KR20230016730A - An automatic landing system to guide the drone to land precisely at the landing site - Google Patents

Abstract

The present invention relates to an automatic landing system for guiding a drone to land precisely at a landing point, which comprises: a drone which is formed to autonomously fly along a route and is formed to shoot surrounding images through a camera; and a landing pad including a marker formed at designated coordinates for the drone to land and providing position, attitude, and direction information through the camera so that the drone can land.

Description

An automatic landing system to guide the drone to land precisely at the landing site}

The present invention relates to an automatic landing system for inducing a drone to land precisely at a landing point, and more particularly, when a drone flying along a designated path arrives at a landing location, the landing point is precisely recognized and the error range is reduced. It relates to an automatic landing system that guides a drone to precisely land at a landing point that can be reduced.

As drones capable of self-driving have been developed according to recent technological developments, technology is being developed to implement an unmanned delivery function that flies along a designated route and monitors fires, incidents, accidents, or transports various items on the route.

When a drone autonomously drives along a designated route, the video on the route is captured with a camera so that the control room can monitor it. However, a lot of power is consumed to store the video captured by the camera and transmit it wirelessly.

In addition, since the power consumption of the power unit generated while the drone is flying is also generated, the drone is automatically landed after being moved to the landing point so that the drone can be retrieved or charged before the battery consumption reaches the set value.

At this time, the self-driving drone is equipped with a GPS so that it can recognize the coordinates of the designated route and landing location, and lands after photographing and recognizing the marker formed at the landing point through the camera.

However, since the markers formed at the landing site are exposed to the external environment, chemical damage due to ultraviolet rays or physical damage due to impact may occur, so there is a problem that the drone does not properly recognize these markers.

In addition, after recognizing the marker, the drone descends and lands toward the marker, but there is a problem that the drone lands at a location away from the marker depending on the shooting angle of the camera and lands at a place other than the landing point.

In addition, when recognizing a marker for landing, only the landing point can be recognized, so the distance between the marker and the drone or the attitude the drone takes when landing cannot be followed, so the landing gear is damaged while the drone lands in an unstable posture during landing. there was

Korean Patent Registration No. 10-1617411

An object of the present invention to solve the above problems is to recognize the markers sequentially when the drone lands and automatically lands the drone to precisely land at the landing site where it can accurately land in the attitude set at the landing site. to provide the system.

Another object of the present invention is to follow the landing posture of the drone through a marker when the drone lands and to control the landing posture and direction so that the drone can accurately land at a landing point where it can land stably. to provide a landing system.

Another object of the present invention is an automatic landing system that guides the drone to a location with a marker when it arrives near the landing point of the drone so that the drone can precisely land at the landing point so that the drone can recognize the marker. is to provide

The automatic landing system for inducing the drone to land precisely at the landing point of the present invention for solving the above problems is formed to autonomously fly along the route and is formed to capture surrounding images through a camera. , It is formed at coordinates designated for the drone to land and includes a landing pad including a marker providing position, attitude, and direction information so that the drone can land through the camera.

In addition, the drone of the automatic landing system for inducing the drone to precisely land at the landing point of the present invention further includes a control unit that recognizes the marker by processing the marker image captured by the camera using a deep learning method. When recognizing the markers, the control unit can recognize the markers by estimating unrecognized portions even if only some of the markers are recognized by surrounding objects or obstacles through a deep learning method.

In addition, a support is formed at the lower part of the drone of the automatic landing system for inducing the drone to precisely land at the landing point of the present invention to support the camera and controls the shooting angle by rotating the camera. And, the camera is characterized in that it can recognize the marker while being rotated at a set angle through the support.

In addition, the landing pad of the automatic landing system for guiding the drone to precisely land at the landing site of the present invention is formed so that the drone can be recognized from a distance and includes a first marker that provides location information to guide the drone to the landing site. , It is characterized in that it consists of a second marker formed at the center of the first marker to provide three-dimensional reference coordinates so that the direction and posture of the drone can be estimated when the drone lands.

