KR102021873B1 - Apparatus and Controller for remote controlling thereof - Google Patents

Abstract

The handle type wireless remote controller according to an embodiment of the present invention includes a first communication unit for transmitting a control signal for adjusting a moving direction and a speed of a moving object having a photographing apparatus in which a photographing direction is controlled by a head mounted type wireless controller; A first sensor unit detecting own location information; And a first controller configured to generate the control signal based on the detection result of the sensor unit.

Description

Mobile controller and wireless controller for wireless control thereof {Apparatus and Controller for remote controlling Technical}

The present invention relates to a mobile control device such as a radio control car or a drone and a wireless controller capable of wirelessly controlling the same.

At present, various drones such as quadcopters and radio control cars are attracting worldwide attention, and the drone market is growing accordingly. Currently, the global market for radio control is expected to be about 50 billion dollars. The manipulating object is important, but the remote controller also has an important role. As the market for drones grows, more and more people enjoy various sports culture and leisure life related to drones.

In the related art, the radio controller for a radio-controlled vehicle according to the Korean Patent Publication (Publication No. 10-2012-0065545) discloses a remote controller that can remotely control a vehicle. Since the image is transmitted to the display device provided in the remote controller by capturing an area, there is a limitation in securing a view on the moving object, and the remote controller has a complicated shape and a plurality of operation buttons, which makes it difficult to operate.

As described above, the conventional technology is difficult for most users who are new to the wireless remote controller having various functions, and there is a limit that requires a lot of time and effort to learn how to operate the control together with an accurate knowledge of the instruction manual. In addition, even after fully learned how to control, due to mistakes in use, it is difficult to change the direction and speed of the remote control and to deal quickly and appropriately in case of sudden emergency.

Korean Patent Publication (Publication No .: 10-2012-0065545)

The present invention can provide an intuitive radio-controller and a mobile unit wirelessly controlled by a radio-controller that can solve the difficulty of operation experienced by a user who is new to the radio-controller having a variety of functions.

In addition, it is possible to provide an intuitive radio controller and a mobile controller that is wirelessly controlled by a radio controller to guide the user to quickly and properly cope with a sudden change of direction and speed control of the vehicle.

The handle type wireless remote controller according to an embodiment of the present invention includes a first communication unit for transmitting a control signal for adjusting a moving direction and a speed of a moving object having a photographing apparatus in which a photographing direction is controlled by a head mounted type wireless controller; A first sensor unit detecting own location information; And a first controller configured to generate the control signal based on the detection result of the sensor unit.

In addition, the first sensor unit of the handle-type wireless remote controller according to another embodiment of the present invention may provide a wireless controller comprising a first gyro sensor and a first acceleration sensor.

In addition, the handle type wireless controller according to another embodiment of the present invention further includes a main body unit including the first communication unit, the first sensor unit and the first control unit, corresponding to the rotation direction of the main body unit The moving direction of the moving body is controlled, it is also possible to provide a wireless controller characterized in that the speed of the moving body is controlled in proportion to the rotation angle of the main body.

In addition, the handle type wireless controller according to another embodiment of the present invention includes a first handle portion extending from one side of the main body portion; And a second handle part extending from the other side of the main body part, wherein the first and second handle parts may have symmetrical shapes with respect to the main body part.

In addition, the first control unit of the handle type wireless controller according to another embodiment of the present invention may calculate the pitch angle calculated based on the angular velocity and acceleration information from the first sensor unit in the initial position state of the main body unit. It is also possible to provide a radio controller characterized in that the reference value is set as the reference point of the body portion.

In addition, the head mounted type wireless controller according to another embodiment of the present invention is a second type of communication unit for transmitting a control signal for controlling the shooting direction of the imaging device installed in the moving object whose movement direction and speed is controlled by a handle type wireless controller ; A second sensor unit detecting its own location information; And a second controller configured to generate the control signal based on the detection result of the second sensor unit, and may provide a wireless controller mounted to the user's head.

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

In addition, the second sensor unit of the head mounted type wireless controller according to another embodiment of the present invention may provide a wireless controller comprising a second gyro sensor, a second acceleration sensor, and a geomagnetic sensor.

In addition, the head-mounted type wireless controller according to another embodiment of the present invention may provide a wireless controller characterized in that the photographing area of the photographing apparatus is changed in correspondence to the rotational direction of the head of the user.

