KR102135314B1 - A unmanned air vehicle and method for controlling the unmanned air vehicle - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle and a method for controlling the unmanned aerial vehicle. The unmanned aerial vehicle includes: a plurality of blades and a plurality of motors for controlling the plurality of blades; a receiver for transmitting a control signal to the plurality of motors; and a control system for providing the control signal, transmitted to the plurality of motors, to the receiver. The control system includes a plurality of terminals in which sensors for detecting surroundings are oriented in different directions. A first terminal set as a main controller among the plurality of terminals transmits, to the receiver, a control signal for flight control and orientation control of the unmanned aerial vehicle based on surrounding information in a first direction that is detected by the first terminal and surrounding information in at least one second direction that is detected by at least one second terminal excluding the first terminal. Therefore, the unmanned aerial vehicle can be inexpensive and have high performance.

Description

Unmanned air vehicle system and control method of unmanned air vehicle{A UNMANNED AIR VEHICLE AND METHOD FOR CONTROLLING THE UNMANNED AIR VEHICLE}

The present invention relates to an unmanned aerial vehicle and a method for controlling an unmanned aerial vehicle, and to an unmanned aerial vehicle equipped with a mobile terminal as a control system.

An unmanned air vehicle (or Drone) may mean a vehicle capable of flying or autonomous flying by induction of radio waves without a pilot. These unmanned aerial vehicles can provide high-quality cameras or various sensors to provide users with various information collected in the air or places that are difficult for users to access due to the development of current technologies.

On the other hand, a high-performance unmanned aerial vehicle is equipped with a high-performance camera or a high-performance sensor, and its price is very high. On the other hand, there is a problem that an unmanned aerial vehicle without a high-performance camera or sensor does not satisfy the user's needs. Moreover, in the case of a military system that operates a large number for reconnaissance, etc., in order to operate a large number of unmanned aerial vehicles, there is a problem that the price of each unmanned aerial vehicle may be expensive. Accordingly, the needs of the user for an unmanned aerial vehicle having a high-performance image capture performance and a high-performance sensor are increasing day by day.

Moreover, in the case of a conventional unmanned air vehicle, it is not possible to expand or add sensors or functions, and even if possible, certain functions, for example sensors or functions that can be extended or added, such as mounting or dismounting a camera module, are very difficult. There is a limitation.

An object of the present invention is to solve the above-mentioned problems and other problems, and it is an object of the present invention to provide a control method capable of controlling an unmanned aerial vehicle having an inexpensive and high performance and an unmanned aerial vehicle.

In addition, the present invention is equipped with a mobile terminal as a control system for controlling the flight of the unmanned aerial vehicle, and can utilize the sensor provided in the mobile terminal to control the unmanned aerial vehicle and its unmanned aerial vehicle capable of performing flight and posture control. The objective is to provide a control method.

In addition, the present invention is to provide an unmanned aerial vehicle capable of performing different functions according to functions of a mounted terminal by mounting a plurality of terminals in a module form and a control method for controlling the unmanned aerial vehicle. do.

According to an aspect of the present invention to achieve the above or other object, the unmanned aerial vehicle according to an embodiment of the present invention, a plurality of motors for controlling the plurality of wings and the plurality of wings, and a control signal to the plurality of motors It includes a receiving unit for transmitting, and a control system for providing a control signal transmitted to the plurality of motors to the receiving unit, wherein the control system, a plurality of directions in which the direction of the sensor for detecting a surrounding situation is disposed differently A terminal including a terminal, wherein a first terminal set as a main controller among the plurality of terminals includes at least one second terminal excluding the first terminal and surrounding situation information in a first direction detected from the first terminal, respectively. And transmitting control signals for flight control and posture control of the unmanned air vehicle based on at least one sensed surrounding situation information of the second direction.

In one embodiment, when the obstacle approaching the unmanned air vehicle is detected based on the surrounding situation information sensed from the at least one second direction, the first terminal performs rotational maneuvering in the direction in which the obstacle is detected. And performing an evasive maneuver to avoid the detected obstacle.

In an embodiment, when the obstacle approaching the unmanned aerial vehicle is detected based on the surrounding situation information sensed from the at least one second direction, the first terminal determines whether the obstacle satisfies a preset condition. In accordance with this, the authority to transmit the control signal to the receiving unit is transferred to any one of the second terminals that have detected the obstacle, and the second terminal to which the authority to transmit the control signal has been transferred is performed after avoiding the obstacle. , Transferring the authority to transmit the control signal back to the main controller.

In one embodiment, the predetermined condition is characterized in that whether the satisfaction is determined according to at least one of the detected obstacle speed, movement direction, size, and the distance between the obstacle and the unmanned aerial vehicle.

In one embodiment, the plurality of terminals, when forming the control system, share information related to components of each terminal and information related to an executable function, and compare performance of each terminal according to the shared information And determining a priority based on a result of comparing the performance, and determining the first terminal based on the determined priority.

In one embodiment, the plurality of terminals determine the first terminal according to the performance of the CPU constituting the control unit of each terminal as a result of the performance comparison, and when there are multiple terminals having the same CPU performance, the It is characterized in that any one terminal is determined as the first terminal based on a result of comparing the performance of each component of the terminal having the same CPU performance.

In one embodiment, the control system is characterized in that to set the coordinate system of the unmanned aerial vehicle based on the direction that the first terminal is directed.

In one embodiment, at least one of the plurality of terminals further includes an optional function that is not installed in another terminal, and the first terminal has a flight status of the unmanned aerial vehicle, a condition for driving the optional function If it satisfies, it is characterized in that it controls the at least one terminal to execute the option function.