In addition, the drone of the automatic landing system for inducing the drone to land precisely at the landing point of the present invention is moved to the coordinates of the landing point set through GPS, and recognizes the first marker formed on the landing pad through the camera. Then, it moves to the top of the first marker, descends toward the first marker, recognizes the second marker while lowering its altitude, estimates and corrects the landing direction and landing posture of the drone, and then lands.

In addition, when the drone of the automatic landing system for inducing the drone to precisely land at the landing point of the present invention recognizes the marker through the camera, the distance between the marker and the camera is based on the angle the camera is photographing. When a photographing angle is analyzed and position, posture, and direction information extracted from the marker is acquired, the information is corrected based on the photographing angle.

In addition, the drone of the automatic landing system for inducing the drone to land precisely at the landing point of the present invention includes a plurality of landing gears that contact the landing pad to separate the lower surface of the drone from the ground and reduce impact, It may further include a descent sensor formed on a lower surface of the landing gear to analyze a descent position by measuring a distance between the landing pad and the landing gear when the drone approaches the landing pad.

As described above, according to the automatic landing system for inducing the drone to land precisely at the landing site according to the present invention, the markers are sequentially recognized when the drone lands, and the drone can accurately land in the attitude set at the landing site. It works.

In addition, according to the automatic landing system for inducing the drone to land precisely at the landing site according to the present invention, when the drone lands, it follows the landing posture of the drone through a marker and controls the landing posture and direction to land stably. There are effects that can be done.

In addition, according to the automatic landing system for inducing the drone to land precisely at the landing point according to the present invention, when the drone arrives near the landing point, it guides the drone to the location where the marker is located so that the drone can recognize the marker. has the effect of

1 is a configuration diagram showing the overall configuration of an automatic landing system for inducing a drone to precisely land at a landing point according to the present invention.
Figure 2 is a schematic diagram showing the structure of a drone of an automatic landing system for inducing a drone to precisely land at a landing point according to the present invention.
3 is a view showing how a drone of an automatic landing system that guides a drone to precisely land at a landing point according to the present invention recognizes a landing pad.
4 is a diagram showing a marker formed on a landing pad of an automatic landing system for inducing a drone to precisely land at a landing point according to the present invention.

Specific features and advantages of the present invention will be described in detail below with reference to the accompanying drawings. Prior to this, if it is determined that the detailed description of functions and configurations related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted.

The present invention relates to an automatic landing system for inducing a drone to land precisely at a landing point, and more particularly, when a drone flying along a designated path arrives at a landing location, the landing point is precisely recognized and the error range is reduced. It relates to an automatic landing system that guides a drone to precisely land at a landing point that can be reduced.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram showing the overall configuration of an automatic landing system for inducing a drone to precisely land at a landing site according to the present invention, and FIG. 2 is a configuration diagram showing a precise landing for a drone at a landing site according to the present invention. Figure 3 shows the drone of the automatic landing system recognizing the landing pad, which guides the drone to precisely land at the landing point according to the present invention. FIG. 4 is a diagram showing a marker formed on a landing pad of an automatic landing system for guiding a drone to precisely land at a landing point according to the present invention.

As shown in FIGS. 1 to 4, the automatic landing system for inducing the drone 100 to precisely land at the landing point according to the present invention is formed to autonomously fly along a route, and the camera 110 The drone 100 formed to capture the surrounding image through the drone 100, the drone 100 is formed at designated coordinates for landing, and the position, attitude, and direction so that the drone 100 can land through the camera 110 It is characterized in that it includes a landing pad 200 including a marker providing information.

The landing pad 200 is formed so that the drone 100 can recognize it from a distance, and the first marker 210 that provides location information to guide it to the landing point, and is formed in the center of the first marker 210 so that the drone ( 100) is characterized in that it consists of a second marker 220 that provides three-dimensional reference coordinates so that the direction and attitude of the drone 100 can be estimated when landing.

