System and method for remote control of a BLDC motor for a watercraft

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 a joystick with greater precision and faster response when a user remotely controls the boat through operation. [Background technology]

[0002] Conventional technology involves a system in which the user remotely controls the boat using a joystick, but this system lacks precise responsiveness and efficiency, making it difficult to achieve precise control in each direction in 360 degrees. Additionally, the technology for linearly converting the joystick's x- and y-axis operation signals is insufficient, making it impossible to precisely control the motor output. This has created a need for the development of technology that can accurately recognize the various directional movements of a joystick, efficiently convert them into voltage signals, and transmit them to a motor controller. In addition, the determination of the boat's direction and control of its movement through user operation was inaccurate and slow, and the real-time remote control function was limited. To solve this, a system was developed that processes user operation information quickly and accurately through the interaction between the integrated controller and the motor controller. Therefore, there is a need to develop a device that can provide precise and rapid response through a system that remotely controls a boat based on user input, thereby significantly improving the accuracy and efficiency of overall boat operation. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention has been devised to solve the above-mentioned problems, and its purpose is to provide a BLDC motor remote control system for a water boat designed to provide precise and rapid response when remotely controlling a boat through user operation, with each component precisely converting the user's operation into a voltage signal, thereby accurately and efficiently controlling the movement and direction of the boat, and quickly and accurately remotely controlling the boat based on the user's operation. [Means for solving the problem]

[0004] To achieve the above object, one embodiment of the present invention includes a device for converting user operation information into voltage signals, the device including a joystick module that outputs voltage signals for 360 degrees according to operation in the x and y axes and transmits the voltage signals to a PC module; a PC module that processes signals received from the joystick module, transmits the signals to the boat via a surface-use integrated GSC as remote control commands, and receives and monitors boat status information; a surface-use integrated GSC (Ground Station Controller) that acts as a data transmission hub between the PC module and a boat mission computer and relays remote control signals and boat status information in both directions; a boat mission computer that interprets remote control signals transmitted from the surface-use integrated GSC, converts them into x and y axis information, and transmits the information to an integrated controller; an integrated controller that outputs voltage signals to a right BLDC motor controller and a left BLDC motor controller based on 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 voltage signals from the integrated controller and control the right and left motors, respectively, thereby adjusting the movement and direction of the boat.

[0005] The joystick signal conversion module converts x- and y-axis signals operated by a user with a joystick into voltage signals, and outputs signals operated at various angles on the x- and y-axes as voltage signals in the range of 0.5V to 4.5V, respectively. The joystick signal conversion module generates a voltage signal that linearly increases or decreases in response to changes in the x- and y-axes at the center position of the joystick and transmits it to a motor output control module. The motor output control module adjusts the outputs of the left and right motors based on the voltage signal received from the joystick signal conversion module, and outputs a value between -5 and +5 in response to the input joystick voltage signal, which determines the rotation direction and speed of the BLDC motors. The output values ​​of the left and right motors change independently depending on the position of the joystick.

[0006] In operation of the joystick, the X-axis signal becomes closer to 0 if the joystick moves to the left and closer to 1 if it moves to the right, and the Y-axis signal becomes closer to 0 if the joystick moves up and closer to 1 if it moves down. Since the joystick can move in eight directions, the signal values ​​for each direction (upper left, left, lower left, up, upper right, right, lower right, and down) indicate the position of the joystick moving in that direction.

[0007] The joystick further includes a joystick signal processing module that receives x-axis and y-axis signals (x_signal, y_signal) from the joystick and interprets them to determine the direction (upper left, lower left, left, upper right, lower right, right, up, down) according to the user's operation, and a boat movement control module that controls the movement of the boat according to the direction determined by the joystick signal processing module.

[0008] The joystick module is a device that outputs voltage signals in the x and y directions according to user operation and can be operated in 360 degrees. The joystick module transmits the generated voltage signals to the PC module, and the PC module transmits the voltage signals received by the joystick module to the remote boat via the integrated GSC for surface use. At the same time, the system includes receiving and monitoring boat status information in real time via the integrated GSC for surface use, and the integrated GSC for surface use relaying the remote control signal and boat status information between the PC module and the boat mission computer.

[0009] The boat mission computer converts the joystick direction signal received from the integrated GSC for water into x, y coordinate information and transmits it to the integrated controller. Also, the method further includes transmitting boat status information to the integrated GSC for water to provide constant updates to the PC module.

