KR20230086236A - drone with LED lighting unit - Google Patents

Abstract

The present invention relates to a drone that avoids obstacles through an ultrasonic sensor and irradiates LED light to plants, and more specifically, when the drone approaches an obstacle in a house, it emits a signal or determines an obstacle to avoid maneuvering in a given path. Provides a technology that can prevent damage to drones due to collisions with obstacles by allowing them to automatically execute and return to the re-route so that they can smoothly perform given flight missions.

Description

A drone that avoids obstacles through ultrasonic sensors and irradiates LED light to plants {drone with LED lighting unit}

The present invention relates to a drone that avoids obstacles through an ultrasonic sensor and irradiates LED light to plants, and more specifically, when the drone approaches an obstacle in a house, it emits a signal or determines an obstacle to avoid maneuvering in a given path. Provides a technology that can prevent damage to drones due to collisions with obstacles by allowing them to automatically execute and return to the re-route so that they can smoothly perform given flight missions.

First, the market for landscaping equipment and drones is steadily increasing. The drone market is growing rapidly, and the landscaping equipment market is achieving stable growth at an average annual rate of 5.83%.

- Flower beds are cultivated indoors and outdoors in various places such as government offices and shops, and constant management is required for landscaping. As a result, the demand for pest control drones that can easily manage pests is expected to increase steadily.

-There are shaded places in the greenhouse due to sunlight for various reasons (surrounding objects or house pillars, etc.).

In order to solve this problem, the present invention provides a drone that combines LEDs for plant growth so that plants in a greenhouse can help grow correctly and balanced by light.

In general, a drone is an airplane or helicopter-shaped flying object that flies by induction of radio waves without a human being on board. Developed as a reconnaissance aircraft, it was also used for reconnaissance and surveillance by infiltrating deep into the enemy's inland.

These drones have recently been used for transportation purposes, and the range of their use is gradually widening. Depending on the purpose of use, a variety of products with various sizes and performance are being developed. It is becoming.

On the other hand, the spraying method of pesticides and fertilizers currently being carried out in rural areas is carried out by diluting the pesticides in water and putting them in a sprayer to be directly sprayed by farmers or workers, or putting pesticides in a long plastic bag and holding the plastic bag at both ends to spray. there is.

However, this conventional spraying method has a problem that a large number of manpower is poisoned by pesticides and can harm health, and there is a problem that it is not easy to find spray manpower at present, where the number of rural manpower is declining, and in the process of spraying pesticides. There was a problem in that crops were damaged because they had to step on crops.

In addition, the method of spraying pesticides using a sprayer and a hose has problems in that workability is deteriorated and work is inconvenient because farmers or workers have to drag and spray directly. Recently, manned aircraft such as airplanes and helicopters have been equipped with agricultural machines to spray pesticides and fertilizers, but this is too expensive for general farmers to use, making it unrealistic and suitable for large-scale farming complexes. There was a problem that was not suitable for farmhouses cultivating the same narrow area.

In addition, conventional pest control devices for unmanned helicopters have difficulty in accessing helicopters when there are obstacles such as telephone poles and trees, and thus cannot spray pesticides in specific areas.

Therefore, due to the above problems, the spraying and control work of pesticides and fertilizers conventionally carried out can not solve the labor shortage in spraying in the reality where the rural population is rapidly decreasing, but also the effective spraying of pesticides and fertilizers is performed. There were always problems such as not being able to.

(Patent Document 0001) Korea Patent Registration No. 10-1792077 (2017.10.25)

Furthermore, conventionally, there is no method of growing plants by irradiating LED light emitting body light to plants located in shaded areas using a drone in a facility house.

Conventionally, the technique of sensing and coping with obstacles using an ultrasonic sensor is insufficient,

In addition, the plant located in the shady part of the house could not be irradiated with the light required for the plant, the battery of the drone flying in the house could not be continuously supplied with power, the shady area in the house could not be detected, The fact that the house is not equipped with a system that can charge the battery of the drone flying in the house,

In the end, conventional drones that can manage plants in a house do not correspond.

