KR20150128060A - Remote Steering Apparatus And Control Method Thereof - Google Patents

Abstract

Provided are a remote steering device, in which a motor control part coupled to a steering wheel to control through wired and wireless communications is loaded on a direct drive motor to be integrated to renovate a conventional manned vehicle into an unmanned vehicle; and a control method thereof. The remote steering device according to the present invention comprises: a steering wheel (10) which controls the driving direction of a vehicle; a direct drive motor which includes a motor core (23) for operating the steering wheel (10); a motor control part (27) which is loaded on the direct drive motor to be integrated to control the direct drive motor through wired and wireless communications; a steering wheel coupling part (30) which detachably couples the steering wheel (10) to the direct drive motor to rotate the steering wheel (10) by the direct drive motor; and a remote controller (90) which transmits and receives a control signal through wired and wireless communications with the motor control part (27) to allow the motor control part (27) to control the direct drive motor.

Description

[0001] DESCRIPTION [0002] Remote Steering Apparatus and Control Method Thereof [

The present invention relates to a remote steering driver and a control method thereof, and more particularly, to a remote steering driver and a control method thereof, in which a motor control unit coupled to a steering wheel and controllable by remote wired / And more particularly, to a remote steering drive system and a control method thereof.

It is expected that the era of unmanned automobiles will come within 10 years as a major alternative to eliminating traffic congestion and eliminating the risk of accidents caused by drivers. Already in addition to Google, BMW, GM, Volkswagen and others are actively involved in the development of unmanned vehicles, and it will be possible in the near future.

Currently, technologically, it is a technical field to develop unmanned vehicle without driver, to develop road situation recognition using GPS, peripheral recognition using laser / radar, and inter-vehicle communication technology on the road. to be. Safety technologies applied to automobiles can be divided into four categories according to purpose and function: driving safety, accident prevention, driving assistance, and accident damage mitigation.

However, experts say that there is still a limit to advanced autonomous driving with unmanned vehicles. The biggest technical problems of autonomous driving are sensor recognition and decision making under uncertain conditions including direct sunlight directing to the camera or when the fog is deep, which directly affects the safety technology of unmanned vehicles. If the technology for self-propelled vehicles develops like this, it is expected to reach about 2025 in order to meet the average self-driving failure distance of 100,000 miles required by the automobile.

Therefore, there is a technical limit to develop the existing passive vehicle to the unmanned vehicle. Therefore, it is necessary to verify the reliability of the technical / safety before converting the passive vehicle into an unmanned vehicle or mass production. Especially, in order to verify the performance / reliability of safety technology such as driving safety of unmanned vehicle, accident prevention, driving support, accident mitigation technology, it is necessary to convert existing passive vehicle into unmanned vehicle. In addition, test evaluation of safety technology is extremely dangerous because it is done by acceleration / deceleration test or overturn control beyond the driver's perception ability.

A method of modifying an existing passive vehicle into an unmanned vehicle includes a method of modifying an ECU or a lower controller, which is an integrated controller of the vehicle, and a method of adding an external device such as a steering / braking / transmission robot. In order to take the former method, there is a disadvantage that it is difficult to implement without information about the vehicle internal system such as the integrated controller of the vehicle, the sensor, and the driver. However, the method of additionally attaching the steering / braking / transmission robot to the outside can be easily mounted on the vehicle, and it is possible to test and evaluate a specific safety technology without information on the vehicle system. The unmanned apparatus requires a steering-wheel steering mechanism and a braking robot and a transmission robot for acceleration / deceleration control, which are essential for the running control, and various sensors and signal processing devices for controlling the traveling moment Loses.

Of the unmanned vehicles applied to unmanned vehicles, the steering wheel drive apparatus is mostly attached to the direct handle, and the drive mechanism of the handle drive apparatus installed can be divided into a reducer type motor drive apparatus and a direct drive motor drive apparatus. The steering wheel drive system, which has been mainly developed so far, is a reducer type motor drive system, and its drive efficiency and response speed performance are degraded due to gear ratios of about 20: 1 or more. It is difficult to detach and attach to the steering wheel due to weight and volume increase .