In addition, the head mounted type wireless controller according to another embodiment of the present invention, the yaw angle calculated based on the detection result from the second gyro sensor, the second acceleration sensor and the geomagnetic sensor in the initial position state It is also possible to provide a radio controller, characterized in that to set to a reference value as its reference point.

An embodiment of the present invention allows the mobile type to be intuitively controlled by using a handle type wireless remote controller that can adjust the speed and direction of the moving object and a head mounted type wireless remote controller that can adjust the shooting direction of the camera on the mobile object.

In addition, an embodiment of the present invention by enabling the field of view of the moving object to enable a more realistic and interesting wireless control based on augmented reality.

In addition, embodiments of the present invention can provide a wireless remote controller capable of precise adjustment of the moving object.

In addition, the embodiment of the present invention has the effect that it is possible to secure the field of the side of the moving object by the user receives the image transmitted in real time.

It also has the advantage of being able to steer in situations where the moving object disappears from the user's field of view.

In addition, it is possible to intuitively adjust the direction of the photographing apparatus on the moving object to secure the field of view.

1 is a block diagram showing the configuration of a handle type wireless remote controller.
Fig. 2 is a block diagram showing the configuration of a head mounted type radio controller.
3 is a block diagram showing the configuration of a moving object.
4 is a perspective view of a handle type wireless controller.
5 is a front view of a handle type radio controller.
6 is a side view of a handle type wireless controller.
7 is a rear view of the handle type wireless controller.
8 shows a method of adjusting the direction and speed of the moving object by changing the angle of the handle type wireless remote controller.
Figure 9 schematically shows the moving direction of the moving body according to the change in the angle of the handle type wireless remote controller.
FIG. 10 illustrates a method of adjusting a photographing direction of a photographing apparatus on a moving object by changing an angle of a head mounted type wireless controller.
FIG. 11 schematically illustrates a photographing direction according to an angle change of the photographing apparatus on the head mounted radio controller. FIG.
12 is a block diagram of a complementary filter.
13 is a graph showing the pole and zero of G1.
14 is a graph showing the pole and zero of G2.
15 is a bowed diagram of G1.
16 is a bode diagram of G2.
17 is a flowchart of a method for wirelessly controlling a moving object using a handle type wireless controller.
18 is a flowchart of a method for wirelessly controlling a moving object using a head mounted radio controller.
19 is a flowchart of a moving object driving method based on data received from a radio controller.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. Effects and features of the present invention, and methods of achieving them will be apparent with reference to the embodiments described below in detail together with the drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various forms. In the following embodiments, the terms first, second, etc. are used for the purpose of distinguishing one component from other components rather than a restrictive meaning. Also, the singular forms “a”, “an” and “the” include plural forms unless the context clearly indicates otherwise. In addition, the terms including or have means that the features or components described in the specification are present, and does not preclude the possibility of adding one or more other features or components. In addition, in the drawings, components may be exaggerated or reduced in size for convenience of description. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of description, and thus the present invention is not necessarily limited to the illustrated.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or corresponding components will be denoted by the same reference numerals, and redundant description thereof will be omitted. .

1 is a block diagram showing the configuration of a steering wheel type radio controller, and FIG. 2 is a block diagram showing the configuration of a head mounted radio controller. 3 is a block diagram showing the configuration of a moving object.

1 to 3 are blocks separated by lines, but this is for clarity of each configuration, and in fact, the division of components may not be clear, and a plurality of devices may be represented by one device or may be represented by an independent configuration. It will be apparent to one skilled in the art.

In addition, in the description of the embodiment of the present invention, the mobile unit is a radio controller car as an example, but is not limited thereto, and may be an aerial vehicle such as a drone.

Steering wheel type remote controller

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

The first main device 101 may include a first measuring unit 110, a first control unit 120, a remote controller output unit 130, and a first communication unit 140.

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

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

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

The first control unit 120 may include a first main board 121.

The remote controller output unit 130 may include a remote controller light source unit 131.

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

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

In addition, each of the switch unit 111 and the first sensor unit 112 may transmit data through the I2C communication with the first main board 121, but is not limited thereto.

In addition, the first main board 121 may transmit data with the first wireless communication module 141 through SPI communication, but is not limited thereto.

In addition, the first boosting circuit 170 may provide power to the first main board 121, and the first regulator 180 may provide power to the first wireless communication module 141.