The drone 100 moves to the coordinates of the landing point set through the GPS 130, recognizes the first marker 210 formed on the landing pad 200 through the camera 110, and then moves to the top of the first marker 210. It is characterized by moving, descending toward the first marker 210 and recognizing the second marker 220 while lowering the altitude, estimating and correcting the landing direction and landing attitude of the drone 100, and then landing.

In addition, the drone 100 further includes a controller 120 for recognizing markers by image processing of marker images captured by the camera 110 using a deep learning method, and the controller 120 recognizes markers using a deep learning method. It is characterized in that the marker can be recognized by estimating an unrecognized part even if only some of the markers are recognized by surrounding objects or obstacles.

The drone 100 has a plurality of propellers 150 formed on the upper part to control the altitude and flight direction, and a plurality of landing gears 140 are provided on the lower part so that the drone 100 can land on the ground. It is possible to reduce the impact applied to the drone 100 and prevent the main body of the drone 100 from being damaged.

In addition, a camera 110 is formed at the lower part of the drone 100, so that the image of the surroundings in the direction in which the drone 100 flies can be captured and stored as an image, and the stored image is remotely transmitted as needed to the control center. In 300 , a photographed image may be checked in real time.

In addition, in order to allow the drone 100 to fly autonomously, a control unit 120 capable of controlling the operation of the drone 100 and determining a route is formed inside the drone 100, and the control unit 120 is inside the drone 100. A database is formed in which coordinates of a route to be flown are stored.

At this time, a GPS 130 is formed inside the drone 100 so that the drone 100 can move along the route coordinates stored in the database, so that the coordinates at which the drone 100 is currently flying can be checked, and through this, the controller ( 120) can check whether the drone 100 is flying according to the route coordinates stored in the database.

Under the control of the control unit 120, the drone 100 can move sequentially along the set route coordinates, and the surroundings are photographed through the camera 110 to determine whether a fire, incident, or accident has occurred on the route to the control center 300. sent to induce a rapid response.

In addition, the drone 100 can designate route coordinates to patrol an area that is difficult for people to access, move along a designated route, and can be used as a function to transport goods other than a monitoring function as needed.

In the case of transporting an item, the designated coordinates to which the item should be transported can be stored in the database, and the drone 100 can transport and move the item to the designated designated coordinates.

Since the battery built in the drone 100 is consumed according to the operation time of the drone 100, when the battery of the drone 100 is only about 10 to 20% left, the controller 120 controls the operation of the drone 100 before the battery is discharged. The drone 100 is controlled to move to the landing pad 200 by searching the coordinates where the landing pad 200 close to the current location is formed.

At this time, it can move to the landing pad 200 according to the remaining capacity of the battery, but it can also be controlled to move to the landing pad 200 and retrieve the drone 100 when the set missions such as patrol, monitoring, and transportation are completed.

The landing pad 200 is formed to reduce the shock generated when the drone 100 lands and guide the drone 100 to stably land at a designated location by recognizing a marker formed on the landing pad 200. .

At this time, the landing pad 200 is formed so that only one drone 100 can land, so that the drone 100 is vertically lowered and landed at the upper center of the marker. Since a plurality of landing locations are divided into a grid form, the drone 100 may be guided to land in an empty space within coordinates divided into a grid form after recognizing a marker.

A first marker 210 formed in an H shape is formed on the landing pad 200 so that the drone 100 can photograph the location of the landing pad 200 with the camera 110 from a distance.

After the drone 100 is moved along the coordinates where the landing pad 200 is formed, it uses the camera 110 to photograph the surroundings to create an image, and the controller 120 assigns H to the landing pad 200 among the captured images. The existence of the first marker 210 formed as a ruler is analyzed.

