Direction control device of electronic equipment

Abstract

The direction control device of the electronic equipment comprises a motor used for adjusting the rotation angle of the electronic equipment; the sensor is used for detecting the current rotation angle of the electronic equipment; and a control unit that, when a target rotation angle of the electronic device is input, rotates the electronic device from the current rotation angle to the target rotation angle by operating the motor, and, when an operator inputs the target rotation angle of the electronic device to a controller, controls the motor to rotate the electronic device from the current rotation angle to the target rotation angle. And the electronic equipment automatically rotates to the target rotation angle.

Description

Technical Field

[0001] The present utility model relates to a direction control device for an electronic device, and more particularly, to a device for controlling the direction of an electronic device according to a target rotation angle of the input electronic device. Background Art

[0002] The position and angle of electronic devices such as antennas provided in mobile communication base stations and lighting devices provided in stadiums need to be determined according to precise designs.

[0003] For example, the installation position of the above antenna is determined according to the result of network design considering coverage and traffic. Also, since the mobile communication terminal and communication intensity may vary according to the directional orientation of the antenna, in order to eliminate shadow areas, the base station antenna is optimized by tilting or turning the antenna to adapt to the radio wave environment of the place where the antenna is installed. Among them, the turning angle of the antenna is determined by considering the sector orientation angle of the horizontal component of the beam, and the tilting angle of the antenna is determined by considering the tilting angle of the vertical component of the beam.

[0004] On the other hand, the preset tilting angle and turning angle of the antenna may need to be readjusted corresponding to changes in the wireless environment. For example, the inclination of the pillar supporting the antenna may be changed due to an external force such as strong wind, or the fixture for coupling the antenna to the pillar may deviate, resulting in deviation of the tilting angle or turning angle of the antenna. In this case, there are problems as follows: the operator needs to perform direction measurement and alignment work on site using an expensive measuring instrument, or the operator needs to climb to a high position where the antenna is installed to adjust the directional orientation of the antenna.

[0005] Also, even if the operator adjusts the directional orientation of the antenna by operating an external controller without climbing to the antenna installation position, there is a problem that the directional orientation of the antenna cannot be accurately readjusted because the directional orientation of the antenna is adjusted by rough estimation.

[0006] Korean Patent Publication No. 10-2022-0079788 (June 14, 2022) (hereinafter, referred to as "the prior art") discloses a "method and system for managing the directional orientation of a mobile communication base station antenna", which is a technology that enables an operator to accurately readjust the directional orientation of the antenna without climbing to the antenna installation position.

[0007] The above prior art is an antenna management system, including a direction control device for controlling the directional orientation of an antenna of a mobile communication base station. The direction control device includes: a data receiving unit for receiving spatial direction information of the antenna device from a measuring device or video data capturing the foreground in the direction of orientation of the antenna device; and a control unit for controlling the tilt and steering unit of the antenna device by using at least one of the spatial direction information and the video data, such that the antenna device has a preset target spatial direction.

[0008] However, the above prior art requires multiple optical sensors to measure the directional orientation of the antenna device by using the incident angle of sunlight, thus there is a problem of increased cost.

[0009] Prior art documents

[0010] Patent documents

[0011] Korean Patent Publication No. 10-2022-0079788 (June 14, 2022) Summary of the utility model

[0012] Technical problem

[0013] The problem to be solved by the present utility model is to provide a direction control device for an electronic device, which is configured to automatically rotate the electronic device to the target rotation angle when an operator inputs the target rotation angle of the electronic device to a controller, thereby cost can be saved.

[0014] The problem of the present utility model is not limited to the above problem, and those of ordinary skill in the art can clearly understand other problems not mentioned from the following description.

[0015] Solution to the problem

[0016] To achieve the above problem, the direction control device of the electronic device of the present utility model includes a motor, a sensor and a control unit. The motor adjusts the rotation angle of the electronic device, the sensor detects the current rotation angle of the electronic device, and when the target rotation angle of the electronic device is input, the control unit operates the motor to rotate the electronic device from the current rotation angle to the target rotation angle.

[0017] The above electronic device can be disposed on a pillar standing on the ground and spaced upward from the ground. The sensor can be an optical sensor for detecting the current rotation angle of the electronic device relative to the pillar.

[0018] The sensor can be an acceleration sensor or a gyroscope sensor for detecting the current rotation angle of the electronic device relative to the ground.

[0019] The direction control device of the electronic device of the present utility model may further include a memory. The memory may store the set rotation angle of the electronic device. When the target rotation angle of the electronic device is input, before operating the motor, the control unit compares the target rotation angle with the set rotation angle to check whether the target rotation angle is within the allowable range of the set rotation angle, and then may operate the motor when the target rotation angle is within the allowable range of the set rotation angle.

[0020] When the target rotation angle of the electronic device is input, before operating the motor, if the target rotation angle is greater than the current rotation angle, the control unit may determine that the rotation axis of the motor rotates in one direction, and if the target rotation angle is less than the current rotation angle, the controller may determine that the rotation axis of the motor rotates in the other direction.

[0021] When operating the motor, if the difference between the current rotation angle and the target rotation angle is equal to or greater than the set angle, the control unit can operate the motor at the maximum speed. When operating the motor, if the difference between the current rotation angle and the target rotation angle is less than the set angle, the control unit can operate the motor at a speed lower than the maximum speed.

[0022] After the control unit operates the motor, before the current rotation angle reaches the target rotation angle, if the rotation axis of the motor stops rotating, the current rotation angle may be stored in the memory as the set rotation angle.

[0023] After the control unit operates the motor, if the current rotation angle reaches the target rotation angle, the motor may be stopped, and the current rotation angle may be stored in the memory as the set rotation angle.

[0024] To solve the above problems, the direction control method of the electronic device of the present utility model controls the direction of the electronic device by operating a motor for adjusting the rotation angle of the electronic device. The direction control method of the electronic device of the present utility model includes a detection step and a motor operation step. In the detection step, a sensor detects the current rotation angle of the electronic device. In the motor operation step, when the target rotation angle of the electronic device is input, the motor is operated to rotate the electronic device from the current rotation angle to the target rotation angle.

[0025] Before the above-mentioned motor operation steps, a validity check step can be executed. In the above-mentioned validity check step, when the target rotation angle of the above-mentioned electronic device is input, the above-mentioned target rotation angle can be compared with the set rotation angle of the above-mentioned electronic device stored in the memory to check whether the above-mentioned target rotation angle is within the allowable range of the above-mentioned set rotation angle. When the above-mentioned target rotation angle in the above-mentioned validity check step is within the allowable range of the above-mentioned set rotation angle, the above-mentioned motor operation steps can be executed.

[0026] Before the above-mentioned motor operation steps, a rotation direction determination step can be executed. In the above-mentioned rotation direction determination step, when the target rotation angle of the above-mentioned electronic device is input, the above-mentioned target rotation angle can be compared with the above-mentioned current rotation angle to determine the rotation direction of the above-mentioned electronic device. In the above-mentioned rotation direction determination step, if the above-mentioned target rotation angle is greater than the above-mentioned current rotation angle, it can be determined that the rotation axis of the above-mentioned motor rotates in one direction. In the above-mentioned rotation direction determination step, if the above-mentioned target rotation angle is less than the above-mentioned current rotation angle, it can be determined that the rotation axis of the above-mentioned motor rotates in the other direction.