Conventionally, the technique of sensing and coping with obstacles using an ultrasonic sensor is insufficient,

In addition, the plant located in the shady part of the house could not be irradiated with the light required for the plant, the battery of the drone flying in the house could not be continuously supplied with power, the shady area in the house could not be detected, The fact that the house is not equipped with a system that can charge the battery of the drone flying in the house,

After all, the prior art does not correspond to a drone capable of managing plants in a house.

For reference, conventional unmanned pest control devices usually consist of a pipe through which chemical liquid is moved inside a vinyl house, and a plurality of nozzles such as those described in Patent Publication No. 10-2011-0057291 are configured in the longitudinal direction of the pipe, and spray from the nozzle as the nozzle rotates. The chemical liquid is configured to be supplied to the crops inside the greenhouse.

However, the unmanned control device as described above has the disadvantage of requiring expensive installation costs because a number of rather expensive rotating nozzles must be purchased, and the rotating nozzle must be provided with a deceleration means for decelerating the rotational force. There has been a disadvantage in that it is inconvenient to use because the injection angle can be maintained, and there has been a disadvantage in that failure occurs frequently due to the deceleration means.

The present invention relates to a drone equipped with an ultrasonic sensor for detecting obstacles and an LED light emitter for irradiating light from an LED light emitter to plants. Provides a technology that can prevent damage to a drone due to collision with an obstacle by automatically executing an evasion maneuver and returning to a re-route so that the given flight mission can be performed smoothly.

Looking at the configuration by the accompanying drawings,

The control drone 1 of the present invention includes a drone body, an arm, a propeller, an LED light emitting body substrate device, an LED light emitting body, a battery, a control unit, a first ultrasonic distance sensor, and a second ultrasonic distance sensor.

The drone body is a part that is located between the propeller and the LED light emitting device and connects the two.

In addition, the drone body portion includes a central portion located at the upper center of the drone body portion to which the arm is connected.

A plurality of arms are formed radially around the center of the drone body, and preferably eight arms are formed at equal intervals to form a center and rotate around the center of the drone body.

The present invention relates to a drone equipped with an ultrasonic sensor for detecting obstacles and an LED light emitter for irradiating light from an LED light emitter to plants. It is possible to prevent damage to the drone due to collision with an obstacle by automatically executing an evasion maneuver and returning to a re-route so that the given flight mission can be performed smoothly.

1 and 2 are flowcharts showing another embodiment of an obstacle avoidance maneuver control method according to an embodiment of the present invention;
3 and 4 are perspective views of a drone avoiding obstacles through the ultrasonic sensor of the present invention and irradiating LED light to plants;
5, 6 is an understanding of the present invention.

Hereinafter, the description of the present invention with reference to the drawings is not limited to specific embodiments, and various transformations may be applied and may have various embodiments.

Like reference numbers used throughout this specification indicate like elements.

Singular expressions used in the present invention include plural expressions unless the context clearly dictates otherwise.

In addition, terms such as "include", "include" or "have" described below are intended to designate that features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist. should be construed, and understood not to preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

House Patent 1) In the present invention, when a drone approaches an obstacle in the house, it emits a beep sound or judges the obstacle to automatically execute an avoidance maneuver in a given path and return to the re-route, smoothly performing the given flight mission. To provide a technology that can prevent damage to drones due to collisions with obstacles.

In the obstacle determination step (S200) of the present invention, the distance to the obstacle is calculated by the ultrasonic distance sensor while controlling the moving speed of the drone at a constant speed, and when it is determined that the distance change is constant, the obstacle is determined to be a fixed obstacle. And, when it is determined that the change in distance to the obstacle is not constant (ie, when the change in distance to the obstacle is large or small), it is determined that the corresponding obstacle is a moving obstacle.

In addition to the primary determination of the distance information, in the obstacle determination step (S200), the distance-time relationship between the distance calculated based on the distance to the obstacle calculated by the distance sensor and the moving time of the drone ( V=S/T; where V: speed, S: distance, T: time) calculates the relative speed, and if the relative speed change is determined to be constant, the obstacle is determined to be a fixed obstacle, and the relative speed against the obstacle is determined. When it is determined that the speed change is not constant (ie, when the relative speed change with respect to the obstacle is large or small), it is determined that the corresponding obstacle is a moving obstacle.

