KR101863101B1 - Unmanned Aerial Vehicle anti-collision method by sharing routes and flight scheduling via Ground Control Station software - Google Patents

Abstract

The present invention relates to a method for preventing unmanned aerial collision by sharing an airline and a flight schedule of an unmanned airplane through an operating ground station software, the method comprising the steps of: (a) Wherein each of the plurality of user terminals on which the ground station software is installed derives a route of the unmanned aerial vehicle; (b) each of the plurality of user terminals transmits the route data and the flight schedule data to the main server through the wired / wireless communication network, and transmits the route data to the corresponding unmanned airplane of each user terminal through wired / wireless communication; (c) sorting the route data and the flight schedule data received from each of the plurality of user terminals on a user basis by the main server; (d) the main server transmits to the user terminals, in real time, the route data and the flight schedule data received from the different user terminals via the wired / wireless communication network and displays them on the screen of the operating ground station software of each user terminal; and (e) When the plurality of route data transmitted to the main server by each of the plurality of user terminals and the flight schedule data overlaps temporally and spatially, the main server transmits a warning message through the wired / wireless communication network to the late user terminal Thus, it is possible to prevent a collision of the UAV in flight in advance by sharing a plurality of unmanned aerial time periods and information accordingly.

Description

[0001] The present invention relates to an unmanned aerial vehicle anti-collision method and a flight control system, and more particularly,

The present invention relates to a method for preventing unmanned aerial collision by sharing a flight course and a flight schedule of an unmanned aerial vehicle through an operation ground station software and more specifically, The present invention relates to a method for preventing a collision of an unmanned aerial vehicle during a flight of an unmanned aerial vehicle (UAV) through a plurality of unmanned aerial vehicles (UAVs) and real-time sharing of information therebetween.

In the past, aircraft-based surveying required a lot of time and cost even if the survey area was small. However, recently, unmanned aerial vehicle (UAV) technology has become popular, so in case of surveying a small area, The industry is gradually changing to acquire aerial photographs at low cost in a short period of time.

Generally, unmanned aerial vehicles can be classified into fixed-wing unmanned aerial vehicles and rotary-wing unmanned aerial vehicles. In the case of electrons, they have a generic airplane configuration with a lift generator (wing) and a thrust generator (propeller and engine) , Propeller and motor are used to generate thrust and lift. Therefore, although there is a disadvantage that the rotor flywheel is vibrated, there is a merit that the vertical takeoff and landing is possible and the runway for takeoff and landing is not necessary, and also the stop flight can be used in various industrial fields. Typically, fixed-wing unmanned aircraft are used for surveying a wide range of areas, but wing-wing unmanned aircraft are used at points where landing and landing sites for narrow areas and fixed wing unmanned aircraft are not sufficient.

These unmanned aerial vehicles are smaller than airplanes and have an advantage of being very easy to operate, and they are being used in various fields such as logistics, security, disaster and defense as well as surveying, so that the number of these is increasing.

On the other hand, existing Ground Control Station (GCS) software, which plans the route of surveying UAV, is able to set route of UAV only through USB or telemetry, Etc.) so that the user can map the desired survey area, which is the same method as the drawing tool in general map service. These operating ground station software sets the number and direction of strips taking into account aerial photogrammetry and derives final route.

However, the flight ground station software has only 1: 1 communication between the unmanned airplane and the ground station software, so it has a limitation in checking the route of other unmanned airplanes. Such a method has a limitation that the user can not immediately check the information for planning and performing the survey, which may be ineffective. In other words, if a large number of unmanned aerial vehicles try to survey in a small area, there is a possibility of overlapping each other's route, and there is a potential risk of collision, This can result in damage.

As a prior art related to the present invention, Korean Patent Registration No. 10-1483057 discloses a ground control method for preventing unmanned aircraft collision of an unmanned airplane ground control system including at least one unmanned airplane and a ground control station, Each of the UAVs transmitting flight information generated from a plurality of sensors; Comparing the flight information transmitted from each of the at least one unmanned aircraft with the previously stored feature information to obtain a collision prediction value in a predetermined manner for each of the at least one unmanned aerial vehicle; And generating a control signal for controlling the unmanned airplane according to the obtained collision predicted value and transmitting the control signal to the unmanned airplane. In addition, there is disclosed a ground control method for preventing an unmanned airplane collision, A method of avoiding a collision by using DEM (Digital Elevation Model) or preliminary data about a stationary object, a method of avoiding obstacles by attaching various visual sensors, and a method of communicating the route by voice communication at the airport control tower Suggesting a way to change it. However, in the case of survey using an unmanned aerial vehicle, the photographs taken at each location must be superimposed at a certain rate, and the meaning of the photographing is greatly reduced unless the photographer takes a picture at the planned location. Therefore, Uneasy. That is, it is necessary to share the pre-shooting information so that routes do not overlap with each other, rather than a method of correcting the route in real time proposed by the related arts.

