DE102015213200A1 - Haptic remote control - Google Patents

Abstract

A remote control (1) for a real or virtual moving object (5) comprises at least one control element (10) which is manually adjustable between several adjustment positions for generating first control signals (S1) relating to a movement of the object (5) wherein an adjustment range (V) defines limits of manual adjustability of the at least one operating element (10); at least one actuator (11), which is designed and arranged to adjust the at least one operating element (10) between the adjustment positions; and at least one control unit (13) which is designed and arranged to control the at least one actuator (11) and to regulate the adjustment position of the at least one operating element (10) with respect to a desired adjustment position by means of the at least one actuator. In this case, the adjustment range (V) defines limits of the possible setpoint adjustment positions.

Description

The invention relates to a remote control for a real or virtual moving object.

Such a remote control for a real or virtual moving object comprises at least one operating element, which is manually adjustable for generating first control signals, which relate to a movement of the object, between a plurality of adjustment positions. In this case, an adjustment range defines limits of the manual adjustability of the at least one operating element. Such a remote control further comprises at least one actuator, which is designed and configured to adjust the at least one operating element between the adjustment positions of the adjustment.

Such a remote control may be, for example, a model aircraft remote control. It may also be, for example, a remote control for a model car or a model boat. In this case, the exemplified movable objects -. Model airplane, model car or model boat - real or virtual objects.

For example, virtual moving objects play a role in computer-implemented model simulations for gaming or training purposes. The movement of the virtual object can be tracked on a screen and controlled by means of a remote control connected to the computer. The remote control may be provided with a force feedback function, as known from man-bearing aviation in the context of fly-by-wire controls. In this case, a control element of the remote control is acted upon by an actuator with forces and / or torques to give an operator the impression of physical counter forces that are effective in certain control movements or flight conditions. In this way, for example, a flight simulation or a car racing game can be experienced as more realistic.

A joystick with the force feedback function described is for example from US Pat. No. 6,429,849 B1 known. Accordingly, a motor is provided on a joystick, which is controlled by a controller, to act on the joystick along two axes of rotation with corresponding torques.

With known remote controls of the type described, an operator may be given the impression of opposing forces and counter torques, but they do not allow to automatically adjust an operating element in such a way that the moving object would actually be controllable with these movements. However, this may be desirable, for example, in the training of model learner students to teach corrective remote control movements of a model flying instructor or at an air show for sympathizing with the remote control movements of a model flying artist by the audience.

The object of the present invention is to provide a remote control for a real or virtual moving object, which allows a haptic switching of remote control movements of an entity, for example from a remote control of a model flying instructor, to a remote control operator.

This object is achieved by a remote control with the features of claim 1.

Accordingly, at least one control unit is provided on a generic remote control further, which is designed and configured to control the at least one actuator and to regulate the adjustment of the at least one control element with respect to a desired adjustment by means of at least one actuator. The adjustment range defines limits of the possible setpoint adjustment positions.

The invention is based on the idea that remote control movements can be haptically conveyed when all adjustment positions in which a control element is manually adjustable, also automatically, i. by the actuator, can be approached targeted. By means of the control unit can be approached, for example, a desired adjustment position of the control element, which corresponds to a current adjustment position of a control element of a model flying instructor remote control. For the operator, for example, a model student, there is thus the possibility of sympathizing with the remote control movements of the flight instructor at the same time as observing the real model airplane, in order to memorize the required joystick movements.

It is also conceivable to send in a flight simulator of a simulated model aircraft control signals back to the remote control and implement there in movements of the joysticks. For example, pre-recorded flight sequences can be played and the appropriate joystick movements can be tangibly conveyed to a training operator.

For example, the moving object may be an unmanned land vehicle, watercraft and / or aircraft. For example, the object may be a remotely controllable model vehicle for use on land, water and / or in the air, in particular a remotely controllable model airplane or a remotely controllable model helicopter. The remote control of such models generally requires a comparatively complex training, in which the haptic switching of remote control movements of a model flying instructor according to the invention to a model student can be used particularly advantageously.

According to a further aspect of the invention, a remote control dummy is provided in the manner of a model remote control. The remote control dummy has at least two control elements, which are designed as control sticks and are adjustable in accordance with the adjustment positions of the control stick of a model remote control between a plurality of adjustment positions within an adjustment range. For example, the joysticks may be pivotable about at least two axes. The remote control dummy further comprises at least one actuator per control element, wherein the at least one actuator is designed and configured to adjust the respective control between the adjustment of the adjustment, and at least one control unit which is designed and configured to control the at least one actuator per control and to regulate the adjustment position of the respective operating element with respect to a desired adjustment position by means of the at least one actuator. The adjustment range defines limits of the possible setpoint adjustment positions. With such a remote control dummy, e.g. a model student or a spectator of a model airplane show haptic compass movements of a flight instructor or model airplane artist.

The possible adjustment positions of a control element of the remote control or the remote control dummy can be distributed continuously in the adjustment range. For example, the control element may be a joystick which can be continuously swiveled about several axes or a continuously adjustable slider. Especially with such continuously adjustable controls complex control movements by means of a remote control according to the invention can be particularly catchy mediated by haptic Nachfühlen.

It can also be provided that a control element of a remote control or a remote control dummy is designed to be adjusted under superimposed effects of the actuator on the one hand and a manual operation by the operator on the other hand between the adjustment positions. By this is meant that such a superimposed actuation of the control element according to the construction of the operating element and the actuator is also provided and can not be effected only by "brute force" in the manual operation. For example, a joystick can be attached as a control element to a shaft of an electric motor, which forms an actuator, wherein the shaft of the electric motor is designed to be smooth and rotatable from the outside. In this case, the actuator is not a construction-related mechanical inhibition for a manual adjustment of the operating element.