The direct drive steering steering wheel drive system has a direct motor mounted on the external shape of the steering wheel, so that it is more advantageous than the drive system having a reduction gear in shape and weight. The direct drive steering steering wheel drive system is required to design and control the direct drive motor and to manufacture the motor that generates the necessary torque. Looking at the characteristics of recently developed vehicles, the increase of electronic control devices can be regarded as an important characteristic. In other words, it is well known that a variety of controllers are mounted on the engine controller for the convenience of devices such as a shift controller, an air conditioner controller, and a tire controller. Controllers applied to automobiles are gradually evolving from a mechanical or mechanical connection to a structure in which control commands and sensor characteristics are communicated through control period communication with the controller. That is, it is a general phenomenon that each device is developed by itself including devices necessary for driving, mounting of sensors, and measurement and control functions.

The conventional remote steering drive apparatus is provided with a steering apparatus for a remote vehicle and an autonomous vehicle, such as in Korean Patent Laid-Open No. 10-2007-0104764 (published on October 29, 2007) In case of remote control, it can be converted to automatic mode to achieve automatic steering. If it is not necessary to remotely control the steering system by moving or the like, it is possible to switch to manual mode to improve steering performance, And a remote steering driver capable of manual and automatic mode conversion.

However, such a conventional remote steering drive drive apparatus has the following problems.

First, the currently developed high-speed direct drive steering wheel drive system compensates for the advantages of the space obtained by the structure of the motor because the controller is installed outside.

Second, since a separate installation space is required to install the controller on the outside, it is inconvenient to convert the existing passive vehicle into an unmanned vehicle, and additional cost is required.

Thirdly, since the coupling force of the gear mechanically connected to the servo motor is maintained or released by the switching clutch for manual and automatic mode switching, a separate gear is required, complicating the structure of the remote steering drive apparatus.

Fourth, since means for measuring the absolute turning angle of the steering wheel is not provided, it is difficult to accurately control steering of the steering wheel.

Korean Patent Publication No. 10-2007-0104764 (published on October 29, 2007).

An object of the present invention is to provide a remote steering drive apparatus and a control method thereof, in which a motor control unit, which is coupled to a steering wheel and is controllable by remote wired / wireless communication, is integrally mounted in a direct drive motor so as to convert an existing manned vehicle into an unmanned vehicle I have to.

The remote steering driving apparatus and the control method thereof according to the present invention can be implemented by using CAN (Controller Area Network) communication, which is a vehicular communication network, for controlling a direct drive motor by integrating a motor control unit around a direct drive motor, Communication can be used.

In order to measure an absolute turning angle of an important steering wheel or a direct drive motor in a running control, the remote steering driving apparatus and the control method thereof according to the present invention include an inner hole disposed at an inner circumference on the inner circumference of the lower housing, A sensor is installed, and three Hall sensors are installed on a part of the outer circumference of the lower housing of the remote steering drive part for measuring the relative rotation angle of the steering wheel or the direct drive motor.

A remote steering drive apparatus of the present invention includes a handle for adjusting a running direction of a vehicle and a motor core provided between an upper housing and a lower housing for driving the steering wheel so as to be steerable and rotated by an electromotive force generated by a change in magnetic flux, An inner Hall sensor installed at an innermost circumference of the lower housing at an irregular number of times to measure an absolute rotation angle of the motor core and three inner circumferential sensors disposed on a part of an outer circumference of the lower housing, A motor control part integrally mounted on the direct drive motor so that the direct drive motor can be controlled remotely by wired / wireless communication; and a motor controller which is mounted integrally with the direct drive motor, A handle engaging portion for detachably connecting the handle and the direct drive motor to each other so as to be rotatable integrally; And a remote control unit for transmitting / receiving a control signal to / from the motor control unit remotely via wired / wireless communication so that the motor control unit can control the direct drive motor; And a travel mode changeover switch for enabling the transition of the attractee mode.

The remote steering drive part of the present invention mainly includes a direct drive motor and a motor control part. That is, the remote steering driver includes: a direct drive motor coupled to the handle to drive the steering wheel so that the steering wheel can be steered; and a motor controller integrally mounted to the direct drive motor so that the direct drive motor can be controlled remotely by wire / wireless communication; .

Here, the direct drive motor includes: an upper housing formed on a circumference of an upper surface of a fixing groove to which the handle coupling portion is fixed, the fixed housing having a fixed magnet inside the outer wall; A motor core installed between the upper housing and the lower housing and rotated by an electromotive force generated by a change in magnetic flux; And an inner Hall sensor installed on the inner circumference of the lower housing at a non-fixed number of times to measure an absolute rotation angle of the motor core, and three outer circumferential portions of the outer circumference of the lower housing, An outer Hall sensor for measuring the Hall sensor; And a plurality of bearings coupled between the motor core and the lower housing to facilitate rotation of the motor core.