-Head- mounted radio remote controller

The head mounted radio controller 200 may include a second main device 201 and a second power supply 202. In addition, the head mounted type wireless remote controller 200 may be configured to be detachably attached to the display device 203.

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

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

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

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

The second control unit 220 may include a second main board 221.

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

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

In addition, the second sensor unit 212 may transmit data with the second main board 221 through I2C communication, and the second main board 221 may transmit data with the second wireless communication module 241 through SPI communication. It may transmit, but is not limited thereto.

In addition, the second boosting circuit 270 may provide power to the second main board 221, and the second regulator 280 may provide power to the second wireless communication module 241.

-Mobile

Referring to FIG. 3, the moving body 300 may include a third main device 301, a third power supply device 302, and an imaging device 304.

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

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

The motor driver 322 may include at least one protection diode to protect other devices from the output back EMF. In addition, the motor driver 322 preferably includes two half-bridge (H-Bridge) circuits for controlling the motor in the forward and reverse directions and RPM, but is not limited thereto.

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

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

The movable body light source unit 331 may emit light when the movable body 300 is repositioned, and may include at least one light emitting diode. In addition, the light source unit 331 may include a direction display light source for displaying the moving direction of the moving body 300, and a high brightness front view light source for securing a forward view of the moving object 100, the light source unit 331 ) Illuminance may be controlled by the handle type radio controller 100.

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

The second motor 333 may control the photographing direction of the photographing apparatus 304 by adjusting the position of the photographing apparatus 304. In addition, the second motor 333 may be a servo motor in order to rotate the roll axis and the pitch axis of the photographing apparatus 304, but is not limited thereto.

In addition, a plurality of first and second motors 332 and 333 may be provided.

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

The third power supply 302 may include a third battery unit 350, a third protection circuit 360, a 3-1 regulator 381 and a 3-2 regulator 382.

In addition, the third wireless communication module 341 may transmit data with the second microcontroller 3212 through SPI communication, and the second microcontroller 3212 may transmit data with the first microcontroller 3211 through UART communication. It may transmit, but is not limited thereto.

In addition, the third protection circuit 360 may provide power to the first motor 332, and the 3-1 regulator 381 may provide power to the second motor 333 and the third main board 321. The third-2 regulator 382 may provide power to the third wireless communication module 341.

Also, the photographed image of the photographing apparatus 304 may be transmitted to the head mounted type wireless controller 200 and displayed on the display apparatus 203.

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

The handle type wireless controller 100 may control the speed and direction of the moving object 300, and the head mounted type wireless control unit 200 may move the photographing apparatus 304 of the moving object 300 in the same direction as the user's gaze. Can be controlled by

<Handle type A wireless controller >

4 is a perspective view of a handle type wireless controller, FIG. 5 is a front view of a handle type wireless controller, FIG. 6 is a side view of a handle type wireless controller, and FIG. 7 is a rear view of the handle type wireless controller.

4 to 7 are axes in which the user holds the first handle part 191 with his left hand and connects both hands in a straight line while holding the second handle part 192 with his right hand, and the Y axis is the user and the main body part. The axis 190 connects each other in a straight line, and the Z axis is defined as the axis connecting the body portion 190 and the ground to each other in a straight line. In addition, the direction of the first handle portion 191 toward the negative X axis, the direction of the second handle portion 192 toward the positive X axis around the intersection of the X axis and Y axis. The direction toward the user is the positive Y axis, and the direction away from the user is the negative Y axis. The lower direction is defined as the positive Z axis and the upper direction is defined as the negative Z axis around the intersection of the Z axis and the Y axis or the X axis.

Referring to FIG. 4, the handle type wireless controller 100 may include a main body 190 and first and second handle parts 191 and 192.

The main body 190 may be formed in a rectangular box shape, but is not limited thereto. In addition, the remote controller light source unit 131 and the switch unit 111 installed on the front of the main body 190 viewed by the user may be exposed to be recognized.

The first handle part 191 may extend from the upper region of the left side of the main body 190 to be gripped by the user's left hand, and the second handle part 192 may have the right side of the main body 190. It may extend from the upper region of the shape to be gripped by the user's right hand.

The first handle part 191 may include a 1-1 extension part 1911, a 1-2 extension part 1912, and a 1-3 extension part 1913.