In a development, the control unit of the remote control or the remote control dummy is designed to limit the force and / or the torque with which or which the actuator acts on the operating element. In particular, limits of the force and / or the torque can be variably adjustable. In this way, the action of the actuator can superimpose a manual operation of the control element more or less. For example, an adjustment device for upper limits of the force and / or the torque of the actuator may be provided on the remote control. An operator then has z. B. the ability to select the limits of the force and / or the torque of the actuator within an interval from zero to a respective maximum upper limit for the force and / or torque. If a low upper limit is set by the operator, he essentially actuates the operating element manually manually, whereby only slight haptic corrections are provided by the relatively low forces and / or torques of the actuator. If, on the other hand, a relatively high upper limit is set, then the operator can essentially leave the control to the actuator and only largely passively sense its control movements of the operating element.

In one variant, the remote control or the remote control dummy additionally comprises a sensor unit for detecting the adjustment position in which a control element is located, and for translating the detected adjustment position into second control signals, and a signal output for outputting the second control signals. By way of example, a current adjustment position of the operating element can be detected by means of potentiometers or optical and / or magnetic sensors arranged on the operating element. As part of the sensor unit measuring signals, such as the potentiometer, can be encoded in the second control signals. Via the signal output of the remote control, the second control signals can be output externally. The signal output can z. B. comprise a radio transmission unit for the second control signals. However, it is also conceivable that the signal output has a socket for a wired output of the control signals.

For example, the operator may be a model instructor, and the detected by means of the sensor unit adjustment positions of one or more controls on his remote control can be transmitted as a second control signals to another remote control according to the invention of a model student. The control unit of the remote control of the model pupil can control a corresponding control element with respect to a desired adjustment position, wherein the desired adjustment position z. B. a transmitted by means of the second control signals current adjustment position of a control element of the remote control of the model flying instructor can correspond.

According to a further aspect of the invention, a system is provided for haptic switching of remote control movements. The system has at least one haptic control unit which comprises a remote control according to the invention and / or a remote control dummy according to the invention. In this case, the remote control dummy comprises at least one actuator and a control unit, as has been described above with reference to a remote control according to the invention, but is not designed to generate the first control signals, which relate to the movement of an object. Furthermore, the system comprises at least one instance for providing second control signals, from which a desired adjustment position of the at least one operating element of the haptic control device can be derived. In this case, the second control signals from the at least one instance can be transmitted to the control unit of the at least one haptic operating device.

For example, the instance for providing second control signals may include a remote control according to the invention with a sensor unit with which an adjustment position of a control element can be detected and translated into second control signals. It may be provided that the second control signals are output via a signal output of the remote control and transmitted, for example by radio or by wire, to one or more haptic control devices of the system. From the transmitted second control signals, a desired adjustment position of one or more operating elements of the at least one haptic operating device can be derived, with respect to which the control unit of the respective haptic operating device can control the operating element. The radio, which represents the instance, z. B. be served by a model instructor. Accordingly, one or more haptic operator devices that can receive the second control signals from the instance, for. B. operated by model learners.

This aspect of the invention is based on the idea that with the system according to the invention, remote control movements of an entity, for example a model flight instructor or model simulator, can be haptically communicated to one or more operators of one or more haptic operator devices, for example in the manner of a model flight remote control. By means of the system, for example, a model student can be corrected in his remote control movements by a model instructor. It is also conceivable that at the same time several operators of remote controls or remote control dummies, which realize a haptic control unit, purely passive by haptic tracking the remote control movements of a model flying instructor or example of a model flying artist follow in a model air show.

It is also within the scope of the invention that the instance comprises a computer and / or a server. In particular, the instance for providing the second control signals may be a model simulator which is executed on the computer and / or the server. Thus, for example, remote control movements relating to certain movement sequences of a virtual object in the context of the model simulator stored in a database of the computer and / or server and as second control signals to a connected to the computer and / or server remote control or Fernsteuerungsattrappe be transmitted. In this case, the second control signals, for example, within a network such. B. be deposited on the Internet. It is also conceivable that the second control signals are generated by a remote control according to the invention with a sensor unit and transmitted via the Internet to at least one haptic control unit. The transmission may be immediate or delayed, i. by storing the control signals in a database for later retrieval.

It is also within the scope of the invention that the haptic control device comprises a remote control according to the invention for a real movable object, wherein the object has a telemetry unit for acquiring measured data. Within the scope of the system, the telemetry unit can form an instance (or a part thereof), wherein the second control signals are derived from the measured data of the telemetry unit. For example, aircraft models according to the prior art already have the ability to send current operating data such as flight altitude, speed, rotor speed, battery capacity, etc. via such a telemetry unit back to a remote control. In previous solutions, these data are displayed to the operator via the remote control visually or by voice. Furthermore, it is known when a fault situation haptic feedback at the Provide remote control, for example, a vibration of a joystick to the operator can indicate the presence of the error situation.

With the telemetry unit as an instance in a system according to the invention can now with the second control signals sensor-based control information, for example, for automatically canceling pitch at speed drop of the rotor of a model helicopter, to transmit the remote control as a haptic control unit. Because of these second control signals, for example, a control element for adjusting the pitch can be adjusted automatically, this automatic emergency correction being conveyed tangibly to the operator. In this case, an adjustment of the operating element is automatically approached only by the control unit and the actuator of the remote control when the applied by the operator manual actuating or holding force is too low to counteract the actuating force of the actuator or when the operator completely released the control Has. In any case, the direction of the automatic correction by the telemetry unit is noticeable to the operator.

The object is also achieved by a method for the haptic switching of remote control movements, which uses a system according to the invention.

Accordingly, in a first step, the second control signals are provided by the at least one instance, wherein the second control signals relate to a desired adjustment position of the at least one operating element of the haptic control device. For this purpose, for example, in a remote control according to the invention with a sensor unit detects the adjustment of one or more controls, then translated into second control signals and output to the output signal. Alternatively, the second control signals may also be provided by a computer and / or a server running a model simulator. It is also conceivable that the second control signals are provided by a computer and / or a server on which they are stored within a database.