If the first marker 210 of the landing pad 200 is not recognized, the control unit 120 moves the drone 100 and takes pictures of the surroundings again to capture an image including the first marker 210 formed on the landing pad 200. will lead to acquisition.

When the landing pad 200 and the first marker 210 are captured by the camera 110, the control unit 120 compares and verifies whether the first marker 210 is correct in the image, and learns through the deep learning method. Based on the image information, it is possible to distinguish whether the first marker 210 is present in the captured image or has a similar shape.

That is, it is possible to check whether the first marker 210 is correct by comparing and reviewing the stored first marker 210 image, similar image, and captured image using the deep learning method, and if the analysis accuracy is low, the drone 100 By moving and photographing the first marker 210, a high-resolution image is acquired and reanalyzed.

When it is verified that the first marker 210 exists in the captured image by the controller 120, the drone 100 is moved to the position where the first marker 210 is formed and is controlled to descend toward the first marker 210. will do

At this time, the drone 100 photographs the second marker 220 located at the center of the letter H of the first marker 210 through the camera 110. The second marker 220 is formed of an Aruco module or a QR code. It is formed of , and provides three-dimensional reference coordinates of the landing drone 100 to follow the direction or posture of the drone 100 to induce a stable landing at the landing site.

The control unit 120 analyzes the second marker 220 in the captured image in real time to check the 3D reference coordinates of the landing pad 200 identified through the second marker 220, and the analyzed 3D By comparing the reference coordinates with the current posture of the drone 100, the posture can be controlled to be in a horizontal state with the landing pad 200.

That is, according to the posture and direction of the drone 100 recognized through the second marker 220, the posture and direction are corrected to be located in the center of the landing point, and the drone 100 is formed on the top where the second marker 220 is formed ( 100) descends, and the landing gear 140 contacts and lands.

In addition, when the landing pad 200 is formed so that a plurality of drones 100 can land in a grid form, the second marker 220 is formed to be output to the display, so that the landing point in an empty space without the drone 100 It is also possible to induce landing so that the drone 100 can land.

Through this, a plurality of drones 100 can be sequentially seated in a compartment formed in one landing pad 200.

In addition, since the controller 120 can recognize the first marker 210 and the second marker 220 using the deep learning method, foreign substances or bushes around the landing pad 200 are present or the markers are damaged and recognized normally. Even if it is not, it is possible to estimate whether the marker is correct using the captured partial image of the marker.

Through this, even if only a part of the first marker 210 is captured in the image taken at a distance around the landing coordinates because it is covered by a bush, the control unit 120 connects the partially formed first markers 210 to each other so that the first marker 210 It is possible to estimate whether the shape corresponds to .

In addition, the first marker 210 is divided into square shapes and colored so that the controller 120 can partially recognize the first marker 210, so that the first marker 210 can be partially recognized through color.

That is, even if only a portion of the first marker 210 is captured, the controller 120 can restore an image of an unphotographed section, and based on the restored image, it is identified whether the first marker 210 is the first marker 210 or not. The time to find 210 can be reduced.

In addition, the drone 100 further includes a support 170 that is formed to support the camera 110 and controls a shooting angle by rotating the camera 110. The camera 110 includes a support 170 It is characterized in that the marker can be recognized while being rotated at an angle set through ).

When the drone 100 recognizes a marker through the camera 110, the camera 110 analyzes the shooting angle between the marker and the camera 110 based on the angle at which the camera 110 is shooting, and the location, posture, and direction information extracted from the marker. It is characterized in that information is corrected based on the shooting angle when acquiring .

The support 170 is formed below the drone 100 and is used to fix the position of the camera 110 and adjust the angle so that the camera 110 can be rotated in a set direction.

The support 170 may be formed in any shape as long as it is formed to support the camera 110, and it is preferable to rotate the angle of the camera 110 in a vertical or horizontal direction by a motor.

Through the support 170, the camera 110 can be rotated so that the camera 110 faces the front in the flight direction when the drone 100 flies, and the camera 110 can be rotated downward to facilitate recognition of the marker when landing. You will be able to control your direction.