In one embodiment, the control system is configured by a plurality of terminals that are mounted or released through a plurality of cradles, so that a terminal with a specific function is added or a terminal with a specific function can be removed. Is done.

According to an aspect of the present invention to achieve the above or other object, the method for controlling an unmanned aerial vehicle according to an embodiment of the present invention, the plurality of terminals, each component of the plurality of terminals and executable in each terminal Exchanging information of functions with each other, and determining, by the plurality of terminals, a first terminal among the plurality of terminals based on information of the exchanged components, and each of the plurality of terminals, each sensor Detecting a situation around the unmanned aerial vehicle in a direction that is directed, and transmitting at least one second terminal excluding the first terminal to the first terminal; Performing, by the first terminal, flight control and posture control of the unmanned air vehicle based on information about the situation around the unmanned aerial vehicle detected by the first terminal and surrounding conditions received from the at least one second terminal. It characterized in that it comprises.

In one embodiment, the step of determining the first terminal comprises: comparing the performance of each terminal, based on information of the exchanged components, and the plurality of terminals, And determining the first terminal according to the performance of the CPU constituting the control unit of the terminal, and setting a coordinate system of the unmanned air vehicle based on a direction directed by the first terminal.

In one embodiment, the step of performing flight control and posture control of the unmanned aerial vehicle includes: detecting one of at least one second terminal, an obstacle approaching the unmanned aerial vehicle, and the one of the one A second terminal determining whether the detected obstacle satisfies a preset condition, and the emergency avoidance maneuvering according to whether the detected second obstacle satisfies a preset condition. Transmitting an alert for the first terminal to the first terminal, and transferring the flight control and posture control authority of the unmanned air vehicle to the one of the second terminals in response to the alarm; and Any one of the second terminal, performing an evasive maneuver to the detected obstacle, and the one of the second terminal, transferring the flight control and attitude control authority of the unmanned air vehicle to the first terminal It characterized in that it comprises.

In one embodiment, the predetermined condition is characterized in that whether the satisfaction is determined according to at least one of the detected obstacle speed, movement direction, size, and the distance between the obstacle and the unmanned aerial vehicle.

In one embodiment, the step of determining the first terminal, the first terminal, the terminal further comprises the step of identifying functions executable by each terminal from information between the plurality of terminals, flight control of the unmanned aerial vehicle And performing the posture control, the first terminal, determining whether the flight condition of the unmanned air vehicle meets the driving conditions according to a specific function among the identified functions, and the result of the determination whether the match, The first terminal, if the flight state of the unmanned aerial vehicle meets the driving conditions, characterized in that it further comprises the step of controlling the third terminal is installed the specific function to execute the specific function.

In one embodiment, the specific function is characterized in that the third terminal is a function installed in the third terminal by the downloaded application or program.

The effects of the unmanned aerial vehicle and the method of controlling the unmanned aerial vehicle according to the present invention are as follows.

According to at least one of the embodiments of the present invention, the present invention is equipped with a plurality of mobile terminals as a control system, and a plurality of mobile terminals mounted in cooperation with each other to control the flight control and posture control of the unmanned aerial vehicle and the situation around the unmanned aerial vehicle. By sensing, there is an effect that an unmanned aerial vehicle equipped with a high-performance image capture performance and a high-performance sensor can be configured in a large quantity at a lower cost.

In addition, according to at least one of the embodiments of the present invention, the present invention is performed on an unmanned air vehicle by adding or changing a function (application) installed in a mounted terminal, or by mounting a terminal capable of performing a specific function. You can add, remove, or change the functions you can. Accordingly, there is an effect that it is very easy to add or change a function that an unmanned aerial vehicle can perform.

1A and 1B are views illustrating an example of an unmanned aerial vehicle in which a plurality of mobile terminals are mounted as a control system according to an embodiment of the present invention.
2 is a view illustrating an operation process in which an unmanned aerial vehicle is in flight and posture control according to collaboration of mobile terminals mounted as a control system in an unmanned aerial vehicle according to an embodiment of the present invention.
3 is a diagram illustrating an operation process of performing an evasive maneuvering according to an obstacle detected by a second terminal in an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a view showing another operation process of performing an evasive maneuvering according to an obstacle detected by a second terminal in an unmanned aerial vehicle according to an embodiment of the present invention.
5 is a view illustrating an operation process in which a function mounted in a terminal and a terminal performing flight control are driven in an unmanned air vehicle according to an embodiment of the present invention.
6A and 6B are views illustrating another example of an unmanned aerial vehicle equipped with a plurality of terminals as a control system according to an embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar elements are assigned the same reference numbers regardless of the reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "modules" and "parts" for components used in the following description are given or mixed only considering the ease of writing the specification, and do not have meanings or roles distinguished from each other in themselves. In addition, in the description of the embodiments disclosed herein, when it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed herein, detailed descriptions thereof are omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed in the specification is not limited by the accompanying drawings, and all modifications included in the spirit and technical scope of the present invention , It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various components, but the components are not limited by the terms. The terms are used only for the purpose of distinguishing one component from other components.

When an element is said to be "connected" or "connected" to another component, it is understood that other components may be directly connected to or connected to the other component, but there may be other components in between. It should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as “comprises” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and that one or more other features are present. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

1A and 1B are views illustrating an example of an unmanned aerial vehicle 10 in which a plurality of terminals are mounted as a control system according to an embodiment of the present invention.

First, referring to FIG. 1A, the unmanned aerial vehicle 10 according to an embodiment of the present invention includes at least one of a plurality of wings, each motor 30 driving each of the plurality of wings, and a plurality of terminals mounted as a control system. It may include a receiving unit 40 that receives a control signal from one, and transmits the received control signal to the motor 30 so that the motor 30 is driven according to the received control signal.

