KR20170080031A - Control apparatus for controlling the movement of the object - Google Patents
Control apparatus for controlling the movement of the object Download PDFInfo
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- KR20170080031A KR20170080031A KR1020150191184A KR20150191184A KR20170080031A KR 20170080031 A KR20170080031 A KR 20170080031A KR 1020150191184 A KR1020150191184 A KR 1020150191184A KR 20150191184 A KR20150191184 A KR 20150191184A KR 20170080031 A KR20170080031 A KR 20170080031A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 6
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- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 22
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Computing Systems (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a control device capable of adjusting a moving object. The control device for controlling the motion of the object according to the present invention includes a sensing part for sensing movement of a predetermined user applied to the control device; Calculates a displacement of the control device due to the motion of the user based on the motion of the predetermined user being applied and generates a control signal for controlling the object based on the displacement of the calculated control device A control unit; And a wireless communication unit for transmitting the control signal to the object.
Description
The present invention relates to a control device capable of controlling a moving object.
Drone is a drone that can be controlled by radio waves. Cameras, sensors, and communication systems, and they range in weight and size from 25 grams to 1200 kilograms. The drones were first created for military use, but recently they have been re-invented as a cheaper kitten so that individuals can afford to purchase drones. In addition, it is used in various aspects such as high-resolution shooting, delivery, spraying of pesticide, and measurement of air quality.
Such a dron can be controlled by a separate controller (controller) such as a smart phone or a remote controller.
1 is a conceptual diagram showing an embodiment of a conventional dron control device.
Referring to FIG. 1, front and rear, left and right movements, left and right turn, rise and fall, and the like of the dron can be controlled by using sticks on both the left and right sides.
However, this control method is very intuitive and requires a lot of practice in order for the user to freely manipulate the drones. Also, as it is developed to enable precise control such as aerobatic flight, the complexity of the control method is increasing.
The present invention is directed to solving the above-mentioned problems and other problems. Another object of the present invention is to provide a control device for controlling the movement of an object based on a movement of a control device by a user's gesture.
Specifically, we intend to provide users with an intuitive object control environment. In addition, we want to provide an object control environment that can be fine-tuned and improve control accuracy.
According to an aspect of the present invention, there is provided a control device for controlling movement of an object, the control device comprising: a sensing unit for sensing movement of a predetermined user applied to the control device; Calculating a displacement of the control device based on a movement of the user based on the motion of the predetermined user, and controlling the object based on the displacement of the control device and the positional information of the object A control unit for generating a control signal for controlling the display unit; And a wireless communication unit for transmitting the control signal to the object.
In an embodiment, the control unit may set the transmission of the control signal to an OFF state so that the object maintains a hovering state, based on a predetermined user input.
In still another embodiment, a first mode for calculating the displacement of the object based on the displacement of the calculated control device or a second mode for calculating the velocity of the object based on the displacement of the calculated control device And a user input unit for selecting the user input unit.
In another embodiment, the control unit may calculate the displacement of the object by applying a predetermined ratio to the displacement of the calculated control device in the first mode.
In another embodiment, the user input unit can set the ratio based on a predetermined user input.
In another embodiment, the controller sets a zero point based on a predetermined user input in the second mode, performs calibration on the basis of the zero point, A reference point for the occurrence of the object's speed, and a reference point for the position variation can be calculated.
In another embodiment, the control unit may calculate the velocity of the object based on the absolute value of the calculated control device displacement in the second mode.
In another embodiment, the control unit may calculate the rotation direction and the rotation angle of the control device based on the movement of the user based on the motion of the predetermined user, and the rotation of the control device The rotation direction and the rotation angle of the object can be calculated based on the direction and the rotation angle.
In another embodiment, the control unit may calculate a rotation direction and a rotation angle of at least one camera provided in the object, based on the calculated rotation direction and rotation angle of the control device.
In yet another embodiment, the apparatus may further include a vibration output unit that outputs a vibration in a predetermined manner based on a predetermined condition being sensed.
The effect of the object motion control apparatus according to the present invention will be described as follows.
According to at least one of the embodiments of the present invention, the movement of the three-dimensional moving object such as a drone can be controlled only by the movement of the controller, thereby providing an intuitiveness to the user.
Further, there is an advantage that fine control is possible and accuracy of moving object control can be improved.
Further scope of applicability of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and specific examples, such as the preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art.
1 is a conceptual diagram showing an embodiment of a conventional dron control device.
2 is a block diagram for explaining a control apparatus for controlling the motion of an object according to the present invention.
3 is a conceptual diagram for explaining the principle of the first mode.
4 is a conceptual diagram for explaining the principle of the second mode.
5 is a conceptual diagram for explaining an embodiment in which the first mode is selected.
6 is a conceptual diagram for explaining an embodiment in which the second mode is selected.
7 is a conceptual diagram for explaining an embodiment for calculating the displacement of the control device.
FIGS. 8 and 9 are conceptual diagrams for explaining an embodiment in which a ratio for calculating the displacement of an object in the first mode is set.
