KR102354364B1 - Flight vehicle control training device that can be detachable from the robot arm - Google Patents

Abstract

The present invention relates to a flight vehicle control training device detachably attached to a robot arm, which performs pilot training in an environment similar to reality while a user directly rides on a boarding unit mounted on a multi-joint robot arm and enables an experienced users to perform pilot training while the boarding unit is separated from the robot arm. According to the present invention, the flight vehicle control training device comprises: a boarding unit having the shape of an aircraft and enabling a user to control flight with a controller provided therein while riding thereon; a multi-joint robot arm having a fastening part, to which the boarding part is fastened, mounted on an end part; and a control unit controlling operation of the robot arm on the basis of a control signal generated from the controller.

Description

{Flight vehicle control training device that can be detachable from the robot arm}

The present invention relates to a device used for pilot training of an aircraft, and more particularly, it is possible to conduct pilot training in an environment similar to the real one while a user is directly on board a boarding unit mounted on a multi-joint robot arm. It relates to a device that allows an experienced user to conduct pilot training in a state in which the boarding part is separated from the robot arm.

In general, the term drone refers to an unmanned aerial vehicle in the shape of an airplane or helicopter that flies by induction of radio waves, and human boarding has been excluded. A new concept of drone technology for transport is attracting attention.

This is called Urban Air Mobility (UAM) or simply drone taxi.

Therefore, in preparation for the activation of mobility in the urban environment as described above, it is said that it is required to preemptively secure a drone pilot who directly boards the drone, but there is no training ground or training device related to this in Korea.

In addition, in order to train an aircraft, such as a helicopter or a light aircraft, it is necessary to actually control the aircraft or use a flight simulator, which is a simulated control training device. In this case, there is a problem that the effect of training is limited.

In this regard, as an invention related to a simulation pilot training device that can improve the training effect by providing an excellent sense of presence compared to the conventional simulation pilot training device, “VR HMD and Inventions such as a robot arm-type driver simulator using an excitation device” and “4D VR tourism simulation device” of Korean Patent Publication No. 10-2131072 have been proposed and published.

First of all, in the “Robot arm-type driver simulator using VR HMD and excitation device” of Korean Patent Application Laid-Open No. 10-2020-0104751, a control module installed on a multi-joint robot arm and a user rides on and the control module It is configured to include a vibrating device that is installed inside and generates a vibration and an imaging device that provides a virtual image to the user, so that the user can conduct pilot training at a level very similar to the actual situation in a safely controlled environment. An invention related to a device for

In addition, in the "4D VR tourism simulation device" of the Republic of Korea Patent Publication No. 10-2131072, it is configured to be hung on the upper plate of the main body by a support wire, and is supported by a harness and the lower plate of the main body to experience virtual paragliding. An invention has been proposed for a device that is configured as much as possible and is equipped with a treadmill to allow a virtual trekking experience so that a user can virtually experience leisure sports or tourism in a famous tourist destination.

However, all of the above conventional inventions provide a safely controlled environment to the user to prevent accidents due to inexperienced or unexpected situations in the operation. It is effective only for one user, and there is a limitation that it cannot provide an effect beyond basic training for an experienced user.

Therefore, it relates to a device configured to allow a user who is inexperienced in the control of an aircraft to train, and to virtually experience flying at a famous tourist destination or attraction, but to provide an effect beyond basic training even to an experienced user. The need is being raised.

Republic of Korea Patent Publication No. 10-2020-0104751 (2020. 09. 04.) Republic of Korea Patent Publication No. 10-2131072 (2020. 07. 01.)

The aircraft control training device detachable to the robot arm according to the present invention is an invention proposed to solve the above problems,

All of the above conventional inventions provide a safe and controlled environment for users to prevent accidents due to inexperienced or unexpected situations in the operation. It is effective only for the user, and since there is a problem that there is a problem that a limit that cannot provide an effect beyond basic training for an experienced user occurs, the purpose of this is to propose a solution.