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

[0011] The method further includes causing the right BLDC motor controller and the left BLDC motor controller to drive the right motor and the left motor, respectively, based on the voltage signals transmitted from the integrated controller.

[0012] The joystick module outputs voltage signals in the x and y directions according to user operation and can be operated in 360-degree directions. The joystick module transmits the generated voltage signals to a PC module, and the PC module transmits the voltage signals received by the joystick module to a remote boat via a surface-mounted integrated GSC. At the same time, the joystick module receives and monitors boat status information in real time via the surface-mounted integrated GSC. The surface-mounted integrated GSC relays remote control signals and boat status information between the PC module and a boat mission computer. Hall sensors are installed in the left and right BLDC motors of the boat to obtain motor rotation direction and speed information.

[0013] The method further includes the steps of receiving voltage signals in the x and y axis directions of the joystick module operated by the user via a PC, transmitting the signals to the boat mission computer of the remote boat, interpreting the user's operation signals for each 360-degree direction, and providing operation instructions to the integrated controller of the remote boat; detecting the status from hall sensors built into the left and right BLDC motors installed inside the boat, obtaining information on the rotation direction and speed of the motors, transmitting the information on the rotation direction and speed to the boat mission computer in real time, and the boat mission computer sending it to the integrated GSC for water to enable remote monitoring; and detecting the motion status of the boat itself using the built-in hall sensors, which detect the status of the motors and determine the rotation direction and speed of the motors. [Effects 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 in 360 degrees, thereby remotely controlling a boat.

[0015] Furthermore, 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, allowing for more precise control of motor output.

[0016] Furthermore, according to one embodiment of the present invention, the eight directional operations of the joystick are accurately recognized, enabling more intuitive and precise remote control.

[0017] Furthermore, according to an embodiment of the present invention, the direction of the user's operation can be accurately determined and the movement of the boat can be effectively controlled.

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

[0019] Furthermore, according to one 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] Additionally, according to one embodiment of the present invention, the integrated controller provides precise voltage signals to the motor controllers, thereby providing more precise control over the movement of the boat.

[0021] Additionally, according to one embodiment of the present invention, a motor controller effectively drives the motor to smoothly regulate the movement of the boat.

[0022] Additionally, according to one embodiment of the present invention, sensing the motor state with Hall sensors allows for precise control of boat motion.

[0023] Furthermore, according to an embodiment of the present invention, sensing the motor's motion state using a Hall sensor improves the response speed and accuracy of the remote control system. [Brief explanation of the drawings]

[0024] [Figure 1]This is a diagram showing a schematic diagram of a BLDC motor remote control system for a water boat, including a joystick module that converts user operation information into a voltage signal and transmits it to a PC module, a PC module that processes the signal and transmits remote commands, an integrated GSC for water that acts as a hub for data transmission, a boat mission computer that interprets and converts remote control signals, motor control by an integrated controller, and control of the right and left motors by a BLDC motor controller. [Figure 2] FIG. 10 is a diagram showing a system that adjusts the motor output according to joystick operation using a module that converts joystick signals into voltage signals and a motor output control module. [Figure 3] FIG. 1 shows a system characterized by signal changes in the X and Y axes due to joystick actuation and signal values ​​for eight directions. [Figure 4] FIG. 1 illustrates a system including a joystick signal processing module for determining user direction of movement and a boat movement control module. [Figure 5] FIG. 1 illustrates a method including signal transmission and monitoring steps by a joystick module, a PC module, and an integrated GSC for waterborne use. [Figure 6] This diagram shows the process by which the boat mission computer converts the joystick's direction signal into X, Y coordinate information, transmits it to the integrated controller, and updates the boat's status information. [Figure 7] 10 is a diagram illustrating a step in which the integrated controller outputs a voltage signal to the motor controller based on the joystick voltage value to perform independent control. [Figure 8]This is a diagram showing a schematic diagram of a BLDC motor remote control system for a water boat, including a joystick module that converts user operation information into a voltage signal and transmits it to a PC module, a PC module that processes the signal and transmits remote commands, an integrated GSC for water that acts as a hub for data transmission, a boat mission computer that interprets and converts remote control signals, and functions for controlling the motor with an integrated controller and controlling the right and left motors with a BLDC motor controller. [Figure 9] FIG. 10 is a diagram showing a system that adjusts motor output in response to joystick operation using a module that converts joystick signals into voltage signals and a motor output control module. DETAILED DESCRIPTION OF THE INVENTION