In addition, the motor control unit may include a control board mounted in the lower housing to control the direct drive motor to be rotatable clockwise or counterclockwise according to a control signal transmitted / received by wire / wireless communication, And a communication unit installed on the outer surface to transmit / receive a control signal remotely via wired / wireless communication.

4 to 6, the motor control unit controls the rotation of the motor core based on the absolute rotation angle and the relative rotation angle of the motor core measured by the inner hole sensor and the outer hole sensor, respectively .

The inner Hall sensor includes a first inner Hall sensor and a second inner Hall sensor, each of which is installed at a non-integral multiple of a number on the inner circumference of the lower housing to measure an absolute rotation angle of the motor core, The arrangement interval of the hall sensors is set more densely than the arrangement interval of the second inside hall sensors.

Here, the sensor is a simple structure in which four lead wires are attached to a semiconductor device, of which the input terminal is a current terminal and the output terminal is a hall terminal. When a magnetic field is applied to the sensor surface in a direction perpendicular to the current, a Hall voltage proportional to the product of the magnetic field and the control current is generated in a direction perpendicular to both the current and the magnetic field. And the sensor for detecting the magnetic field is a hall sensor. At this time, since the Hall voltage is proportional to the magnetic field, it can be used to measure the magnetic field. Hall sensors can be used to sense the position of the motor rotor.

Meanwhile, the wired / wireless communication uses CAN (Controller Area Network) communication or Bluetooth.

The handle coupling portion is detachably coupled to the rim of the handle so that the handle can be integrally rotated by the direct drive motor. The clamp is formed below the clamp to be coupled to the fixing groove formed in the upper housing. And protruding fixing protrusions.

When the switch is ON, the traveling mode changeover switch can remotely transmit / receive a control signal using wired / wireless communication and travel in the unmanned mode by the direct drive motor. When the travel mode changeover switch is OFF, Make it possible to drive in the manned mode without operation.

In addition, the remote steering driver of the present invention includes: a support coupled to the remote steering driver to support the remote steering driver so that the remote steering driver rotates clockwise or counterclockwise according to a control signal; And a connection part connecting the support part and the fixing part to each other.

Also, a plurality of the support portions may be provided so that the remote steering driver can be rotated clockwise or counterclockwise.

The support portion includes a support frame coupled to a rear surface of the lower housing of the remote steering driver and a ball joint connected to the support frame to allow the remote steering driver to rotate clockwise or counterclockwise .

In addition, the connection portion may extend or contract in length depending on the rotation of the remote steering driver.

Next, a control method of a remote steering driver according to an embodiment of the present invention will be described.

A control method of a remote steering driver according to the present invention is a method for controlling a remote steering driving apparatus comprising a direct drive motor including a handle for adjusting a running direction of the vehicle and a motor core for driving the handle so as to be steerable, And a communication unit for transmitting / receiving a control signal remotely via wired / wireless communication with a control board for controlling the direct drive motor to be rotatable in a clockwise or counterclockwise direction in accordance with a control signal transmitted / received through wired / A motor control unit integrally mounted on the direct drive motor; a handle coupling unit coupling the handle and the direct drive motor so that the handle can be integrally rotated by the direct drive motor so that the handle and the direct drive motor can be detachably attached to each other; And a remote controller for transmitting / receiving a control signal to / from the motor control unit by wired / wireless communication so that the motor control unit can control the direct drive motor, the method comprising the steps of: (a) A step of transmitting a control signal to the communication unit of the motor control unit remotely by the motor control unit so that the motor control unit can control the direct drive motor and (b) the communication unit of the motor control unit transmits the control signal received from the remote controller The control board of the motor control unit controls the motor core of the direct drive motor to rotate clockwise or counterclockwise, and (c) when the motor core is rotated, And adjusting the running direction of the handle integrally joined to the handle.

Further, in the step (b), the direct drive motor further includes an inner hall sensor for measuring an absolute rotation angle of the motor core and an outer hall sensor for measuring a relative rotation angle of the motor core, And controlling the rotation of the motor core based on an absolute rotation angle and a relative rotation angle of the motor core measured by the inner hole sensor and the outer hole sensor, respectively.