The present invention is to realize the above object,

a boarding unit in the shape of an airplane capable of being controlled using a remote controller provided inside while a user is on board; a multi-joint robot arm to which the fastening part to which the boarding part is fastened is mounted to the distal end; and a control unit for controlling an operation of the robot arm based on a control signal generated from the manipulator. It provides an aircraft control training device detachable to the robot arm, characterized in that it comprises a.

In addition, the present invention is a VR device worn on the user's head; And, topographic data and weather data for realizing a virtual reality image about a famous tourist destination or attraction are stored, and a virtual reality image displayed on the VR device is implemented based on the stored terrain data and weather data and a control signal of the manipulator a simulator to do; It is characterized in that it is configured to further include.

In addition, according to the present invention, the boarding part on which the user boards is separated from the fastening part of the robot arm and consists of a drone that can fly alone, and the control unit can separate the boarding part from the fastening part of the robot arm when a separation signal is generated from the controller. It is characterized in that it is configured to control the flight of the boarding part instead of controlling the robot arm when the boarding part is separated from the fastening part of the robot arm.

The aircraft control training device detachable to the robot arm according to the present invention

By providing a controlled environment to prevent the occurrence of accidents due to inexperienced or unexpected situations, there is an effect that allows users with inexperienced pilots to safely train;

By providing the virtual reality image implemented through the simulator through the VR device, the effect of allowing the user to virtually experience flying at famous tourist spots or attractions occurs.

By allowing the flight training to be performed independently with the boarding part separated from the robot arm, there is an effect that can provide more than basic training to experienced users.

1 is a perspective view showing a boarding part and a robot arm of an aircraft control training device detachable to a robot arm according to the present invention.
2A to 2B are exemplary views showing various postures of the boarding part by the robot arm of the present invention.
3 is an exemplary view showing the configuration of a manipulator and a control unit for controlling the robot arm of the present invention.
4 is a block diagram showing the configuration of the present invention for a virtual reality experience.
5A is an exemplary diagram illustrating an operation relationship in a situation in which a separation signal is generated from a manipulator;
Figure 5b is an exemplary view showing a state immediately after the boarding part of the present invention is separated from the robot arm.
6 is a configuration diagram showing a detailed configuration for recombining the boarding unit and the robot arm in a separated state.

The present invention relates to an apparatus used for pilot training of an aircraft,

a boarding unit 100 in the shape of an aircraft capable of being controlled using the manipulator 101 provided therein while the user is on board; a multi-joint robot arm 110 in which the fastening part to which the boarding part 100 is fastened is mounted to the distal end; and a control unit 120 for controlling the operation of the robot arm 110 based on a control signal generated from the manipulator 101; It relates to an aircraft control training device detachable to a robot arm, characterized in that it comprises a.

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

First, the boarding unit 100 shown in FIG. 1 is a boarding body directly boarded by a user who intends to perform piloting training using the present invention. Make it possible to conduct pilot training in the same environment as the

At this time, the shape of the boarding unit 100 is not limited to any one fixed shape, and various types of airframes included in both fixed-wing aircraft flying using fixed wing and rotorcraft flying using rotary wing. By being configured, it can be replaced with another one according to the type of aircraft that the user wants to perform pilot training.

That is, the boarding unit 100 may be composed of various shapes of airframes or may have different internal structures with the same external appearance, and any shape may have a separate fastening part for attaching and detaching to the robot arm 110 on the outside. should be mounted

However, the boarding part 100 does not necessarily have to be configured to express the entire shape of the aircraft, and it may be configured in a shape in which a part is omitted within the range that does not interfere with the piloting training.

At this time, the position at which the fastening part is mounted to the boarding part 100 is preferably configured at the lower end when the boarding part 100 is in the form of a fixed-wing vehicle, and is configured as the lower end or the rear in the case of the rotary-wing vehicle, or at the bottom. and may be configured to include both the rear surface.

