Remote control system and method for BLDC motor for water-boat

Abstract

To provide a device for greatly improving accuracy and efficiency of steering of a boat by providing a precise and speedy reaction through a system for remotely steering the boat based on an operation of a user.SOLUTION: A remote control system includes: a joy stick module for converting operation information of a user into a voltage signal; a PC module for fulfilling a roll of processing a signal received from the joy stick module and receiving and monitoring status information of a boat; a water surface integrated GSC for bidirectionally relaying a remote control signal and the status information of the boat; a boat mission computer for transmitting the remote control signal transmitted from the water surface integrated GSC to an integrated controller; the integrated controller for adjusting a speed and a direction of a motor based on the operation information received from the boat mission computer; and a right side BLDC motor controller and a left side BLDC motor controller for adjusting a movement and a direction of the boat.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a BLDC motor remote control system for a water boat, and more particularly to a BLDC motor remote control system for a water boat that provides precise and rapid responsiveness by a joystick when remotely controlling the boat by a user's operation.

Background Art

[0002] In the prior art, there is a system in which a user remotely controls a boat using a joystick. However, in this case, it lacks precise responsiveness and efficiency, it is difficult to perform precise control in 360-degree directions, and the technology for linearly converting the x and y axis operation signals of the joystick is also insufficient, so it was impossible to precisely control the motor output. As a result, there has arisen a need for the development of a technology that accurately recognizes various direction operations of the joystick, efficiently converts them into voltage signals, and transmits them to the motor controller. Also, the determination of the direction and the control of the movement of the boat by the user's operation were inaccurate and slow, and the real-time remote control function was also limited. To solve this, a system has been developed that quickly and accurately processes the user's operation information through the interaction between the integrated controller and the motor controller. Therefore, there has been a demand for the development of a device that significantly improves the accuracy and efficiency of overall boat control by providing precise and rapid responsiveness through a system for remotely controlling a boat based on the user's operation.

Summary of the Invention

Problems to be Solved by the Invention

[0003] The present invention was devised to improve the above-mentioned problems, and its object is to construct a system that provides precise and rapid responsiveness when remotely controlling a boat by a user's operation. Each component precisely converts the user's operation into a voltage signal, thereby accurately and efficiently controlling the movement and direction of the boat, and is designed to be able to remotely control the boat quickly and accurately based on the user's operation. The present invention provides a BLDC motor remote control system for a water boat.

Means for Solving the Problems

[0004] To achieve the above object, an embodiment of the present invention includes a device that converts a user's operation information into a voltage signal, which is a joystick module that outputs voltage signals for each 360-degree direction according to operations in the x and y-axis directions and transmits them to a PC module; a PC module that processes the signal received from the joystick module, transmits this as a remote control command to the boat via an integrated GSC for water use, and receives and monitors the state information of the boat; an integrated GSC (Ground Station Controller) for water use that serves as a hub for data transmission between the PC module and the boat mission computer and relays the remote control signal and the state information of the boat in both directions; a boat mission computer that interprets the remote control signal transmitted from the integrated GSC for water use, converts it into x and y-axis information, and then transmits this to an integrated controller; and an integrated controller that outputs voltage signals to a right BLDC motor controller and a left BLDC motor controller based on the operation information received from the boat mission computer to adjust the speed and direction of the motors, and a right BLDC motor controller and a left BLDC motor controller that receive the voltage signal from the integrated controller and control the right and left motors respectively, thereby adjusting the movement and direction of the boat.

[0005] An apparatus for converting signals in the x and y axis directions operated by a user with a joystick into voltage signals, which outputs signals operated at various angles with respect to the x axis and the y axis as voltage signals in the range of 0.5V to 4.5V respectively, generates a voltage signal that linearly increases and decreases according to changes in the x and y axes at the center position of the joystick, and transmits it to a motor output control module, a joystick signal conversion module; and based on the voltage signal received from the joystick signal conversion module, adjusts the outputs of the left motor and the right motor, outputs a value between -5 and +5 corresponding to the input joystick voltage signal, which determines the rotation direction and speed of the BLDC motor, and the output values of the left motor and the right motor change independently according to the position of the joystick, further including a motor output control module.