In this way, in the obstacle determination step (S200) of an embodiment, it is first determined whether the obstacle for the relative distance is a fixed obstacle or a moving obstacle, and in addition, whether the relative speed to the obstacle is changed is additionally determined to perform avoidance maneuver control. made to run

In the avoidance maneuver control step (S300) according to the obstacle determination step (S200) in this embodiment, if it is determined that the obstacle is a fixed obstacle in the obstacle determination step (S200), the flight speed of the drone is reduced or

While hovering after stopping, the position (direction) of the obstacle detection sensor (distance sensor) that senses the distance information is identified, and the obstacle detection sensor that senses the distance information is continuously provided with the detection signal of the obstacle detection sensor that senses the distance information. It moves in a direction away from the direction in which the sensor is located, in a turning flight (when advancing) or in an ascending flight (when hovering), and avoids maneuvering to a position where detection signals from all obstacle detection sensors are detected as being free of obstacles.

Specifically, the method for controlling flight obstacle avoidance maneuver for a drone according to the present invention is a method for controlling the drone avoidance maneuver for an obstacle, and detects the presence or absence of an obstacle in each of three axis directions based on the center of the drone. Detection step (S100);

An obstacle determination step (S200) of determining whether there is a fixed obstacle or a moving obstacle based on the detection signal detected in the obstacle detection step (S100);

An avoidance maneuver control step (S300) of controlling the drone to avoid maneuver according to the determination result determined in the obstacle determination step (S200); And a path return step (S400) of controlling to return to the flight path before obstacle avoidance after the avoidance maneuver control step (S300).

Next, in the path return step (S400), simultaneously with the avoidance maneuver control step (S300), the flight path (direction or coordinates) immediately before the avoidance maneuver is stored by detection by the gyro sensor installed in the drone, and the avoidance maneuver control After the step (S300), the stored flight path immediately before maneuvering may be called and proceeded in the direction of the flight path.

In the present invention, the above obstacle detection, obstacle determination, avoidance maneuver control, and path return are

It is implemented by the control circuit module (Micom) equipped in the drone.

According to the flying obstacle avoidance maneuver control method for a drone according to the present invention as described above, a fixed obstacle or a moving obstacle is determined based on distance information and speed information about the obstacle from the drone and their combination information to avoid in a given path. It has the advantage of preventing damage to the drone by executing the maneuver automatically and accurately.

In addition, according to the present invention, since it is possible to evade maneuver in an optimal movement line, that is, in an optimal direction and distance, it is possible to quickly and accurately return to the re-route again after evasion maneuver, so that the given flight mission can be smoothly performed. However, it has the advantage of being able to secure economic feasibility and product competitiveness because it can evade maneuvers without requiring a complex and expensive vision system.

Reference Publication No. 10-2021-0065459, Unmanned Drone Reference, Registration No. 10-1929129

Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6 attached.

As a perspective view of a drone for irradiating LED light emitting body light (light) that detects obstacles through the ultrasonic sensor of the present invention, the control drone (1) of the present invention

Drone body part (f110), arm (f120), propeller (f130), LED light emitting body substrate device (f140), LED light emitting body (f150), battery (f160), control unit (f170), first ultrasonic distance sensor (f180), It is configured to include a second ultrasonic distance sensor (f200).

Looking at each component in detail is as follows.

The drone body part (f110) is located between the propeller (f130) and the LED light emitting body substrate device (f140) and connects the two. In addition, the drone body f110 includes a central portion f111 located at the upper center of the drone body f110 to which the arm f120 is connected.

A plurality of arms f120 are formed radially around the center f111 of the drone body f110, and preferably eight arms are formed at equal intervals to form a center portion of the drone body f110. It rotates around the center f111.

The propeller f130 is formed at the end of the arm f120 and generates power for take-off and landing of the drone.

That is, propellers f130 are formed at the ends of the plurality of arms f120, respectively.

The LED light-emitting body substrate device (f140) is located below the drone body (f110) so that the drone body (f110) is detachably connected.

The battery 160 formed on one side of the drone body portion f110 can also be replaced together.

The LED light emitting body f150 is connected to the circuit of the LED light emitting body substrate device f140.

Since the LED light-emitting body f150 and the LED light-emitting body substrate device f140 are located at the bottom, they emit light toward the ground.