The inner Hall sensor includes a first inner hall sensor and a second inner hall sensor, each of which is provided at a non-integral multiple of a number on the inner circumference of the lower housing to measure an absolute rotation angle of the motor core, The arrangement interval of the inner hall sensors is arranged more densely than the arrangement interval of the second inner hall sensors.

Further, the step (a) may further include a traveling mode changeover switch for enabling switching between an unmanned mode and an attended mode by turning on / off the wired / wireless communication between the motor control unit and the remote controller, When the switch is ON, the control signal is transmitted and received remotely via wired / wireless communication, and the vehicle can travel in the unmanned mode by the direct drive motor. When the switch is OFF, the wired / .

As described in detail above, in the remote steering driving apparatus and the control method thereof according to the present invention, a motor control unit, which is coupled to a steering wheel and can be controlled by remote wired / wireless communication, The present invention has the following merits by measuring the absolute rotation angle of the handle using the inner hall sensor and the outer hall sensor and using the motor control unit for rotation control of the direct drive motor.

First, compared to a remote steering drive device in which a conventional controller is installed on the outside, the motor control part is integrally mounted on the direct drive motor, so that it is easy to install on a handle of an existing manned vehicle.

Second, since the motor control unit is integrally mounted on the direct drive motor, a separate installation space is not required for installing the motor control unit. Therefore, it is convenient to convert the existing passive vehicle into the unmanned vehicle, and no additional cost is required.

Third, it is possible to easily switch the unmanned mode and the attracting mode by simply controlling the remote communication by the ON / OFF method without installing additional parts by using the traveling mode changeover switch.

Fourth, since the absolute rotation angle and the relative rotation angle of the steering wheel are measured by using the inner hall sensor and the outer hall sensor, respectively, and the motor control unit controls the rotation of the direct drive motor, accurate steering control of the steering wheel is possible.

1 is a schematic diagram of an entire configuration of a remote steering drive apparatus according to an embodiment of the present invention.
2 is a partial exploded view of an entire configuration of a remote steering drive apparatus according to an embodiment of the present invention.
3 is a detailed exploded view of a remote steering driver, which is one of the main components of the present invention.
4 is an internal plan view of a remote steering driver according to an embodiment of the present invention.
5 is a detailed internal cross-sectional view of a remote steering driver according to an embodiment of the present invention.
6 is a control flowchart of a remote steering driver according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the well-known functions or constructions are not described in order to simplify the gist of the present invention.

2 is a partial exploded view of an entire configuration of a remote steering drive apparatus according to an embodiment of the present invention; FIG. 2 is a partial exploded view of an entire configuration of a remote steering drive apparatus according to an embodiment of the present invention; to be. FIG. 3 is a detailed exploded view of a remote steering driver according to one embodiment of the present invention, FIG. 4 is an internal plan view of a remote steering driver according to an embodiment of the present invention, and FIG. FIG. 3 is a detailed internal cross-sectional view of a remote steering driver according to FIG. 6 is a control flowchart of a remote steering driver according to an embodiment of the present invention.

1 to 6, the remote steering driving apparatus of the present invention mainly includes a steering wheel 10, a remote steering driver 20 including a direct drive motor and a motor control unit 27, a handle coupling unit 30, A controller 90, and a traveling mode changeover switch 70.

The remote steering drive apparatus of the present invention includes a steering wheel 10 for adjusting a running direction of a vehicle and a steering shaft 10 installed between the upper housing 21 and the lower housing 29 for driving the steering wheel 10 so as to be steerable, A motor core 23 that rotates by an electromotive force generated as a result of the change in the rotational speed of the motor core 23 and an inner Hall sensor 23 that is installed on the inner circumference of the lower housing 29 at a non- And an outer Hall sensor (28) installed at a portion of the outer circumference of the lower housing (29) to measure a relative rotation angle of the motor core (23) A motor control unit 27 which is integrally mounted on a direct drive motor so that the direct drive motor can be remotely controlled by wired / wireless communication; and a motor control unit 27 which is connected to the handle 10 so that the handle 10 can be rotated integrally by the direct drive motor. And the direct drive motor Attaching the handle coupling portion 30 for coupling to enable; And a remote controller 90 for transmitting / receiving a control signal to / from the motor control unit 27 by wire / wireless communication so that the motor control unit 27 can control the direct drive motor, And a traveling mode changeover switch 70 that enables switching between an unattended mode and an attracted mode by turning on / off the wired / wireless communication between the controller 90 and the controller 90.