[0027] The above-mentioned motor operation steps can include a motor speed adjustment step. In the above-mentioned motor speed adjustment step, the difference between the above-mentioned current rotation angle and the above-mentioned target rotation angle can be compared with a set angle to control the operation speed of the above-mentioned motor. In the above-mentioned motor speed adjustment step, if the difference between the above-mentioned current rotation angle and the above-mentioned target rotation angle is greater than or equal to the above-mentioned set angle, the above-mentioned motor can be operated at the maximum speed. In the above-mentioned motor speed adjustment step, if the difference between the above-mentioned current rotation angle and the above-mentioned target rotation angle is less than the above-mentioned set angle, the above-mentioned motor can be operated at a speed lower than the above-mentioned maximum speed.

[0028] After the above-mentioned motor operation steps, a motor abnormality handling step can be executed. In the above-mentioned motor abnormality handling step, if the rotation axis of the above-mentioned motor stops rotating before the above-mentioned electronic device rotates to the above-mentioned target rotation angle, the above-mentioned current rotation angle can be stored in the above-mentioned memory as the above-mentioned set rotation angle.

[0029] After the above-mentioned motor operation steps, a motor stop step can be executed. In the above-mentioned motor stop step, if the above-mentioned electronic device rotates to the above-mentioned target rotation angle, the above-mentioned motor can be stopped. In the above-mentioned motor stop step, if the above-mentioned electronic device rotates to the above-mentioned target rotation angle, the above-mentioned current rotation angle can be stored in the above-mentioned memory as the above-mentioned set rotation angle.

[0030] Specific details of other embodiments are included in the detailed description and the drawings.

[0031] Effects of the utility model

[0032] The direction control device of the electronic device according to the present utility model has the following effects: when the operator inputs the target rotation angle of the above-mentioned electronic device to the controller, the above-mentioned electronic device automatically rotates to the above-mentioned target rotation angle.

[0033] Moreover, the direction control device of the electronic device according to the present utility model also has the following effects: when the rotation angle of the electronic device set by the optical sensor is lost, the direction of the electronic device can be controlled by using an acceleration sensor or a gyroscope sensor that is cheaper than the above-mentioned optical sensor.

[0034] The effects of the present utility model are not limited to the above effects, and those of ordinary skill in the art can clearly understand other effects not mentioned from the descriptions of the claims. Description of the Drawings

[0035] Figure 1 Fig. is a side view showing an antenna device of the direction control device of the electronic device including an embodiment of the present utility model.

[0036] Figure 2 To show Figure 1 a diagram of the state where the antenna is tilted by the tilt driving unit shown.

[0037] Figure 3 To show Figure 1 another embodiment of

[0038] Figure 4 Fig. is a control block diagram showing the antenna direction control device of an embodiment of the present utility model.

[0039] Figure 5 Fig. is a flowchart of the antenna direction control method according to an embodiment of the present utility model.

[0040] Figures 6 to 8 Fig. is a specific flowchart of the first embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present utility model.

[0041] Figures 9 to 11 Fig. is a specific flowchart of the second embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present utility model.

[0042] Figure 12 and Figure 13 Fig. is a specific flowchart of the method using an optical sensor in the antenna direction control method according to an embodiment of the present utility model.

[0043] Explanation of Reference Numerals

[0044] 100: Support pillar 200: Electronic device

[0045] 450: Motor 472: Sensor

[0046] 473: Control unit 474: Memory Detailed implementation manner

[0047] Hereinafter, a direction control device of an electronic device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0048] However, the electronic device may include an antenna and a lighting device, and may include all electronic devices that can adjust the direction. In the following description, the electronic device will be described by taking the antenna as an example, and the antenna may refer to the electronic device.

[0049] Hereinafter, in the description, "tilting" means "rotating in the up and down directions with respect to the rotation center in the horizontal configuration", and the tilting operation may mean adjusting the up and down rotation angle of the antenna. And, "steering" means "rotating in the left and right directions with respect to the rotation center in the vertical configuration", and the steering operation may mean adjusting the left and right rotation angle of the antenna.

[0050] Figure 1 To show a side view of an antenna device including a direction control device of an electronic device according to an embodiment of the present invention Figure 2 To show Figure 1 A diagram showing the state in which the tilting drive unit tilts the antenna unit as shown

[0051] Refer to Figure 1 And Figure 2 , the antenna device 1 according to an embodiment of the present invention may include a support pole 100, an antenna 200, a lower link unit 300, and a tilting drive unit 400.

[0052] However, if the up and down length of the antenna 200 is formed shorter than this embodiment, the lower link unit 300 may not be provided.

[0053] That is, when the up and down length of the antenna 200 is formed relatively long, the lower link unit 300 and the tilting drive unit 400 are provided. The tilting drive unit 400 couples the upper part of the antenna 200 to the support pole 100, and the lower link unit 300 couples the lower part of the antenna 200 to the support pole 100, so that the antenna 200 can be firmly coupled to the support pole 100 to resist external forces such as wind.

[0054] In addition, when the up and down length of the antenna 200 is formed relatively short, the lower link unit 300 is not provided and only the tilting drive unit 400 is provided, so that the tilting drive unit 400 couples the antenna 200 to the support pole 100.

[0055] The support column 100 can be erected on the ground 5. The support column 100 can be vertically arranged on the ground 5. The support column 100 can be in the shape of a bar extending in the vertical direction. The support column 100 can be in the shape of a bar with a circular cross-section. The support column 100 can support multiple structures of the antenna device of the embodiment of the present utility model other than itself.

[0056] The antenna 200 can be arranged on the support column 200 and is disposed at a distance from the ground 5 toward the upper side. The antenna 200 can be in the shape of a substantially rectangular column. A substrate on which antenna elements are mounted can be provided inside the antenna 200.

[0057] The lower link unit 300 can couple the lower part of the antenna 200 to the support column 100 in a manner that enables rotation in the vertical direction. The lower link unit 300 is disposed below the tilt drive unit 400 and can couple the antenna 200 to the support column in a manner that enables rotation in the vertical direction.

[0058] The lower link unit 300 can include: a first bracket coupled to the support column 100 and disposed in front of the support column 100; a second bracket coupled to the rear surface of the antenna 200 and disposed behind the antenna 200; and a rotating shaft horizontally arranged in a manner extending in the left-right direction and rotatably coupling the first bracket and the second bracket.

[0059] The tilt drive unit 400 can couple the antenna 200 to the support column 100. The tilt drive unit 400 can tilt the antenna 200. The tilt drive unit 400 can couple the upper part of the antenna 200 to the support column 100. The tilt drive unit 400 can rotate and tilt the upper part of the antenna 200 with the rotation center of the lower link unit 300 as a reference.

[0060] That is, the tilt drive unit 400 can be a direction control device of the antenna 200 that adjusts the direction of the antenna 200 by adjusting the vertical rotation angle of the antenna 200.

[0061] The support column 100 can be disposed at a distance from the antenna 200 toward the rear. The antenna 200 can be disposed at a distance from the support column 100 toward the front. The lower link unit 300 can be disposed at a distance from the tilt drive unit 400 toward the lower side. The lower link unit 300 can connect the support column 100 and the antenna 200. The tilt drive unit 400 can be disposed at a distance from the lower link unit 300 toward the upper side. The tilt drive unit 400 can connect the support column 100 and the antenna 200.

[0062] The tilt drive unit 400 can include a plurality of tilt members 420, a screw 440, and a tilt motor 450.

[0063] However, in order to control the up-and-down rotation angle of the antenna 200, the structure of the tilt drive unit 400 can be changed in various ways within the range including the tilt motor 450.

[0064] Both ends of each of the plurality of tilt members 420 can be rotatably coupled by a connecting bar. The plurality of tilt members 420 can be rotatably coupled to form a substantially rhombus.