In a second step, the second control signals are transmitted from the instance to the haptic operating device. The transmission of the second control signals can for example be done by radio from a remote control of a model flying instructor to the remote control of a model pupil. However, the transmission may also be wired, for example, by cable from a computer to a remote control dummy connected thereto.

In a third step, the adjustment position of the at least one operating element of the haptic control device is regulated as a function of the second control signals. In this case, the control takes place by means of the control unit and the at least one actuator of the haptic control unit. For example, a joystick on the remote control of a model learner can be controlled to an adjustment position corresponding to an adjustment position of a joystick on the remote control of a model flying instructor representing the instance. The controls of the instance and the haptic control device are designed such that there is a substantially unique mapping between the adjustment positions of the control element of the instance on the one hand and the operating element of the haptic control unit on the other hand.

In a variant of the method, at least two remote controls according to the invention, each having a sensor unit, are used. In this case, on the one hand, a first remote control is used as a first instance for a second remote control as a first haptic operating element, wherein the desired adjustment position of the at least one operating element of the second remote control corresponds to an adjustment position of a corresponding operating element of the first remote control. On the other hand, in turn, the second remote control is used as a second instance for the first remote control as a second haptic control unit, wherein the desired adjustment position of the at least one control element of the first remote control corresponds to an adjustment position of a corresponding control element of the second remote control. For example, a remote control of a model student on the one hand receive second control signals from a remote control of a model flying instructor and thus sense its remote control movements on a joystick, and vice versa, the model instructor with its remote control second control signals from the model student's remote control receive, so the model instructor remote control movements of the model pupil can feel haptic.

It can be further provided in a method according to the invention that the at least one control element is acted upon by the at least one actuator for adjusting the adjustment position with an even greater force and / or torque, the farther the adjustment position of the at least one operating element of the deviates from the respective desired adjustment position. For example, the force and / or the torque may depend substantially linearly on the deviation. In this way, a, for example elastic, haptic coupling between a control element of the first remote control ( for example, the model flying instructor) and a control element of the second remote control (for example, the model pupil) can be realized. Such a haptic coupling is analogous to a coupling of the control horns of a pilot and a copilot, as it is known from man-carrying aviation to understand.

In a further development, it can be provided that, in the case of a deviation between the adjustment position of the at least one control element and the respective setpoint adjustment position, the at least one control element is acted upon by the at least one actuator with an even greater force and / or torque greater a coupling strength for the at least one control element is selected. In this case, the coupling strength is set on the at least one haptic operating device and / or on the at least one instance.

For example, it may be provided that a coupling strength of a haptic coupling between a first remote control and a second remote control by means of the control units is set variably as needed. The coupling strength can be set, for example, in a range from zero to a maximum coupling strength, wherein the maximum coupling strength z. B. (depending on the power of the actuator) may correspond to a substantially rigid coupling between the controls of the first remote control and the second remote control. It can be done adjusting the coupling strength for the respective remote control on the remote control itself. Alternatively or additionally, the coupling strength for both remote controls can be set on one of the remote controls.

The idea underlying the invention will be explained in more detail with reference to the embodiments illustrated in the figures. Show it:

1A a schematic view of a remote control in a first variant;

1B a schematic view of a remote control in a second variant;

1C a schematic view of a remote control dummy;

2A a schematic view of an operating element with an actuator in a first variant;

2 B a schematic view of a control element with an actuator in a second variant;

2C a schematic view of an operating element with an actuator in a third variant;

3 a schematic view of a system for the haptic switching of remote control movements in a first variant;

4 a schematic view of a system for the haptic switching of remote control movements in a second variant;

5 a schematic view of a system for the haptic switching of remote control movements in a third variant; and

6 a schematic view of a system for the haptic switching of remote control movements in a fourth variant.

The 1A and 1B show a remote control 1 for a real or virtual moving object 5 in a first and second variant. For example, the remote controls shown 1 for a model airplane or a model helicopter. The remote controls 1 but also z. B. for remote control of other unmanned land vehicles, watercraft and / or aircraft and be provided.

The remote controls shown 1 have controls 10 on, which here exemplifies as two joysticks 10 are shown in the manner of a model remote control. An operator B of the remote control 1 can the controls 10 Manually adjust between several possible adjustment positions (the manual action on the controls is here with a thin arrow from the operator B to the controls 10 symbolized). It will be through the controls 10 and optionally a microcontroller first control signals S1 for controlling the movement of the object 5 generated and to a first signal output 16 given. The first signal output 16 For example, a transmitting unit, z. B. the high-frequency part of a conventional model remote control. In other embodiments, the first signal output 16 Also include a cable socket for wired output of the first control signals S1.

An adjustment range V defines limits of the manual adjustability of the operating elements 10 , In the present case, the joysticks can be within a certain radius (corresponding to the respective outer dashed circles around the control element 10 of the 1A - 1C ) continuously adjust, wherein the radius determines the adjustment range V.

At the remote control 1 is also an actuator 11 provided, the actuator 11 is formed, the controls 10 to apply a force F and / or a torque and as a result to adjust it within the adjustment range V. For example, an electromechanical unit as an actuator 11 on one or more controls 10 be provided. Examples of this are below with reference to the 2A to 2C explained.

The automatic adjustment of a control element 10 through the actuator 11 is for the operator on the control 10 perceptible, ie perceptible. This haptic perception of the automatic adjustment movements of the controls 10 is in the 1A - 1C with a thick arrow from the controls 10 to the operator B symbolizes.

A control unit 13 the remote control 1 is trained and equipped, the actuator 11 to control and thereby the adjustment positions of the controls 10 in each case with respect to a desired adjustment position to regulate. In this case, the adjustment range V defines limits of the possible setpoint adjustment positions, ie any adjustment position within the adjustment range V is by means of the control unit 13 Approachable. The control unit 13 For example, it may include a microcontroller. For example, the control unit 13 be formed, in the context of the regulation of the adjustment of a control element 10 , both force-related control signals SF and position-related control signals SP to the actuator 11 to convey. In this case, the force-related control signals SF should possibly also be understood to mean control signals which relate to a torque of the actuator 11 Respectively. Under the scheme z. B. a feedback channel SR may be provided, via which measurement signals with respect to a current adjustment position of the operating element 10 back to a microcontroller of the control unit can be transmitted.

