance and a position of the obstacle detected by the ultrasonic sensor to the user at a vibration position and a vibration intensity,
Wherein the plurality of vibration motors are arranged in a zigzag shape with a distance of 10 to 12 mm. The method according to claim 1,
Wherein the transmitting and receiving unit is connected to the radio-controlled aircraft through any one of a Bluetooth communication method, a Wi-Fi communication method, and a Zigbee communication method. delete delete

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