At this time, the motor formed on the support 170 is formed with an encoder or a step motor so that the rotation angle of the camera 110 can be grasped. You can figure out the angle.

Through this, the controller 120 can grasp the shooting angle of the camera 110 when recognizing the first marker 210 or the second marker 220, and the information about the shooting angle is displayed in the captured image based on the shooting angle. The position value between the current drone 100 and the first marker 210 or the second marker 220 can be accurately analyzed by reflecting the correction value.

In particular, since the distance between the drone 100 and the first marker 210 may vary according to the shooting angle when the controller 120 analyzes the image of the first marker 210, the rotation angle of the camera 110 is determined. Based on this, the distance between the first marker 210 and the drone 100 is corrected through the photographed angle so that the drone 100 is located above the first marker 210, and the position value can be corrected.

This method can be equally used when recognizing the second marker 220. In particular, when the landing point is divided into a plurality of grids, the distance away from the second marker 220 is checked through the shooting angle to determine the landing coordinates. can be accurately seated.

In addition, the drone 100 is formed on the lower surface of the landing gear 140 and a plurality of landing gears 140 that contact the landing pad 200 to separate the lower surface of the drone 100 from the ground and reduce impact, When the drone 100 approaches the landing pad 200, it is characterized in that it further includes a descent sensor 160 that analyzes the descent position by measuring the distance between the landing pad 200 and the landing gear 140.

The landing gear 140 is located below the drone 100 and is intended to prevent the camera 110 located below the drone 100 from being damaged by separating the lower surface of the drone 100 from the ground.

The landing gear 140 has a descent sensor 160 formed on the lower surface, so that when the drone 100 descends by lowering the altitude, the contact distance between the upper surface of the landing site and each landing gear 140 can be measured. there will be

At this time, if there are four landing gears 140, the descent sensor 160 may also be composed of four, and the distance information measured by each descent sensor 160 is transmitted to the controller 120, and the controller 120 is a drone. (100) is controlled so that it can be maintained in a horizontal state from the ground.

In particular, when the ground at the landing site is in an inclined state, the drone 100 is kept parallel to the ground based on the distance information measured from the descent sensor 160 so that the four landing gears 140 are in contact with the ground at the same time to be able to control it.

In addition, a transceiver capable of manually transmitting a manipulation signal to the drone 100 is provided around the landing pad 200, and the transceiver is connected to the control center 300 so that the control center 300 can directly control the drone 100. control signals can be sent out.

At this time, the control center 300 can transmit a recognition signal 310 that can be recognized by the drone 100 so that the drone 100 can guide the landing point when the drone 100 arrives near the landing point, and the recognition signal 310 Is a signal formed so that only the drone 100 that needs to land can be recognized by communicating with the drone 100 in flight around the landing pad 200.

The recognition signal 310 first generates a landing request signal from the drone 100 to the surroundings when the drone 100 in flight needs to land, and the recognition signal 310 detects this and then informs the drone 100 whether the landing is correct. Signals are formed to cross-validate.

Through this, when different drones 100 exist on the same path, it is possible to prevent the recognition signal 310 from being transmitted to the drones 100 that do not need to land.

The coordinate signal 320 includes distance coordinates from the current position of the drone 100 to the position where the landing pad 200 is formed, so that the position of the drone 100 can be guided to the vicinity of the landing pad 200.

Through the coordinate signal 320, the drone 100 can quickly move to the position where the landing pad 200 is formed, and in the moved state, the first marker 210 and the second marker 220 through the camera 110 It can be recognized by shooting sequentially.

The environmental signal 330 is to provide information that interferes with landing, such as vegetation or obstacles around the landing pad 200, and when the landing pad 200 is damaged or the drone 100 is in a dangerous state to land, the drone ( 100) can be induced to move to another landing point.