And it may include a frame portion 20 for connecting the receiving unit 40 and each of the motor (30). In addition, the unmanned aerial vehicle 10 of the present invention may include a plurality of cradles 21 and 22 to which a plurality of terminals capable of acting as a control system are mounted and fixed. Here, the plurality of cradle (21, 22) may be formed on the receiving portion 40 or the frame portion 20, is formed so that the width can be adjusted according to the terminal to be mounted and fixed, various types of terminals It can be mounted and fixed.

Meanwhile, as shown in FIG. 1A, a plurality of different terminals may be mounted and fixed through a plurality of holders formed on the unmanned air vehicle 10 according to an embodiment of the present invention. Here, the terminal is a mobile phone, a smart phone (smart phone), PDA (personal digital assistants), PMP (portable multimedia player), navigation, tablet PC (tablet PC), wearable device (wearable device, for example, a watch-type terminal ( smartwatch), and various mobile and portable terminals (mobile terminals).

For example, as shown in FIG. 1A, when two terminals form a control system, the unmanned aerial vehicle 10 according to an embodiment of the present invention includes first and second so that the two terminals can be mounted and fixed, respectively. Cradle (21, 22) may be formed. For convenience of description, in the following description, an unmanned aerial vehicle according to an embodiment of the present invention will be described on the assumption that two terminals form a control system.

When the two terminals, that is, the first terminal 100 and the second terminal 200 form a control system of an unmanned aerial vehicle, the first and second terminals 100 and 200 have unmanned surfaces on which cameras are respectively formed. It can be mounted and fixed so as to face the outside of the vehicle (10). In this case, the direction toward the receiving unit 40 of the unmanned aerial vehicle 10 may be referred to as the inside of the unmanned aerial vehicle 10 and the opposite direction to the inside of the unmanned aerial vehicle.

On the other hand, when the first and second terminals 100 and 200 include a plurality of cameras having different directions, such as front and rear cameras, the camera forming surface facing the outside of the unmanned aerial vehicle 10 is It may be a surface on which a camera capable of sensing images with higher performance is disposed.

That is, in the case of a terminal having a plurality of cameras on the front side (the surface on which the display unit is formed) and the rear side (opposite side of the front side), a surface on which cameras capable of obtaining a higher resolution image are disposed or a higher multiple of zoom (zoom) A surface on which cameras capable of performing are disposed may be a camera forming surface facing the outside of the unmanned aerial vehicle 10.

Therefore, if the first terminal 100 and the second terminal 200 are terminals having better performance of a camera disposed on the rear side, as shown in FIG. 1B, the first terminal 100 and the second terminal The 200 may be mounted and fixed to the first holder 21 and the second holder 22, respectively, so that the rear side faces the outside of the unmanned air vehicle 10.

Meanwhile, among the terminals forming the control system in the present invention, the first terminal 100 may include a wireless communication unit, an input unit, a sensing unit, an output unit, an interface unit, a memory, a control unit, and a power supply unit. The components of the terminal described below are not essential for implementing the first terminal 100, and thus may have more or fewer components than those listed above.

More specifically, among the above components, the wireless communication unit is between the first terminal 100 and the wireless communication system, between the terminal 100 and another terminal (eg, the second terminal 200), or the terminal 100 and It may include one or more modules that enable wireless communication between external servers. In addition, the wireless communication unit may include one or more modules connecting the terminal 100 to one or more networks.

The wireless communication unit may include at least one of a mobile communication module, a wireless Internet module, a short-range communication module, and a location information module.

The input unit includes a camera or video input unit for inputting a video signal, a microphone for inputting an audio signal, or an audio input unit, a user input unit for receiving information from a user (for example, a touch key, a push key) (mechanical key). The voice data or image data collected by the input unit can be analyzed and processed by a user's control command.

The sensing unit may include one or more sensors for sensing information in the first terminal 100 and surrounding environment information surrounding the first terminal 100. For example, the sensing unit may be a proximity sensor, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a G-sensor, and a gyro. Scope sensor (gyroscope sensor), motion sensor (motion sensor), RGB sensor, infrared sensor (IR sensor: infrared sensor), ultrasonic sensor (ultrasonic sensor), optical sensor (optical sensor, for example, camera), microphone (microphone) ), battery gauge, environmental sensor (e.g. barometer, hygrometer, thermometer, radioactivity sensor, heat sensor, gas sensor, etc.), chemical sensor (e.g. electronic nose, healthcare sensor, Biometric sensors, etc.). Meanwhile, the terminal disclosed in the present specification may combine and use information sensed by at least two or more of these sensors.

The output unit is for generating output related to visual, auditory, or tactile senses, and may include at least one of a display unit, an audio output unit, a hap tip module, and an optical output unit.

The interface unit serves as a passage with various types of external devices connected to the first terminal 100. The interface unit includes a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, and a port for connecting a device equipped with an identification module. , Audio I/O (Input/Output) port, video I/O (Input/Output) port, and earphone port. In the terminal 100, in response to an external device being connected to the interface unit, appropriate control related to the connected external device may be performed.

Also, the memory stores data supporting various functions of the first terminal 100. The memory may store a number of application programs (application programs) driven in the first terminal 100, data for operation of the first terminal 100, and instructions. At least some of these applications can be downloaded from external servers via wireless communication. Meanwhile, the application program may be stored in a memory and installed on the first terminal 100 to be driven to perform an operation (or function) of the first terminal 100 by a control unit.

In addition to the operations related to the application program, the control unit generally controls the overall operation of the first terminal 100. The controller may provide or process appropriate information or functions to the user by processing signals, data, information, etc. input or output through the above-described components or driving an application program stored in the memory.