[0065] The screw 440 can be arranged to extend in the up-and-down direction. The nut member can be coupled to the lowermost connecting bar among the plurality of connecting bars that rotatably couple both ends of the plurality of tilt members 420, respectively, and the screw 440 can penetrate through the nut member vertically. Threads that are fastened to the threads formed on the inner circumferential surface of the nut member can be formed on the outer circumferential surface of the screw 440.

[0066] When the tilt motor 450 is driven, the up-and-down direction of the antenna 200 can be adjusted by adjusting the up-and-down rotation angle of the antenna 200. The rotation shaft of the tilt motor 450 can be coupled to the upper end of the screw 440. When the tilt motor 450 is driven, the rotation shaft of the tilt motor 450 can rotate, and the screw 440 can rotate together with the rotation shaft of the tilt motor 450. When the screw 440 rotates, the nut member can be moved upward or downward, and the plurality of tilt members 420 rotate accordingly, so that the up-and-down rotation angle of the antenna 200 can be adjusted.

[0067] On the other hand, in the above description, as the direction control device of the antenna 200, only the tilt drive unit 400 that adjusts the up-and-down rotation angle of the antenna 200 is illustrated, but the direction control device of the antenna 200 may further include a steering drive unit 500 that adjusts the left-and-right rotation angle of the antenna 200 (refer to Figure 3 ).

[0068] This will be described below with reference to Figure 3 However, for the structure that is the same as the structure shown in Figure 1 and Figure 2 , the same reference numerals are given, and thus the detailed description thereof will be omitted.

[0069] Figure 3 FIG. for showing another embodiment of Figure 1 .

[0070] Referring to Figure 3 , the antenna 200 device 2 according to another embodiment of the present utility model may include: a tilt drive unit 400 for adjusting the up-and-down rotation angle of the antenna 200; and a steering drive unit 500 for adjusting the left-and-right rotation angle of the antenna 200.

[0071] In this case, the direction control device of the antenna 200 according to another embodiment of the present utility model can control at least one of the up-and-down rotation angle and the left-and-right rotation angle of the antenna 200. To this end, the antenna device 2 according to another embodiment of the present utility model may include at least one of an inclination driving unit 400 and a steering driving unit 500.

[0072] The specific structure of the steering driving unit 500 may be similar to the specific structure of the inclination driving unit 400. However, the specific structures of the inclination driving unit 400 and the steering driving unit 500 can be changed in various ways within the range including a motor.

[0073] That is, the steering driving unit 500 may also include a motor for adjusting the left-and-right rotation angle of the antenna 200.

[0074] In other words, the antenna direction control device according to another embodiment of the present utility model can adjust at least one of the up-and-down rotation angle and the left-and-right rotation angle of the antenna 200. That is, as a driving source for adjusting the direction of the antenna 200, it may include at least one of the inclination motor 450 disposed in the inclination driving unit 400 and the motor disposed in the steering driving unit 500.

[0075] Hereinafter, the motor 450 may include at least one of the following motors: the inclination motor 450 disposed in the inclination driving unit 400 for adjusting the up-and-down rotation angle of the antenna 200; and the steering motor, which is the above-mentioned motor disposed in the steering driving unit 500 for adjusting the left-and-right rotation angle of the antenna 200.

[0076] When the rotation axis of the motor 450 rotates in one direction, the antenna 200 can rotate in one direction, and when the rotation axis of the motor 450 rotates in the other direction, the antenna 200 can rotate in the other direction.

[0077] For example, when the motor 450 is configured as an inclination motor for tilting the antenna 200, if the rotation axis of the above inclination motor rotates in one direction, the antenna 200 can rotate upward, and if the rotation axis of the above inclination motor rotates in the other direction, the antenna 200 can rotate downward. And when the motor 450 is configured as a steering motor for steering the antenna 200, if the rotation axis of the above steering motor rotates in one direction, the antenna 200 can rotate to the left, and if the rotation axis of the above steering motor rotates in the other direction, the antenna 200 can rotate to the right.

[0078] Figure 4 To show the control block diagram of the antenna direction control device according to the embodiment of the present utility model.

[0079] Refer to Figure 4, the antenna direction control device according to the embodiment of the present utility model may include a controller 471, a sensor 472, a control unit 473, and a memory (electrically erasable programmable read-only memory (EEPROM)) 474.

[0080] The controller 471 may be configured to operate the motor 450 by wireless communication or wired communication with the control unit 473. Since the antenna 200 is taken as an example of an electronic device in this embodiment, the controller 471 may be an Antenna Interface Standards Group (AISG) controller 471 that operates the motor 450 by wired communication with the control unit 473.

[0081] The AISG controller 471 may be configured to operate the motor 450 by connecting to the control unit 473 through a control cable. That is, the operator can connect the port provided at one end of the control cable to the AISG controller 471, connect the port provided at the other end of the control cable to the control unit 473, and then input the target rotation angle of the antenna 200 for changing the direction of the antenna 200 to the AISG controller 471, so as to change the direction of the antenna 200 on the ground 5 without climbing to the pillar 100.

[0082] The AISG controller 471 may provide a user interface for adjusting the directional orientation of the antenna 200 by operating the motor 450, and it may be used as an input unit for the user to input the target rotation angle of the antenna 200 to the control unit 473.

[0083] The sensor 472 may be a sensor for detecting the current rotation angle of the antenna 200. When the above target rotation angle is input from the AISG controller 471, the control unit 473 may operate the motor 450 to rotate the antenna 200 from the current rotation angle to the target rotation angle.

[0084] The control unit 473 and the memory 474 may be built into a printed circuit board disposed inside at least one of the tilt drive unit 400 and the steering drive unit.

[0085] The sensor 472 may include at least one of an acceleration sensor, a three-axis gyroscope sensor (hereinafter, gyroscope sensor), and a light sensor (optical interrupter). Among them, the acceleration sensor may be used for the tilt operation of the antenna 200, and the gyroscope sensor and the light sensor may be used for at least one of the tilt operation and the steering operation of the antenna 200.

[0086] The above acceleration sensor or the above gyroscope sensor can detect the current rotation angle of the antenna 200 relative to the ground 5. The control unit 473 can perform the tilting operation of the antenna 200 by using the measured values of the above acceleration sensor.

[0087] The above acceleration sensor can be a three-axis acceleration sensor having three mutually orthogonal axes (X-axis, Y-axis, Z-axis). The above three-axis acceleration sensor can measure the acceleration values of the above three axes.

[0088] For example, when the X-axis and Y-axis of the above three-axis acceleration sensor are placed parallel to the ground 5, the X-axis value and Y-axis value can be measured as 0, and the Z-axis value can be measured as 1G (=9.8 m / s2). Also, when the Y-axis and Z-axis of the above three-axis acceleration sensor are placed parallel to the ground 5, the Y-axis value and Z-axis value can be measured as 0, and the X-axis value can be measured as 1G.

[0089] The acceleration sensor can use the above three axes to measure the tilting degree of the current sensor 472 relative to the ground 5.

[0090] In the case of the above turning, since the rotation is a horizontal rotation relative to the ground 5, the angle between the ground 5 and the sensor 472 remains unchanged, so that the value of the sensor 472 can remain unchanged. Therefore, in the case of the above turning, the above gyroscope sensor capable of detecting horizontal rotation can be used instead of the above acceleration sensor.

[0091] The above acceleration sensor is very sensitive, so that the measured value may change even in the stopped state. Therefore, when the motor 450 is operated, the measured value may not be constant. In this case, the measured value of the above acceleration sensor can be corrected by using a Kalman filter (implemented by software).