[0006] In the operation of the joystick, the X-axis signal approaches 0 as the joystick moves to the left and approaches 1 as the joystick moves to the right, and the Y-axis signal approaches 0 as the joystick moves upward and approaches 1 as the joystick moves downward. Since the joystick can move in 8 directions, the signal values for each direction of upper left, left, lower left, up, upper right, right, lower right, and down indicate the position of the joystick moving in that direction.

[0007] A joystick signal processing module that receives the x-axis and y-axis signals (x_signal, y_signal) from the joystick and determines the direction (upper left, lower left, left, upper right, lower right, right, up, down) by the user's operation by interpreting them; and a boat movement control module that controls the movement of the boat according to the determination of the direction transmitted from the joystick signal processing module, further including.

[0008] The present invention is a device in which a joystick module outputs voltage signals in the x and y directions according to a user's operation, can be operated in 360-degree directions, and transmits the generated voltage signals to a PC module. The PC module plays a role of transmitting the voltage signals received by the joystick module to a remote boat via an integrated GSC for water use. At the same time, it includes the steps of receiving and monitoring the state information of the boat in real time via the integrated GSC for water use, and the integrated GSC for water use relaying the remote control signal and the state information of the boat between the PC module and the boat mission computer.

[0009] The boat mission computer converts the direction signal of the joystick received from the integrated GSC for water use into x and y coordinate information and transmits it to the integrated controller. It further includes the step of transmitting the state information of the boat to the integrated GSC for water use and providing constant updates to the PC module.

[0010] The integrated controller outputs a voltage signal to the motor controller according to the operation program uploaded based on the voltage value of the joystick input from the boat mission computer. This further includes the step of independently controlling the right BLDC motor controller and the left BLDC motor controller.

[0011] The right BLDC motor controller and the left BLDC motor controller further include the step of driving the right motor and the left motor respectively based on the voltage signals transmitted from the integrated controller.

[0012] The present invention includes a step of transmitting the generated voltage signal to a PC module, in which the joystick module outputs voltage signals in x and y directions according to the user's operation and can be operated in 360 degrees, and a step of the PC module transmitting the voltage signal received by the joystick module to a remote boat via a surface integrated GSC, and a step of receiving and monitoring boat status information in real time via the surface integrated GSC, a step of the surface integrated GSC relaying the remote control signal and boat status information between the PC module and the boat mission computer, and a step of incorporating hall sensors in the left and right BLDC motors of the boat to grasp the rotation direction and speed information of the motors.

[0013] The method further includes the steps of receiving voltage signals in the x and y axis directions of the joystick module operated by a user via a PC, transmitting the signals to a boat mission computer of the remote boat, interpreting the user's operation signals for each 360-degree direction, and providing operation instructions to an integrated controller of the remote boat, detecting states from hall sensors built into left and right BLDC motors mounted inside the boat, acquiring motor rotation direction and speed information, transmitting the rotation direction and speed information to the boat mission computer in real time, and the boat mission computer sending it to the water-based integrated GSC to enable remote monitoring, and detecting its own motion state using the built-in hall sensors, which detect the state of the motors to determine the rotation direction and speed of the motors. Effect of the Invention

[0014] According to one embodiment of the present invention, a user can operate a joystick to generate voltage signals in different directions of 360 degrees, thereby remotely steering a boat.

[0015] Also, according to an embodiment of the present invention, the x and y axis operations of the joystick can be precisely converted into voltage signals that linearly increase and decrease, enabling even more delicate control of the motor output.

[0016] Also, according to an embodiment of the present invention, by accurately recognizing the operations in eight directions of the joystick, more intuitive and precise remote control can be achieved.

[0017] Also, according to an embodiment of the present invention, the direction based on the user's operation can be accurately determined to effectively control the movement of the boat.

[0018] Also, according to an embodiment of the present invention, a method is provided for efficiently processing the user's operation information to remotely control the boat in real time.

[0019] Also, according to an embodiment of the present invention, the boat mission computer effectively processes the direction signal of the joystick to improve the accuracy of boat control.

[0020] Also, according to an embodiment of the present invention, the integrated controller provides a precise voltage signal to the motor controller to more precisely control the movement of the boat.

[0021] Also, according to an embodiment of the present invention, the motor controller effectively drives the motor to smoothly adjust the movement of the boat.