Korean Registered Patent No. 10-1483057, entitled "Ground Control Method for Avoiding Collision of Unmanned Aircraft"

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a navigation system for a plurality of UAVs and a navigation system using the space information technology, the GPS system and the cloud computing technology. The present invention provides a method for preventing unmanned aerial collision by sharing an unmanned airplane route and a flight schedule through a landing station software, which can prevent a collision of an unmanned airplane in advance through real-time sharing of information.

Particularly, the present invention is to input the route through surveying ground station (GCS) software for the unmanned airplane for surveying. At this time, by sharing the route among the users beforehand, it is possible to cope with the danger of unmanned aeronautical period collision, Which is capable of obtaining more reliable image information by acquiring an aerial photograph for surveying without being disturbed by the outside at a planned point without having to suddenly change the unmanned aerial time period.

In order to accomplish the above object, the present invention provides a method for controlling a landing gear of a UAV camera inputted into a ground station (GCS) software, (a) a polygon specifying an area to be surveyed in the navigation ground station (GCS) Deriving a route of an unmanned aerial vehicle (UAV), wherein each of the plurality of user terminals on which the navigation ground station (GCS) software is installed, based on the set values of the overlap, altitude and bow angle; (b) Each of the plurality of user terminals transmits to the main server via the wired / wireless communication network the route data derived in the step (a) and the flight schedule (time to start the survey) data input to the navigation ground station (GCS) Transmitting the route data to the corresponding UAV of each user terminal through wired / wireless communication; (c) sorting the route data received from each of the plurality of user terminals and the flight schedule (time at which to start the survey) data on a user basis; (d) The main server transmits the route data and the flight schedule (time to start surveying) received from the other user terminals to the user terminals via the wired / wireless communication network in real time and displays them on the screen of the operating ground station software of each user terminal And (e) when a plurality of route data transmitted to the main server by each of the plurality of user terminals and the flight schedule (time to start surveying) are temporally and spatially overlapped, And the main server transmits a warning message to the terminal through the wired / wireless communication network.

Further, in the step (b) of the present invention, each of the plurality of user terminals further transmits the flight schedule (time to start measurement) to the corresponding unmanned airplane of each of the user terminals via wired / wireless communication.

The data transmitted and received between each of the plurality of user terminals and the main server 10 in the steps (b) and (d) include real-time position data of the unmanned airplane by the GPS (unmanned airplane) In the case of flying).

In addition, in the present invention, the main server stores various information data in a DB server and inputs / outputs the data when necessary. The DB server stores the route data, the flight schedule data (time to start surveying) And map data.

In addition, the present invention is characterized in that, in the step (e), when an unmanned aircraft is overpassed or spatially overlapped, priority is given to an unmanned airplane having an overlapped area / study area.

The method for preventing unmanned aerial collision by sharing the route and the flight schedule of the unmanned airplane of the present invention through the landing station software through the navigation ground station can be realized by sharing the route between the plurality of unmanned air vehicles (UAVs) It is possible to prevent the collision of the unmanned airplane in advance, and by sharing the route among the users in advance, it is not necessary to suddenly change the planned route, so that the aerial photograph for the surveying is obtained without being disturbed by the outside at the planned point There is an effect that more reliable image information can be obtained.

Brief Description of the Drawings Fig. 1 is a view for describing longitudinal redundancy and lateral redundancy for deriving an air route at the time of aerial surveying. Fig.
2 is a block diagram of a system related to a method for preventing unmanned aerial collision according to the present invention.
3 is a flow diagram of a method for preventing collision of an unmanned aerial vehicle according to the present invention.
FIG. 4 is an exemplary view of a navigation ground station software screen when no overlap occurs in the unmanned aerial time course according to the method for preventing unmanned aerial collision according to the present invention. FIG.
FIG. 5 is an exemplary view of a navigation ground station software screen when overlapping occurs in the unmanned aerial navigation route according to the method for preventing unmanned aerial collision according to the present invention. FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. It is to be understood that the appended drawings and foregoing description are intended for purposes of illustration only and are not intended to limit the scope of the present invention. .