The first-first extension 1911 may extend in the negative X-axis direction from the left side of the main body 190. More specifically, it may extend in the direction of the negative X axis, the negative Z axis, and the positive Y axis, and may have a curved surface as a whole (that is, the negative Z when extending in the direction in which the absolute value of the negative X axis increases). It may extend in the direction of increasing the positive Y-axis value while extending in the direction of increasing the absolute value of the axis).

In addition, the 1-2 extension portion 1912 may extend in the Z-axis direction from the end of the 1-1 extension portion 1911. More specifically, it may extend in the positive Z-axis and positive Y-axis directions, and may have a curved surface as a whole (that is, in the direction in which the positive Y-axis value increases in the direction of increasing the positive Z-axis value). Can be extended).

In addition, the 1-3 extension unit 1913 may extend in the negative Y-axis direction from the end of the 1-2 extension unit 1912. More specifically, it may extend in the direction of the negative Y axis and the positive Z axis, and may have a curved surface as a whole (that is, in the direction in which the value of the positive Z axis increases in the direction in which the absolute value of the negative Y axis increases). Can be extended).

In addition, the length of the 1-1 extension 1911 is not significantly different from the length of the 1-2 extension 1912, but the length of the 1-3 extension 1913 is the length of the 1-1 extension 1911. It may be shorter than the length or the length of the 1-2 extension 1912.

In addition, the second handle part 192 may include a 2-1 extension part 1921, a 2-2 extension part 1922, and a 2-3 extension part 1923.

The second-first extension part 1921 may extend in the positive X-axis direction from the left side surface of the main body part 290. More specifically, it may extend in the positive X axis, the negative Z axis, and the positive Y axis, and may have a curved shape as a whole (that is, when extending in the direction in which the positive X axis value increases, It may extend in the direction of increasing the positive Y-axis value while extending in the direction of increasing the absolute value).

In addition, the 2-2 extension portion 1922 may extend in the Z-axis direction from the end of the 2-1 extension portion 1921. More specifically, it may extend in the positive Z-axis and positive Y-axis directions, and may have a curved surface as a whole (that is, in the direction in which the positive Y-axis value increases in the direction of increasing the positive Z-axis value). Can be extended).

In addition, the 2-3 extension 1913 may extend in the negative Y-axis direction from the end of the 2-2 extension 1922. More specifically, it may extend in the direction of the negative Y axis and the positive Z axis, and may have a curved surface as a whole (that is, in the direction in which the value of the positive Z axis increases in the direction in which the absolute value of the negative Y axis increases). Can be extended).

In addition, the length of the 2-1 extension portion 1921 is not significantly different from the length of the 2-2 extension portion 1922, but the length of the 2-3 extension portion 1913 is the length of the 2-1 extension portion 1921. It may be shorter than the length or the length of the 2-2 extension 1922.

In addition, the first handle part 191 and the second handle part 192 may have symmetrical shapes with respect to the main body part 190. Accordingly, the 2-1 extension portion 1921 has a symmetrical shape with the 1-1 extension portion 1911 around the main body portion 190, and the 2-2 extension portion 1922 supports the main body portion 190. It may have a symmetrical shape with respect to the first-second extension 1912, and the second-three extension 1923 may have a symmetrical shape with the first-three extension 1913 about the main body 190. have.

As such, the handle type wireless remote controller 100 according to the embodiment of the present invention is configured in the form of a handle having excellent grip, and can intuitively steer the moving body 300 in the same principle as the handle operation method.

In addition, the first and second handles 191 and 192, which are symmetrical with each other about the main body 190, are provided so that when the user grasps the handle type wireless remote controller 100, the center of gravity is at the center of both arms of the user. Positioning can improve the convenience of manipulator mounting and make reference point setting easy and intuitive.

<Wireless of handle type Remote controller  Moving Body Direction and Speed Control>

8 shows a method of adjusting the direction and speed of the moving object by changing the angle of the handle type wireless remote controller. 9 schematically shows a moving direction of a moving body according to an angle change of a handle type wireless remote controller.

8 and 9, the handle type wireless remote controller 100 may rotate in various directions and angles about the main body 190.

For example, when the steering wheel-type wireless remote controller 100 rotates in the forward direction (F), the moving object 300 can move forward, and when rotating in the rearward direction (B), the moving body 300 can move backward, the left direction When rotating in the direction (L), the moving body 300 can move in the left direction, and if the rotation in the right direction (R), the moving body 300 can move in the right direction, such as handle type wireless remote controller in various directions as shown in the figure The moving body 300 may move in response to the angular rotation of the 100. In addition, the moving speed of the moving object 300 may be adjusted in proportion to the rotation angle of the handle type wireless remote controller 100.