[0092] After the angles of the support column 100 and the antenna 200 are adjusted to be parallel in the factory and initially set on site, in order to determine the offset of the above acceleration sensor, the angle of the above acceleration sensor relative to the ground 5 needs to be set to 0 degrees. After the antenna 200 is set to face a specified direction, the angle of the above acceleration sensor relative to the ground 5 can be set to 0 degrees in the memory 474.

[0093] For example, when the antenna 200 is initially set, the angle of the above acceleration sensor relative to the ground 5, +2 degrees, is set to 0 degrees in the memory 474. In this case, regardless of how the support column 100 changes later, the control unit 473 can determine +2 degrees as 0 degrees.

[0094] The above acceleration sensor or the above gyroscope sensor can be provided on the motor 450.

[0095] When the operator inputs the target rotation angle of the antenna 200 to the AISG controller 471, the control unit 473 can repeat the set control logic until the difference between the current rotation angle of the antenna 200 detected by the acceleration sensor and the above-mentioned target rotation angle is within 0.5 degrees.

[0096] The above-mentioned optical sensor can detect the current rotation angle of the antenna 200 relative to the support column 100. The control unit 473 can use the measurement value of the above-mentioned optical sensor to operate the antenna 200 through at least one of the tilting operation and the steering operation.

[0097] The above-mentioned optical sensor can include a light interrupter. The above-mentioned light interrupter can include a light emitting part (IR infrared ray) and a light receiving part (Photo TR). The above-mentioned light interrupter can be an element that outputs a high value when light is detected and a low value when light is not detected.

[0098] The above-mentioned light interrupter can be connected to the external interrupt terminal of the control unit 473. The above-mentioned optical sensor has an optical encoder located between the above-mentioned light emitting part and the above-mentioned light receiving part. When the rotating shaft of the motor 450 rotates, the optical encoder count (OEC, Optical Encoder Count) can increase.

[0099] When the motor 450 is driven, for one protrusion of the encoder between the above-mentioned light emitting part and the above-mentioned light receiving part, 2 external interrupts can be sensed. For example, if 18 encoder protrusions are generated when the rotating shaft of the motor 450 rotates one circle, 36 optical encoder counts can be generated when the rotating shaft of the motor 450 rotates one circle.

[0100] When the motor 450 is driven, in order to measure the rotation angle of the rotating shaft of the motor 450, the optical encoder provided at the end of the rotating shaft of the motor 450 can rotate and pass between the above-mentioned light emitting part and the above-mentioned light receiving part.

[0101] The above-mentioned light interrupter can output a low value when the shielding part of the above-mentioned optical encoder passes between the above-mentioned light emitting part and the above-mentioned light receiving part, and output a high value when the open part of the above-mentioned optical encoder passes between the above-mentioned light emitting part and the above-mentioned light receiving part.

[0102] The control unit 473 can use the above-mentioned external interrupt to calculate the optical encoder count that increases when the output of the optical sensor changes from a low value to a high value at the rising edge and from a high value to a low value at the falling edge.

[0103] The control unit 473 can calculate the current rotation angle of the antenna 200 based on the increased optical encoder count number.

[0104] The target rotation angle of the antenna 200 desired by the user can be controlled by constructing the optical encoder count values for each segment of the minimum control unit (e.g., 0.5 degrees) for controlling the rotation angle of the antenna 200 into a look-up table.

[0105] On the other hand, the above acceleration sensor is a sensor that measures motion under the influence of gravitational acceleration. Since it measures gravitational acceleration based on the weight of the rotating antenna 200, it can only measure the above tilt of the antenna 200 and cannot measure the above steering of the antenna 200.

[0106] Since the above acceleration sensor cannot measure the above steering of the antenna 200, the above gyroscope sensor is used to measure the above steering of the antenna 200. However, since the above gyroscope sensor is a sensor that measures the motion of the antenna 200 relative to speed, there is a measurement error range due to external forces (wind, external force action, etc.). If the above error range accumulates, an accurate position value cannot be measured. In this case, it is preferably necessary to establish a standard for the zero point of the antenna 200 using the above optical sensor.

[0107] The motor 450 can be a direct current (DC) motor and can be controlled using a pulse width modulation (PWM, Pulse Width Modulation) method. The control unit 473 can control the rotation speed of the rotating shaft of the motor 450 by generating pulses with a pulse width modulation duty cycle of 0 to 100%. The control unit 473 can control the rotation direction and rotation speed of the rotating shaft of the motor 450 by applying a signal to the motor 450 that changes the average voltage using a pulse width modulation pulse.

[0108] The AISG controller 471 and the control unit 473 can communicate using the antenna interface standard organization protocol and the recommended standard 485 (RS485, Recommended Standard 485) serial communication. The AISG controller 471 can control and monitor the motor 450 by issuing commands to the control unit 473 and responding.

[0109] Figure 5 It is a flowchart of the antenna direction control method according to an embodiment of the present invention. Here, it will be described in combination with the operation of the antenna direction control device according to an embodiment of the present invention.

[0110] Refer to Figure 4 and Figure 5, the antenna direction control method according to the embodiment of the present invention can control the direction of the antenna 200 by operating the motor 450 for adjusting the rotation angle of the antenna 200.

[0111] That is, after the operator connects the AISG controller 471 to the motor 450 through the control cable and inputs the target rotation angle, which is the angle for rotating the antenna 200 to the target position, to the AISG controller 471, the control unit 473 can start the control logic.

[0112] The antenna direction control method according to the embodiment of the present invention may include a validity check step S1, a detection step S2, a rotation direction determination step S3, a motor operation step S4, a motor speed adjustment step S5, a motor abnormality handling step S6, and a motor stop step S7.

[0113] The validity check step S1, the detection step S2, the rotation direction determination step S3, the motor operation step S4, the motor speed adjustment step S5, the motor abnormality handling step S6, and the motor stop step S7 may be control logics executed by the control unit 473.

[0114] The validity check step S1, the detection step S2, the rotation direction determination step S3, the motor operation step S4, the motor speed adjustment step S5, the motor abnormality handling step S6, and the motor stop step S7 may be executed in sequence. However, the order of the validity check step S1 and the detection step S2 may be executed interchangeably, and the order of the motor speed adjustment step S5 and the motor abnormality handling step S6 may also be executed interchangeably.

[0115] In the validity check step S1, when the target rotation angle of the antenna 200 is input from the AISG controller 471 to the control unit 473, the control unit 473 can check (judge) whether the target rotation angle is within the allowable range of the set rotation angle of the antenna 200 by comparing the target rotation angle with the set rotation angle of the antenna 200 stored in the memory 474.

[0116] Among them, the set rotation angle may be the angle stored in the memory 474 by the control unit 473 when the current rotation angle of the antenna 200 detected by the sensor 472 when the antenna 200 is set in a specified direction, and it may be the correct angle at which the antenna 200 is to be oriented.

[0117] In the detection step S2, the sensor 472 can detect the current rotation angle of the antenna 200.

[0118] In the rotation direction determination step S3, when the target rotation angle of the input antenna 200 is input, the control unit 473 can determine the rotation direction of the antenna 200 by comparing the target rotation angle with the current rotation angle. In the rotation direction determination step S3, if the target rotation angle is greater than the current rotation angle, it can be determined that the rotation axis of the motor 450 rotates in one direction. In the rotation direction determination step S3, when the target rotation angle is less than the current rotation angle, it can be determined that the rotation axis of the motor 450 rotates in the other direction. Herein, the one direction and the other direction may be the up and down direction or the left and right direction.

[0119] The motor operation step S4 can be executed when the target rotation angle in the validity check step S1 is within the allowable range of the set rotation angle.