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

[0026] It should be noted that the technical terms used in the present invention are used only to describe specific embodiments and are not intended to limit the present invention. Furthermore, unless otherwise defined in the present invention, technical terms used in the present invention should be interpreted in a way that is commonly understood by a person of ordinary skill in the art to which the present invention pertains, and should not be interpreted in an overly comprehensive or overly narrow sense. Furthermore, if a technical term used in the present invention is an incorrect technical term that cannot accurately express the concept of the present invention, it should be substituted with a technical term that can be correctly understood by a person skilled in the art. Furthermore, general terms used in the present invention should be interpreted in accordance with dictionary definitions or in accordance with the context, and should not be interpreted in an overly narrow sense.

[0027] In addition, singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as "comprise" or "include" should not be interpreted as necessarily including all of the multiple components or multiple steps described in the invention, but should be interpreted as meaning that some of the components or some of the steps may not be included, or that additional components or steps may be included.

[0028] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In the drawings, the same or similar components are designated by the same reference numerals, and redundant explanations will be omitted.

[0029] Furthermore, in describing the present invention, if it is determined that a detailed description of related prior art may obscure the gist of the present invention, the detailed description will be omitted. Also, please note that the accompanying drawings are merely for facilitating understanding of the concept of the present invention, and should not be construed as limiting the concept of the present invention.

[0030] As shown in Figures 1 to 3, the present invention comprises a joystick module 110, a PC module 120, a waterborne integrated GSC 130, 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, etc.

[0031] The joystick module 110 is a device that converts user operation information into a voltage signal, and outputs voltage signals in 360 degrees (or eight directional signals) according to operation in the x and y axes directions, and transmits them to the PC module 120.

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

[0033] The surface integrated GSC 130 acts as a hub for data transmission between the PC module 120 and the boat mission computer 140, relaying remote control signals and boat status information in both directions.

[0034] The boat mission computer 140 interprets the remote control signal transmitted from the surface integrated GSC 130 , converts it into x- and y-axis information, and transmits it to the integrated controller 150 .

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

[0036] The right BLDC motor controller 160 and the left BLDC motor controller 170 receive voltage signals from the integrated controller 150 to 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 controllability, real-time condition monitoring, and precise motor control. Such an integrated system is designed to allow users to efficiently operate their boats from remote locations.

[0038] Therefore, the present invention allows precise remote joystick operation and provides a stable remote control environment through real-time monitoring of the boat's status. All components are efficiently integrated through high interconnectivity and coordination, enabling delicate boat movements and maximizing the functionality and efficiency of the entire system.

[0039] More specifically, the present invention includes a joystick module 110, a PC module 120, a surface integrated GSC 130, 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, etc.

[0040] Here, the integrated GSC 130 for water mainly functions as a communication relay between land and water, transmits remote control signals received from the PC module 120 to the boat, collects boat status information and transmits it to the PC module 120, and handles long-distance wireless communication to extend the range of remote control.

[0041] The integrated controller 150 functions as a central control unit within the boat, interpreting commands received from the boat mission computer 140, transmitting control signals directly to the BLDC motor controllers 160 and 170, and processing and integrating data from various sensors on the boat to manage the overall operation and safety of the boat.

[0042] In this way, the integrated GSC 130 for watercraft will focus on external communications and data relay, while the integrated controller 150 will be responsible for the actual control and operation inside the boat, but is not limited to this. They may also perform complementary or overlapping functions to prepare for failures.

[0043] The joystick module 110 is a device that outputs voltage signals in the x and y directions according to user manipulation, and can be manipulated in 360 degrees. The voltage signals thus generated are transmitted to the PC module 120.

[0044] The PC module 120 transmits the voltage signal received by the joystick module 110 to the remote boat via the surface integrated GSC 130. At the same time, it receives and monitors the boat status information in real time via the surface integrated GSC 130.

[0045] The boat mission computer 140 is located inside the boat and converts joystick direction signals received from the surface integrated GSC 130 into x, y coordinate information and transmits it to the integrated controller 150. It also transmits boat status information to the surface integrated GSC 130 to provide constant updates to the PC module 120.