In addition, the control unit may operate by combining at least two or more of the components included in the first terminal 100 in combination with each other in order to drive the application program stored in the memory.

Under the control of the control unit, the power supply unit receives external power and internal power to supply power to each component included in the first terminal 100. The power supply includes a battery, and the battery may be a built-in battery or a replaceable battery.

At least some of the components may operate in cooperation with each other to implement an operation, control, or control method of the first terminal 100 according to various embodiments described below. Also, the operation, control, or control method of the first terminal 100 may be implemented on the terminal by driving at least one application program stored in the memory.

On the other hand, looking at the components constituting the first terminal 100 in more detail, first, the mobile communication module is a base station, an external terminal on a mobile communication network built according to technical standards or communication methods for mobile communication , It can transmit and receive wireless signals with at least one of the servers. The wireless signal may include various types of data according to transmission and reception of a voice call signal, a video call signal, or a text/multimedia message.

The wireless Internet module refers to a module for wireless Internet access, and may be built in or external to the first terminal 100. The wireless Internet module is configured to transmit and receive wireless signals in a communication network according to wireless Internet technologies.

The short-range communication module is for short-range communication, Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field (NFC) Communication, Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology may be used to support short-range communication. The short-range communication module may include a first terminal 100 and a wireless communication system, a terminal 100 and another terminal, or a terminal different from the first terminal 100 through wireless area networks. It can support wireless communication between networks where external servers are located.

The location information module is a module for acquiring the location (or current location) of the first terminal 100, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, the first terminal 100 may utilize the GPS module to acquire a signal from a GPS satellite and obtain a location of the first terminal 100 based on the received and received GPS satellite signal. As another example, the first terminal 100 may utilize a Wi-Fi module, and the first terminal 100 is based on information of a Wi-Fi module and a wireless access point (AP) that transmits or receives a wireless signal. You can acquire the location of. If necessary, the location information module may perform any one of other modules of the wireless communication unit in order to substitute or additionally obtain data regarding the location of the first terminal 100.

The location information module is a module used to acquire the location (or current location) of the first terminal 100, and is not limited to a module that directly calculates or acquires the location of the terminal.

Meanwhile, the sensing unit senses at least one of information in the first terminal 100, surrounding environment information surrounding the first terminal 100, and user information, and generates a sensing signal corresponding thereto. The controller may control driving or operation of the first terminal 100 based on the sensing signal, or perform data processing, function, or operation related to an application program installed in the first terminal 100. Representative sensors among various sensors that may be included in the sensing unit will be described in more detail.

First, the proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object in the vicinity using mechanical force or infrared light without mechanical contact.

The ultrasonic sensor may recognize location information of a sensing target using ultrasonic waves. Meanwhile, the control unit may calculate the position of the wave generating source through information detected from the optical sensor and the plurality of ultrasonic sensors. The position of the wave generator can be calculated by using a property in which light is much faster than ultrasonic waves, that is, a time when light reaches the optical sensor is much faster than a time when ultrasonic waves reach the ultrasonic sensor. More specifically, the position of the wave generator may be calculated by using a time difference from the time at which the ultrasound reaches the light as a reference signal.

On the other hand, looking at the configuration of the input unit, the camera includes at least one of a camera sensor (eg, CCD, CMOS, etc.), a photo sensor (or image sensor), and a laser sensor.

More specifically, the photo sensor mounts photo diodes and TRs (transistors) in rows/columns to perform coordinate calculation of the detection target according to the amount of light change by using electrical signals that change according to the amount of light applied to the photo diode. Can. Through this, the location information of the sensing target may be obtained. In addition, the distance between the detection object and the camera may be detected based on the light emitted from the laser sensor and the reflected light reflected from the detection object.

Meanwhile, in the above description, the configuration of the first terminal 100 has been described, but the second terminal 200 may have a similar configuration. In addition, the control unit and sensor unit of the first terminal 100 and each component and the control unit and sensor unit and each component of the second terminal 200 may have the same or similar performance to each other, or may have different performances. .

Here, the performance of each component may be determined for each component. For example, the control unit of the first terminal 100 may be compared with the performance of the control unit of the second terminal 200. In this case, the superiority of performance may be classified according to the processing speed (for example, clock speed) of the CPU constituting the control unit. In addition, in the case of the sensor unit, a sensing distance (such as a distance sensor) or a sensing frequency or sensing speed may be a criterion for distinguishing superiority. That is, when configuring the control system of the unmanned air vehicle 10 according to the embodiment of the present invention, the first terminal 100 and the second terminal 200 may compare the superiority of performance for each component. , Priority may be determined for each component according to the comparison result.

In this case, a component determined to be superior may be used for flight control or posture control of the unmanned air vehicle 10, or performance of a specific function, preferentially, compared to a component that is not superior. On the other hand, a component determined not to be superior may supplement or supplementally function with respect to the component determined to be superior to the above. Accordingly, it is assumed that a component determined to be superior, that is, a component having a higher priority, is a main component, and a component determined to be not superior, that is, a component having a lower priority, is referred to as a sub component.

If a component having the same performance among the components except the control unit, the priority of the component may be determined according to the priority of the control unit. In addition, if the computational performance of the control unit is the same, a terminal including more components having higher priority among other components may be set as the main controller. Here, if the first and second terminals are completely identical terminals, a terminal having a higher residual power of the battery may be set as the main controller. Also, if the remaining power of the battery is the same, any one terminal may be determined as the main controller.

In the following description, for convenience of description, it will be described on the assumption that the first terminal 100 is a terminal having better performance than the second terminal 200. That is, the control unit of the first terminal 100 may have a faster processing speed than the control unit of the second terminal 200, and the camera unit of the first terminal 100 is clearer than the camera unit of the second terminal 200. Images may be taken, or higher multiples of optical zoom may be possible.