[0120] In the motor operation step S4, when the target rotation angle of the input antenna 200 is input, the control unit 473 can operate the motor 450 to rotate the antenna 200 from the current rotation angle to the target rotation angle.

[0121] The motor speed adjustment step S5 can be included in the motor operation step S4. In the motor speed adjustment step S5, the control unit 473 can control the operation speed of the motor 450 by comparing the difference between the current rotation angle and the target rotation angle with a set angle. In the motor speed adjustment step S5, when the difference between the current rotation angle and the target rotation angle is equal to or greater than the set angle, the control unit 473 can operate the motor 450 at the maximum speed. In the motor speed adjustment step S5, when the difference between the current rotation angle and the target rotation angle is less than the set angle, the control unit 473 can operate the motor 450 at a speed lower than the maximum speed.

[0122] In the motor abnormality processing step S6, the control unit 473 can process an abnormality of the motor 450. Herein, the abnormality of the motor 450 may include a jam, and a jam is a state in which even if the control unit 473 inputs a control command or power for rotating the rotation axis of the motor 450 to the motor 450, the rotation axis of the motor 450 does not rotate. In the motor abnormality processing step S6, if the rotation axis of the motor 450 stops rotating before the antenna 200 rotates to the target rotation angle, the control unit 473 can store the current rotation angle as the set rotation angle in the memory 474. Thereby, the control unit 473 can quickly execute the subsequent control logic for adjusting the rotation angle of the antenna 200 to the target rotation angle.

[0123] In the motor stop step S7, when the antenna 200 rotates to the above-mentioned target rotation angle, the control unit 473 can stop the motor 450. In the motor stop step S7, when the antenna 200 rotates to the above-mentioned target rotation angle, the above-mentioned current rotation angle can be stored in the memory 474 as the above-mentioned set rotation angle.

[0124] Hereinafter, reference will be made to Figures 6 to 13 to describe in more detail the antenna direction control method according to an embodiment of the present invention. However, hereinafter, the current rotation angle of the antenna 200 is simply referred to as the current angle (Current Degree) of the antenna 200, the target rotation angle of the antenna 200 is simply referred to as the target angle (Target Degree) of the antenna 200, and the set rotation angle of the antenna 200 is simply referred to as the set angle of the antenna 200.

[0125] Figures 6 to 8 FIG. is a specific flowchart of the first embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present invention.

[0126] Referring to Figures 6 to 8 , in step S111 of the first embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present invention, when the operator inputs a target angle to the AISG controller 471, the control unit 473 can set the above-mentioned target angle, load the current angle (previously set angle) stored in the memory (electrically erasable programmable read-only memory) 474, and specify the start angle as the current angle. The current angle stored in the memory 474 can be the angle at which the control unit 473 stores the current angle of the antenna 200 detected by the sensor 472 in the memory 474 when the angle of the antenna 200 was previously adjusted correctly. That is, the control unit 473 can load the set angle of the antenna 200 previously stored in the memory 474 and specify it as the start angle.

[0127] In step S112, the control unit 473 can determine whether the above-mentioned target angle is the same as the above-mentioned start angle. That is, if the above-mentioned target angle is the same as the above-mentioned start angle, the control unit 473 does not need to adjust the angle of the antenna 200, but can confirm whether there is an abnormality in consideration of the situation where the angle of the antenna 200 deviates due to external factors. For example, if the operator inputs the above-mentioned target angle as 5 degrees in a state where the angle of the antenna 200 was previously adjusted to 5 degrees, since there is no need to adjust the angle of the antenna 200, when the above-mentioned target angle is input, the control unit 473 checks the validity of whether the above-mentioned target angle is within the set angle range.

[0128] As a result of the determination in step S112, if the above-mentioned target angle is the same as the above-mentioned starting angle, then in step S113, the control unit 473 can measure the current angle through the sensor 472.

[0129] In step S114, the control unit 473 can determine whether the difference between the above-mentioned current angle and the above-mentioned target angle is 1 degree or more. Since the operation of the above-mentioned acceleration sensor is very sensitive, there may be a certain degree of error in the detection value of the above-mentioned acceleration sensor. Among them, 1 degree can be the angle set in the memory 474 and can be changed to various angles according to needs and set in the memory 474.

[0130] As a result of the determination in step S114, if the difference between the above-mentioned current angle and the above-mentioned target angle is not 1 degree or more, the control unit 473 can determine that the antenna 200 has not deviated from the previously set orientation direction and end the control logic system. That is, when the difference between the above-mentioned current angle and the above-mentioned target angle is not 1 degree or more, the control unit 473 can determine that the antenna 200 is at the previously set correct angle by considering the error of the above-mentioned acceleration sensor and end the control logic system.

[0131] And, as a result of the determination in step S114, if the difference between the above-mentioned current angle and the above-mentioned target angle is 1 degree or more, the control unit 473 can determine that the antenna 200 is not at the correct angle due to external shock or wind, etc., and determine that it is necessary to adjust the angle of the antenna 200 to the above-mentioned target angle. Therefore, as a result of the determination in step S114, if the difference between the above-mentioned current angle and the above-mentioned target angle is 1 degree or more, then in step S115, the control unit 473 can determine whether the above-mentioned target angle is greater than the above-mentioned current angle. And, as a result of the determination in step S112, if the above-mentioned target angle is not equal to the above-mentioned starting angle, then in step S115, the control unit 473 can determine whether the above-mentioned target angle is greater than the above-mentioned current angle.

[0132] As a result of the determination in step S115, if the above-mentioned target angle is not greater than the above-mentioned current angle, then in step S116, the control unit 473 can determine the rotation direction of the rotating shaft of the motor 450 as the downward direction (Down) as one direction. Among them, the above-mentioned downward direction can mean gradually adjusting the rotation angle of the antenna 200 so that the front of the antenna 200 faces downward.

[0133] And, as a result of the determination in step S115, if the above-mentioned target angle is greater than the above-mentioned current angle, then in step S117, the control unit 473 can determine the rotation direction of the rotating shaft of the motor 450 as the upward direction (Up) as the other direction. Among them, the above-mentioned upward direction can mean gradually adjusting the rotation angle of the antenna 200 so that the front of the antenna 200 faces upward.

[0134] After determining the rotation direction of the rotation shaft of the motor 450, the control unit 473 may, in step S118, specify the current state of the control logic system as a task (TASK), and accelerate the rotation speed of the rotation shaft of the motor 450 from 10% of the maximum speed. The control unit 473 may repeat the control logic of the motor 450 until the direction of the antenna 200 is adjusted to the above target angle.

[0135] In step S119, the control unit 473 may check the state of the current control logic system during the process of repeating the control logic.

[0136] As a result of the check in step S119, if the direction of the antenna 200 is adjusted to the above target angle, the control unit 473 may stop the motor 450 and set the state of the control logic system to false (FALSE) to execute step S120.

[0137] In step S120, the control unit 473 may store the current angle of the antenna 200 detected by the sensor 472 in the memory 474 and end the control logic system.

[0138] As a result of the check in step S119, if the direction of the antenna 200 is not adjusted to the above target angle, the control unit 473 may continue the operation of the motor 450 and maintain the state of the control logic system as a task to execute step S121.

[0139] In step S121, the control unit 473 may check the state of the motor 450. Among them, the state of the motor 450 may include a jam state, and a jam is a state in which the rotation shaft of the motor 450 does not rotate even when a control instruction or power supply is input to the motor 450. The jam state of the motor 450 may be a situation where the angle of the antenna 200 does not change or the change amount is less than the set range within a set time. For example, if the angle of the antenna 200 remains unchanged within 5 seconds, the control unit 473 may determine that the motor 450 is in a jam state.