[0022] Also, according to an embodiment of the present invention, the sensing of the motor state by the hall sensor enables precise control of the boat movement.

[0023] Also, according to an embodiment of the present invention, the sensing of the motor movement state by the hall sensor improves the reaction speed and accuracy of the remote control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0024]

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Figure 9

Best Mode for Carrying Out the Invention

[0025] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and embodiments.

[0026] It should be noted that the technical terms used in the present invention are only used to explain specific embodiments and are not intended to limit the present invention. Also, the technical terms used in the present invention should be interpreted in the meaning generally understood by those having ordinary knowledge in the technical field to which the present invention pertains, unless otherwise defined in the present invention, and should not be interpreted in an overly comprehensive meaning or an overly narrowed meaning. Also, when the technical terms used in the present invention are incorrect technical terms that cannot accurately express the idea of the present invention, they should be understood as being replaced by technical terms that can be correctly understood by those skilled in the art. Also, general terms used in the present invention should be interpreted according to the definitions in the dictionary or in accordance with the context before and after, and should not be interpreted in an overly narrowed meaning.

[0027] In addition, the singular expressions used in the present invention include plural expressions unless they are used with clearly different meanings in the context. In the present invention, terms such as "composed of" or "including" should not be construed as necessarily including all of the plurality of components or plurality of steps described in the invention, and some of the components or some of the steps may not be included, or it should be construed that additional components or steps can be further included.

[0028] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each drawing, the same or similar components are denoted by the same reference numerals, and redundant descriptions are omitted.

[0029] In addition, in the description of the present invention, when it is determined that a specific description of related known technologies may obscure the gist of the present invention, the detailed description thereof will be omitted. Also, note that the attached drawings are merely for facilitating understanding of the idea of the present invention, and the idea of the present invention should not be construed as being limited by the attached drawings.

[0030] As shown in FIGS. 1 to 3, the present invention is composed of a joystick module 110, a PC module 120, an integrated GSC 130 for water, a boat mission computer 140, an integrated controller 150, a right BLDC motor controller 160, a left BLDC motor controller 170, a right motor 180, a left motor 190, and the like.

[0031] The joystick module 110 is a device that converts the operation information of the user into a voltage signal, and outputs voltage signals (or signals in eight directions) for each 360-degree direction by operations in the x and y axis directions and transmits them to the PC module 120.

[0032] The PC module 120 processes the signal received from the joystick module 110, transmits this as a remote control command to the boat through the integrated GSC 130 for water, and receives and monitors the state information of the boat.

[0033] The integrated GSC130 for water use serves as a hub for data transmission between the PC module 120 and the boat mission computer 140, and relays remote control signals and boat status information bidirectionally.

[0034] The boat mission computer 140 interprets the remote control signal transmitted from the integrated GSC130 for water use, converts it into x and y axis information, and then transmits this to the integrated controller 150.

[0035] Based on the operation information received from the boat mission computer 140, the integrated controller 150 outputs a voltage signal to the right BLDC motor controller 160 and the left BLDC motor controller 170 to adjust the speed and direction of the motors.

[0036] The right BLDC motor controller 160 and the left BLDC motor controller 170 receive the voltage signal from the integrated controller 150 and control the right motor 180 and the left motor 190 respectively, thereby adjusting the movement and direction of the boat.

[0037] The present invention features an integrated communication and control mechanism that enables remote control possibilities, real-time status monitoring, and precise motor control. Such an integrated system is designed so that users can efficiently operate the boat even from a remote location.

[0038] Therefore, the present invention enables precise operation by a remote joystick and provides a stable remote control environment through real-time status monitoring of the boat. All components are efficiently integrated through high interconnectivity and adjustment, enabling delicate movement of the boat and maximizing the functionality and efficiency of the overall system.

[0039] More specifically, the present invention includes a joystick module 110, a PC module 120, an integrated GSC 130 for water use, a boat mission computer 140, an integrated controller 150, a right BLDC motor controller 160, a left BLDC motor controller 170, a right motor 180, a left motor 190, and so on.

[0040] Here, the integrated GSC 130 for water use mainly serves as a communication relay between land and water, transmits the remote control signal received from the PC module 120 to the boat, collects the status information of the boat and transmits it to the PC module 120, and includes the function of expanding the range of remote control by undertaking long-distance wireless communication.