[0046] The integrated controller 150 outputs a voltage signal to the motor controller according to an operation program uploaded based on the joystick voltage value input from the boat mission computer 140. This allows the right BLDC motor controller 160 and the left BLDC motor controller 170 to be controlled independently.

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

[0048] The overall system is characterized by its ability to perform precise remote control, transmit signals from the joystick to the boat in real time, and constantly monitor the boat's status. Each module, computer, controller, and motor controller maximizes the efficiency and functionality of the overall system through a high level of integration and independent operation 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 signals in the x- and y-axis directions operated by the user with the joystick into voltage signals, and outputs signals operated at various angles relative to the x- and y-axes as voltage signals in the range of 0.5V to 4.5V. The joystick signal conversion module 210 generates a voltage signal that changes linearly in proportion to the distance of movement of the joystick in the x-axis and y-axis directions based on the neutral position of the joystick.

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

[0052] The motor output control module 220 adjusts the output 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 between -4.5 and +4.5V in response 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 change independently depending on the joystick position, allowing for precise steering and speed control of the boat.

[0054] The entire system features the ability to precisely adjust the speed and direction of the motors depending on the joystick position.

[0055] The joystick signal conversion module 210 and the motor output control module 220 are tightly integrated to provide instant and accurate motor response to joystick input, allowing users to intuitively and effectively control the boat, which greatly improves the ease of use and safety of the boat control system.

[0056] In the joystick signal table according to the present invention shown in FIG. 4, signals for the X and Y axes are shown.

[0057] The X-axis signal is closer to 0 when the joystick is moved to the left, and closer to 1 when moved to the right. The Y-axis signal is closer to 0 when the joystick is moved up, and closer to 1 when moved down.

[0058] The table in Figure 4 shows that the joystick can move in eight directions: up-left, left, down-left, up, up-right, right, down-right, and down. The signal value for each direction indicates the position of the joystick moving in that direction.

[0059] For example, if the joystick is moved all the way to the top left, the X axis signal will be 0.5 and the Y axis signal will be 0.5. If the joystick is moved halfway to the top left, the X axis signal will be approximately 0.75 and the Y axis signal will be approximately 0.25.

[0060] Code like this is used to process joystick input in a game engine. The engine can use the table in Figure 4 to determine in which direction the joystick is currently moving. It can then use this information to control the boat or game object.

[0061] As shown in FIG. 4 and FIG. 7, the present invention according to one 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 x-axis and y-axis signals (x_signal, y_signal) from the joystick and interprets them to determine the direction (upper left, lower left, left, upper right, lower right, right, up, down) of the user's operation. If the x-axis signal is less than 0.5 and the y-axis signal is less than 0.5, the direction is determined as "upper left." If the x-axis signal is less than 0.5 and the y-axis signal is greater than 0.5, the direction is determined as "lower left." If only the x-axis signal is less than 0.5, the direction is determined as "left." If the x-axis signal is greater than 0.5 and the y-axis signal is less than 0.5, the direction is determined as "upper right." If the x-axis signal is greater than 0.5 and the y-axis signal is greater than 0.5, the direction is determined as "lower right." If only the x-axis signal is greater than 0.5, the direction is determined as "right." If only the y-axis signal is less than 0.5, the direction is determined as "up." Otherwise, the direction is determined as "down."

[0063] The boat movement control module 320 controls the movement of the boat according to the direction decision transmitted from the joystick signal processing module 310. If a decision is received to move in the "upper left" direction, the boat moves to the upper left, and if a decision is received to move in the "lower left" direction, the boat moves 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 multi-dimensional joystick operations into simple directional decisions, allowing users to naturally steer a boat in a virtual environment with more delicate and precise operations.

[0065] Example 1 As shown in Figures 8 and 9, the present invention relates to a high-performance ship propulsion and control system using an azimuth thruster linked with a Hall sensor, and more particularly, to a method for maximizing the omnidirectional propulsion capability of an azimuth thruster by precisely controlling a motor through a Hall sensor.

[0066] The core of this invention is the organic combination of the azimuth thruster and the Hall sensor. The Hall sensor precisely detects the rotor position of the azimuth thruster motor and accurately measures the motor's rotation angle and speed in all directions (360 degrees) in real time. This dramatically increases the omnidirectional thrust capability of the azimuth thruster.