In addition, the inside of the boarding unit 100 is a manipulator 101 (including an instrument panel) that is actually provided for the type of aircraft of the boarding unit 100 or is actually provided for the type of aircraft for which the user wants to conduct pilot training. A communication device for wireless communication with a manager located outside or a helmet and seat belt for user safety must also be essential.

In addition, the robot arm 110 shown in FIG. 1 is a multi-joint robot configured to implement various postures, and the other fastening part to which the fastening part of the boarding part 100 is fastened is mounted at the distal end to the fastening part. It enables the same operation as the operation in the actual flight state to occur on the boarding unit 100 in the fastened state. Hereinafter, the fastening part mounted on the robot arm 110 will be referred to as a second fastening part.)

Therefore, the first fastening part and the second fastening part should be configured in a form that can be fastened to each other in correspondence with each other, and if fastening is possible, but strong fastening is possible, there is no problem in size or weight. It is free even if it consists of

In addition, the robot arm 110 is preferably composed of three or more axes of articulation, and if it is composed of three or more axes so that the boarding unit 100 can implement various motions, the type or size of the device is separate. is not limited to

In this case, the robot arm 110 may be configured to be axially rotatable at the distal end thereof, thereby enabling the boarding unit 100 to implement more various operations.

That is, the robot arm 110 is configured to implement various postures of the boarding unit 100 as shown in FIGS. 2A to 2C by the configuration of three or more multi-joint joints and the axial rotation of the distal end. Through the configuration, the user can directly experience the movement of the aircraft to the extent that it is the same as the real thing or can be considered the same.

In addition, the robot arm 110 is installed in a lifting device, so that it ascends and descends as necessary, and the boarding unit 100 can assist to implement more various flight operations, such as turning flight, and must be flown at a considerable altitude in a real situation. You can allow the user to gradually adjust to the altitude.

In addition, the control unit 120 is a control device for controlling the operation of the robot arm 110, based on the control signal generated from the manipulator 101 by the user as shown in FIG. 3, the robot arm 110 .

In this regard, as an embodiment of the present invention, when the boarding unit 100 is configured in the shape of a drone including a plurality of rotor blades, the robot arm 110 is controlled by a user using the manipulator 101 . The boarding unit 100 may be lifted from the ground or landing site into the sky, may be tilted in any one direction, may be rotated in any one direction and at a certain angle, and may be placed on the ground or landing site.

In addition, when the boarding unit 100 is configured in the shape of a light aircraft including fixed wings, the robot arm 110 tilts the boarding unit 100 backward under the control of the user using the manipulator 101, It can be lifted from the ground or landing pad into the sky, tilted in either direction, rotated at an angle to either direction, and tilted forward and put down on the ground or landing pad.

Accordingly, the user riding on the boarding unit 100 is the same as the movement in the actual flight state, such as take-off, moving flight, turning flight, rotation flight, stationary flight, and landing, according to the control of the remote controller 101 by the user. You can directly experience movements that can be considered the same, and if necessary or desired, you can realistically experience flying in a virtual space through virtual reality.

That is, as shown in FIG. 4 , the present invention stores a plurality of terrain data and weather data for implementing the VR device 130 worn by the user on the head and virtual reality images related to famous tourist spots or attractions, and the stored The simulator 140 may further include a simulator 140 that implements a virtual reality image displayed on the VR device 130 based on terrain data, weather data, and a control signal of the manipulator 101 .

First, the VR device 130 is a known virtual reality device configured to block the user's view, and may include an input function in the main body or a separate controller for input. , the higher the performance, the better, but the type is not limited.

In this case, it is preferable that the VR device 130 is configured in the form of a helmet for a more realistic virtual reality experience while considering the use environment of the present invention.

In addition, the simulator 140 is a known computing device such as a computer, and implements a virtual reality image about a famous tourist attraction or attraction according to a user's selection before or after wearing the VR device 130 , and the manipulator 101 . By reflecting the control signal from the virtual reality to the virtual reality, it provides the effect of allowing the user to experience the places virtual.

In addition, the simulator 140 may satisfy the user's taste or further improve the effect of the manipulation training by the user's selection or by automatically realizing various situations such as daytime, nighttime, strong wind, fog, rain, etc.