[0041] The integrated controller 150 functions as a central control device inside the boat, interprets the commands received from the boat mission computer 140, directly transmits control signals to the BLDC motor controllers 160 and 170, processes and integrates various sensor data of the boat, and includes the function of managing the overall operation and safety of the boat.

[0042] In this way, the integrated GSC 130 for water use focuses on external communication and data relay, and the integrated controller 150 undertakes the substantial control and operation inside the boat, but is not limited to this, and can also perform mutually complementary or overlapping functions for backup in case of failure.

[0043] The joystick module 110 is a device that outputs voltage signals in the x and y directions according to the user's operation, can be operated in 360-degree directions, and the voltage signals generated thereby are transmitted to the PC module 120.

[0044] The PC module 120 serves to transmit the voltage signals received by the joystick module 110 to the remote boat via the integrated GSC 130 for water use. At the same time, it receives and monitors the status information of the boat in real time via the integrated GSC 130 for water use.

[0045] The boat mission computer 140 is located inside the boat, converts the joystick direction signal received from the integrated GSC 130 for water use into x and y coordinate information, and transmits it to the integrated controller 150. In addition, it transmits the boat's status information to the integrated GSC 130 for water use and provides constant updates to the PC module 120.

[0046] Based on the voltage value of the joystick input from the boat mission computer 140, the integrated controller 150 outputs a voltage signal to the motor controller according to the uploaded operation program. Thereby, the right BLDC motor controller 160 and the left BLDC motor controller 170 can be independently controlled.

[0047] For example, the right BLDC motor controller 160 and the left BLDC motor controller 170 each play a role of driving the right motor 180 and the left motor 190 based on the voltage signal transmitted from the integrated controller 150. These motors are responsible for the propulsion and steering of the boat and can be precisely operated by the controller.

[0048] The feature of the entire system lies in the ability to perform precise remote operation, transmit signals from the joystick to the boat in real time, and constantly monitor the boat's status information. Each module, computer, controller, and motor controller maximizes the efficiency and functionality of the entire system through a high level of integration and independent operating capabilities.

[0049] As shown in FIGS. 4 and 5, the present invention according to an embodiment further includes a joystick signal conversion module 210, a motor output control module 220, and the like.

[0050] The joystick signal conversion module 210 is a device that converts the signals in the x and y axis directions operated by the user with the joystick into voltage signals, and outputs the signals operated at various angles with respect to the x axis and the y axis as voltage signals in the range of 0.5V to 4.5V respectively. The joystick signal conversion module 210 is generated based on the neutral position of the joystick, such that when the joystick moves in each direction of the x axis and the y axis, the voltage signal linearly changes in proportion to the moving distance.

[0051] More specifically, when the joystick moves in the positive direction of the x axis, the voltage linearly increases from 2.5V to 4.5V, and when it moves in the negative direction, the voltage linearly decreases from 2.5V to 0.5V. The same principle applies to the y axis. The voltage signal generated in this way is transmitted to the motor output control module 220.

[0052] The motor output control module 220 adjusts the outputs of the left motor L and the right motor R based on the voltage signal received from the joystick signal conversion module 210.

[0053] The motor output control module 220 outputs a value of -4.5 to +4.5V corresponding to the input joystick voltage signal, which determines the rotation direction and speed of the BLDC motor. The output values of the left and right motors independently change according to the position of the joystick, which enables precise steering and speed control of the boat.

[0054] The entire system is characterized by the ability to precisely adjust the speed and direction of the motor according to the position of the joystick.

[0055] The joystick signal conversion module 210 and the motor output control module 220 are closely integrated to provide an immediate and accurate motor response to the input of the joystick. Thereby, the user can intuitively and effectively control the boat, which greatly improves the usability and safety of the boat control system.

[0056] In the table of joystick signals according to the present invention shown in FIG. 4, signals with respect to the X-axis and the Y-axis are shown.

[0057] The X-axis signal approaches 0 as the joystick moves to the left and approaches 1 as it moves to the right. The Y-axis signal approaches 0 as the joystick moves upward and approaches 1 as it moves downward.

[0058] The table in FIG. 4 shows that the joystick can move in eight directions: upper left, left, lower left, up, upper right, right, lower right, and down. The signal values for each direction indicate the position of the joystick moving in that direction.