2, when the first and second terminals 100 and 200 form a control system of an unmanned aerial vehicle 10 according to an embodiment of the present invention, the first terminal 100 and the second terminal 200 ) Is a view showing an operation process in which flight control and posture control of an unmanned air vehicle 10 according to an embodiment of the present invention are performed according to collaboration.

Referring to FIG. 2, when the first terminal 100 and the second terminal 200 are mounted and fixed on the unmanned aerial vehicle 10 to form a control system, they may first be connected to each other (S200).

For example, the first terminal 100 and the second terminal 200 may be connected to each other through various local area networks such as Bluetooth and infrared communication. In the interconnection process, the first terminal 100 and the second terminal 200 may transmit information related to each component provided to the other terminal. Here, the information related to each component may include information on the performance of the controller, the camera, and each sensor, and may include information on functions that can be performed through each component. And through this information, each terminal can identify functions that can be performed in other terminals. Accordingly, when there is a unique function that can be performed only in a specific terminal, each terminal forming a control system can identify the unique function. have.

Meanwhile, each terminal may determine priority according to the performance of each component based on component information exchanged between the first terminal 100 and the second terminal 200 through the interconnection process. In addition, the main controller and the sub-controller may be determined according to the determined priority. For example, the flight control and posture control of the unmanned aerial vehicle 10 is more advantageous to be performed by a CPU having a higher processing speed, so that a terminal having better CPU performance constituting a control unit among terminals can be determined as the main controller. .

On the other hand, when the main controller is determined, the coordinate system may be determined according to a direction that the camera unit of the main controller is directed. That is, the direction of the camera unit (hereinafter, assuming that it is the rear camera of the first terminal 100) of the terminal (hereinafter referred to as the first terminal 100) determined as the main controller may be the front of the unmanned aerial vehicle 10. . And the rear and left and right directions of the unmanned aerial vehicle 10 may be determined based on the set front. That is, a four-way coordinate system may be determined based on a direction directed by the terminal camera unit determined by the main controller (S210).

On the other hand, if the four-way coordinate system is determined through the step S210, the first terminal 100 controls the receiver 40 according to a flight start command received from a preset controller, thereby controlling a control signal for the flight of the unmanned air vehicle 10 Can be transmitted to each motor 30 (S220). Here, the controller may be wirelessly connected to the main controller, that is, the first terminal 100 in a preset manner. For example, the controller may be connected to the first terminal 100 in an AD-HOC manner to receive a control command provided from the controller.

On the other hand, when each motor 30 is driven according to the flight start command and the flight of the unmanned aerial vehicle 10 is started, the first terminal 100 and the second terminal 200 respectively use the unmanned aerial vehicle 10 using the provided sensors. ) It can detect the surrounding situation (S230, S232). In this case, since the first terminal 100 and the second terminal 200 are arranged to face different directions, it is possible to sense a surrounding situation for each direction.

Meanwhile, the second terminal 200 may transmit information on the situation detected in step S232 to the first terminal 100 as a main controller (S240 ). Then, the main controller may perform flight control and posture control of the unmanned air vehicle 10 based on both the situation information detected by the user as well as the situation information received from the second terminal 200 which is a sub-controller (S250). .

That is, the first terminal 100 photographs the front of the unmanned aerial vehicle 10 and can detect an obstacle located in front of the unmanned aerial vehicle 10, and the second terminal 200 photographs the rear of the unmanned aerial vehicle 10. And it can detect the obstacle located behind the unmanned aerial vehicle (10). Accordingly, as shown in FIGS. 1A and 1B, when a plurality of terminals are arranged to face different directions to form a control system, the unmanned aerial vehicle 10 according to an embodiment of the present invention includes the unmanned aerial vehicle ( In addition to the forward direction, which is the forward direction of 10), situations (for example, obstacles) occurring in other directions can be simultaneously detected, and flight control and posture control of the unmanned air vehicle 10 are performed according to the detected situation in each direction. can do.

In this case, when an obstacle is detected according to a result of detecting a surrounding situation of the first terminal 100, the first terminal 100 may avoid the obstacle through a avoidance maneuver. In addition, an evasion maneuver may be performed according to the surrounding situation detection information received from the second terminal 200 to perform an evasion maneuver for an obstacle approaching from behind the unmanned aerial vehicle 10.

3 is a view illustrating an operation process of performing an evasive maneuvering according to an obstacle detected by the second terminal 200 in the unmanned aerial vehicle 10 according to an embodiment of the present invention.

Referring to FIG. 3, the second terminal 200 may detect an obstacle approaching the unmanned air vehicle 10 based on at least one sensor provided with a camera unit (S300). Then, the surrounding situation detection information including the detected obstacle information may be transmitted to the first terminal 100 (S310).

Then, the first terminal 100 may change the direction in which the unmanned aerial vehicle 10 is directed according to the direction in which the obstacle is detected, based on the surrounding situation detection information received from the second terminal 200 (S320). That is, the first terminal 100 performs rotational maneuvering of the unmanned air vehicle 10 in a direction in which the second terminal 200 senses an obstacle, and the obstacle sensed by the second terminal 200 through the rotational maneuvering The first terminal 100 may detect (S330).

Then, the first terminal 100 may determine the possibility of collision between the obstacle and the unmanned aerial vehicle 10 according to the speed of the detected obstacle and the direction of movement of the detected obstacle. In addition, when the possibility of collision is equal to or higher than a certain level, an evasive maneuver for the obstacle may be performed (S340). In addition, as a result of performing the avoidance maneuver, when the possibility of collision with the detected obstacle is lowered below a certain level, the direction to which the unmanned aerial vehicle 10 is directed may be restored, and the flight along the flight path set by the controller may be continued.