FIGS. 10 and 11 are conceptual diagrams for explaining an embodiment related to input of a control signal.
12 is a conceptual diagram for explaining an embodiment for rotating an object in the first mode or the second mode.
13 is a conceptual diagram for explaining an embodiment in which vibration is output when an obstacle close to an object is detected in the first mode or the second mode.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.
Hereinafter, a control device for controlling the movement of an object according to the present invention will be described with reference to the drawings.
Specifically, the object includes all objects capable of three-dimensional movement such as a UAV (drone), and the controller can be implemented as a controller capable of intuitively controlling the movement of the object. In the embodiment, the case where the object is a drone is explained, but the present invention is not limited thereto.
2 is a block diagram for explaining a control apparatus for controlling the motion of an object according to the present invention.
2, the
The
Alternatively, the
Meanwhile, the
The
In the embodiment, the movement of the
The
The
The
At least one push button, a touch button, a scroll button, and the like may be disposed on the front, back, side, and the like of the
In the embodiment, a first mode (absolute coordinate mode) for calculating the displacement of the
Hereinafter, specific embodiments will be described.
The
In yet another embodiment, the first mode for calculating the displacement of the
In another embodiment, the
In another embodiment, the
In another embodiment, the
In another embodiment, the
In another embodiment, the
The
In another embodiment, the
On the other hand, the
As an embodiment, the
The
3 is a conceptual diagram for explaining the principle of the first mode (absolute control).
Referring to FIG. 3, the first mode refers to a control method based on absolute coordinates.
As an embodiment, the displacement of the
The
In an embodiment, the
4 is a conceptual diagram for explaining the principle of the second mode (relative control).
Referring to FIG. 4, the second mode refers to a control scheme based on relative coordinates based on a zero point.
As an embodiment, after the origin coordinates are set in a virtual frame (space) in the second mode, the displacement of the
As described above, the
FIG. 5 is a conceptual diagram illustrating an embodiment in which a first mode is selected, and FIG. 6 is a conceptual diagram illustrating an embodiment in which a second mode is selected.
5 and 6, a user may set a scroll button provided on the
Referring to FIG. 5, the
Referring to FIG. 6, the
Hereinafter, an embodiment related to setting a reference axis (X, Y, Z axis) related to the movement of the
7 is a conceptual diagram for explaining an embodiment for calculating the displacement of the control device.
7, a plurality of
As an example, the plurality of
In another embodiment, the reference point may be set to one. Specifically, a chute on which one sensor is disposed can be worn or attached directly, and a point corresponding to the position of the sensor can be set as a reference point.
As another embodiment, user input for axis setting can be received. Specifically, in the relative coordinate mode, the zero point can be set by pressing the push button. Thereafter, the
On the other hand, the
FIGS. 8 and 9 are conceptual diagrams for explaining an embodiment in which a ratio for calculating the displacement of an object in the first mode (for example, a constant value of a primary transformation) is set.
8 and 9, the user can set a constant value in the first mode (absolute coordinate mode) by disposing the scroll button provided in the
Referring to FIG. 8, as the scroll button is disposed at the
Referring to FIG. 9, as the scroll button is disposed at the
In an embodiment, when the
As another embodiment, the
On the other hand, even if the movement is not for controlling the
The
FIGS. 10 and 11 are conceptual diagrams for explaining an embodiment related to the input restriction of a control signal.
Referring to FIGS. 10 and 11, the user can set the ON / OFF state of transmission of the control signal to the
As an embodiment, when no push input is applied to the
On the other hand, when a push input is applied to the
As another embodiment, when the
On the other hand, the
In another embodiment, the
12 is a conceptual diagram for explaining an embodiment for rotating an object in the first mode or the second mode.
Referring to FIG. 12, when the
As another embodiment, scale adjustment can be performed on the rotation angle by setting the level, as described in Figs. 8 and 9. Fig.
Specifically, in the first step, when the
As another embodiment, the trajectory in which the
As another embodiment, the
As another embodiment, the rotation of the
As another embodiment, a flip for each axis can also be made, based on which predetermined user input (e.g., an input pushing a separate select button or the like) is applied.
In another embodiment, when a push input is applied to a separate camera rotation button, the camera provided in the
On the other hand, the
13 is a conceptual diagram for explaining an embodiment in which vibration is output when an obstacle close to an object is detected in the first mode or the second mode.
Referring to FIG. 13, when the sensing function is added to the
In another embodiment, when a push input is applied to an additional button provided on the
On the other hand, the control device may be provided with one or more function button keys. The one or more function button keys are placed on the palm-free area when the user grasps the main body. Function button keys are linked to the ability to control objects automatically. When the function button key is pressed, the control device transmits a control command corresponding to the function to the object so that the function set in the pressed function button key is performed in the object.
Although the control device is provided with one or more function button keys, there are limitations in executing various functions related to the object (or the drones) with the function button key provided in the control device. In addition, when considering the specificity of a control device such as a portable device, the size of the control device is limited, and it is impossible to implement all the functions that the object can perform with one or more function button keys.