[0059] For example, when the joystick moves completely in the upper left direction, the X-axis signal becomes 0.5 and the Y-axis signal becomes 0.5. When the joystick moves moderately in the upper left direction, the X-axis signal becomes approximately 0.75 and the Y-axis signal becomes approximately 0.25.

[0060] Such codes are used to process joystick inputs in a game engine. The engine can determine in which direction the joystick is currently moving using the table in FIG. 4. Subsequently, this information can be used to control a boat or a game object.

[0061] As shown in FIGS. 4 and 7, the present invention according to an embodiment further includes a joystick signal processing module 310, a boat movement control module 320, and the like.

[0062] The joystick signal processing module 310 receives the x-axis and y-axis signals (x_signal, y_signal) from the joystick and determines the direction (upper left, lower left, left, upper right, lower right, right, up, down) based on the user's operation by interpreting these signals. If the x-axis signal is less than 0.5 and the y-axis signal is less than 0.5, it is "upper left"; if the x-axis signal is less than 0.5 and the y-axis signal is greater than 0.5, it is "lower left"; if only the x-axis signal is less than 0.5, it is "left"; if the x-axis signal is greater than 0.5 and the y-axis signal is less than 0.5, it is "upper right"; if the x-axis signal is greater than 0.5 and the y-axis signal is greater than 0.5, it is "lower right"; if only the x-axis signal is greater than 0.5, it is "right"; if only the y-axis signal is less than 0.5, it is "up"; and in other cases, it is "down" to determine the direction.

[0063] The boat movement control module 320 controls the movement of the boat according to the determined direction transmitted from the joystick signal processing module 310. When receiving the decision to move in the "upper left" direction, it moves the boat to the upper left; when receiving the decision to move in the "lower left" direction, it moves the boat to the lower left. In a similar manner, "left" moves the boat to the left, "upper right" moves the boat to the upper right, "lower right" moves the boat to the lower right, "right" moves the boat to the right, "up" moves the boat up, and "down" moves the boat down.

[0064] The present invention provides a system that can intuitively and efficiently control the movement of a boat by converting the multi-dimensional operation of a joystick into a simple direction determination. Through this, the user can naturally control the boat in a virtual environment with more delicate and accurate operations.

[0065] <Example 1> As shown in FIGS. 8 and 9, the present invention relates to a high-performance ship propulsion and control system using an azimuth thruster interlocked with a hall sensor, and particularly to a method for maximizing the omnidirectional propulsion ability of the azimuth thruster by precise motor control through the hall sensor.

[0066] The core of the present invention lies in the organic combination of an azimuth thruster and a Hall sensor. The Hall sensor precisely senses the position of the rotor of the azimuth thruster motor and accurately measures the rotation angle and speed of the motor in real time across 360 degrees in all directions. As a result, the all-direction propulsion ability of the azimuth thruster increases explosively.

[0067] More specifically, the present invention is composed of an azimuth thruster, a Hall sensor attached to any position of the azimuth thruster, a motor driver, an inverter section, and control logic.

[0068] For example, the Hall sensor is attached at a distance from the rotor of the azimuth thruster motor and senses the magnetic field changes generated by the rotation of the motor. This information is transmitted to the motor driver and control logic and used to calculate the exact angle and speed of the motor.

[0069] Based on such precise angle and speed information, the control system can finely adjust the direction and thrust of the azimuth thruster.

[0070] This enables the ship to move immediately and accurately in any direction. For example, precise direction changes in units of 0.1 degrees and continuous speed changes from extremely low speed to high speed become possible.

[0071] In addition, the system of the present invention includes an overload sensing and removal function. When the rotational speed of the motor sensed through the Hall sensor becomes lower than the set threshold value, the system determines this as an overload state.

[0072] If an overload state is sensed, the motor drive is immediately stopped through the inverter section, and a reverse rotation control signal is output through the motor driver for a set time. This can effectively remove the overload applied to the azimuth thruster and protect the system.

[0073] According to an embodiment of the present invention, the combination of a hall sensor and an azimuth thruster enables ultra-precise control of boat movement. Based on the high-resolution position and velocity information provided by the hall sensor, the system can adjust the operation of the azimuth thruster in micro-units. This provides a great advantage especially in situations where precise position holding or complex startup is required.