[0067] More specifically, the present invention comprises an azimuth thruster, a Hall sensor that can be attached to any position on the azimuth thruster, a motor driver, an inverter unit, and control logic.

[0068] For example, Hall sensors are mounted at intervals on the rotor of an azimuth thruster motor to sense the magnetic field changes caused by the motor's rotation. This information is communicated to the motor driver and control logic, which uses it to calculate the motor's precise angle and speed.

[0069] Based on this precise angle and velocity information, the control system can finely adjust the direction and thrust of the azimuth thrusters.

[0070] This allows the ship to move instantly and precisely in any direction, for example, making precise changes in direction to within 0.1 degrees and continuously changing speeds from very slow to very fast.

[0071] The system of the present invention also includes an overload detection and removal function. If the motor rotation speed detected by the Hall sensor falls below a set threshold, the system determines this as an overload state.

[0072] If an overload condition is detected, the inverter immediately stops the motor drive and outputs a reverse rotation control signal through the motor driver for a set time, effectively removing the overload on the azimuth thruster and protecting the system.

[0073] According to one embodiment of the present invention, the combination of Hall sensors and azimuth thrusters allows for ultra-precise control of boat motion. Based on the high-resolution position and velocity information provided by the Hall sensors, the system can adjust the operation of the azimuth thrusters to the micron level. This provides significant advantages, especially in situations requiring precise position holding or complex maneuvers.

[0074] In another embodiment of the present invention, this system dramatically improves the response speed and accuracy of remote control. Real-time motor status information obtained through Hall sensors minimizes the delay between remote control commands and the actual operation of the azimuth thrusters. This significantly improves the immediacy and accuracy of remote control operations, enabling a level of control equivalent to that of direct control.

[0075] <Example 2> The present invention relates to a BLDC motor control device and a method for detecting the initial position of a BLDC motor using the same.

[0076] A method for detecting an initial position of a BLDC motor using a BLDC motor control device according to the present invention includes the steps of applying three-phase pulse currents to the BLDC motor while the BLDC motor is stopped, measuring three-phase current values ​​using three-phase coil inductances according to the rotor position, calculating sine and cosine values ​​using the measured three-phase current values, and comparing the calculated values ​​with a previously stored mapping table to detect a current angle of the BLDC motor.

[0077] According to the present invention, the rotor angle is detected at high speed when the BLDC motor of the electric oil pump is stopped and reflected when the motor is started, thereby reducing the start-up time.

[0078] For example, by integrating the technology of converting user operation information into a voltage signal using a joystick module with the technology of detecting the initial position of a BLDC motor, it is possible to provide a system that can precisely control the boat and the motor by converting the operation information input through the joystick module into a voltage signal and then using this signal to detect the initial position of the BLDC motor.

[0079] The present invention enables precise motor control based on joystick input, allowing for more sensitive and precise adjustment of boat movement and direction, and the BLDC motor's initial position detection function shortens motor start-up time and improves overall response speed.

[0080] Example 3 In the method of the present invention, the PC module 120 transmits the voltage signal received by the joystick module 110 to the remote boat via the integrated GSC 130 for the water, and receives and monitors the boat status information in real time via the integrated GSC 130 for the water.

[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 GSC 130 for water, and also performs the function of receiving and monitoring boat status information in real time via the integrated GSC 130 for water.

[0082] The specific operating principle and function of the PC module 120 are as follows.

[0083] First, the PC module 120 receives analog voltage signals for the x and y axes from the joystick module 110. These signals have values ​​between 0.5V and 4.5V depending on the physical position of the joystick, and are precisely converted into 65,536 digital values ​​through a 16-bit resolution ADC (Analog-to-Digital Converter). The converted digital signals are then passed through a Kalman filter operating at a frequency of 100 Hz to remove noise and stabilize them.

[0084] The stabilized signal is then mapped into nine regions, including eight directions (upper left, left, lower left, upper right, right, lower right, and lower) and a neutral position. Each direction is divided into 45-degree angles, and a deviation of 5% from the center is considered neutral. Based on the results of this mapping, the boat's direction of movement is determined, and one of five speed levels is determined by the degree of joystick displacement.

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

[0086] Example 4 This invention relates to an integrated system for remote control and autonomous navigation of BLDC motors for watercraft, which combines multiple sensor technologies, artificial intelligence algorithms, and augmented reality technologies to dramatically improve the safety and efficiency of boat control systems.