3 to 5, the remote steering driver 20 of the present invention mainly includes a direct drive motor and a motor control unit. That is, the remote steering driver 20 includes a direct drive motor coupled to the handle 10 to drive the steering wheel 10 so as to be steerable, and a direct drive motor for directly controlling the direct drive motor remotely through wired / And a motor control unit 27 integrally mounted on the motor.

The direct drive motor includes an upper housing 21 having a fixing groove on which the handle coupling portion 30 is fixed and a fixed magnet 21a on the inner side of the outer wall, A lower housing 29 coupled to the upper housing 21 and having the motor control unit 27 mounted thereon and a lower housing 29 disposed between the upper housing 21 and the lower housing 29, A rotating motor core (23); And an inner Hall sensor (22) installed at an innermost circumference of the lower housing (29) at an irregular number of times to measure an absolute rotation angle of the motor core, and an inner hall sensor An outer Hall sensor (28) provided with a plurality of teeth for measuring the relative rotation angle of the motor core; And a plurality of bearings (25) coupled between the motor core (23) and the lower hinge (29) to facilitate rotation of the motor core.

In addition, the motor control unit 27 includes a control board (not shown) mounted inside the lower housing 29 for controlling the direct drive motor to be rotatable clockwise or counterclockwise according to a control signal transmitted / And a communication unit 27b installed on the outer surface of the lower housing 29 for transmitting / receiving a control signal remotely via wired / wireless communication.

4 to 6, the motor control unit 27 calculates an absolute rotation angle and a relative rotation angle of the motor core 23 measured by the inner hall sensor 22 and the outer hall sensor 28, respectively, And adjusts the rotation of the motor core 23 based on the angle. At this time, the outer Hall sensor 28 may use a GMR (Giant Magneto-Resistance) sensor to obtain a higher resolution.

The inner hall sensor 22 includes a first inner hall sensor 22a provided at an innermost circumference of the lower housing 29 to measure an absolute rotation angle of the motor core 23, And the second inner hole sensor 22b. However, the interval between the first inner hall sensors 22a is set to be denser than the interval between the second inner hall sensors 22b. For example, the first inner hole sensors 22a may be disposed at intervals of 10.5 degrees and the second inner hole sensors 22b may be disposed at intervals of 17.5 degrees on the inner circumference of the lower housing.

Here, the sensor is a simple structure in which four lead wires are attached to a semiconductor device, of which the input terminal is a current terminal and the output terminal is a hall terminal. When a magnetic field is applied to the sensor surface in a direction perpendicular to the current, a Hall voltage proportional to the product of the magnetic field and the control current is generated in a direction perpendicular to both the current and the magnetic field. And the sensor for detecting the magnetic field is a hall sensor. At this time, since the Hall voltage is proportional to the magnetic field, it can be used to measure the magnetic field. Hall sensors can be used to sense the position of the motor rotor.

Meanwhile, the wired / wireless communication uses CAN (Controller Area Network) communication or Bluetooth.

The handle coupling portion 30 is detachably coupled to the rim of the handle 10 so that the handle 10 can be integrally rotated by the direct drive motor; And a fixing protrusion protruded to be coupled to a fixing groove formed in the upper housing 21. [

When the vehicle is in the ON state, the traveling mode changeover switch 70 transmits / receives a control signal remotely via wired / wireless communication and can travel in the unmanned mode by the direct drive motor. When the traveling mode changeover switch 70 is OFF, This enables the vehicle to run in the attended mode without operating the motor.

In addition, the remote steering driver apparatus of the present invention includes a support portion 40 coupled to the remote steering driver portion 20 and supporting the remote steering driver portion 20 in a clockwise or counterclockwise direction according to a control signal, A fixing part 50 for fixing the remote steering driver 20 to the vehicle and a connecting part 60 for connecting the supporting part 40 and the fixing part 50 to each other.

Also, a plurality of the support portions 40 are provided so that the remote steering driver 20 can rotate clockwise or counterclockwise.