FIG. 1 is a view for explaining longitudinal redundancy and lateral redundancy for deriving a route at the time of aerial surveying, FIG. 2 is a configuration diagram showing a system related to a method for preventing an unmanned aerial collision according to the present invention, FIG. 4 is a flowchart illustrating a method for preventing a collision of an unmanned aerial vehicle according to the present invention. FIG. 5 is an exemplary view of a navigation ground station software screen in the case where an overlap occurs in the unmanned aerial navigation route. FIG.

For airborne surveys, a perfect stereo image can be obtained for the shooting area, with an overlap of 60% and a side wrap of 20-40%. . Based on these aerial surveying methods, if a program for planning the route is used to set the overlapped (overlapping), side wrap (lateral redundancy), altitude and flight direction (forehead angle) of aerial photographs, .

In the present invention, the Unmanned Aerial Vehicle (UAV) also uses the Ground Control Station (GCS) software to set the route to be surveyed on the map as a lung polygon, It is finished. If there is no problem with the GPS, and the automatic flight is set up for surveying, the satellite navigation system of the unmanned airplane will fly along the route derived from the operating ground station software.

The navigation ground station software is a program that helps to perform complicated calculations automatically when setting a route. It also checks the situation of an unmanned airplane and establishes a flight plan. Also, a navigation ground station software can easily use a non-expert To provide a variety of background maps. These background maps include Google, Open Street Map, and Bing Map. Based on these maps, a user (ie, a pilot of an unmanned aerial vehicle) can draw his or her desired study area in various shapes of polygons .

Basic options for surveying such as desired altitude, bow angle, flight speed, initial shooting point (top left, top right, bottom right, bottom left, current location, etc.), side lap (lateral redundancy) , The navigation ground station software automatically derives the route for the unmanned airplane and various statistics corresponding to it through the parameters defined above. Of course, the user can manually enter the route and the aerial image acquisition point, but it is advantageous to obtain the aerial and aerial image acquisition points automatically generated by the navigation ground station software for the uniform quality and uniform image quality of the survey area.

The operational ground station software considered for the present invention is capable of setting the following parameters when surveying:

First, since the footprint that can be photographed at a specific altitude varies depending on the camera focus, lens, and sensor, it is necessary to input the function of the camera to acquire a certain quality of aerial image.

Second, with the altitude setting, the image quality and range that can be acquired from aerial images vary according to the altitude of the UAV. Generally, the higher the altitude, the lower the quality of the acquired image, and the larger the number of images, the larger the area can be covered. On the other hand, if the altitude is low, the quality of the image is high, but when selecting a survey area of the same area, more time and the number of photographs are needed.

Third, with each player setting, the bow angle can change according to the direction of the wind, but generally it depends on the appearance of the survey area. For example, if you have a long rectangle with a horizontal axis, you must fly along the horizontal axis and the angle of the equator to get shorter flight times, allowing you to shoot a large area.

Fourth, with the flight speed setting, the faster the flight speed, the larger the area can be shot in a short time. However, the quality of the image can be low, and it is necessary to have a speed appropriate to the situation.

Fifth, in order to acquire the image of the disaster area at the initial point of flight, the take-off place of the unmanned airplane may not be inside the surveying area, as the unmanned airplane can take off and land outside the disaster area. For this purpose, it is possible to select the initial point of flight and acquire the first image from the vertex of the survey area.

Sixth, in the side lap (lateral redundancy) setting, the side lap and overlap are described above, but a threshold value above a certain level is required for obtaining a perfect stereo image.

Seventh, the overlap (species redundancy) setting is the same as the sixth.

Eighth, Cross Grid setting for acquiring images in various directions, it serves to superimpose the route to acquire a higher quality image.

The route created through the above parameters is transmitted from the user terminal to the unmanned airplane using the wired / wireless transmission device, and the unmanned airplane can automatically fly the planned route with the help of the GPS.