On the other hand, according to the above configuration, the present invention can provide an effect that allows a user who is inexperienced in piloting an aircraft to conduct pilot training in the same or similar environment as in real life or to virtually experience famous tourist destinations or attractions. For users who have been trained, there is a limit that cannot provide an effect beyond basic training.

In order to solve this problem, the present invention can be configured as a drone capable of flying independently by separating the boarding part 100 from the second fastening part of the robot arm 110 .

That is, as described above, the boarding unit 100 may be configured in the shape of various types of airframes included in both the fixed-wing vehicle flying using the fixed wing and the rotary-wing vehicle flying using the rotor, but this is the only It is premised that it is composed of a model of a non-flying vehicle.

However, in the present invention, when the boarding unit 100 is configured in the shape of a drone flying using a plurality of rotor blades, the boarding unit 100 may be configured as an actual drone capable of flying alone.

At this time, as shown in FIGS. 5A and 5B , when a separation signal is generated from the manipulator 101 , the control unit 120 allows the boarding unit 100 to be separated from the robot arm 110 . control, and in a state in which the boarding unit 100 is separated from the robot arm 110 , the flight of the boarding unit 100 may be controlled instead of controlling the robot arm 110 .

More specifically, when a separation signal is generated from the manipulator 101, the control unit 120 may control the first coupling unit and the second coupling unit in a mutually coupled state to be separated, and the boarding unit may be separated. In a state in which 100 is separated from the robot arm 110 , the control object is immediately switched from the robot arm 110 to the boarding unit 100 .

Therefore, in this case, the first coupling part and the second coupling part should be configured as a device that can be automatically separated or fastened again by a separation signal and a coupling signal from the manipulator 101 .

Thereafter, the boarding unit 100 can actually fly using a plurality of rotor blades provided on the outside and various devices related thereto, and a user who directly controls the boarding unit 100 using the manipulator 101 You can improve your control skills by flying directly in the space within the permitted range.

However, in the process in which the boarding unit 100 is separated from the robot arm 110 and the target of control by the controller 120 is switched, an error may occur in the user's control, which is the boarding unit 100 . As it can lead to accidents such as falling or crashing, a method to solve these problems is absolutely necessary.

Therefore, in the present invention, in the process in which the boarding part 100 is separated from the robot arm 110 and the target of control by the controller 120 is switched, the boarding part 100 is automatically controlled by the controller 120 . ) may be configured to generate a stationary flight, and in a state in which the stationary flight occurs for a certain period of time so that the control of the boarding unit 100 by the user can be stably completed, the boarding unit 100 by the controller 120 is ready. ), the control by the user can take effect as soon as the flight is stopped.

In addition, as described above, in the present invention, it is preferable that the boarding unit 100 is configured to fly only in a space within a permitted certain range, and this configuration is the boarding unit 100 and the robot arm 110 . GPS devices 102 and 111 that are mounted on each to collect location information, a calculator 150 that calculates the distance between the boarding unit 100 and the robot arm 110 using the collected location information, and a calculator ( When the distance calculated in step 150 exceeds the allowable range, it may be implemented through the configuration of the control unit 120 for performing forced automatic control of the boarding unit 100 .

Specifically, as shown in FIG. 6 , GPS devices 102 and 111 for collecting location information are mounted on each of the boarding unit 100 and the robot arm 110 , and each of the GPS devices 102 and 111 ) is transmitted to the calculation unit 150 so that the distance between the boarding unit 100 and the robot arm 110 can be calculated.

At this time, if the distance between the boarding unit 100 and the robot arm 110 calculated by the calculation unit 150 is within the allowable range, forced automatic control by the control unit 120 does not occur, but When the distance between 100 and the robot arm 110 exceeds the allowable range, forced automatic control by the control unit 120 may occur.