<Of the head wearing type Wireless controller  Shooting Area Control>

FIG. 10 illustrates a method of adjusting a photographing direction of a photographing apparatus on a moving object by changing an angle of a head mounted type wireless controller. And Figure 11 schematically shows the shooting direction according to the change of the angle of the imaging device on the head-mounted wireless controller.

10 and 11, the head mounted type wireless controller 200 has a shape that can be mounted on a user's head, and the front part may be provided with a display device 203. The display device 203 is configured as a terminal and detachable to the head mounted wireless controller 200 so that a user wearing the head mounted wireless controller 200 can display an image through a display unit provided in the terminal. can see.

In addition, when the user rotates the head in the direction in which the user wears the head mounted type wireless controller 200, the photographing angle of the photographing apparatus 304 on the moving object 300 may be changed correspondingly. Therefore, the user may check the omnidirectional position of the area where the moving object 300 is located through the display device 203.

In addition, the rotational direction of the handle type wireless controller 100 and the head mounted type wireless controller 200 are independent of each other, so that the moving direction of the moving object 300 and the shooting direction of the photographing apparatus 304 are independent. Is done. Therefore, if necessary, regardless of the moving direction of the moving object 300, the shooting direction of the photographing apparatus 304 can be changed as much as possible, so that the user can observe the omni-directional area in the state while moving on the moving object 300. Therefore, not only the captured image of the region matching the moving direction of the moving object 300 but also the captured image of the other region irrelevant to the surrounding moving direction can be observed quickly and appropriately in response to a sudden emergency situation.

<Reference point setting>

Since the postures are different for each user, it is necessary to set a new reference point every time you steer. Therefore, when the power of the steering wheel type and the head mounted type wireless controllers 100 and 200 is turned on, the posture after a preset time is set as the reference point. That is, the position of the steering wheel type and the head mounted type radio controllers 100 and 200 after a predetermined time may be set as a reference point.

In more detail, referring to FIG. 4, the controller light source 131 provided in the main body 190 of the handle type wireless controller 100 is located in an upper region from a center light source and a region where the center light source is located, as shown. 1 light source, a second light source located in the lower region, a third light source located in the left region, and a fourth light source located in the right region, and when the power of the handle type wireless controller 100 is turned on, the top, bottom, left and Only the first to fourth light sources of the right side is turned on, and when the user holds the handle type wireless controller 100 in position, only the center light source in the center is turned on at a preset time, and the pitch of the handle type wireless controller 100 at this time ( The angle value of the pitch axis may be set as a reference point for controlling the moving body 300.

Controlled Variable Extraction

-Complementary filter applied

의 극점과 영점을 나타낸 그래프이고, 도 14는

의 극점과 영점을 나타낸 그래프이고, 도 15는

의 보데선도이며, 도 16은

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

Is a graph showing poles and zeros, and FIG.

Is a graph showing the poles and zeros,

Is a bode diagram of FIG.

Bode diagram of the.

Pitch based on the 3-axis angular velocity and 3-axis acceleration data detected from each of the first gyro sensor 1121 and the first acceleration sensor 1122 of the first sensor unit 112 of the handle type wireless controller 100. ) Angle, Roll angle, and Yaw angle can be determined.

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

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

Is an acceleration value along each of the three axes output from the first acceleration sensor 1122,

Is the angular velocity value coming from the first gyro sensor 1121.

[Equation 1]

Referring to FIG. 12, the block diagram according to FIG. 12 satisfies Equation 2. FIG.

[Equation 2]

The first sensor unit 112 may include a complementary filter, and the angle resulting from the integration of the angular velocity data using the complementary filter has a high response characteristic in a high frequency region, and uses a high pass filter and is calculated as acceleration data. Since the angle is excellent in the low frequency region, it is added by applying a low pass filter.

와

는 실험적으로 결정될 수 있다. 또한 본 발명의 실시예에서는

와

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

과

에 필터 계수

와

를 대입하고 극점과 영점의 상태를 확인하면 도 13 내지 도 16과 같다.Filter coefficient in equation (2)

Wow

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

Wow

Each is preferably 0.46736, 0.03279, but is not limited thereto. And transfer function according to equation (2)

and

Filter coefficients

Wow

Substituting and confirming the state of the pole and zero is as shown in Figures 13 to 16.

