Virtual code-based control system, method and program, control device and control signal generating means for unmanned moving object
The present invention relates to a virtual code-based control system, method and program, control device and control signal generation means. A control signal-based control method including a virtual code according to an embodiment of the present invention includes: a control signal reception step in which the control module receives the control signal generated at a specific time point from the control signal generation means, the control signal includes a specific virtual code, and the virtual code is generated by combining a plurality of detail codes according to a specific rule; extracting, by the control module, a plurality of detail codes included in the virtual code; and a command search step in which the control module searches a storage location including a specific command based on a plurality of detail codes, wherein the virtual code is generated differently according to the command at the same time point, and is generated differently for each unit count, wherein the control module is built-in or installed in the control device, wherein when a normally generated virtual code is received for each unit count, based on the plurality of detail codes, a search starting point and a search path are determined and the search is performed with the storage location, wherein the unit count is set at a specific time interval and is changed as the time interval elapses.
1. A control device comprising:
a wireless communication module configured to receive a control signal transmitted at a specific time point from a control signal generation means, wherein the control signal comprises a virtual control command that is a specific virtual code;
a control module configured to extract the virtual control command from the control signal and then search for an actual control command corresponding to the virtual control command; and
a control command calculation module configured to calculate an individual control command for controlling one or more driving units based on the actual control command,
wherein the virtual control command for each actual control command is changed and generated for each unit time,
wherein when the actual control command includes a first control command and a second control command, the virtual control command for the first control command is generated not to overlap with the virtual control command for the second control command, and
wherein the virtual control command is generated by combining a plurality of detail codes used for searching by a control signal transmission device for an actual control command storage location.
2. The control device of claim 1 , wherein the control module comprises:
a detail code extraction unit configured to extract a plurality of detail codes included in the virtual control command; and
a command search unit configured to search a storage location including a specific actual control command based on a plurality of detail codes,
wherein the virtual control command is generated by combining a first code and a second code included in a plurality of detail codes according to a specific rule,
wherein the first code or the second code is generated differently according to the actual control command at the same time point, and is generated differently for each unit count.
3. The control device of claim 2 ,
wherein the command search unit determines, as the storage location, a point moved along a search path corresponding to the second code from the starting point corresponding to the first code when a normally generated virtual control command is received for each unit count,
wherein the unit count is set at a specific time interval, and is changed as the time interval elapses.
4. The control device of claim 1 , wherein the control module further comprises a virtual code verification unit that verifies whether a virtual code is normally generated at the current time point based on the one or more detail codes.
5. The control device of claim 1 , wherein the control module and the control command generation module are embedded as software in one chip.
6. The control device of claim 1 ,
further comprising a sensor module including one or more sensors and calculating a state estimation value of the control device based on the sensed data,
wherein the control command calculation module is configured to calculate the individual control command by reflecting the state estimation value in the actual control command obtained from the control module.
7. A control signal transmission device comprising:
a control command acquisition module configured to acquire an actual control command based on a user's manipulation input;
a control signal generation module configured to generate a virtual control command in real time based on the actual control command; and
a wireless communication module configured to transmit the virtual control command to a control device based on a specific protocol,
wherein the virtual control command for each actual control command is changed and generated for each unit time,
wherein when the actual control command includes a first control command and a second control command, the virtual control command for the first control command is generated not to overlap with the virtual control command for the second control command,
wherein the virtual control command is generated by combining a plurality of detail codes used for searching for an actual control command storage location in a control module in the control device.
8. The control signal transmission device of claim 7 , wherein the virtual control command is generated with the same code length as the actual control command.
9. The control signal transmission device of claim 7 , wherein the virtual control command is generated by using a unique value of the control signal transmission device connected to the control device as seed data.