On the other hand, in the case where the direction in which the first terminal 100 is directed is changed, the unmanned aerial vehicle 10 may perform an evasive maneuver against an obstacle even under the control of the first terminal 100 having better computing power. However, the first terminal 100 must duplicately detect the time according to the execution of the rotational maneuver and the obstacle first detected by the second terminal 200. Therefore, there is a problem in that the time required for avoidance maneuvering after detection of an obstacle may be long. Of course, if the detected obstacle meets a preset condition, the obstacle may be avoided according to the emergency avoidance maneuvering of the second terminal 200.

In this case, in this case, in the unmanned aerial vehicle 10 according to an embodiment of the present invention, when the obstacle detected by the second terminal 200 meets a preset condition, the emergency according to the second terminal 200 A diagram showing an operation process of performing evasive maneuvers.

Referring to FIG. 4, the second terminal 200 may detect an obstacle approaching the unmanned air vehicle 10 based on at least one sensor provided with a camera unit (S400). In this case, the second terminal 200 may detect the speed or the direction of the obstacle approaching the unmanned air vehicle 10, and the size and distance.

In addition, if the obstacle detected in the step S400 approaches the unmanned aerial vehicle 10, or if the obstacle is greater than a preset speed, or if its size is greater than or equal to a preset size, the detected obstacle satisfies a condition necessary for emergency avoidance maneuvering. You can judge that. In addition, when the distance between the detected obstacle and the unmanned aerial vehicle 10 is within a predetermined separation distance, it can also be determined that the detected obstacle satisfies a condition necessary for an emergency avoidance maneuver. Then, the second terminal 200 may transmit an obstacle proximity alert for the emergency avoidance maneuver to the first terminal 100 (S410).

The first terminal 100 receiving the obstacle proximity warning from the second terminal 200 may transfer the attitude control authority of the unmanned aerial vehicle 10 to the second terminal 200 in response thereto (S420 ). Here, the attitude control authority may mean an authority to control the reception unit 40 of the unmanned aerial vehicle 10. Therefore, when the posture control authority is transferred to the second terminal 200, a control signal for the flight of the unmanned air vehicle 10 may be transmitted to the receiver 40 only in the second terminal 200, and the second terminal ( Flight control and posture control of the unmanned air vehicle 10 may be performed under the control of 200).

On the other hand, when the posture control authority is transferred, the second terminal 200 may calculate an avoidance path capable of avoiding the detected obstacle, and perform an evasion maneuvering according to the calculated avoidance path (S430). In this case, since the evasive maneuver is immediately performed through the second terminal 200 that first detects the obstacle, the evasive maneuver may be performed without changing the directional direction of the unmanned aerial vehicle 10 or re-detecting the obstacle. Therefore, an evasive maneuver for the obstacle can be made within a shorter time.

On the other hand, if the possibility of collision with the obstacle is avoided or the collision possibility with the obstacle is lowered below a predetermined level through the avoidance maneuver, the second terminal 200 may transfer the posture control authority back to the first terminal 100. . Accordingly, the posture control authority may be restored to the first terminal 100 set as the main controller, and accordingly, the first terminal 100 may transmit the control signal back to the receiving unit 40. Therefore, flight control and posture control of the unmanned air vehicle 10 may be performed again under the control of the first terminal 100 which is the main controller (S440).

Meanwhile, FIG. 4 illustrates an example of an emergency avoidance maneuver that can be performed when the performance of the control units of the first terminal 100 and the second terminal 200 are the same or similar to each other. However, if the control performance of the second terminal 200 is significantly lower than a preset level compared to the first terminal 100, the first terminal 100 based on the obstacle proximity alert received from the second terminal 200 Needless to say,) may perform an evasive maneuver directly. In this case, it is necessary to rely on obstacle information detected from the second terminal 200, but since the avoidance maneuver can be performed under the control of the first terminal 100 having a remarkably high computing power, a safer avoidance maneuver can be performed. .

On the other hand, as described above, the present invention has mentioned that it is possible to mount a plurality of terminals as a control system and perform flight control and attitude control of the unmanned air vehicle 10 according to the collaboration of the plurality of terminals. Accordingly, the present invention adds a terminal capable of installing a specific function or performing a specific function as the control system, so that the unmanned aerial vehicle 10 according to an embodiment of the present invention performs a specific function using the added terminal. Of course, you can do it.

In this case, when a terminal including the specific function is mounted as a control system, the terminals forming the control system can perform functions while exchanging information related to each other's components, as described in step S200 of FIG. 2. Information about can be exchanged.

Therefore, even if the terminal including the specific function is not set as the main controller, the terminal set as the main controller can identify the specific function and the terminal capable of performing the specific function. In addition, flight control and posture control of the unmanned aerial vehicle 10 may be performed so that the specific function may be performed during the flight of the unmanned aerial vehicle 10.

Hereinafter, a function to be selectively performed so that the unmanned aerial vehicle 10 can be performed according to a terminal that can be added to the control system will be referred to as an optional function. In addition, the optional function may be installed on the terminal through the download of an application or program. 5 is a diagram illustrating an operation process of the main controller when an optional function mounted in a terminal performing flight control and another terminal is driven in the unmanned air vehicle 10 according to the embodiment of the present invention.

Referring to FIG. 5, first, when a plurality of terminals form a control system of an unmanned aerial vehicle 10, information related to components and performance information may be exchanged with each other. And based on each component information and performance information exchanged, it is possible to obtain information on performance and functions of at least one other terminal component forming the control system (S500). And the main controller can be determined based on the received performance information of the component.