In the exemplary embodiment, the control unit receives 13 second control signals S2 from a signal input 12 the remote control 1 , In this case, the control unit 13 from the second control signals S2 desired adjustment positions for the controls 10 derive and corresponding control signals SF, SP for controlling the adjustment positions of a control element 10 to the actuator 11 to transfer.

The second control signals S2 can, for example, by an entity 32 outside the remote control 1 to the signal input 12 be transmitted. In such a constellation can the remote control 1 a haptic operating device 31 in a system 3 for the haptic communication of remote control movements.

The instance 32 , which provides the second control signals S2, may, for example, another remote control according to the invention 1 be in 1B is shown schematically. Accordingly, it is at a remote control 1 as they relate to 1A has been explained, a sensor unit 15 for detecting the adjustment position in which a control element 10 is provided, and provided for translating the detected adjustment position into second control signals S2. For example, the sensor unit 15 have one or more potentiometers, magnetic sensors and / or optical sensors, which a current adjustment position of the controls 10 can capture. It is also conceivable that the detected adjustment positions are used at the same time for the generation of the first control signals S1. The translation of the detected adjustment positions in the second control signals S2 can, for. B. by a microcontroller of the sensor unit 15 be made.

The second control signals S2 can via a second signal output 14 who is at the remote control 1 according to the 1B is intended to be issued. From the second signal output 14 the second control signals S2 are wireless or wired to a haptic control unit 31 such as a remote control 1 to 1A , transferable.

The second signal output 14 For example, a cable socket or a transmitting unit, for. B. a high frequency part include. For example, in a remote control 1 for a model airplane 5 for transmitting the second control signals S2, a second, from a radio transmission of the first control signals S1 to a model airplane 5 be provided independent radio link. With the second control signals S2, channel values for the individual servos of the model airplane, which have not already been converted by a controller, must not be used 5 but, for example, the original adjustment positions of the joysticks 10 be transmitted.

In that regard, the second signal output 14 For example, may comprise a transmitting unit for the second control signals in the form of a high-frequency part and thus for translating the by the sensor unit 15 detected adjustment positions in second control signals S2 (as radio signals) is provided, the second signal output 14 also as a part of the sensor unit 15 be understood or have with this common components.

Depending on the transmitted second control signals S2 then the adjustment of at least one operating element 10 the haptic HMI device 31 be managed.

It can also be another remote control 1 according to the 1B in the context of a system according to the invention 3 serve as a haptic control unit, which, for example, on the one hand via the signal input 12 second control signal S2 receives and on the other hand (other) second control signals S2 via the second signal output 14 and to another haptic operating device 31 transmitted.

The haptic control unit 31 can in a variant also by a remote control dummy 7 according to the 1C be realized. This is different from a remote control 1 according to the 1A in that it does not generate first control signals S1 for remote control of a mobile object 5 is trained. Such a remote control dummy 7 may be provided for example for training purposes for a model student pilot as operator B, who can thus sense the remote control movements of a model flying instructor.

It may further be provided that the operating elements 10 at the remote control dummy 7 of the 1C not manually at all, but only automatically by the at least one actuator 11 are adjustable.

In contrast, with remote controls 1 to 1A and 1B the operating element 10 under the superimposed effects of the actuator 11 on the one hand and a manual operation by the operator B on the other hand be adjustable. In this case, the force F and / or the torque M, with which the actuator 11 the operating element 10 acted upon, by means of the control unit 13 be limited. In one variant, the limits of the force 11 and / or the torque by means of the control unit 13 , For example, via a knob, be variably adjustable.

The 2A to 2C show in schematic view various embodiments of a control element 10 with an actuator arranged thereon 11 , The operating element 10 according to the 2A is a joystick, which is shown here by way of example only in uniaxial design (ie with only one active plane). The joystick 10 is on a shaft of an electric motor 110 arranged, which is part of the actuator 11 forms. In this case, the electric motor 110 be designed in an advantageous embodiment constructively for a large torque and a low speed. Furthermore, the shaft of the electric motor 110 be smooth and rotatable from the outside. For example, in order to achieve a corresponding ease, the joystick 10 be attached directly to the shaft without an intermediate gearbox is provided.

The joystick 10 is in this embodiment under the superimposed effects of a manual action by the operator on the one hand and by the electric motor 110 On the other hand, torque transmitted to the shaft can be adjusted over its entire adjustment range V. It can on the joystick 10 Return springs 113 be provided, which when removing the two drive effects the joystick 10 move back to a centering or home position.

In the embodiment of the 2 B is as a control 11 a slider on a spindle 111 assembled. The spindle 111 is doing by an electric motor 110 driven. About the spindle 111 acts on the electric motor 110 the slider 10 with a force F, causing the slider 10 along the spindle 111 is linearly adjustable. This is an example of an arrangement in which a manual operation of the slider 10 from the outside, that is by an operator B, by design difficult or even excluded. Such an arrangement may be, for example, a remote control dummy 7 according to the 1C be used. The slider is used here 10 the operator B, for example, only to learn appropriate sliding positions, for example in the context of complex flight sequences of a model airplane.

Becomes the slider 10 , as in 2C shown, in contrast, on a belt 112 mounted, which by an electric motor 110 is driven, so is its adjustment position both by the electric motor 110 as an actuator 11 as well as manually adjustable by the operator B. A design-related mechanical inhibition as in the embodiment of 2 B is not present. Preferably, the electric motor 110 designed for a large torque and a low speed and also has a smooth and externally rotatable shaft. Such a slider 10 For example, in a remote control 1 according to the 1A or 1B Use find, with which an operator B at the same time an object itself 5 can remotely control and in addition remote control movements of an instance 32 can experience haptic.