Although the present invention can be used irrespective of the type of the UAV, the present invention is intended to describe a UAV that is typically used to explain the configuration of the UAV. Basically, the rotor-flywheel for surveying is composed as follows.

1) a wired / wireless receiving unit capable of receiving a planned route through a USB or wireless (here, a user terminal is a mobile terminal such as a smart phone or a tablet PC or a mobile terminal such as a notebook PC)

2) a GPS (Global Positioning System) that helps navigate the planned route;

3) A wired / wireless transmitter capable of transmitting real-time location, aerial photographs and moving images of a UAV to a user terminal

4) propellers and motors (rotors) to assist the unmanned aircraft

5) Camera for aerial photographing

6) A computer that compares the set course with the satellite navigation system, presses the shutter of the camera at the appointed point, and supplies appropriate rotational energy to each rotor

7) A wireless transmitting / receiving unit for enabling manual operation using a radio controller in an emergency

8) Power source battery

Can be said to be the basic components of the rotorcycle.

In FIG. 2, a plurality of user terminals are connected to the main server 10 via a wired / wireless communication network, and mobile terminals such as a smart phone or a tablet PC for transmitting / receiving various information data or a notebook PC are applied. Operational ground station software is installed in the user terminal.

In the present invention, the information data includes route data, flight schedule data, and real-time position data of the unmanned airplane (when the unmanned airplane is in flight) by the GPS, derived from the navigation ground station software, Each of the plurality of user terminals transmits the information data to the main server 10 via a wired / wireless communication network, and the main server 10 stores it in the DB server 20, and inputs / outputs the information data when necessary.

The DB server 20 includes map data in addition to the route data, flight schedule data, and real-time position data of the UAV, and the main server 10 transmits map data to each user terminal through the wired / Or map data may already be stored in each user terminal.

Conversely, the main server 10 transmits route data, flight schedule (time) data and real-time position data of the unmanned airplane (when the unmanned airplane is in flight) received from different user terminals to each user terminal via the wired / wireless communication network . Here, the real-time position data of the UAV can be shared by a plurality of user terminals, so that the users can confirm the position of the UAV in real time on the route of each UAV.

The plurality of user terminals not only transmits the route data to the main server 10 but also transmits the route data derived from the landing station software through wired / wireless communication to the corresponding unmanned aircraft of each of the user terminals, (Time) data, and conversely, the unmanned airplane transmits real-time position data of the unmanned airplane (when the unmanned airplane is in flight), aerial photograph and video data (the unmanned airplane is in flight Or after the end of flight). Here, if necessary, the user terminal may be provided with a means for wireless communication between the user terminal and the UAV.

That is, according to the present invention, when a surveying UAV is used for measurement, each user of the user terminal shares the route and the flight schedule (time) set by each user through the main server 10, Sets the desired surveying area in the navigation ground station software and sets the set values (elevation, side wrap, overlap, bow angle, etc.) of the unmanned airplane, and corresponding route is derived. At this time, each user of the user terminal sets a flight schedule (time) together and uploads the results to the main server 10. The information transmitted to the main server 10 is transmitted in real time to other users who are planning to shoot at present, and each user can check when and where other people other than him are going to shoot. Based on the above information, other users can plan their own route and flight schedule (time) considering the route and the flight schedule (time). At this time, if there is a route that overlaps the same flight time zone (flight schedule is similar time), a warning notice is displayed to the user so as to reconsider the change of the route.

FIG. 3 is a flowchart illustrating a method for preventing unmanned aerial flight collision by sharing an air route and a flight schedule of an unmanned aerial vehicle according to the present invention through a navigation ground station software.

First, based on the polygons specifying the area to be surveyed in the navigation ground station (GCS) software and the setting values of the side laps, overlaps, altitudes, and bow angles of the UAV cameras input to the navigation ground station (GCS) Each of a plurality of user terminals installed with GCS software derives a route of a UAV (S10).

That is, when each user designates a region to be surveyed in the navigation ground station software as a polygon and inputs various setting values such as a side wrap, overlap, height and a bow angle of the camera provided in the unmanned airplane, The route of the aircraft can be derived.

Second, each of the plurality of user terminals transmits the route data to the main server 10 via the wired / wireless communication network and the flight schedule (time to start the survey) input to the navigation ground station (GCS) software, Route data is also transmitted to the corresponding unmanned airplane through wired / wireless communication (S20).