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

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

과

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

Is suitable for removing noise of gyro sensor which is affected by drift, which is a low frequency component.

Is suitable for removing the noise of the acceleration sensor which is highly affected by the fine vibration which is a high frequency component. Above

and

By applying the filter, noise of the measured data from the first gyro sensor 1121 and the first acceleration sensor 1122 can be effectively eliminated, and an accurate angle necessary for calculating the steering variable can be obtained.

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

-Slope compensation

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

)와 롤(Roll)각도(

)와

을 입력으로 사용하여 X값과 Y값 그리고 요(Yaw)각도를 결정할 수 있다.In addition, geomagnetic data may be output from the geomagnetic sensor 2123 of the head mounted wireless controller 200. Geomagnetic values are

to be. If the second control unit 220 calculates the yaw angle using only the geomagnetic value, an error about tilting may occur. Therefore, the pitch angle (output value of the complementary filter)

) And Roll Angle (

)Wow

You can use as inputs to determine the X, Y, and Yaw angles.

In addition, X value, Y value and Yaw angle may satisfy the equation (3).

[Equation 3]

The second controller 220 can obtain a yaw angle more accurate than the geomagnetic sensor 2123. The actual yaw angle used is a value calculated by integrating the angular velocity of the second gyro sensor 2121, and the yaw angle value obtained by the geomagnetic sensor 2123 is a reference point in the direction that the user first looks. Can catch. In addition, in order to prevent the cumulative error of the angular velocity of the second gyro sensor 2121, it may be initialized to a reference point set for the initial posture of the head-mounted type radio controller 200.

<Handle type Of radio controller  How to Transfer Data>

17 is a flowchart of a method for wirelessly controlling a moving object using a handle type wireless controller.

The handle type wireless controller 100 receives three-axis acceleration and three-axis angular velocity data, converts each data into an angle, and uses it as an input of a complementary filter to calculate a pitch angle and a roll angle. have. In addition, the direction may be displayed through the remote controller light source unit 131 as an output value. In addition, the reference value can be set by the pitch angle. When the setting is completed, the setting range of the pitch angle and the roll angle can be checked and data can be transmitted. In addition, the switch unit 111 may receive data and transmit data for controlling on / off of the front view light source of the moving object 300.

In detail, referring to FIG. 17, the first sensor unit 112 converts each of the 3-axis angular velocity measured from the first gyro sensor 1121 and the 3-axis acceleration measured from the first acceleration sensor 1122 into an angle. The pitch angle, the roll angle, and the yaw angle may be determined through the second complementary filter. In this case, the reference point setting state may indicate that the reference point setting state is driven by driving the remote controller light source unit 131.

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

In addition, when setting the reference point is completed, the first control unit 120 checks the angle information of each of the pitch angle and the roll angle from the first sensor unit 112, and the pitch angle is negative a. When the angle is within a range between the positive b angles, the pitch angle information data may be transmitted to the moving object 500 through the first communication unit 140. When the roll angle is within a range between the negative c angle and the positive d angle, the roll angle information data may be transmitted to the moving object 500 through the first communication unit 140. In addition, when the pitch angle is smaller than the negative a angle, the preset initial pitch angle information data may be transmitted to the mobile unit 300 when the preset initial pitch angle information data is larger than the positive b angle. Further, when the roll angle is smaller than the negative c angle, the preset minimum roll angle information data may be transmitted to the moving object 300 when the roll angle is smaller than the negative c angle.

Meanwhile, the above-described a and b values may be equal to each other, and in this case, the b angle may be 45 degrees, but is not limited thereto. The above-described c and d values may be the same and in this case, the d angle may be 60 degrees. It is not limited.

<Head mounted type Of radio controller  How to Transfer Data>

18 is a flowchart of a method for wirelessly controlling a moving object using a head mounted radio controller.

The head mounted type wireless controller 200 receives three-axis acceleration and three-axis angular velocity data. By converting each data into an angle and using it as an input of a complementary filter, a pitch angle and a roll angle can be calculated. Yaw angles may be calculated based on the above-described tilt compensation of the two outputs of the complementary filter and the data of the triaxial geomagnetic sensor 2123. In addition, the yaw angle obtained by integrating the angular velocity can be initialized by setting the reference value as the yaw angle and using the reference value. In addition, the setting range of pitch angle and yaw angle can be checked and data can be transmitted.