In this case, if there is a terminal in which the option function is installed among terminals forming the control system, the controller of the main controller may perform driving setting of the option function based on the received performance information (S502). Here, the driving setting of the option function may be a setting of a component for execution of the option function so that the option function can be executed, or a setting such as execution conditions for execution of the option function.

For example, the option function may be a function driven only at an altitude above a specific height, such as a reconnaissance function performed at a specific height. In this case, when the terminal equipped with the reconnaissance function is mounted as a control system, the main controller may set the driving information of the camera for driving the reconnaissance function in step S502. Also, an altitude condition that becomes the execution condition of the reconnaissance function may be set in step S502.

On the other hand, when the driving setting of the option function is completed, the controller of the main controller may determine whether the flight state of the unmanned air vehicle 10 meets the execution conditions of the option function (S504). Here, the flight state of the unmanned aerial vehicle 10 may include a flight altitude of the unmanned aerial vehicle 10 or a location of the unmanned aerial vehicle 10.

In addition, as a result of the determination in step S504, if the flight status of the unmanned aerial vehicle 10 meets the driving conditions of the option function, the controller of the main controller may drive the option function as set in step S502 ( S506). In this case, in step S506, the main controller may control at least one terminal including the option function to execute the option function among terminals forming the control system.

Meanwhile, when the option function is executed, the main controller may receive the execution result of the option function from at least one terminal including the option function. Then, the execution result of the received option function may be transmitted to a preset controller or a preset server (S508). Therefore, if the option function is a reconnaissance function, images collected according to the reconnaissance function may be transmitted to the controller or the server.

On the other hand, as a result of the determination in step S504, if the flight status of the unmanned aerial vehicle 10 does not meet the execution condition of the option function, at least one terminal including the option function is provided to the main controller for execution of the option function. A flight control change may be requested (S510). Then, the main controller may change the flight state of the unmanned aerial vehicle 10, for example, altitude or flight posture, according to the received flight control request (S512). Then, the process proceeds to step S504, and it can be determined whether the flight status of the unmanned aerial vehicle 10 meets the execution conditions of the option function.

As described above, the unmanned aerial vehicle 10 according to an embodiment of the present invention may add various optional functions according to a terminal mounted as a control system. Moreover, since the terminal can install various functions according to the download of an application or a program, there is an advantage that it is very easy to add, change, or remove functions that can be performed by an unmanned aerial vehicle. That is, according to the present invention, a terminal including a function to be added to the unmanned aerial vehicle 10 is modularized and mounted on the unmanned aerial vehicle 10, so that the unmanned aerial vehicle can be used for various different purposes.

Moreover, the mounted terminal may be a terminal having a special function. For example, a terminal equipped with a laser generator for a laser aiming function may be mounted in the control system. In this case, an optional function added to the unmanned aerial vehicle may be a laser aiming function for a specific target. Then, the main controller may set information related to driving of the laser generator for executing the laser aiming function in step S502.

And if the flying state of the unmanned aerial vehicle 10 meets the driving conditions for driving the laser aiming function, that is, when the unmanned aerial vehicle 10 moves to a preset position and a preset target is detected, the main controller Can control the terminal including the optional function, so that the laser aiming function for the target is executed.

On the other hand, in the above description, an example in which the unmanned aerial vehicle according to an embodiment of the present invention forms a control system with two terminals is described, but this is only an example to help explain the present invention, and the present invention is not limited thereto. to be. That is, of course, the unmanned aerial vehicle according to the embodiment of the present invention can form a control system including any number of terminals.

6A and 6B are views illustrating another example of an unmanned aerial vehicle equipped with a plurality of terminals as a control system according to an embodiment of the present invention.

For example, the unmanned aerial vehicle 60 according to the embodiment of the present invention may be formed so that four terminals can be mounted, and the four terminals mounted may form a control system. To this end, the unmanned aerial vehicle 60 according to the embodiment of the present invention, as shown in Figure 6a, the first terminal 100 and the second terminal 200 is mounted and fixed to the first cradle 21 and the second cradle In addition to the (22), the third terminal 300 and the fourth terminal 400 may be formed to include a third cradle 23 and a fourth cradle 24 to be mounted and fixed.

In this case, the first to fourth terminals 100, 200, 300, and 400, as shown in FIG. 6B, can be mounted and fixed in a state where the camera units are oriented to each other. In this case, the first to fourth terminals 100, 200, 300, and 400 may respectively detect a situation around an unmanned aerial vehicle in different directions, and the first to fourth terminals 100, 200, 300, 400), the detected surrounding situation information may be transmitted to the main controller determined according to the performance of the component. Then, the main controller may perform flight control and posture control of the unmanned air vehicle 60 based on the collected surrounding situation information.

Meanwhile, at least one of the first to fourth terminals 100, 200, 300, and 400 may be a terminal including a specific option function. In this case, the main controller may control a terminal including the option function to execute the option function based on whether a driving condition of the option function is satisfied. In addition, the execution result of the option function may be transmitted to an external device or external server such as a user, that is, a preset controller.