The following are based on the 3 to 6 various embodiments of the system according to the invention 3 for the haptic switching of remote control movements, the remote controls described above 1 or remote control dummies 7 according to the 1A to 1C as haptic control devices 31 can be used.

In the 3 is a system 3 for the haptic switching of remote control movements in a first variant shown schematically. In the illustrated system 3 serves a first remote control 1-1 a first operator B1 as an instance 32 , which is a second remote control 1-2 as a haptic control unit 31 second control signals S2-2 provides. Here are in the second control signals S2-2 adjustment positions of controls 10 the first remote control 1-1 coded. The second control signals S2-2, for example, by radio to the second remote control 1-2 transmitted, and the adjustment positions of controls 10 the second remote control 1-2 are controlled with respect to the reference adjustment positions transmitted with the second control signals S2-2.

Conversely, in a very analogous way from the second remote control 1-2 second control signals S2-1 for the control of the adjustment positions of the controls 10 the first remote control 1-1 to be provided. In this way, a mutual coupling of the controls 10 the first remote control 1-1 and the second remote control 1-2 be realized.

This embodiment is based on the idea, for example, a model learner B2 on the controls 10 his second remote control 1-2 a haptic feedback from a model instructor B1 with its first remote control 1-1 is created to convey. For this purpose, with the illustrated system 3 the model learner B2 in particular a complete image of the controls 10 the first remote control 1-1 be transmitted haptically by the model flying instructor B1.

The system according to the invention 3 implements a coupling between the controls of the first remote control 1-1 the model instructor B1 on the one hand and the second remote control 1-2 the model pupil B2 on the other hand, which is analogous to the coupling of the control horns pilot and copilot in man-carrying aviation to understand. Both pilot and co-pilot can fly the plane, and both can feel what the other one is doing at any time, so they can intervene quickly in the event of problems.

In particular, it can be provided that a coupling strength of the coupling by means of the control units 13 is variably adjustable as needed. The coupling strength, for example, be adjustable in a range from zero to a maximum coupling strength, the maximum coupling strength z. B. a substantially rigid coupling between the controls 10 the first remote control 1-1 and the second remote control 1-2 can correspond.

In the exemplary embodiment of the 3 is the first remote control 1-1 of model flying instructor B1 by radio to the model airplane 5 coupled. Thus, the model instructor B1 has the primary responsibility for properly controlling the model airplane 5 held.

If the model B1 instructor now his joystick 10 adjusted, so their adjustment positions on the one hand to control the model airplane 5 in a controller in first control signals S1, which z. B. servo signals include, and calculated over the first signal output 16 (see 1B ) to the model airplane 5 sparked. On the other hand, the adjustment positions of the joysticks 10 through the sensor unit 15 detected and via the second signal output 14 as second control signals S2-2 to the signal input 12 the second remote control 1-2 sent by the model learner B2.

At the second remote control 1-2 The received second control signals S2-2 are controlled by the control unit 13 in nominal adjustment positions for the control of the joysticks 10 converted. The actuator 11 is from the control unit 13 supplied with corresponding input signals SP, SF with respect to a force, a torque and / or a position. As a result, the regulation leads through the control unit 13 and the actuator 11 to an electromotive operation of the joysticks 10 , where the joysticks 10 Without manual influence from the outside in their two axes each precisely take that adjustment position, that of an adjustment position of the corresponding joystick 10 at the first remote control 1-1 equivalent. This allows the model learner B2 to track the remote control movements of the model flying instructor B1.

Since the described coupling is realized in both directions, also the model learner B2 can control the joysticks 10 his second remote control 1-2 operate manually, with their adjustment positions in the form of second control signals S2-1 to the first remote control 1-1 of the model flying instructor B1. If the model instructor B1 now z. B. his joystick 10 releases and no manual force against the force F (or a set torque M) of the actuator 11 so apply his sticks 10 the adjustment position of the joystick 10 the second remote control 1-2 of the model learner B2. In this case, the first remote control 1-1 of the model flying instructor B1 by the model learner B2 "remotely controlled", where the model learner B2 the model airplane 5 transitive via the first remote control 1-1 controls.

In the event that the model learner B2 commits a critical control error, the model instructor B1 can intervene at any time and with his, for the remote control of the model airplane 5 ultimately authoritative, joysticks 10 Correct accordingly. The model instructor B1 must manually adjust the actuating force F of the actuator 11 overcome, it can be provided that he has a maximum force and / or maximum torque of the actuator 11 via another control element of the first remote control 1-1 (eg via a rotary potentiometer or a slider) can set variably.

As a result of this manual intervention by the model instructor B1, the actuator 11 the first remote control 1-1 not the adjustment position of the control stick given by the model learner B2 10 start, and the joysticks 10 the first remote control 1-1 reach for the rescue of the model airplane 5 required adjustment positions according to the specifications of the model flying instructor B1.

The model learner B2 feels while caused by the correction of the model flying instructor B1 force F of its actuator 11 over the joysticks 10 his second remote control 1-2 , This gives the model learner B2 an immediate feedback on its control error and in particular feels exactly the desired correct position of the joystick 10 , The model learner B2 also has the option of using his second remote control 1-2 a maximum force and / or in maximum torque of the actuator 11 adjust. Depending on training progress and application (eg, slow glider, fast and hard aerobatics, helicopter 3-D flight, etc.), different settings may make sense.

If the model learner B2 ignores the correction of the model flying instructor B1 and with its manual force against the actuator 11 works, this has for the model airplane 5 no consequences, as for the remote control of the model airplane 5 yes, ultimately only the first remote control 1-1 of the model instructor B1 is relevant. The adjustment positions of the joysticks of the second remote control 1-2 So in this case, the model airplane 5 ignored.

The 4 shows a second variant of a system according to the invention 3 for haptic switching of remote control movements. This is a haptic control unit 31 a second operator B2 with a computer 320 on which a model simulator is executed. The haptic control unit 31 For example, a remote control 1 according to the 1A - 1B or a remote control dummy 7 to 1C be. The model simulator simulates the motion of a virtual moving object 5 , for example, a helicopter 5 , In 4 is on the screen of the computer 320 in addition to the virtual object 5 to see a virtual remote control, as it often occurs in model simulators.