That is, each user must preliminarily input the flight schedule (time) into the navigation ground station software, and transmit the route data and the flight schedule (time) data to the main server 10 and the unmanned airplane. It may not be transmitted to the aircraft.

Thirdly, the main server 10 arranges the route data and the flight schedule (time to start surveying) received from each of the plurality of user terminals on a user basis (S30).

Fourthly, the main server 10 transmits to the user terminals, in real time, route data and flight schedule (time to start surveying) received from other user terminals through a wired / wireless communication network to each of the user terminals, And displays it on the screen (S40).

Fifth, when a plurality of route data transmitted to the main server 10 by each of a plurality of user terminals and a flight schedule (time to start surveying) are overlapped temporally and spatially, The main server 10 transmits a warning message via the wired / wireless communication network (S50). Here, the user terminal displays the warning message on the screen through the navigation ground station software.

In other words, when a new user plans a flight, when the information is transmitted to the main server 10 and the same space is flew at the same time (in the case where the route overlaps temporally and spatially) as compared with the previously transmitted route, A warning message is sent to the user who plans the flight later. This allows the recipient of the warning message to plan for another time zone or to fly to another area.

4 and 5 show an example of a navigation ground station software screen. FIG. 4 shows a case where no overlap occurs in the route during the unmanned aerial time period, FIG. 5 shows a case where the overlap occurs in the route during the unmanned aerial time period, to be.

FIG. 5 is a view for giving priority to a user who has decided the first route in case of temporal and spatial overlaps of the route, and shows the overlapped area to the user who determines the route later, and notifies the user of the available time. The priorities are basically given in first-come-first-served basis, but priority can be given in various ways. For example, there is priority over the overlap area ratio.

For example, if there is overlap between routes of the unmanned aircraft A and B, priority may be given to the unmanned aircraft having the overlapped area / study area so that the unmanned aircraft can be prevented from interfering with the unmanned aircraft.

5, when the route is overlapped temporally or spatially, the user who has planned the route may be informed of the expected waiting time, the waiting rank, and the like. In the portion indicated by red in FIG. 5, And the yellow color represents a part of the potential for overlap in other time zones. This allows the user to intuitively determine flight time and range.

Therefore, the present invention proposes a method for preventing unmanned aerial collision for surveying in advance by sharing the unmanned airplane route and the information (flight plan, etc.) in real time, and performing the planned uninterrupted flight without disturbance.

Although the present invention has been described based on a surveying unmanned aerial vehicle, it can be applied to various fields where planned routes such as logistics and surveillance are used, thereby preventing collision of the unmanned aerial vehicle.

10: main server 20: DB server

Claims (5)

(a) Based on the polygons specifying the area to be surveyed in the GCS software and the side laps, overlaps, altitudes and fore and aft angles of the UAV cameras entered into the ground station (GCS) software Each of the plurality of user terminals on which the navigation ground station (GCS) software is installed derives a route of a UAV for surveying;
(b) Each of the plurality of user terminals transmits to the main server 10 via the wired / wireless communication network the route data derived in the step (a) and the flight schedule (time to start surveying) data input to the navigation ground station Transmitting the route data and the flight schedule (time to start surveying) to the corresponding unmanned airplane of each user terminal through wired / wireless communication;
(c) sorting the route data received from each of the plurality of user terminals and the flight schedule (time to start surveying) based on a user basis;
(d) The main server 10 transmits to the user terminals, in real time, route data and flight schedule (time to start surveying) received from other user terminals via a wired / wireless communication network to each of the user terminals, Sharing the route data and the flight schedule (time to start surveying) before the flight by displaying on the screen, and
(e) When a plurality of route data transmitted to the main server 10 by each of the plurality of user terminals and the flight schedule (time to start surveying) are temporally and spatially overlapped, the corresponding user terminal A method for preventing unmanned aeronautical time conflict by sharing a flight schedule and a flight schedule of an unmanned airplane through an operation ground station software, wherein the main server (10) transmits a warning message together with a flight available time via a wired / wireless communication network .
delete delete delete The method according to claim 1,
Wherein when the unmanned airplane is overpassed in the step (e), priority is given to the unmanned airplane having a higher overlap ratio (Overlapped Area / Study Area). A method for preventing unmanned aerial collision by sharing through software.

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