The support portion 40 includes a support frame 41 coupled to a rear surface of the lower housing 29 of the remote steering driver 20 and a support frame 41 connected to the support frame 41, And a ball joint 45 for rotating the ball joint 45 clockwise or counterclockwise.

The connecting portion 60 may be extended or retracted in accordance with the rotation of the remote steering driver 20.

Next, a method of controlling the remote steering driver according to an embodiment of the present invention will be described with reference to FIG.

A control method of a remote steering drive apparatus according to the present invention includes a direct drive motor including a steering wheel (10) for adjusting a running direction of a vehicle and a motor core (23) for steering the steering wheel (10) A control board 27a for controlling the direct-drive motor to be rotatable clockwise or counterclockwise according to a control signal transmitted / received through wired / wireless communication such as a controller area network (RS) communication or Bluetooth, A motor control unit 27 including a communication unit 27b for transmitting and receiving a control signal to and from the handle 10 so that the handle 10 can be integrally rotated by the direct drive motor, 10) and the direct drive motor (10) so as to be removably attachable to each other; And a remote controller (90) for transmitting / receiving a control signal to / from the motor control unit (27) remotely by wired / wireless communication so that the motor control unit (27) can control the direct drive motor (A) the remote controller 90 remotely transmits a control signal to the communication section 27b of the motor control section 27 by wired / wireless communication so that the motor control section 27 can control the direct drive motor (B) a control board 27a of the motor control unit 27 is connected to the motor of the direct drive motor 27 in accordance with a control signal received from the remote controller 90 by the communication unit 27b of the motor control unit 27, (C) rotating the core (23) in a clockwise or counterclockwise direction, and (c) rotating the motor core (23) And adjusting the running direction of the handle (10) The.

In the step (b), the direct drive motor includes an inner Hall sensor (22) for measuring an absolute rotation angle of the motor core (23) and an outer Hall sensor (22) and the outer hall sensor (28), and the motor controller (27) controls the absolute rotation angle and the relative rotation angle of the motor core (23) measured by the inner hole sensor And adjusting the rotation of the motor core 23 based on the rotation of the motor core 23.

The inner hall sensor 22 includes a first inner hall sensor 22a provided on the inner circumference of the lower housing 29 to measure the absolute rotation angle of the motor core 23, And the second inner hole sensor 22b, and the arrangement pitch of the first inner hall sensors 22a is arranged more densely than the arrangement pitch of the second inner hall sensors 22b.

In addition, the step (a) may include a traveling mode changeover switch 70 that enables switching between an unmanned mode and an attended mode by turning on / off the wired / wireless communication between the motor control unit 27 and the remote controller 90; When the traveling mode changeover switch 70 is ON, the control signal is transmitted and received remotely using wired / wireless communication, and the vehicle can travel in the unmanned mode by the direct drive motor. When the traveling mode changeover switch 70 is OFF, the wired / And allowing the vehicle to travel in the attended mode without operating the direct drive motor.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: Handle
20: remote steering driver
21: upper housing, 21a: stationary magnet
22: inner Hall sensor, 22a: first inner Hall sensor, 22b: second inner Hall sensor
23: Motor core
25: Bearings
27: motor control unit, 27a: control board, 27b: control communication unit
28: outer Hall sensor
29: Lower housing
30: handle coupling portion
40: Support
41: Support frame
45: ball joint
50:
60: Connection
70: Travel mode changeover switch
90: remote controller

Claims (10)