[0074] In addition, in another embodiment of the present invention, this system epoch-makingly improves the reaction speed and accuracy of remote control. The real-time motor state information obtained through the hall sensor minimizes the delay between the remote control command and the actual operation of the azimuth thruster. As a result, the immediacy and accuracy of the remote control operation are greatly improved, enabling control at a level equivalent to direct operation.

[0075] <Example 2> Relates to a BLDC motor control device and an initial position detection method of a BLDC motor using the same.

[0076] The method for detecting the initial position of a BLDC motor using the BLDC motor control device according to the present invention includes the steps of applying three-phase pulse currents to the BLDC motor in a state where the BLDC motor is stopped, measuring the three-phase current values respectively using the three-phase coil inductance according to the position of the rotor, calculating sine and cosine values using the measured three-phase current values, and detecting the current angle of the BLDC motor by comparing the calculated values with a mapping table that has already been saved.

[0077] According to the present invention like this, there is an effect that the startup time can be shortened by detecting the rotor angle at high speed when the BLDC motor of the electric oil pump stops and reflecting it at the time of motor startup.

[0078] For example, by integrating the technology of converting the user's operation information into a voltage signal using a joystick module and the technology of detecting the initial position of a BLDC motor, after converting the operation information input through the joystick module into a voltage signal, this signal can be utilized for detecting the initial position of the BLDC motor to provide a system capable of controlling the boat's steering and precisely controlling the motor.

[0079] The present invention enables accurate motor control based on joystick input, allowing for more sensitive and precise adjustment of the boat's movement and direction. The function of detecting the initial position of the BLDC motor can shorten the motor startup time and improve the overall reaction speed.

[0080] <Example 3> In the stage where the PC module 120 according to the method of the present invention transmits the voltage signal received by the joystick module 110 to the remote boat via the integrated waterborne GSC 130 and receives and monitors the state information of the boat in real time via the integrated waterborne GSC 130,

[0081] The PC module 120 of the present invention serves to transmit the voltage signal received by the joystick module 110 to the remote boat via the integrated waterborne GSC 130 and performs the function of receiving and monitoring the state information of the boat in real time via the integrated waterborne GSC 130.

[0082] The specific operating principle and functions of such a PC module 120 are as follows.

[0083] First, the PC module 120 receives analog voltage signals on the x-axis and y-axis from the joystick module 110. This signal has a value of 0.5V to 4.5V according to the physical position of the joystick and is precisely converted into 65,536 digital values through an ADC (Analog-to-Digital Converter) with a resolution of 16 bits. The converted digital signal is stabilized by removing noise through a Kalman filter operating at a frequency of 100Hz.

[0084] Then, the stabilized signal is mapped to nine regions including eight directions (upper left, left, lower left, up, upper right, right, lower right, down) and the neutral position. Each direction is divided at an angle of 45 degrees, and a displacement within 5% from the center is regarded as neutral. Based on the result of such mapping, the moving direction of the boat is determined, and five levels of speed are determined according to the degree of displacement of the joystick.

[0085] Also, the determined direction and speed information are encoded in an 8-bit instruction word. The upper 3 bits indicate the direction, the lower 3 bits indicate the speed, and the remaining 2 bits are reserved for future expandability. The instruction word encoded in this way is encrypted by the AES (Advanced Encryption Standard) 256-bit encryption algorithm to enhance security.

[0086] <Example 4> The present invention relates to an integrated system for remote control and autonomous operation of a BLDC motor for a water boat, which combines multi-sensor technology, artificial intelligence algorithms, and augmented reality technology to epochally improve the safety and efficiency of the boat control system.

[0087] 1. Group control system The integrated controller 150 includes a group control system that optimizes and applies the swarm intelligence algorithm to the water environment. This system provides functions of a dynamic routing weighting system, integration of environmental elements, and real-time task redistribution.

[0088] The dynamic routing weighting system is based on the Ant Colony Optimization (ACO) algorithm and replaces pheromone trails with GPS coordinates and timestamps. The weighting of each routing segment is normalized to a value between 0 and 1 and updated every 5 seconds. This enables the planning of dynamic routing that can adapt to the changing marine environment in real time.