In detail, referring to FIG. 18, the second sensor unit 212 may include a three-axis angular velocity detected from the second gyro sensor 2121, a three-axis acceleration detected from the second acceleration sensor 2122, and a geomagnetic sensor 2123. Each of the 3-axis geomagnetism information detected from) may be converted into an angle. In addition, the three-axis angular velocity detected by the second gyro sensor 2121 and the three-axis acceleration detected by the second acceleration sensor 2122 may calculate a pitch angle and a roll angle through a secondary complementary filter. have. In addition, the second control unit 220 calculates a yaw angle based on the above-described tilt compensation of the two outputs of the secondary complementary filter and the data of the triaxial geomagnetic sensor 2123, and sets the reference value as the yaw angle. After setting the reference value, you can initialize the yaw angle obtained by integrating the angular velocity using the reference value.After the data initialization, check the yaw angle range and move the yaw angle information data to the moving object (300). ) Can be sent.

In addition, the second control unit 220 checks the pitch angle information to determine whether the pitch angle is within a negative e angle and a positive f angle range, and the pitch angle is within a negative e angle and a positive f angle range. In this case, the pitch angle information data may be transmitted to the moving object 300 through the second communication unit 240. In addition, the second controller 220 checks the yaw angle information to determine whether the yaw angle is within a negative g angle and a positive h angle range, and the yaw angle is within a negative g angle and a positive h angle range. The yaw angle information data may be transmitted to the moving object 300 through the second communication unit 240.

In addition, when the pitch angle is smaller than the negative e angle, the pitch angle information data of the preset minimum value may be transmitted to the moving object 300 when the pitch angle information data of the preset maximum value is larger than the positive f angle, and the yaw angle When the yaw angle is smaller than the negative g angle, the yaw angle information data of the preset minimum value may be transmitted to the moving object 300 when the yaw angle information data of the preset maximum value is larger than the positive h angle.

Meanwhile, the aforementioned e and f may be the same, in which case the e angle may be negative 45 degrees and f may be positive 45 degrees, g and h may be equal, in which case g is negative 90 degrees and h is positive It may be 90 degrees, but is not limited thereto.

<Moving Method of Moving Object>

19 is a flowchart of a moving object driving method based on data received from a radio controller.

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

In addition, the second microcontroller unit 3212 may control the second motor 332 by receiving data from the head mounted type wireless controller 200. In this case, the second motor 332 is composed of two servo motors, and the second microcontroller unit 3212 may control each of the two servo motors.

In addition, the second microcontroller unit 3212 may receive data from the handle type wireless controller 100 from the second microcontroller unit 3212 through the UART communication. In addition, in order to receive data efficiently, the data is restored by separating the positive and negative numbers, the pitch angle and the roll angle from the pitch angle and the roll angle data, and the moving body 300 is driven. You can. For example, if two data are sent from the second microcontroller unit 3212 to the first microcontroller unit 3211 and the data are separated for accurate data exchange and efficient transmission speed, for example, seven times in one byte of data. Bit and bit 6 are transformed into data separating the axis and data separating the positive and negative numbers. Bits 0 to 5 maintain control variable data. After receiving the data, the data can be restored to its original value.

In addition, the front view light source of the movable body 300 may receive data from the handle type wireless controller 100 and determine whether it is on / off and then operate.

More specifically, referring to FIG. 19, the third communication unit 340 of the mobile unit 300 may receive data received through the first channel from among the first and second channels as data received from the handle type wireless controller 100. The data received through the second channel can be treated as data received from the head-mounted type radio controller 200.

The third main board 321 may control the driving of the moving light source unit 331 based on the moving light source unit driving control data received from the handle type wireless controller 100.

In addition, the second microcontroller unit 3212 transforms the data received from the handle type wireless controller 100 into pitch information data and roll information data, and through the UART communication, the first microcontroller unit 3211. ) Can be sent. The first microcontroller unit 3211 checks whether the 7th bit of the received data is 1, treats it as roll data if 1, and then checks whether the 6th bit is 1, and if it is 1, negative data. Can be restored with positive data. In addition, the first microcontroller unit 3211 checks whether the 7th bit of the received data is 1, treats it as pitch data if 0, and then checks whether the 6th bit is 1, and if it is 1, negative data Can be restored with positive data. In addition, the first motor 332 may be driven based on the restored data to adjust a moving direction and a speed of the moving body 300.