[0140] As a result of the check in step S121, if the motor 450 is in a jam state, the control unit 473 may execute step S122.

[0141] In step S122, the control unit 473 may stop the motor 450 and specify the state of the control logic system as false, and notify the operator that the motor 450 is in a jam state. The control unit 473 may notify the operator that the motor 450 is in a jam state through the AISG controller 471, and may set a jam notification in the message to be sent to the AISG controller 471.

[0142] As a result of the check in step S121, if the motor 450 is not in a stalled state, the control unit 473 may execute step S123.

[0143] In step S123, the control unit 473 may determine whether the difference between the current angle and the target angle is 1 degree or more. Here, 1 degree may be an angle set in the memory 474 and may be changed to various angles and set in the memory 474 as needed.

[0144] As a result of the determination in step S123, if the difference between the current angle and the target angle is not 1 degree or more, then in step S124, the control unit 473 may set the rotational speed of the rotating shaft of the motor 450 to a rotational speed that accelerates to 70% of the maximum rotational speed. Here, 70% of the rotational speed may be a rotational speed stored in the memory 474 and may be changed and set to various rotational speeds as needed.

[0145] Moreover, as a result of the determination in S123, if the difference between the current angle and the target angle is 1 degree or more, then in step S125, the control unit 473 may set the rotational speed of the rotating shaft of the motor 450 to a rotational speed that accelerates to 100% of the maximum rotational speed. Here, 100% of the rotational speed may be a rotational speed stored in the memory 474 and may be changed and set to various rotational speeds as needed.

[0146] In step S126, the control unit 473 may determine whether the rotational speed of the rotating shaft of the motor 450 is close to the maximum acceleration speed set in step S124 or step S125.

[0147] As a result of the determination in S126, if the rotational speed of the rotating shaft of the motor 450 is close to the maximum acceleration speed, then in step S127, the control unit 473 may change the rotational speed of the rotating shaft of the motor 450 to gradually decrease.

[0148] Moreover, as a result of the determination in S126, if the rotational speed of the rotating shaft of the motor 450 is not close to the maximum acceleration speed, then in step S128, the control unit 473 may measure the current angle of the antenna 200 detected by the sensor 472. The control unit 473 may continuously measure the current angle of the antenna 200 detected by the sensor 472 during the process of repeating the control logic.

[0149] In step S129, the control unit 473 may determine whether the current angle of the antenna 200 measured in step S128 has almost reached the target angle.

[0150] As a result of the determination in S129, if the current angle has almost reached the target angle, in step S130, the control unit 473 may specify the current state of the control logic system as false, decelerate and stop the motor 450, wait for 1 second after the motor 450 stops, and then may calculate the current angle of the antenna 200 detected by the sensor 472. Here, waiting for 1 second after the motor 450 stops is to accurately measure the current angle of the antenna 200 after the acceleration sensor has stabilized to a certain extent. The 1 second of waiting after the motor 450 stops may be a set time stored in the memory 474, and the setting may be changed in various ways as needed.

[0151] After step S130, in step S131, the control unit 473 may store the current angle of the antenna 200 detected by the sensor 472 in the memory 474.

[0152] And, as a result of the determination in step S129, if the current angle has not almost reached the target angle, in step S131, the control unit 473 may store the current angle of the antenna 200 detected by the sensor 472 in the memory 474. This is to be able to know the current angle even when the control logic system stops operating due to a power failure or other reasons. Therefore, the current angle of the antenna 200 detected by the sensor 472 is stored in the memory 474 each time.

[0153] After step S131, the control unit 473 may return the control logic system to step S119.

[0154] Figures 9 to 11 It is a specific flowchart of the second embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present invention.

[0155] Refer to Figures 9 to 11 , in step S211 of the second embodiment of the method using an acceleration sensor in the antenna direction control method according to an embodiment of the present invention, when the operator inputs a target angle to the AISG controller 471, the control unit 473 may set the target angle, load the current angle (previously set angle) stored in the memory (electrically erasable programmable read-only memory) 474, and specify the start angle as the current angle. The current angle stored in the memory 474 may be the angle at which the control unit 473 stored the current angle of the antenna 200 detected by the sensor 472 in the memory 474 when the angle of the antenna 200 was previously correctly adjusted. That is, the control unit 473 may load the set angle of the antenna 200 previously stored in the memory 474 and specify it as the start angle.

[0156] In step S212, the control unit 473 may determine whether the above-mentioned start angle is greater than the above-mentioned target angle. That is, if the above-mentioned start angle is the same as the above-mentioned target angle, the control unit 473 does not need to adjust the angle of the antenna 200, but may check for abnormalities considering the situation where the angle of the antenna 200 deviates due to external factors. For example, if the operator inputs the above-mentioned target angle as 5 degrees in a state where the angle of the antenna 200 was previously adjusted to 5 degrees, since there is no need to adjust the angle of the antenna 200, when the above-mentioned target angle is input, the control unit 473 checks the validity of whether the above-mentioned target angle is within the set angle range.

[0157] As a result of the determination in the above step S212, if the above-mentioned start angle is not greater than the above-mentioned target angle, in step S213, the control unit 473 may determine whether the above-mentioned start angle is less than the above-mentioned target angle.

[0158] As a result of the determination in step S213, if the above-mentioned start angle is not less than the above-mentioned target angle, in step S214, the control unit 473 may measure the current angle through the sensor 472.

[0159] Moreover, as a result of the determination in step S213, if the above-mentioned start angle is less than the above-mentioned target angle, in step S215, the control unit 473 may determine the rotation direction of the rotation shaft of the motor 450 as the upward direction (Up) which is one direction. Here, the above-mentioned upward direction may mean gradually adjusting the rotation angle of the antenna 200 so that the front of the antenna 200 faces upward.

[0160] Moreover, as a result of the determination in step S212, if the start angle is greater than the above-mentioned target angle, in step S216, the control unit 473 may determine the rotation direction of the rotation shaft of the motor 450 as the downward direction (Down) which is the other direction. Here, the above-mentioned downward direction may mean gradually adjusting the rotation angle of the antenna 200 so that the front of the antenna 200 faces downward.

[0161] In step S217, the control unit 473 may determine whether the difference between the above-mentioned current angle and the above-mentioned target angle is 1 degree or more. Since the operation of the above-mentioned acceleration sensor is very sensitive, there may be a certain degree of error in the detection value of the above-mentioned acceleration sensor. Here, 1 degree may be an angle set in the memory 474, and can be changed to various angles according to needs and set in the memory 474.

[0162] As a result of the determination in step S217, if the difference between the current angle and the target angle is not more than 1 degree, the control unit 473 may determine that the antenna 200 has not deviated from the previously set directional direction and end the control logic system. Also, when the difference between the current angle and the target angle is not more than 1 degree, the control unit 473 may determine that the antenna 200 is at the previously set correct angle by considering the error of the acceleration sensor and end the control logic system.

[0163] Also, as a result of the determination in step S217, if the difference between the current angle and the target angle is more than 1 degree, the control unit 473 may determine that the antenna 200 is not at the correct angle due to external shock or wind, etc., and determine that it is necessary to adjust the angle of the antenna 200 to the target angle. Therefore, as a result of the determination in step S217, if the difference between the current angle and the target angle is more than 1 degree, in step S218, the control unit 473 may determine whether the current angle is greater than the target angle.