The battery (f160) is located on one side of the drone body (f110), and serves to supply power to drive the drone (1).

In addition, the battery 160 supplies or cuts off power to the LED light emitting body substrate device f140 through the control unit f170.

The control unit (MICOM) includes a first ultrasonic distance sensor f180, a second ultrasonic distance sensor f200,

Controls the LED light emitting body substrate device (f140) and the propeller (f130).

The drone installs a first ultrasonic distance sensor (f180) on the front and rear of the drone body (f110) and a second ultrasonic distance sensor (f200) on the left and right sides, respectively, so that when approaching an obstacle during flight, the first and second ultrasonic distance sensors are installed. A controller (b) that reads and controls control signals from (f110, f180)

A propeller (f130) installed in the drone body (f110) and controlled by the control unit;

At the bottom of the motor (f130a) that rotates the propeller (f130) and the drone body (f110)

A plurality of LED light emitting bodies (f150) connected to the circuit (not shown) equipped with the LED light emitting body substrate device (f140), the first ultrasonic distance sensor (f180), the second ultrasonic distance sensor (f200), and the LED light emitting body substrate device (f140), and a control unit for controlling whether or not to supply power from the battery to the motor (f130a) of the propeller (f130) and controlling each part mounted on the drone (1) and operating.

In the drone 1, a drone manager controls a flight path through a communication means.

And if the object continues to be detected after the notification sound transmission step (S07)

By controlling the motor f130a of the propeller f130 through the controller, it is possible to temporarily avoid flying in the direction of the obstacle.

After that, if the object is continuously detected, the rotation speed of the propeller may be changed to escape from the obstacle by changing the direction.

In general, the direction change of the drone changes the direction of movement of the drone by adjusting the rotational speed of each (plural) propellers while the direction of air discharged from the propeller is fixed.

Please refer to the technology of direction change in Registration No. 10-2030137.

Since the direction is changed according to the same principle, when an obstacle is detected by the ultrasonic distance sensor, the rotational speed of the propeller located in the detected direction is increased through the control unit (b) to escape from the obstacle.

The present invention can help plants grow evenly by irradiating the LED light emitting body to the plants in the greenhouse, and continuously irradiate the plants on cloudy days to help plant growth.

LED lamps have recently been in the limelight in the bio industry, such as plant factories, and are used as light sources to induce photosynthesis and promote growth of crops in facilities or plant factories.

For reference, LED lighting can select monochromatic and composite wavelengths, so the effective wavelength for plant photosynthesis is as high as 91%, and the heat generation of the lighting is low and the lifespan is long, so it is suitable for agricultural use, but the price is expensive. Using specific monochromatic light from LED lighting, it can perform functions such as promoting photosynthesis, controlling flowering, enhancing coloration, increasing sugar content and saponin, and suppressing mold growth.

In the present invention, an LED lighting device that generates light similar to natural light of visible light of 380 to 700 nm including a main peak of 610 to 700 nm and a bulk peak of 400 to 470 nm is manufactured, and the lighting device is used to promote the growth of crops. will be.

1. Drone f110. drone body
f120. Cancer f130. prop
f140. LED light emitting substrate device f150. LED luminous body
f160. Battery f170. control unit

Claims (2)

The control drone (1) of the present invention includes a drone body (f110), an arm (f120), a propeller (f130), an LED light emitting body substrate device (f140), an LED light emitting body (f150), a battery (f160), a controller (f170) , A first ultrasonic distance sensor (f180), a drone that avoids obstacles through an ultrasonic sensor and irradiates LED light to plants, including a second ultrasonic distance sensor (f200).
According to claim 1,
The drone body part (f110) is located between the propeller (f130) and the LED light emitting body substrate device (f140) to connect the two. The drone body (f110) has a center (f111) located at the upper center of the drone body (f110) to be connected to the arm (f120) and

A plurality of arms f120 are formed radially around the center f111 of the drone body f110, and preferably eight arms are formed at equal intervals to form a center portion of the drone body f110. A drone that avoids obstacles and irradiates LED light to plants through an ultrasonic sensor, characterized in that it includes a configuration that rotates around the center (f111).

Images