A handle (10) for adjusting the running direction of the vehicle;
A motor core 23 provided between the upper housing 21 and the lower housing 29 for rotating the handle 10 in a steerable manner and rotated by an electromotive force generated by a change in magnetic flux, An inner hall sensor 22 installed on the inner circumference of the lower housing 29 at a non-fixed number of times to measure an absolute rotation angle of the motor core 23; And an outer Hall sensor (28) for measuring a relative rotation angle of the motor core (23);
A motor control unit (27) integrally mounted on the direct drive motor so that the direct drive motor can be remotely controlled by wire / wireless communication;
A handle coupling portion (30) detachably coupling the handle (10) and the direct drive motor so that the handle (10) can be integrally rotated by the direct drive motor;
A remote controller 90 for transmitting / receiving a control signal to / from the motor control unit 27 remotely by wired / wireless communication so that the motor control unit 27 can control the direct drive motor; And
And a traveling mode changeover switch (70) for enabling switching between an unmanned mode and an attended mode by turning on / off the wired / wireless communication between the motor control unit (27) and the remote controller (90) Driving device. The motor control device according to claim 1,
A control board (27a) mounted inside the lower housing (29) and controlling the direct drive motor to be rotatable clockwise or counterclockwise according to a control signal transmitted / received by wired / wireless communication;
And a communication unit (27b) provided on an outer surface of the lower housing (29) for transmitting / receiving a control signal remotely via wired / wireless communication. The motor control device according to claim 1,
The rotation of the motor core 23 is adjusted based on the absolute rotation angle and the relative rotation angle of the motor core 23 measured by the inner hall sensor 22 and the outer hall sensor 28 To the steering wheel. 4. The apparatus according to claim 3, wherein the inner hall sensor (22)
A first inner hall sensor 22a and a second inner hall sensor 22b are provided on the inner circumference of the lower housing 29 to measure the absolute rotation angle of the motor core 23, , And the arrangement interval of the first inner hall sensors (22a) is denser than the arrangement interval of the second inner hall sensors (22b). The handle coupling unit according to claim 1,
A clamp detachably coupled to a rim of the handle 10 so that the handle 10 can be integrally rotated by the direct drive motor;
And a fixing protrusion formed under the clamp and protruding to be engaged with a fixing groove formed in the upper housing. 2. The apparatus according to claim 1, wherein the traveling mode changeover switch (70)
And when it is ON, the control signal is transmitted and received using wired / wireless communication remotely so that it can travel in the unmanned mode by the direct drive motor, and when it is OFF, the wired and wireless communication is released, And the steering angle of the steering wheel. A steering wheel 10 for adjusting the running direction of the vehicle and an electric motor 20 installed between the upper housing 21 and the lower housing 29 for driving the steering wheel 10 so as to be steerable, A control board 27a for controlling the direct-drive motor to be rotatable in a clockwise or counterclockwise direction in accordance with a control signal transmitted / received through wired / wireless communication with a direct-drive motor including a motor core 23, And a communication section (27b) for transmitting and receiving a control signal by communication, the motor control section (27) being integrally mounted on the direct drive motor; and a motor control section A handle engagement portion (30) for detachably coupling the handle (10) and the direct drive motor to each other; And a remote controller (90) for transmitting / receiving a control signal to / from the motor control unit (27) remotely by wired / wireless communication so that the motor control unit (27) can control the direct drive motor As a result,
(a) transmitting a control signal to the remote controller (90) so that the motor controller (27) can control the direct drive motor to the communication section (27b) of the motor controller (27) by wired / wireless communication remotely; Wow
(b) According to the control signal received from the remote controller 90 by the communication unit 27b of the motor control unit 27, the control board 27a of the motor control unit 27 is connected to the motor core 23 of the direct drive motor ) To rotate clockwise or counterclockwise; and
(c) adjusting the running direction of the handle (10) integrally coupled to the direct drive motor by the handle engagement portion (30) according to the rotation of the motor core (23) Wherein the control unit controls the steering of the steering wheel. 8. The method of claim 7, wherein step (b)
Wherein the direct drive motor further comprises an inner Hall sensor (22) for measuring an absolute rotation angle of the motor core (23) and an outer Hall sensor (28) for measuring a relative rotation angle of the motor core (23)
The motor control unit 27 controls the motor core 23 based on the absolute rotation angle and the relative rotation angle of the motor core 23 measured by the inner hall sensor 22 and the outer hall sensor 28, And adjusting the rotation of the steering wheel. 9. The apparatus according to claim 8, wherein the inner Hall sensor (22)
A first inner hall sensor 22a and a second inner hall sensor 22b are provided on the inner circumference of the lower housing 29 to measure the absolute rotation angle of the motor core 23, , And the arrangement interval of the first inner hall sensors (22a) is denser than the arrangement interval of the second inner hall sensors (22b). 9. The method of claim 8, wherein step (a)
And a traveling mode changeover switch (70) for enabling switching between an unmanned mode and an attended mode by turning on / off the wired / wireless communication between the motor control unit (27) and the remote controller (90)
When the traveling mode change-over switch 70 is ON, a control signal is transmitted / received remotely via wired / wireless communication and can be traveled in the unmanned mode by the direct drive motor. When the travel mode changeover switch 70 is OFF, And allowing the vehicle to travel in an attended mode without operation.

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