[0089] The environmental factor integration function includes the sea current speed (maximum 10 knots), wind speed (maximum 100 knots), and wave height (maximum 10 m) in the weighting calculation. Each factor is reflected as a weighting, for example, 0.3, 0.3, 0.4, according to its relative importance. This enables an optimal routing plan with weighting considering various marine environmental factors.

[0090] The real-time task redistribution function dynamically optimizes the roles and positions of each boat using a genetic algorithm. The task execution efficiency of the entire group is evaluated every minute, and redistribution is performed when necessary. This enables adaptive group control that can flexibly respond to changing situations.

[0091] 2. Emergency Response System The integrated controller 150 includes modes for automatically handling various emergency situations. This system is composed of an automatic feedback mode, an emergency rescue request mode, and a weather avoidance mode.

[0092] In the automatic feedback mode, the integrated controller 150 combines GPS and an Inertial Navigation System (INS) to accurately determine the position even during communication interruption, and calculates the shortest safe route using the A* algorithm. This enables a safe return even in emergency situations such as communication interruption.

[0093] <Example 5> A method according to an embodiment, in the step where the integrated GSC 130 for water relays a remote control signal and the status information of the boat between the PC module 120 and the boat mission computer 140, The relay process of the integrated GSC130 for water use according to the present invention is composed of the following detailed steps:

[0094] 1. Signal reception stage The integrated GSC130 for water use receives a remote control signal from the PC module 120 and port status information from the port mission computer 140. The integrated GSC130 for water use utilizes a multiple antenna system to enhance the stability of signal reception.

[0095] 2. Signal verification stage The integrated GSC130 for water use uses various error detection and correction techniques to verify the integrity of the received signal. The integrated GSC130 for water use basically uses 32-bit CRC (Cyclic Redundancy Check) to confirm whether the data is damaged.

[0096] 3. Signal decryption stage The integrated GSC130 for water use supports various encryption algorithms in the process of decrypting the encrypted signal. The integrated GSC130 for water use can selectively use symmetric key encryption algorithms such as AES-256, ChaCha20, and Twofish according to the situation.

[0097] 4. Data packet analysis stage The integrated GSC130 for water use analyzes the header of the decrypted data packet to confirm the destination (PC module or port mission computer) and priority. The integrated GSC130 for water use uses the 16-bit destination identifier and 8-bit priority information included in the packet header.

[0098] 5. Signal conversion stage The integrated GSC130 for water use converts the received signal into a form suitable for the destination system. The integrated GSC130 for water use enables the processing of various forms of data using a flexible protocol conversion engine in this process.

Explanation of symbols

[0099] 10 Hall sensor 110 Joystick module 120 PC module 130 Integrated GSC for water use 140 Boat mission computer 150 Integrated controller 160 Right-side BLDC motor controller 170 Left-side BLDC motor controller 180 Right-side motor 190 Left-side motor 210 Joystick signal conversion module 220 Motor output control module 310 Joystick signal processing module 320 Boat movement control module

Claims

1. A device that converts a user's operation information into a voltage signal, comprising: a joystick module that outputs voltage signals for each 360-degree direction based on operations in the x and y axis directions and transmits them to a PC module; a PC module that processes the signal received from the joystick module, transmits this as a remote control command through an integrated GSC for watercraft to a boat, and receives and monitors the status information of the boat; an integrated GSC (Ground Station Controller) for watercraft that serves as a hub for data transmission between the PC module and the boat mission computer and relays remote control signals and the status information of the boat bidirectionally; a boat mission computer that interprets the remote control signal transmitted from the integrated GSC for watercraft, converts it into x and y axis information, and then transmits this to an integrated controller; an integrated controller that outputs a voltage signal to a right-side BLDC motor controller and a left-side BLDC motor controller based on the operation information received from the boat mission computer and adjusts the speed and direction of the motors; a right-side BLDC motor controller and a left-side BLDC motor controller that receive a voltage signal from the integrated controller and control the right-side motor and the left-side motor respectively, thereby adjusting the movement and direction of the boat. A BLDC motor remote control system for a watercraft, characterized by including these components.