The above-described present invention can be embodied as computer readable codes on a medium on which a program is recorded. The computer-readable medium includes all kinds of recording devices in which data that can be read by a computer system are stored. Examples of computer-readable media include a hard disk drive (HDD), solid state disk (SSD), silicon disk drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. This includes, and is also implemented in the form of a carrier wave (eg, transmission over the Internet). Therefore, the above detailed description should not be construed as limiting in all respects, but should be considered as illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

10: unmanned air vehicle 20: frame portion
21: first cradle 22: second cradle
30: motor 40: receiver
100: first terminal 200: second terminal

Claims (15)

For unmanned aerial vehicles,
A plurality of wings and a plurality of motors for controlling the plurality of wings;
A receiving unit transmitting control signals to the plurality of motors; And,
It includes a control system for providing a control signal transmitted to the plurality of motors to the receiving unit,
The control system,
A plurality of terminals having different directions in which a sensor is directed to detect a surrounding situation includes a plurality of terminals, and a first terminal set as a main controller among the plurality of terminals is located in a first direction detected from the first terminal. The reception unit receives a control signal for flight control and posture control of the unmanned air vehicle based on context information and at least one second direction surrounding context information sensed by at least one second terminal, respectively, excluding the first terminal. Transfer to,
And setting a coordinate system of the unmanned aerial vehicle based on a direction directed by the first terminal. The method of claim 1, wherein the first terminal,
When an obstacle approaching the unmanned aerial vehicle is detected based on the surrounding situation information sensed from the at least one second direction, a rotational maneuver is performed in a direction in which the obstacle is detected, and avoidance for avoiding the detected obstacle An unmanned aerial vehicle characterized by performing maneuvering. According to claim 1,
The first terminal,
When an obstacle approaching the unmanned air vehicle is detected based on the surrounding situation information sensed from the at least one second direction, authority to transmit the control signal to the receiver is determined according to whether the obstacle meets a preset condition. Transfer to any one of the second terminals detecting the obstacle,
The second terminal receiving the authority to transmit the control signal,
After performing the avoidance maneuvering for the obstacle, the unmanned aerial vehicle characterized in that the authority to transmit the control signal is transferred back to the main controller. The method of claim 3, wherein the preset condition,
An unmanned air vehicle is determined according to at least one of a speed, a moving direction, a size of the detected obstacle, and a separation distance between the obstacle and the unmanned vehicle. The method of claim 1, wherein the plurality of terminals,
When forming the control system, information related to components of each terminal and information related to an executable function are shared,
An unmanned aerial vehicle characterized in that the performance of each terminal is compared according to the shared information and a priority is determined based on a result of comparing the performance, and the first terminal is determined based on the determined priority. The method of claim 5, wherein the plurality of terminals,
As a result of the performance comparison, the first terminal is determined according to the performance of the CPU constituting the control unit of each terminal,
When a plurality of terminals having the same performance of the CPU are used, an unmanned aerial vehicle characterized in that any one terminal is determined as the first terminal based on a result of comparing the performance of each component of the terminal having the same performance of the CPU. . delete According to claim 1,
At least one of the plurality of terminals,
It further includes optional features that are not installed on other terminals,
The first terminal,
And when the flight state of the unmanned aerial vehicle satisfies a condition for driving the option function, controlling the at least one terminal to execute the option function. The method of claim 1, wherein the control system,
An unmanned aerial vehicle configured by a plurality of terminals mounted or released through a plurality of cradles so that a terminal with a specific function is added or a terminal with a specific function can be removed. In a control method of an unmanned aerial vehicle in which flight control and attitude control are performed by a control system formed of a plurality of terminals having different directions in which the sensors for detecting the surrounding situation are arranged differently,
Exchanging information of components of each of the plurality of terminals and functions executable in each of the terminals, by the plurality of terminals;
Determining, by the plurality of terminals, a first terminal among the plurality of terminals based on information of the exchanged components;
Each of the plurality of terminals, sensing the situation around the unmanned air vehicle for the direction that each sensor is directed;
At least one second terminal, excluding the first terminal, transmitting information on the sensed surrounding situation to the first terminal;
Performing, by the first terminal, flight control and posture control of the unmanned air vehicle based on information about the situation around the unmanned aerial vehicle detected by the first terminal and surrounding conditions received from the at least one second terminal. ; And,
And setting, by the plurality of terminals, a coordinate system of the unmanned aerial vehicle based on a direction directed by the first terminal. The method of claim 10, wherein the determining of the first terminal comprises:
Comparing, by the plurality of terminals, the performance of each terminal based on the information of the exchanged components; And,
And determining, by the plurality of terminals, the first terminal according to the performance of the CPU constituting the control unit of each terminal. The method of claim 10,
The step of performing flight control and posture control of the unmanned aerial vehicle,
Among the at least one second terminal, any one of the steps of detecting an obstacle approaching the unmanned aerial vehicle;
Determining whether the detected second obstacle satisfies a preset condition;
Transmitting, by the any one second terminal, an alert for an emergency avoidance maneuver to the first terminal according to whether the detected obstacle satisfies a preset condition;
The first terminal transferring the flight control and posture control authority of the unmanned aerial vehicle to the one of the second terminals in response to the alert;
The step of performing any one of the second terminal, the avoidance maneuver for the detected obstacle; And,
And transferring the flight control and posture control authority of the unmanned aerial vehicle to the first terminal by any one of the second terminals. The method of claim 12, wherein the preset condition,
A method for controlling an unmanned aerial vehicle is determined according to at least one of a speed, a moving direction, a size of the detected obstacle, and a separation distance between the obstacle and the unmanned aerial vehicle. The method of claim 10,
Determining the first terminal,
The first terminal, further comprising the step of identifying the functions that each terminal can execute from the information between the plurality of terminals,
The step of performing flight control and posture control of the unmanned aerial vehicle,
Determining, by the first terminal, whether a flight state of the unmanned aerial vehicle meets a driving condition according to a specific one of the identified functions; And,
As a result of the determination as to whether the match, the first terminal, if the flight status of the unmanned aerial vehicle meets the driving conditions, further comprising the step of controlling the third terminal is installed to the specific function to execute the specific function A method for controlling an unmanned aerial vehicle. The method of claim 14, wherein the specific function,
A method for controlling an unmanned aerial vehicle, wherein the third terminal is a function installed in the third terminal by a downloaded application or program.

Images