[0164] As a result of the determination in step S218, if the current angle is not greater than the target angle, in step S219, the control unit 473 may determine the rotation direction of the rotating shaft of the motor 450 as the downward direction, which is the other direction.

[0165] Also, as a result of the determination in step S218, if the current angle is greater than the target angle, in step S220, the control unit 473 may determine the rotation direction of the rotating shaft of the motor 450 as the downward direction, which is the other direction.

[0166] After determining the rotation direction of the rotating shaft of the motor 450, the control unit 473 may, in step S221, specify the current state of the control logic system as a task and accelerate the rotation speed of the rotating shaft of the motor 450 from 10% of the maximum speed. The control unit 473 may repeat the control logic of operating the motor 450 until the direction of the antenna 200 is adjusted to the target angle.

[0167] In step S222, the control unit 473 may check the state of the current control logic system during the process of repeating the control logic. That is, in step S222, the control unit 473 may determine whether the current state of the control logic system is a task.

[0168] As a result of the determination in step S222, if the current state of the control logic system is not a task, in step S223, the control unit 473 may store the current angle of the antenna 200 detected by the sensor 472 in the memory 474 and end the control logic system.

[0169] As a result of the determination in step S222, if the current state of the control logic system is a task, then in step S224, the control unit 473 may check the state of the motor 450. Among them, the state of the motor 450 may include a jam state, and a jam is a state in which the rotating shaft of the motor 450 does not rotate even when a control command or power supply is input to the motor 450. That is, in step S224, the control unit 473 may determine whether the motor 450 is in a jam timeout state. For example, the control unit 473 may determine that the motor 450 is in a jam timeout state when the angle of the antenna 200 does not change or the change amount is less than the set range within a set time. If the motor 450 is in a jam timeout state, the control unit 473 may determine that the motor 450 is in a jam state. For example, if the angle of the antenna 200 remains unchanged within 5 seconds, the control unit 473 may determine that the motor 450 is in a jam state.

[0170] As a result of the determination in step S224, if the motor 450 is in a jam timeout state, then in step S225, the control unit 473 may stop the motor 450 and specify the state of the control logic system as false, and notify the operator that the motor 450 is in a jam state. The control unit 473 may notify the operator that the motor 450 is in a jam state through the AISG controller 471, and may set a jam notification in the message to be sent to the AISG controller 471.

[0171] As a result of the determination in step S224, if the motor 450 is not in a jam timeout state, then in step S226, the control unit 473 may determine whether the difference between the current angle and the target angle is 1 degree or more. Among them, 1 degree may be an angle set in the memory 474, and may be changed to various angles according to needs and set in the memory 474.

[0172] As a result of the determination in step S226, if the difference between the current angle and the target angle is not 1 degree or more, then in step S227, the control unit 473 may set the rotation speed of the rotating shaft of the motor 450 to a rotation speed that accelerates to 70% of the maximum rotation speed. Among them, the rotation speed of 70% may be the rotation speed stored in the memory 474, and may be changed and set to various rotation speeds according to needs.

[0173] And, as a result of the determination in step S226, if the difference between the current angle and the target angle is 1 degree or more, then in step S228, the control unit 473 may set the rotation speed of the rotating shaft of the motor 450 to a rotation speed that accelerates to 100% of the maximum rotation speed. Among them, the rotation speed of 100% may be the rotation speed stored in the memory 474, and may be changed and set to various rotation speeds according to needs.

[0174] In step S229, the control unit 473 may determine whether the rotational speed of the rotating shaft of the motor 450 is less than the maximum acceleration speed set in step S227 or step S228.

[0175] As a result of the determination in step S229, if the rotational speed of the rotating shaft of the motor 450 is not less than the above maximum acceleration speed, then in step S230, the control unit 473 may determine whether the rotational speed of the rotating shaft of the motor 450 is greater than the maximum acceleration speed set in step S227 or step S228.

[0176] As a result of the determination in step S230, if the rotational speed of the rotating shaft of the motor 450 is greater than the maximum acceleration speed set in step S227 or step S228, then in step S231, the control unit 473 may change the rotational speed of the rotating shaft of the motor 450 to gradually decrease.

[0177] And, as a result of the determination in step S229, if the rotational speed of the rotating shaft of the motor 450 is less than the above maximum acceleration speed, then in step S232, the control unit 473 may change the rotational speed of the rotating shaft of the motor 450 to gradually accelerate.

[0178] In step S233, the control unit 473 may determine whether the rotational speed of the rotating shaft of the motor 450 is different from the maximum acceleration speed set in step S227 or step S228.

[0179] As a result of the determination in S233, if the rotational speed of the rotating shaft of the motor 450 is different from the maximum acceleration speed set in step S227 or step S228, then in step S234, the control unit 473 may measure the current angle of the antenna 200 detected by the sensor 472. The control unit 473 may continuously measure the current angle of the antenna 200 detected by the sensor 472 during the process of repeating the control logic.

[0180] And, as a result of the determination in step S233, if the rotational speed of the rotating shaft of the motor 450 is different from the maximum acceleration speed set in step S227 or step S228, then in step S235, the control unit 473 may change the rotational speed of the rotating shaft of the motor 450 to gradually decrease.

[0181] In step S236, the control unit 473 may determine whether the above start angle is less than the above target angle.

[0182] As a result of the determination in S236, if the above start angle is not less than the above target angle, then in step S237, the control unit 473 may determine whether the above start angle is greater than or equal to the above target angle.

[0183] As a result of the determination in step S237, if the above start angle is greater than or equal to the above target angle, in step S238, the control unit 473 may determine whether the above current angle measured in step S234 is greater than or equal to the above target angle.

[0184] As a result of the determination in step S238, if the above current angle is greater than or equal to the above target angle, in step S239, the control unit 473 may specify the current state of the control logic system as false, may decelerate and stop the motor 450, wait for 1 second after the motor 450 stops, and then may calculate the current angle of the antenna 200 detected by the sensor 472. Here, waiting for 1 second after the motor 450 stops is to accurately measure the current angle of the antenna 200 after the acceleration sensor stabilizes to a certain extent. The 1 second of waiting after the motor 450 stops may be a set time stored in the memory 474 and may be changed in various ways as needed.

[0185] As a result of the determination in step S236, if the above start angle is less than the above target angle, in step S240, the control unit 473 may determine whether the above current angle measured in step S234 is greater than or equal to the above target angle.

[0186] As a result of the determination in step S240, if the above current angle is greater than or equal to the above target angle, in step S241, the control unit 473 may specify the current state of the control logic system as false, may decelerate and stop the motor 450, wait for 1 second after the motor 450 stops, and then may calculate the current angle of the antenna 200 detected by the sensor 472. Here, waiting for 1 second after the motor 450 stops is to accurately measure the current angle of the antenna 200 after the acceleration sensor stabilizes to a certain extent. The 1 second of waiting after the motor 450 stops may be a set time stored in the memory 474 and may be changed in various ways as needed.

[0187] On the other hand, if the determination result in step S237 is that the above start angle is less than the above target angle, or the determination result in step S238 is that the above current angle is less than the above target angle, or the determination result in step S240 is that the above current angle is less than the above target angle, or after executing the above step S239 or the above step S241, in step S242, the control unit 473 may store the current angle of the antenna 200 detected by the sensor 472 in the memory 474.

[0188] After step S242, the control unit 473 may return the control logic system to step S222.

[0189] Figure 12 andFigure 13 Specific flowchart of the method using an optical sensor in the antenna direction control method according to an embodiment of the present utility model.