The computer 320 poses within the system 3 an instance 32 for the haptic control unit 31 by having a signal input 12 the haptic HMI device 31 second control signals S2 for the control of the adjustment positions of the controls 10 provides.

In a conventional mode of operation of a model simulator, the second operator B2 displaces the joysticks 10 his remote control 1 , The adjustment positions of the joysticks 10 are via a first signal output 16 as first control signals S1 to the computer 320 transmitted. Within the framework of the model simulator, the first control signals S1 are converted into corresponding adjustment positions of the virtual remote control mapped on the monitor and into a control of the movement of the virtual object 5 implemented.

The system according to the invention 3 allows a new mode of operation, in which the second operator B2 one of an experienced pilot and third operator B3 already previously controlled and in a database 322 of the computer 320 stored flight sequence (eg a particularly difficult flight maneuver) can load into the model simulator. In this case, the uploading of the flight sequence can also take place, for example, via an internet platform. When the second operator B2 starts the loaded flight sequence at the model simulator level, the joysticks become 10 his haptic HMI device 31 moved precisely according to the stored specifications of the flight sequence. This can, in particular in conjunction with other stored parameters, such as a model type, simulated wind conditions, etc., to a realistic experience of the remote control movements of the virtual object 5 to lead. This playback of the stored flight sequence is from the virtual remote control in the form of second control signals S2 to the signal input 12 the haptic HMI device 31 sent and leads there via the control unit 13 for controlling the actuator 11 and ultimately the controls 10 , Thus, the second operator B2 can correct the deflection of the joysticks 10 for the difficult flight sequence in addition to the visual perception of the virtual remote control on the joysticks 10 understand haptic.

Also conceivable are hybrid forms of the two described operating modes, in which the second operator B2 has the option on the one hand the virtual object 5 On the other hand, it is still possible to control it manually, but it is still gently guided by the haptic feedback of the virtual remote control. So knows the virtual remote control due to the flight sequence database 322 the optimal control flow and can compare it with the manual remote control movements of the second operator B2. If the deviations from the optimal remote control movements become too big, can with the actuator 11 a corresponding counterforce F and / or a corresponding counter torque M on the joysticks 10 the haptic HMI device 31 be generated.

It is also conceivable with regard to visual feedback, a so-called split-screen approach, wherein, for example, in a left half of the screen, the optimally controlled by the virtual remote control virtual object 5 is shown on the right half of the screen and the manually controlled by the second operator B2 virtual object 5 , In addition to the deviations in the movements of the two virtual objects 5 can also be the deviations of the adjustment positions of the joystick 10 the virtual remote control on the one hand and the haptic control unit 31 on the other hand graphically animated and evaluated at the end of the simulated flight. An integral of the deviations of the adjustment positions over the duration of the simulated flight would be a first clue for the execution quality and the learning success of the model learner B2.

According to a further variant of the embodiment of 4 For example, two model simulations with their respective operators (for example, a first operator B1 as a model instructor and a second operator B2 as a model learner) live and time synchronized over the Internet 321 be coupled. This model flight instructor / model learner scenario is analogous to that with reference to 3 to understand, but with the advantage of the complete location and weather independence of the two operators B1, B2.

The two haptic operating devices 31 are not connected to each other by radio or cable but in each case via a model simulator on a computer 320 is running, the computer 320 again via the internet 321 coupled together. Although physically it's two different remote controls 1 of the first operator B1 and the second operator B2, remains through the coupling only a logical virtual remote control and a logical virtual object 5 left, which both operators B1, B2 can see and control remotely.

The operator B1 can be dominant as a model instructor, the virtual remote control with its haptic control unit 31 which, in turn, control the virtual object 5 leads. For example, by headset communication, the first operator B1 can give the second operator B2 the command to take over the remote control (just like pilot and co-pilot communicate in the cockpit of a man-carrying machine via helmet microphone and headphones). The second operator B2 can then the only logical virtual remote control and above the virtual object 5 Taxes. The adjustment positions of the joysticks of the virtual remote control via the Internet 321 to the haptic control unit 31 sent the first operator B1 and cause there a corresponding deflection of the joystick 10 ,

The 5 shows a further variant of the system according to the invention 3 for haptic switching of remote control movements. At the same time, many viewers (both real and virtual over the Internet 321 ) feel a model flight demonstration of a competition or show pilot haptically and thus experience "live".

A show pilot controls in this embodiment as the first operator B1 a real model airplane 5 , This will be the joystick movements and thus the remote control of the model airplane 5 required control signals S2 to haptic control units 31 real spectators present at the event. In response to the second control signals S2, the joysticks 10 the haptic control devices 31 which, for example, as remote controls 1 or remote control dummies 7 can be realized moved, allowing for the audience B2 a re-feeling of the show flight.

In addition to the real viewers B2 on site, the second control signal S2 of the show or competition pilot can also via an Internet platform 321 be transferred to an interested global community. For example, virtual viewers B2 can use one on their home PC 320 software to be installed and one to the home PC 320 to be connected haptic HMI device 31 feel the show flight "live" or also with a time lag and experience it. The image and control signals S2 required for this purpose must be provided by the Internet platform 321 time-synchronized, z. B. by means of a streaming method, transmitted. The software to be installed on the home PC 320 then decodes from the stream again to control the haptic HMI device 31 necessary input signals S2

A fourth variant of a system according to the invention 3 is in 6 shown schematically. An operator controls B with a remote control 1 , which is a haptic operating device 31 realizes a real remote controllable object 5 how to Example a model helicopter. On the object 5 is a telemetry unit 51 arranged, which with a telemetry sensor 510 record current operating data such as an altitude, an airspeed, a rotor speed, a battery capacity, etc. and a telemetry transmitter 511 to the remote control 1 of the operator B can spark. Conventionally, such telemetry data is communicated to an operator B visually or by voice.