Therefore, the boarding unit 100 is forcibly controlled automatically by the control unit 120 and by moving and flying within the allowable range, the piloting training or experience can be safely resumed, and the boarding unit 100 can move and fly again to the robot arm 110 . By being fastened, the user's pilot training or experience can be ended.

However, before the forced automatic control by the control unit 120 occurs, a request message for requesting compliance with the allowable range may be output through the speaker provided in the boarding unit 100 .

In addition, as described above, when the boarding unit 100 is separated from the robot arm 110 and flies alone, the use of the VR device 130 should be restricted for the safety of the user. The simulator 140 stops the implementation of the virtual reality image displayed on the VR device 130 so that the use of the VR device 130 worn by the user can be stopped.

Therefore, a user who wants to perform a solo flight of the boarding unit 100 must replace the VR device 130 worn by the user with a general helmet. The device 130 may be provided, and a general helmet should be provided at all times.

On the other hand, it is preferable that the configuration of the single flight of the boarding unit 100 as described above is permitted only to an experienced user.

Therefore, the present invention can be configured to give effect only to the separated signal by the skilled person by grading the user into a beginner and an expert, and accordingly, when the separated signal by the skilled person is generated, the boarding unit 100 is the It may be separated from the robot arm 110 , but when a separation signal is generated by a beginner, it may be configured so that the separation of the boarding unit 100 and the robot arm 110 does not occur.

For the implementation of such a configuration, the present invention may allow the user to check his/her own level or perform an authentication procedure before boarding the boarding unit 100 or performing the operation, and through this process, the skill level Separation of the boarding unit 100 may be permitted only to a user of .

At this time, the division between the beginner and the expert may be determined according to the result of the achievement of the designated training time and the evaluation method of the general steering ability, and the grade assigned to the user in any way is confirmed by the administrator of the present invention in various known methods or As the system is automatically checked, separation control of the boarding unit 100 by the controller 120 may be permitted or limited.

That is, the manager who manages the pilot training or experience according to the present invention can check the level of the user who wants to board the boarding unit 100 in advance, and according to the checked level, the boarding unit 100 by the controller 120 according to the confirmed level. ) may be permitted or restricted.

Therefore, when a user whose grade given by evaluation is a beginner attempts separation control using the manipulator 101, the separation of the first coupling part and the second coupling part by the control unit 120 does not occur, When a user whose assigned grade is an experienced user attempts separation control, the first coupling part and the second coupling part are separated by the control unit 120 so that the boarding unit 100 can fly alone.

In this case, the grades that can be given to the user may be further subdivided into beginners, experts, experts, etc., and the scope of independent flight may be differently restricted according to each grade.

In addition, when the user actually boards the drone and controls the flight, the drone can be landed at a landing point such as a relatively wide ground and the use can be ended, but in the present invention, the boarding unit 100 is the robot arm ( Since the state of being fastened to the second fastening part of 110) is the basic configuration, it will be necessary to connect the boarding part 100 and the robot arm 110, which are separated from each other, in terminating the maneuvering training.

Accordingly, the present invention provides a configuration in which the boarding unit 100 is again fastened to the robot arm 110 while in flight, and the boarding unit 100 is again fastened to the robot arm 110 in a state in which the boarding unit 100 is landed on the ground or landing site. It can be configured by adopting all of the configurations to be used, and detailed embodiments thereof are as follows.

First, when a return signal is generated from the manipulator 101 , the control unit 120 automatically installs the boarding part 100 so that the boarding part 100 can be fastened to the fastening part of the robot arm 110 . In this process, signals such as control signals and separation signals generated from the manipulator 101 lose their effectiveness.

In addition, when the landing of the boarding part 100 is sensed, the control unit 120 is configured to engage the boarding part 100 and The robot arm 110 may be automatically controlled or the robot arm 110 may be automatically controlled alone, and a load cell provided on the lower side of the boarding unit 100 may be used to detect the landing.