In addition, weather information around the landing pad 200 may be transmitted to the drone 100 to prevent the landing position from being distorted due to wind or rain when the drone 100 lands.

The correction signal 340 is used to provide a posture capable of landing from a third party's gaze when the drone 100 lands, when it is difficult to land normally due to various obstacles on the landing pad 200 or soil piled up. As a result, a signal is transmitted so that the posture of the drone 100 can be corrected according to the geographical feature and the landing posture of the drone 100.

The recognition signal 310, the coordinate signal 320, the environment signal 330, and the correction signal 340 are formed to be controlled by the control center 300, but the control center 300 is separately located around each landing pad 200. A landing assistance device assisting the landing of the drone 100 may be provided with the artificial intelligence of, and the landing assistance device may be formed to transmit a signal according to the landing state of the drone 100.

As described above, according to the automatic landing system for inducing the drone to precisely land at the landing site according to the present invention, the drone can sequentially recognize markers when landing and accurately land in the attitude set at the landing site. , When the drone lands, it follows the landing attitude of the drone through the marker and controls the landing attitude and direction so that the drone can land stably. This has the effect of making the marker recognizable.

As described above, the present invention has been described with a focus on preferred embodiments, but those skilled in the art can make the present invention various within the range that does not deviate from the technical spirit and scope described in the claims of the present invention. It can be implemented by modifying or transforming accordingly. Accordingly, the scope of the present invention should be construed by the claims which are written to include examples of these many variations.

100: drone
110: camera
120: control unit
130: GPS
140: landing gear
150: propeller
160: descent sensor
170: support
200: landing pad
210: first marker
220: second marker
300: control center
310: recognition signal
320: coordinate signal
330: environmental signal
340: correction signal

Claims (7)

A drone formed to autonomously fly along the route and to capture surrounding images through a camera;
A landing pad formed at designated coordinates for the drone to land and including a marker providing position, attitude, and direction information so that the drone can land through the camera;
An automatic landing system that guides drones to land precisely at the landing site.
According to claim 1,
The drone further includes a control unit for recognizing the marker by image processing of the marker image captured by the camera using a deep learning method,
When recognizing the marker, the control unit can recognize the marker by estimating an unrecognized portion even if only some of the markers are recognized by surrounding objects or obstacles through a deep learning method. Characterized in that
An automatic landing system that guides drones to land precisely at the landing site.
According to claim 1,
A support is formed on the lower part of the drone to support the camera and rotates the camera to control the shooting angle;
Characterized in that the camera can recognize the marker while rotating at an angle set through the support
An automatic landing system that guides drones to land precisely at the landing site.
the landing pad
a first marker configured to be recognized by the drone at a distance and providing location information to guide the drone to a landing point;
A second marker formed at the center of the first marker to provide three-dimensional reference coordinates so that the direction and posture of the drone can be estimated when the drone lands.
An automatic landing system that guides drones to land precisely at the landing site.
According to claim 4,
The drone moves to the coordinates of the landing point set through GPS, recognizes a first marker formed on the landing pad through the camera, and then moves above the first marker,
Characterized in that, while descending toward the first marker and lowering the altitude, the second marker is recognized, the landing direction and landing posture of the drone are estimated and corrected, and then landed.
An automatic landing system that guides drones to land precisely at the landing site.
According to claim 1,
the drone
When recognizing the marker through the camera, the shooting angle between the marker and the camera is analyzed based on the angle at which the camera is shooting, and when position, posture, and direction information extracted from the marker are acquired, the shooting angle characterized by correcting information based on
An automatic landing system that guides drones to land precisely at the landing site.
According to claim 1,
the drone
a plurality of landing gears contacting the landing pad to separate the lower surface of the drone from the ground and reduce impact;
And a descent sensor formed on the lower surface of the landing gear to analyze the descent position by measuring the distance between the landing pad and the landing gear when the drone approaches the landing pad.
An automatic landing system that guides drones to land precisely at the landing site.

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