[0190] Refer to Figure 12 and Figure 13 In step S311 of the method using an optical sensor in the antenna direction control method according to an embodiment of the present utility model, when an operator inputs a target angle to the AISG controller 471, the control unit 473 can obtain the above target angle. Among them, the above target angle may include at least one of an angle for tilting operation of the antenna 200 and an angle for turning operation of the antenna 200.

[0191] In step S312, the control unit 473 can determine whether the above target angle is within the allowable range. That is, in step S312, the control unit 473 can determine whether the above target angle is within the set angle range stored in the memory 474. This is because when the antenna 200 was previously set correctly, the operator should input the angle of the antenna 200 to the AISG controller 471 as the above target angle. However, if the operator does not know the above target angle, the above target angle input by the operator to the AISG controller 471 may be an angle exceeding the above allowable range. Therefore, in order to operate the control logic system only when the above target angle is within the above allowable range, in step S312, the control unit 473 determines whether the above target angle is within the allowable range.

[0192] As a judgment result in step S312, if the above target angle is not within the above allowable range, then in step S313, the control unit 473 can input an error response and end the operation of the control logic system. That is, the control unit 473 can notify the operator through the AISG controller 471 that the above target angle is not within the allowable range, and can set an error notification in the message to be sent to the AISG controller 471.

[0193] As a judgment result in step S312, if the above target angle is within the above allowable range, then in step S314, the control unit 473 can determine whether the current angle of the antenna 200 detected by the sensor 472 is the same as the above target angle. That is, if the above current angle is the same as the above target angle, the control unit 473 does not need to adjust the angle of the antenna 200, but can confirm whether there is an abnormality considering the situation where the angle of the antenna 200 deviates due to external factors. For example, if the angle of the antenna 200 was previously adjusted to 5 degrees and the operator inputs the above target angle as 5 degrees, then since there is no need to adjust the angle of the antenna 200, when the above target angle is input, the control unit 473 checks the validity of whether the above target angle is within the set angle range.

[0194] As a result of the determination in step S314, if the current angle is the same as the target angle, then in step S315, the control unit 473 may input an OK response and end the operation of the control logic system. That is, if the current angle is the same as the target angle, the control unit 473 may determine that there is no need to adjust the angle of the antenna 200, and thus output an OK response to the AISG controller 471 to notify the operator that there is no need to adjust the angle of the antenna 200.

[0195] And, as a result of the determination in step S314, if the current angle is not the same as the target angle, then in step S316, the control unit 473 may extract the number of optical encoder counts for the target angle based on the current angle from the look-up table of angle segments stored in the memory 474.

[0196] In step S317, the control unit 473 may determine the control direction of the motor 450 by comparing the current angle and the target angle. That is, in step S317, the control unit 473 may determine the rotation direction of the rotation axis of the motor 450 by comparing the current angle and the target angle. When performing tilt control, the control direction may be the downward (Down) direction or the upward (Up) direction, and when performing steering control, the control direction may be the left (Left) direction or the right (Right) direction.

[0197] In step S318, the control unit 473 may operate (ON) the motor 450. When the rotation axis of the motor 450 rotates, the current optical encoder count value may be incremented in an external interrupt service routine (External ISR). A timer may be used to gradually accelerate the motor 450 at a set time interval. The operation of the motor 450 may be controlled by pulse width modulation. The inrush current may be reduced by gradually accelerating the motor 450.

[0198] In step S319, the control unit 473 may determine whether the number of remaining optical encoder counts until the target angle (Target Degree) is less than the number set in the memory 474. Herein, the set number may be the set number of optical encoder counts as the deceleration standard of the motor 450. For example, the control unit 473 may decelerate the rotation speed of the rotation axis of the motor 450 from N remaining time points where the optical encoder count is set in the memory 474.

[0199] As a result of the determination in step S319, if the number of optical encoder counts remaining until the above target angle is less than the above set number, in step S320, the control unit 473 may decelerate the rotational speed of the rotating shaft of the motor 450. Thereby, the rotational angle of the antenna 200 can be precisely adjusted.

[0200] As a result of the determination in step S319, if the number of optical encoder counts remaining until the above target angle is not less than the above set number, in step S321, the control unit 473 may determine whether the motor 450 is stalled. Among them, the standard for determining whether the motor 450 is stalled is to confirm the optical encoder count value at each time set in the memory 474. When the optical encoder count does not increase beyond the pulse width modulation duty ratio set in the memory 474, it can be determined that the motor is stalled.

[0201] As a result of the determination in step S321, if the motor 450 is stalled, in step S322, the control unit 473 stops the motor 450, can notify the operator by outputting an error response of motor stall to the AISG controller 471, and can end the operation of the control logic system.

[0202] And, as a result of the determination in step S321, if the motor 450 is not stalled, in step S323, each time the step angle unit set in the memory 474 is moved, the control unit 473 may store the current angle value of the antenna 200 detected by the sensor 472 in the inactive memory 474. Among them, the above step angle can be set to 0.1 degree to 0.5 degree in the memory 474, and can be changed and set according to various step angles as needed.

[0203] In step S324, the control unit 473 may determine whether the above current angle is the same as the above target angle. The control unit 473 may calculate the above current angle based on the increased current optical encoder count.

[0204] As a result of the determination in step S324, if the above current angle is not the same as the above target angle, the control unit 473 may return the control logic system to step S319.

[0205] As a result of the determination in step S324, if the above current angle is the same as the above target angle, in step S325, the control unit 473 may determine that the adjustment of the target angle of the antenna 200 is completed, thereby stopping the motor 450, can output an OK response to the AISG controller 471 to notify the operator, and can end the operation of the control logic system.

[0206] As described above, in the direction control device of the electronic device according to an embodiment of the present invention, when an operator inputs a target rotation angle of the electronic device 200 to the controller 471, the electronic device 200 can automatically rotate to the above target rotation angle.

[0207] Moreover, in the direction control device of the electronic device according to an embodiment of the present invention, when the rotation angle of the electronic device 200 set by the optical sensor is lost, the direction of the electronic device 200 can be controlled by using an acceleration sensor or a gyro sensor that is cheaper than the above optical sensor.

[0208] Those of ordinary skill in the art to which the present invention pertains can understand that the present invention can be implemented in other specific embodiments without changing the technical idea or essential features of the present invention. Therefore, the above embodiments should be understood as illustrative rather than restrictive in all aspects. The scope of the present invention is indicated by the appended claims rather than the above detailed description, and all changes or modifications derived from the meaning, scope, and equivalent concepts of the claims should be construed as being included within the scope of the present invention.

Claims

1. A direction control device for an electronic device, characterized in that, Comprising: A motor for adjusting the rotation angle of an electronic device; A sensor for detecting the current rotation angle of the above-mentioned electronic device; And A control unit, when the target rotation angle of the above-mentioned electronic device is input, operates the above-mentioned motor to rotate the above-mentioned electronic device from the above-mentioned current rotation angle to the above-mentioned target rotation angle.

2. The direction control device of the electronic device according to claim 1, characterized in that The above-mentioned electronic device is arranged on a pillar standing on the ground and is spaced apart from the above-mentioned ground upward, The above-mentioned sensor is an optical sensor for detecting the current rotation angle of the above-mentioned electronic device relative to the above-mentioned pillar.

3. The direction control device of the electronic device according to claim 1, characterized in that The above-mentioned electronic device is arranged on a pillar standing on the ground and is spaced apart from the above-mentioned ground upward, The above-mentioned sensor is an acceleration sensor or a gyroscope sensor for detecting the current rotation angle of the above-mentioned electronic device relative to the above-mentioned ground.

4. The direction control device of the electronic device according to claim 1, characterized in that It further includes a memory for storing the set rotation angle of the above-mentioned electronic device.

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