To this end, the control unit 120 controls the position information of the boarding unit 100 and the position information of the robot arm 110 , and more particularly, the position information of the first coupling unit mounted on the boarding unit 100 and the robot arm. All location information of the second coupling part mounted on the 110 can be collected, and the boarding part 100 and the robot arm 110 are automatically controlled or the robot arm 110 is automatically controlled based on the collected location information. can be controlled

Accordingly, GPS devices 102 and 111 for collecting location information must be installed in the boarding part 100 and the robot arm 110, respectively, which is a force of the control unit 120 on the boarding part 100. The configuration of automatic control has also been mentioned.

At this time, when the control unit 120 automatically controls the boarding unit 100 and the robot arm 110 or automatically controls the robot arm 110 , the boarding unit 100 calculated by the calculation unit 150 ) The distance between the robot arm 110 and the robot arm 110 may be used, and one or more GPS devices may be further installed around the robot arm 110 for the purpose of minimizing the occurrence of an error.

Accordingly, the calculator 150 can perform a more accurate calculation using the location information of the robot arm 110 and the location information collected from the GPS device around it, which is always a fixed value, and the boarding unit ( 100) may further include a camera and an image display device for allowing a user to directly check the coupling of the first coupling unit and the second coupling unit.

However, in the state in which the boarding unit 100 flies alone, the mounting on the robot arm 110 does not necessarily have to occur automatically according to the above-described embodiment, and the user displays the image captured by the camera. It can be checked in real time through the device and manually controlled through the manipulator 101 so that the first fastening part and the second fastening part are mutually fastened.

In addition, a known automatic docking system may be used for recombination of the boarding unit 100 and the robot arm 110 .

The embodiments introduced above are provided as examples so that the technical idea of the present invention can be sufficiently conveyed to those of ordinary skill in the art to which the present invention belongs, and the present invention relates to the embodiments described above. It is not limited and may be embodied in other forms.

In order to clearly explain the present invention, parts irrelevant to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of components may be exaggerated or reduced for convenience.

Also, like reference numbers refer to like elements throughout.

100: boarding part → 101: remote controller
→ 102: GPS device
110: robot arm → 111: GPS device
120: control unit
130: VR device
140 : Simulator
150: output unit

Claims (6)

a boarding unit 100 in the shape of an airplane capable of being controlled using the manipulator 101 provided therein while the user is on board;
a multi-joint robot arm 110 in which a fastening part fastened to a lower end or a rear surface of the boarding part 100 is mounted to the distal end; and,
a control unit 120 for controlling the operation of the robot arm 110 based on a control signal generated from the manipulator 101; Consists of including,
The boarding unit 100,
It is characterized in that it consists of a drone that can fly independently by being separated from the fastening part of the robot arm 110,
The control unit 120,
When a separation signal is generated from the manipulator 101 , the boarding unit 100 is controlled to be separated from the fastening part of the robot arm 110 , and the boarding part 100 is separated from the fastening part of the robot arm 110 . controls the flight of the boarding unit 100 instead of the control of the robot arm 110, and when a return signal is generated from the remote controller 101 or landing of the boarding unit 100 is detected, the boarding unit 100 operates Configured to automatically control the boarding unit 100 and the robot arm 110 to be fastened to the fastening unit of the robot arm 110 or to automatically control the robot arm 110 alone It is characterized by
In the process in which the boarding part 100 is separated from the robot arm 110 and the target of control by the controller 120 is switched, the stationary flight of the boarding part 100 by the automatic control of the controller 120 is performed. It is configured to occur, and in a state in which the stationary flight occurs for a certain period of time so that the control of the boarding unit 100 by the user can be stably completed, the stationary flight of the boarding unit 100 by the control unit 120 is stopped and At the same time, the control training device detachable to the robot arm, characterized in that the control by the user is configured to take effect.
According to claim 1,
VR device 130 worn on the user's head; and,
Terrain data and weather data for realizing a virtual reality image of a famous tourist destination or attraction are stored, and the virtual data displayed on the VR device 130 based on the stored terrain data and weather data and the control signal of the controller 101 are used. a simulator 140 that implements a real image; Aircraft control training device detachable to the robot arm, characterized in that it further comprises a.
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