[0087] 1. Group Control System The integrated controller 150 includes a group control system that applies swarm intelligence algorithms optimized for the surface environment, providing a dynamic routing weighting system, environmental factor integration, and real-time task redistribution.

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

[0089] The environmental factor integration function includes ocean current speed (up to 10 knots), wind speed (up to 100 knots), and wave height (up to 10 m) in the weighting calculation. Each factor is reflected as a weight of, for example, 0.3, 0.3, or 0.4 depending on its relative importance. This enables optimal routing planning by taking into account various marine environmental factors.

[0090] The real-time task reallocation function uses a genetic algorithm to dynamically optimize the role and position of each boat. The task execution efficiency of the entire fleet is evaluated every minute and reallocation is performed when necessary. This enables adaptive fleet control that can flexibly respond to changing situations.

[0091] 2. Emergency response system The integrated controller 150 includes modes for automatically responding to various emergency situations. The system is configured with an automatic return mode, an emergency rescue request mode, and a weather evacuation mode.

[0092] In the automatic return mode, the integrated controller 150 combines GPS and an inertial navigation system (INS) to determine the exact location even when communication is lost, and calculates the shortest safe route using the A* algorithm, enabling safe return even in emergency situations such as communication loss.

[0093] <Example 5> In one embodiment, a method is provided in which a surface integrated GSC 130 relays remote control signals and boat status information between a PC module 120 and a boat mission computer 140, the method comprising: The relay process of the integrated GSC130 for waterborne use according to the present invention is composed of the following detailed steps:

[0094] 1. Signal reception stage The surface integrated GSC 130 receives remote control signals from the PC module 120 and boat status information from the boat mission computer 140. The surface integrated GSC 130 utilizes a multiple antenna system to improve the stability of signal reception.

[0095] 2. Signal verification stage The integrated GSC 130 for water uses various error detection and correction techniques to verify the integrity of the received signal. The integrated GSC 130 for water basically uses a 32-bit CRC (Cyclic Redundancy Check) to check whether the data is corrupted.

[0096] 3. Signal Decoding Stage The integrated GSC130 for water supports various encryption algorithms in the process of decrypting encrypted signals. The integrated GSC130 for water allows selective use of symmetric key encryption algorithms such as AES-256, ChaCha20, and Twofish depending on the situation.

[0097] 4. Data Packet Analysis Stage The surface integrated GSC 130 analyzes the header of the decoded data packet to determine the destination (PC module or boat mission computer) and priority. The surface integrated GSC 130 uses the 16-bit destination identifier and 8-bit priority information contained in the packet header.

[0098] 5. Signal conversion stage The integrated surface GSC 130 converts the received signal into a format suitable for the destination system, using a flexible protocol conversion engine to process data in a variety of formats. [Explanation of symbols]

[0099] 10 Hall Sensor 110 Joystick Module 120 PC Module 130 Integrated GSC for Water 140 Boat Mission Computer 150 Integrated Controller 160 Right BLDC motor controller 170 Left BLDC motor controller 180 right motor 190 left motor 210 Joystick Signal Conversion Module 220 Motor Output Control Module 310 Joystick Signal Processing Module 320 Boat Movement Control Module

Claims

1. a joystick module that converts user operation information into a voltage signal, and outputs voltage signals in 360-degree directions according to operation in the x and y axes, and transmits the voltage signals to a PC module; a PC module that processes signals received from the joystick module, transmits the signals to the boat via the integrated GSC for watercraft as remote control commands, and receives and monitors boat status information; the PC module is configured to A / D convert an analog voltage signal from the joystick module, stabilize the signal by filtering, map the signal to a plurality of direction regions and speed stages, encode the signal into a command, encrypt the command, and transmit the command to the surface integrated GSC; an integrated ground station controller (GSC) for watercraft, which serves as a hub for data transmission between the PC module and the boat mission computer and relays remote control signals and boat status information in both directions; a boat mission computer that interprets the remote control signal transmitted from the surface integrated GSC, converts it into x-axis and y-axis information, and transmits it to the integrated controller; an integrated controller that outputs voltage signals to the right and left BLDC motor controllers based on operation information received from the boat mission computer to adjust the speed and direction of the motors; a right BLDC motor controller and a left BLDC motor controller that receive voltage signals from the integrated controller and control the right and left motors, respectively, thereby adjusting the movement and direction of the boat.