In the embodiment shown, it is provided that the remote control 1 of the operator B and the telemetry unit 51 of the object 5 an inventive system 3 Realize the object 5 with the telemetry unit 51 an instance 32 for remote control 1 as a haptic control unit 31 represents.

The operator B controls the remotely controllable object 5 over the joysticks 10 his remote control 1 , In this case, the first control signals S1 via the first signal output 16 to a receiver 52 of the remotely controllable object 5 sparked. As a result, the first control signals S1 in movements of individual servos (rowing machines) 53 of the remotely controllable object 5 implemented, which ultimately is the object 5 physically control.

Based on certain flight conditions or flight conditions (for example, too low a rotor speed, too low height, too low battery capacity, etc.), the telemetry sensor 510 Give alarm and the telemetry transmitter 511 cause second control signals S2 to the signal input 12 the haptic HMI device 31 to send either flight status switch 10 Automatically and promptly (de) activate or joystick 10 to bring in certain adjustment positions. For example, this can be done with a flight condition switch 10 automatically another rotor speed of a model helicopter 5 to be selected. In the case of a model airplane 5 can z. B. an impending stall ("stall" due to low Anströmgeschwindigkeit or too high angle of attack of a wing) cause a saving "pressing" the elevator stick.

In doing so, the operator B does not have to stand by idly. An automatic joystick position, on the contrary, is only output from the setting unit 11 approached, if he does not apply enough manual holding forces or holding torques, against an adjustable maximum force or an adjustable maximum torque of the actuator 11 to be able to hold. In any case, the operator B can the default direction of the automatic correction by the telemetry unit 51 of the remotely controllable object 5 feel.

Another embodiment of the system according to the invention 3 is conceivable in connection with a multicopter drone, which autarkic positions predetermined by GPS (so-called "waypoints"). When an operator B starts such an autonomous flight mode, with a system according to the invention 3 the from a flight computer of the multicopter drone 5 calculated control pulses (to reach the waypoints) via a telemetry transmitter 511 the multicopter drone 5 to a haptic operating device 31 sent to the operator B, so that the joysticks 10 the haptic HMI device 31 as with an autopilot controlled. It is also a scenario conceivable in which no operation of a switch is more to leave the autopilot mode is required, but the operator B, for example, in an emergency, only in the joystick 10 To regain control of the multicopter drone 5 to take over. A deviation of the adjustment positions of the joysticks 10 the haptic HMI device 31 From the calculated by the Flight Computer optimal adjustment positions can be used as an indicator for leaving the autopilot mode.

According to a further embodiment, in a remote control according to the invention 1 through the intended control unit 13 in conjunction with the actuator 11 a manual operation of a joystick 10 to assist in performing precise stickmoves ("stickmoves").

Conventional joysticks often have mechanical properties that undesirably counteract the exact biomotor performance of certain stickmoves by an operator B. This includes a change in the direction of action of a mechanical restoring force when passing through the centering position (ie the position that the control stick after releasing the joystick 10 occupies). Furthermore, the four quadrant control surfaces of a conventional joystick 10 in general, different restoring forces compared to the orthogonal control axes. Thus, movement along the main axes ("up", "down", "left", "right") is easier for an operator than a diagonal movement. The reason for this is the number and characteristics of the restoring springs involved 113 , For this reason, it is very difficult to describe a clean circular path with the joystick.

In a erfindungsbemäßen remote control 1 can actuators 11 superimpose the characteristic curves of the return springs according to individual specifications. Possible is z. B., each position of the joystick a value for a desired restoring force F in the direction of a freely selectable centering point pretend. If, for example, the points of a circular path around the central centering point uniformly have the restoring force zero in the sequence, then the joystick is moved 10 on this restoring powerless orbit within the adjustment V without much practice possible.

Basically, the mechanical return springs 113 also completely through the control unit 13 and the actuator 11 , z. B. electric motor, modeled and consequently in the construction of a remote control 1 be saved. However, it may be advantageous for safety reasons, mechanical return springs 113 Nevertheless, so that in case of failure of an actuator 11 still centering the joystick 10 done mechanically.

Furthermore, for example, the generation of an equal restoring force F in all directions is possible. In addition, an undesirable damped swinging of the joystick 10 around the centering around the sudden release from a wide deflection can be avoided. In summary, by means of the control unit 13 and the actuator 11 Depending on the situation and condition, the effect and properties of a joystick 10 modifiable.

LIST OF REFERENCE NUMBERS

1

Remote control

1-1

First remote control

1-2

Second remote control

10

operating element

11

actuator

110

engine

111

spindle

112

belt

113

Return spring

12

signal input

13

control unit

14

Second signal output

15

sensor unit

16

First signal output

3

system

31

Haptic control unit

32

instance

320

computer

321

Server / Internet

322

Database

5

object

51

telemetry unit

510

telemetry sensors

511

telemetry transmitter

52

receiver

53

Power

7

Remote control dummy

B

operator

B1

First operator

B2

Second operator

B3

Third operator

F

force

M

torque

S1

First control signals

S2

Second control signals

S2-1

Second control signals for the first remote control

S2-2

Second control signals for the second remote control

SF

Force related control signals

SP

Position-related control signals

SR

Feedback channel

V

adjustment

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 6429849 B1 [0005]

Claims (16)