In order to solve such a problem, the control device according to the present invention can change the function set in the function button key to another function based on the user input. For example, in a state where the first function is set to the first function button key, the control device can set a second function different from the first function to the first function button based on a user input. Thereafter, when the first function button is pressed, a control command corresponding to the second function is transmitted to the object, so that the object performs the second function.
When the control device according to the present invention is connected to a terminal having a display, a user interface for changing functions provided in the control device may be output to the display. The user can confirm one or more function button keys provided in the control device and the respective functions through the user interface, and change the set functions to other functions.
Function buttons The functions that can be set on the keys include a sync function, a display function, a flip function, a backhome function, a back pause function, a follow me function, And may include at least one of a rounding function, a boost function, a dodge function, and a landing function.
The sink function is a function of changing the control reference axis so that the direction in which the object advances is aligned with the direction in which the user's sight line is oriented.
The display function is a function of moving an object according to a programmed movement trajectory.
The flip function is a function of rotating a virtual axis set on an object. For example, the object may be rotated by 180 degrees and turned over.
The backhaul function is a function of returning to a position where the control device is located.
The backfast function is a function of moving an object to a predetermined position.
The follow-me function is a function of moving at least one of a constant distance and a constant altitude from the control device and moving along the control device. At least one of the distance and the altitude may vary depending on user input.
The rounding function is a function that the object rotates and moves based on a specific point. For example, it may be a function of rotating and moving a predetermined distance based on a position where the control device is located. The predetermined distance may vary depending on user input.
The boost function is a function that radically increases the speed of the object up to a predetermined speed.
The Dodge function is a function for automatically avoiding an object within a predetermined distance regardless of the control of the control device.
The landing function is a function of landing safely on the ground while descending slowly.
On the other hand, various functions related to objects are continuously being developed, and there is a desire of a user to apply a new function to a control device.
In order to solve such a need, the control device may be connected to the terminal or the server by wire or wirelessly to download a new function, and the downloaded function may be set to a function button key included in the control device. For example, the user can download a new function from a predetermined server using the terminal, and connect the control device to the terminal to install the new function in the control device. Subsequently, the user can reset the new function to any one of the function button keys disposed in the controller so that the new function can be executed by the function button key.
The effect of the object motion control apparatus according to the present invention will be described as follows.
According to at least one of the embodiments of the present invention, the movement of the three-dimensional moving object such as a drone can be controlled only by the movement of the controller, thereby providing an intuitiveness to the user.
Further, there is an advantage that fine control is possible and accuracy of moving object control can be improved.
The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a
Claims (10)
A sensing unit for sensing movement of a predetermined user applied to the control device;
Calculates a displacement of the control device due to the motion of the user based on the motion of the predetermined user being applied and generates a control signal for controlling the object based on the displacement of the calculated control device A control unit; And
And a wireless communication unit for transmitting the control signal to the object.
Wherein,
And sets the transmission of the control signal to an OFF state so that the object maintains a hovering state based on a predetermined user input being applied.
And a second mode for calculating a velocity of the object based on a first mode for calculating a displacement of the object based on the calculated displacement of the control device or a displacement of the calculated control device; Further comprising:
Wherein,
Wherein in the first mode, the displacement of the object is calculated by applying a predetermined ratio to the displacement of the calculated control device.
Wherein the user input unit comprises:
And said ratio is set based on whether predetermined user input is applied.
Wherein,
Wherein in the second mode, a zero point is set based on a preset user input, and the velocity of the object is calculated by performing a calibration on the basis of the zero point Device.
Wherein,
And in the second mode, calculates the velocity of the object based on the absolute value of the calculated control device displacement.
Wherein,
Calculating a rotation direction and a rotation angle of the control device based on the motion of the predetermined user based on the movement of the user and calculating a rotation direction and a rotation angle of the control device based on the rotation direction and the rotation angle of the control device, And calculates the rotation direction and the rotation angle.
Wherein,
And calculates a rotation direction and a rotation angle of at least one camera provided on the object based on the calculated rotation direction and rotation angle of the control device.
And a vibration output unit for outputting the vibration in a predetermined manner based on the detection of the predetermined condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150191184A KR101927810B1 (en) | 2015-12-31 | 2015-12-31 | Control apparatus for controlling the movement of the object |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150191184A KR101927810B1 (en) | 2015-12-31 | 2015-12-31 | Control apparatus for controlling the movement of the object |
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| KR20170080031A true KR20170080031A (en) | 2017-07-10 |
| KR101927810B1 KR101927810B1 (en) | 2018-12-11 |
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| KR101194321B1 (en) * | 2011-12-22 | 2012-10-26 | 김철우 | Universal motion controller |
| KR101471852B1 (en) * | 2013-12-02 | 2014-12-12 | 경상대학교산학협력단 | Smart Device, Apparatus for Providing Robot Information, Method for Generating Trajectory of Robot, and Method for Teaching Work of Robot |
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