2. a joystick signal conversion module that converts signals in the x- and y-axis directions operated by the joystick into voltage signals, and outputs signals operated at various angles relative to the x- and y-axes as voltage signals within a predetermined voltage range, and generates a voltage signal that increases or decreases linearly in response to changes in the x- and y-axes at the center position of the joystick, and transmits the voltage signal to a motor output control module; 2. The watercraft BLDC motor remote control system of claim 1, further comprising: a motor output control module that adjusts the outputs of the left and right motors based on the voltage signal received from the joystick signal conversion module, and outputs a predetermined value corresponding to the input joystick voltage signal, which determines the rotation direction and speed of the BLDC motors, and the output values ​​of the left and right motors change independently depending on the position of the joystick.

3. 2. The watercraft BLDC motor remote control system of claim 1, wherein, in operation of the joystick, the X-axis signal approaches 0 when the joystick is moved to the left and approaches 1 when it is moved to the right, and the Y-axis signal approaches 0 when the joystick is moved up and approaches 1 when it is moved down. Since the joystick can be moved in eight directions, the signal values ​​for each of the directions (upper left, left, lower left, up, upper right, right, lower right, and down) indicate the position of the joystick moving in that direction.

4. a joystick signal processing module that receives x-axis and y-axis signals (x_signal, y_signal) from the joystick and interprets them to determine the direction (upper left, lower left, left, upper right, lower right, right, up, down) of the user's operation; 3. The watercraft BLDC motor remote control system of claim 2, further comprising: a boat movement control module that controls the movement of the boat according to the direction determined by the joystick signal processing module.

5. 2. A method for using the watercraft BLDC motor remote control system of claim 1, the joystick module is a device that outputs voltage signals in x and y directions according to a user's operation and can be operated in 360 degrees, and the voltage signals generated thereby are transmitted to the PC module; the PC module transmits the voltage signal received by the joystick module to the remote boat via the integrated GSC for water, and receives and monitors the status information of the boat in real time via the integrated GSC for water; and a surface integrated GSC relaying remote control signals and boat status information between the PC module and the boat mission computer.

6. 6. The method for using a BLDC motor remote control system for a watercraft according to claim 5, further comprising the step of: converting a joystick direction signal received from the watercraft integrated GSC into x, y coordinate information and transmitting the converted information to the integrated controller; and transmitting boat status information to the watercraft integrated GSC to provide constant updates to the PC module.

7. 6. The method for using a BLDC motor remote control system for a water boat according to claim 5, further comprising the step of: the integrated controller outputting a voltage signal to the motor controller according to an operation program uploaded based on a joystick voltage value input from the boat mission computer, thereby independently controlling the right BLDC motor controller and the left BLDC motor controller.

8. 6. The method for using a BLDC motor remote control system for a waterboat according to claim 5, further comprising the step of causing the right BLDC motor controller and the left BLDC motor controller to drive the right motor and the left motor, respectively, based on the voltage signals transmitted from the integrated controller.

9. 2. A method for using the watercraft BLDC motor remote control system of claim 1, the joystick module is a device that outputs voltage signals in x and y directions according to a user's operation and can be operated in 360 degrees, and transmitting the generated voltage signals to the PC module; The PC module transmits the voltage signal received by the joystick module to the remote boat via the integrated GSC for the surface, and receives and monitors the status information of the boat in real time via the integrated GSC for the surface; a surface integrated GSC relaying remote control signals and boat status information between the PC module and the boat mission computer; and (b) incorporating Hall sensors in the left and right BLDC motors of the boat to obtain information on the rotation direction and speed of the motors.

10. 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 in 360-degree directions, and providing operation instructions to an integrated controller of the remote boat; detecting the state of the left and right BLDC motors mounted inside the boat from hall sensors built in the motors, acquiring rotation direction and speed information of the motors, transmitting the rotation direction and speed information to a boat mission computer in real time, and the boat mission computer sending the information to an integrated GSC for water to enable remote monitoring; 10. The method for using a waterboat BLDC motor remote control system according to claim 9, further comprising the step of: detecting the motion state of the waterboat itself using the built-in Hall sensors; and determining the rotation direction and speed of the motor by using the Hall sensors to detect the state of the motor.

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