2. A device that converts signals in the x and y axis directions operated by the joystick into voltage signals, comprising: a joystick signal conversion module that outputs signals operated at various angles with respect to the x axis and the y axis as voltage signals within a predetermined voltage range respectively, and generates a voltage signal that linearly increases and decreases in accordance with changes in the x and y axes at the center position of the joystick, and transmits this to a motor output control module; a motor output control module that further includes, based on the voltage signal received from the joystick signal conversion module, adjusts the output of the left-side motor and the right-side motor, outputs a predetermined value corresponding to the input joystick voltage signal, which determines the rotation direction and speed of the BLDC motor, and the output values of the left-side motor and the right-side motor change independently according to the position of the joystick. The BLDC motor remote control system for a watercraft according to Claim 1.

3. In the operation of the joystick, the X-axis signal approaches 0 as the joystick moves to the left and approaches 1 as it moves to the right. The Y-axis signal approaches 0 as the joystick moves upward and approaches 1 as it moves downward. Since the joystick can move in eight directions, the signal values for the directions of upper left, left, lower left, up, upper right, right, lower right, and down indicate the position of the joystick moving in that direction. The BLDC motor remote control system for a water boat according to claim 1, characterized in that.

4. A joystick signal processing module that receives and interprets the x-axis and y-axis signals (x_signal, y_signal) from the joystick to determine the direction (upper left, lower left, left, upper right, lower right, right, up, down) by the user's operation; A boat movement control module that controls the movement of the boat according to the determination of the direction transmitted from the joystick signal processing module. The BLDC motor remote control system for a water boat according to claim 2, further comprising.

5. In a method using the BLDC motor remote control system for a water boat according to claim 1, A device in which a joystick module outputs voltage signals in the x and y directions by the user's operation, is operable in 360-degree directions, and transmits the voltage signals generated through this to a PC module; The PC module transmits the voltage signal received by the joystick module to a remote boat via an integrated GSC for water, and receives and monitors the status information of the boat in real time via the integrated GSC for water; A method using the BLDC motor remote control system for a water boat, characterized by including a step in which the integrated GSC for water relays the remote control signal and the status information of the boat between the PC module and the boat mission computer.

6. The method using the BLDC motor remote control system for a water boat according to claim 5, further comprising a step in which the boat mission computer converts the joystick direction signal received from the integrated GSC for water into x and y coordinate information and transmits it to an integrated controller, and transmits the status information of the boat to the integrated GSC for water to provide constant updates to the PC module.

7. The integrated controller outputs a voltage signal to the motor controller according to the operation program uploaded based on the voltage value of the joystick input from the boat mission computer, thereby further including the step of independently controlling the right BLDC motor controller and the left BLDC motor controller. A method using the BLDC motor remote control system of a water boat according to claim 5, characterized in that.

8. The method using the BLDC motor remote control system of a water boat according to claim 5, further comprising the step of driving the right motor and the left motor based on the voltage signals transmitted from the integrated controller by the right BLDC motor controller and the left BLDC motor controller respectively.

9. In the method using the BLDC motor remote control system of a water boat according to claim 1, The joystick module is a device that outputs voltage signals in the x and y directions by the operation of the user, can be operated in 360-degree directions, and transmits the generated voltage signals to the PC module; The PC module transmits the voltage signals received by the joystick module to the remote boat via the integrated GSC for water use, and receives and monitors the state information of the boat in real time via the integrated GSC for water use; The integrated GSC for water use relays the remote control signal and the state information of the boat between the PC module and the boat mission computer; A method using the BLDC motor remote control system of a water boat, characterized by including the step of embedding hall sensors in the left and right BLDC motors of the boat to grasp the rotation direction and speed information of the motors.

10. Receiving the voltage signals in the x and y axis directions of the joystick module operated by the user via the PC, transmitting this signal to the boat mission computer of the remote boat, interpreting the operation signal of the user in 360-degree directions, and providing an operation instruction to the integrated controller of the remote boat. Detect the state from the hall sensors built into the left and right BLDC motors installed inside the boat, obtain the rotation direction and speed information of the motors, and transmit the rotation direction and speed information to the boat mission computer in real time. The boat mission computer then sends this information to the integrated GSC for water use to enable remote monitoring. The method using the BLDC motor remote control system for a water boat according to claim 9, further comprising detecting its own motion state by the built-in hall sensors, and these hall sensors detecting the state of the motor to determine the rotation direction and speed of the motor.

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