Remote control ( 1 ) for a real or virtual moving object ( 5 ), with - at least one operating element ( 10 ), which is used to generate first control signals (S1) that relate to a movement of the object ( 5 ) is manually adjustable between a plurality of adjustment positions, wherein an adjustment range (V) limits the manual adjustability of the at least one operating element ( 10 ), - at least one actuator ( 11 ), which is designed and set up, the at least one control element ( 10 ) between the adjustment positions, and - at least one control unit ( 13 ), which is designed and set up, the at least one actuator ( 11 ) and by means of the at least one actuator ( 11 ) the adjustment position of the at least one operating element ( 10 ) with respect to a desired adjustment position, the adjustment range (V) defining limits of the possible setpoint adjustment positions. Remote control ( 1 ) according to claim 1, characterized in that the at least one operating element ( 10 ) under superimposed effects of the at least one actuator ( 11 ) On the one hand and a manual operation on the other hand is adjustable between the adjustment positions. Remote control ( 1 ) according to claim 1 or 2, characterized in that the actuator ( 11 ) is designed and set up, the at least one operating element ( 10 ) for adjusting the adjustment position with a force (F) and / or a torque (M), wherein limits of the force (F) and / or the torque (M) by means of the at least one control unit ( 13 ) are variably adjustable. Remote control ( 1 ) according to at least one of claims 1 to 3, characterized in that the adjustment positions of the at least one operating element ( 10 ) are distributed continuously in the adjustment range (V). Remote control ( 1 ) according to at least one of the preceding claims, characterized in that the object ( 5 ) is a real unmanned land vehicle, watercraft and / or aircraft. Remote control ( 1 ) according to at least one of the preceding claims, characterized in that the object ( 5 ) is a real remote controlled model vehicle for use on land, water and / or in the air, in particular a remotely controllable model airplane or a remote controllable model helicopter. Remote control ( 1 ) according to at least one of the preceding claims, characterized by - a sensor unit ( 15 ) for detecting the adjustment position in which the at least one operating element ( 10 ), and for translating the detected adjustment position into second control signals (S2, S2-1, S2-2), and - a second signal output ( 14 ) for outputting the second control signals (S2, S2-1, S2-2). Remote control dummy ( 7 ) in the manner of a model remote control with - at least two operating elements ( 10 ), which are designed as a joystick and according to the adjustment positions of the control sticks of a model remote control between a plurality of adjustment positions within an adjustment range (V) are adjustable, - at least one actuator ( 11 ) per control element ( 10 ), wherein the actuator ( 11 ) is designed and set up, the respective operating element ( 10 ) between the adjustment positions, and - at least one control unit ( 13 ), which is designed and set up, the at least one actuator ( 11 ) per control element ( 10 ) and by means of the at least one actuator ( 11 ) the adjustment position of the respective operating element ( 10 ) with respect to a desired adjustment position, the adjustment range (V) defining limits of the possible setpoint adjustment positions. System ( 3 ) for the haptic switching of remote control movements, with - at least one haptic control device ( 31 ), comprising - a remote control ( 1 ) according to one of the preceding claims, and / or - a remote control dummy ( 7 ) according to claim 8, and - at least one instance ( 32 ) for providing second control signals (S2, S2-1, S2-2), from which a desired adjustment position of the at least one control element ( 10 ) of the at least one haptic operating device ( 31 ), wherein the second control signals (S2, S2-1, S2-2) from the at least one instance ( 32 ) to the at least one control unit ( 13 ) of the at least one haptic operating device ( 31 ) are transferable. System ( 3 ) according to claim 9, characterized in that the at least one instance ( 32 ) a remote control ( 1 ) according to claim 7. System ( 3 ) according to claim 9 or 10, characterized in that the at least one instance ( 32 ) a computer ( 320 ) and / or a server ( 321 ), especially with one on the computer ( 320 ) and / or the server ( 321 ) installed model simulation software. System ( 3 ) according to at least one of claims 9 to 11, characterized in that the at least one haptic control device ( 31 ) a remote control ( 1 ) for a real moving object ( 5 ) according to one of claims 1 to 7, wherein the object ( 5 ) a telemetry unit ( 51 ) for acquiring measurement data, and that the entity ( 32 ) the telemetry unit ( 51 ), wherein the second control signals (S2, S2-1, S2-2) can be derived from the measured data. Method for the haptic switching of remote control movements, which is performed using a system ( 3 ) according to one of claims 9 to 12, comprising the following steps: - providing the second control signals (S2, S2-1, S2-2) by the at least one entity ( 32 ), wherein the second control signals (S2, S2-1, S2-2) a respective desired adjustment position of the at least one operating element ( 10 ) of the at least one haptic operating device ( 31 ) affect; Transmitting the second control signals (S2, S2-1, S2-2) from the entity ( 32 ) to the at least one haptic operating device ( 31 ); and - regulation of the adjustment position of the at least one operating element ( 10 ) of the at least one haptic operating device ( 31 ) with respect to the respective desired adjustment position by means of the at least one control unit ( 13 ) and the at least one actuator ( 11 ). A method according to claim 13, characterized in that the at least one operating element ( 10 ) of the at least one actuator ( 11 ) is applied for adjusting the adjustment position with an even greater force (F) and / or with an even larger torque (M), the farther the adjustment position of the at least one control element ( 10 ) deviates from the respective desired adjustment position. A method according to claim 14, characterized in that at a deviation between the adjustment position of the at least one operating element ( 10 ) and the respective desired adjustment position the at least one operating element ( 10 ) is acted upon by the at least one actuator with an even greater force (F) and / or with an even greater torque (M), the greater a coupling strength for the at least one control element ( 10 ), wherein the coupling strength at the at least one haptic control device ( 31 ) and / or at least one instance ( 32 ) is set. Method according to at least one of claims 13-15, characterized in that at least two remote controls ( 1-1 . 1-2 ) according to claim 7, wherein - on the one hand a first remote control ( 1-1 ) as a first instance ( 32-1 ) for a second remote control ( 1-2 ) as a first haptic operator device ( 31-1 ) is used, wherein the desired adjustment position of the at least one operating element ( 10 ) of the second remote control of an adjustment position of a corresponding operating element ( 10 ) of the first remote control ( 1-1 ), and - on the other hand, the second remote control ( 1-2 ) as a second instance ( 32-2 ) for the first remote control ( 1-1 ) as a second haptic operator device ( 31-2 ) is used, wherein the desired adjustment position of the at least one operating element ( 10 ) of the first remote control ( 1-1 ) an adjustment position of a corresponding operating element ( 10 ) of the second remote control ( 1-1 ) corresponds.

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