In addition, the second microcontroller unit 3212 restores the pitch data from the head mounted type wireless controller 200 to drive the first servo motor in the second motor 332 so that the image of the photographing apparatus 304 is maintained. It is possible to control the left / right rotation of the photographing apparatus 304 by controlling the lower / lower rotation and restoring yaw data to drive the second servo motor in the second motor 332.

Embodiments according to the present invention described above can be implemented in the form of program instructions that can be executed by various computer components and recorded in a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the computer software arts. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be modified with one or more software modules to perform the processing according to the present invention, and vice versa.

Particular implementations described in the present invention are embodiments and do not limit the scope of the present invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connection or connection members of the lines between the components shown in the drawings by way of example shows a functional connection and / or physical or circuit connections, in the actual device replaceable or additional various functional connections, physical It may be represented as a connection, or circuit connections. In addition, unless specifically mentioned, such as "essential", "important" may not be a necessary component for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to a preferred embodiment of the present invention, those skilled in the art or those skilled in the art having ordinary knowledge in the technical field described in the claims to be described later It will be understood that various modifications and variations can be made in the present invention without departing from the scope of the present invention. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification but should be defined by the claims.

Handle Type Wireless Remote Controller (100)
First main unit 101
The first measuring unit 110, the switch unit 111, the first sensor unit 112
First gyro sensor 1121, first acceleration sensor 1122
First control unit 120, first main board 121
Remote controller output unit 130, remote controller light source 131
The first communication unit 140, the first wireless communication module 141
First power supply unit 102
First battery unit 150, the first protection circuit 160
First step-up circuit 170, first regulator 180
Body portion 190, first handle portion 191
1-1 extension (1911), 1-2 extension (1912), 1-3 extension (1913)
Second handle portion 192
2-1th extension 1921, 2-2th extension 1922, 2-3th extension 1923
Head mounted type wireless remote controller (200)
2nd main device 201
Second measuring unit 210
Second sensor unit 212
Second gyro sensor 2121, second acceleration sensor 2122, geomagnetic sensor 2123
Second control unit 220, second main board 221
The second communication unit 240, the second wireless communication module 241
Second power supply 202
Second battery unit 250, the second protection circuit 260
Second boost circuit 270 and second regulator 280
Display (203)
Moving object 300
Third main unit 301
Third control unit 320, third main board 321
First Microcontroller Unit 3211, Second Microcontroller Unit 3212
Motor driver (322)
Mobile body output unit 330, mobile light source unit 331
First motor 332, second motor 333
Third communication unit 340, third communication module 341
Third power supply 302
Third battery unit 350, the third protection circuit 360
3-1 regulator 381, 3-2 regulator 382
Photographing device 304

Claims (10)

A first communication unit configured to transmit a control signal for adjusting a moving direction and a speed of a moving object having a photographing apparatus in which a shooting direction is adjusted by a head mounted type wireless controller;
A first sensor unit including a first gyro sensor and a first acceleration sensor and detecting position information thereof; And
And a first controller configured to generate the control signal based on a detection result of the sensor unit.
The first control unit calculates a pitch angle and a roll angle of the user based on the position information of the first sensor unit, and as a result, the pitch angle and the roll angle are set ranges. If it is outside, it outputs preset information data,
And a main body including the first communication unit, the first sensor unit, and the first control unit.
The moving direction of the movable body is controlled corresponding to the rotational direction of the main body part,
The speed of the moving body is controlled in proportion to the rotation angle of the main body portion,
A first handle part extending from one side of the main body part; And
And a second handle part extending from the other side of the main body part.
The first and second handle portion is characterized in that the symmetrical shape with respect to the main body portion,
The first handle part has a curved shape in the negative X-axis direction and extends from the left side of the main body part in a negative X-axis direction, and has a curved shape extending in the Z-axis direction from an end of the first-first extension part. A 1-2 extension part and a 1-3 extension part extending from the end of the 1-2 extension part in a negative Y-axis direction and extending in a negative Y-axis direction;
The second handle part may include a 2-1 extension part extending in a positive X axis direction from the right side of the main body part and extending in a Z shape direction from an end of the 2-1 extension part. A 2-2 extension portion and a 2-3 extension portion extending from the end of the 2-2 extension portion to have a curved phenomenon in a negative Y-axis direction;
Radio controlled by user's hand. delete delete delete delete delete delete delete delete delete

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