KR101700536B1 - Apparatus and method for maintenance of unmanned aerial vehicle - Google Patents

Apparatus and method for maintenance of unmanned aerial vehicle Download PDF

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Publication number
KR101700536B1
KR101700536B1 KR1020150160966A KR20150160966A KR101700536B1 KR 101700536 B1 KR101700536 B1 KR 101700536B1 KR 1020150160966 A KR1020150160966 A KR 1020150160966A KR 20150160966 A KR20150160966 A KR 20150160966A KR 101700536 B1 KR101700536 B1 KR 101700536B1
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South Korea
Prior art keywords
unmanned airplane
data
uav
section
running
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KR1020150160966A
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Korean (ko)
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안석민
유혁
정연득
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한국항공우주연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

There is provided an apparatus for inspecting an unmanned airplane, which can detect whether the unmanned airplane or the external device related to the unmanned airplane detects the normal operation of the unmanned airplane. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a control unit for selecting measurement data for confirming whether the unmanned airplane is normally operated based on a first section in which the running of the unmanned airplane is sensed, And a communication unit for transmitting valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.

Description

[0001] APPARATUS AND METHOD FOR MAINTENANCE OF UNMANNED AERIAL VEHICLE [0002]

More particularly, the present invention relates to an apparatus and method for determining whether a sensor that controls a steered angle of an unmanned airplane operates in a normal operating range.

Unmanned aerial vehicles (UAVs) are not dangerous for people to carry out directly or perform themselves, such as flying by remote control or autonomous flight, Represents an airplane performing a mission.

Although there is a feature that a UAV can perform flight in various spaces including an urban environment, if a malfunction or a crash is caused due to a sensor error or the like, it may cause a serious safety accident. Therefore, It is a necessary process before flight to keep up.

Conventionally, a user of a UAV usually controls a UAV to directly change its posture, or a large-sized device such as a crane is used to control a given posture to determine whether the internal sensor of the UAV operates correctly Respectively.

However, since the spread of personal unmanned airplanes such as drone is increasing, there is a growing need for an apparatus and a method for efficiently checking the unmanned airplane using the limited space and cost.

KR 1519955 B1

According to one aspect of the present invention, there is provided an apparatus for inspecting an unmanned airplane, wherein an external device associated with the unmanned airplane or the unmanned airplane detects the running of the unmanned airplane to determine whether the unmanned airplane is operating normally. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a control unit for selecting measurement data for confirming whether the unmanned airplane is normally operated based on a first section in which the running of the unmanned airplane is sensed, And a communication unit for transmitting valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.

According to an embodiment, the controller may select at least one of a roll angle, a pitch angle, and a yaw angle for checking whether the unmanned aerial vehicle is operating normally based on the first section as the measurement data.

According to another embodiment, when the sensor unit detects that the section in which the unmanned airplane travels is changed to the second section, the controller selects new measurement data based on the second section, It is possible to transmit the effective attitude data corresponding to the new measurement data to at least one of the unmanned airplane and an external device associated with the unmanned airplane.

According to another aspect of the present invention, there is provided an apparatus for inspecting an unmanned airplane, which detects the running of the unmanned airplane and receives measurement data associated with the unmanned airplane to determine whether the unmanned airplane operates normally. The apparatus for inspecting an unmanned airplane includes a sensor unit for detecting the running of the unmanned airplane through a traveling track, a measuring unit for measuring data corresponding to a first section in which the running of the unmanned airplane is sensed, And a determination unit for determining whether the unmanned airplane operates normally by comparing the measured data and the effective attitude data corresponding to the measured data.

According to one embodiment, when the determination unit determines whether the unmanned airplane is normally operated, the communication unit transmits a control signal corresponding to a result of the determination to at least one of the unmanned airplane and an external device associated with the unmanned airplane .

According to another embodiment of the present invention, the apparatus for inspecting an unmanned airplane may further include a display unit for displaying a graphic object corresponding to a result of the determination, when the determination unit determines whether the unmanned airplane operates normally.

According to another aspect of the present invention, there is provided an unmanned airplane in which the measurement data running on a pre-installed traveling track is compared with valid posture data to determine whether the vehicle is operating normally. Wherein the unmanned airplane includes a sensor unit for sensing measurement data corresponding to an attitude of the unmanned airplane, and a control unit for comparing the measured data with effective attitude data determined according to an interval in which the unmanned airplane travels in the traveling track, And a judgment unit for judging whether or not the apparatus is operating.

According to an embodiment, the unmanned airplane may further include a communication unit for receiving updated valid posture data from an external device when a section in which the unmanned airplane travels within the travel track is changed.

According to another embodiment, the sensor unit may sense at least one of a roll angle, a pitch angle and a yaw angle corresponding to the attitude of the unmanned airplane.

According to another embodiment of the present invention, the unmanned airplane further includes a database for storing the valid attitude data corresponding to a section in which the unmanned airplane travels in the traveling track, So that it is possible to determine a section in which the unmanned airplane travels.

According to another, a method for automated checking of the unmanned airplane is provided. The method includes the steps of: acquiring selected measurement data according to the location of the UAV; comparing the measured data with pre-stored valid posture data corresponding to the measurement data; And a step of judging whether or not it is possible.

According to one embodiment, acquiring the measurement data may include acquiring the measurement data corresponding to the position in the running track formed according to a predetermined condition. More specifically, the step of acquiring the measurement data may comprise acquiring the measurement data corresponding to a position in the running track, the unmanned airplane being connected to a runway for flight.

According to another embodiment, the step of acquiring the measurement data may include acquiring at least one of a roll angle, a pitch angle and a yaw angle corresponding to the attitude of the unmanned aerial vehicle.

FIG. 1 is an exemplary diagram showing a piloting plane of an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to an exemplary embodiment of the present invention.
FIGS. 3A and 3B are diagrams for explaining the operation of the unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention.
FIG. 4 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention.
FIG. 5 is a flowchart illustrating a method for automatically checking an unmanned airplane according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating a method for automatically checking an unmanned airplane according to another embodiment of the present invention.
7 shows a block diagram of an unmanned aerial vehicle according to one embodiment.

Specific structural or functional descriptions of embodiments are set forth for illustration purposes only and may be embodied with various changes and modifications. Accordingly, the embodiments are not intended to be limited to the particular forms disclosed, and the scope of the present disclosure includes changes, equivalents, or alternatives included in the technical idea.

The terms first or second, etc. may be used to describe various elements, but such terms should be interpreted solely for the purpose of distinguishing one element from another. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected or connected to the other element, although other elements may be present in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ", or" having ", and the like, are used to specify one or more of the described features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.

FIG. 1 is an exemplary diagram showing a piloting plane of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG. 1, there are shown three axes 120, 130, 140 defining a three-dimensional movement of the UAV 110. The first axis 120 represents the direction corresponding to the lateral axis for defining the two-dimensional motion of the airplane. More specifically, the UAV 110 may perform a horizontal axis pitch around the first axis 120. In addition, the degree of movement of the UAV 110 around the first axis 120 can be expressed using a pitch angle. Illustratively, if the UAV 110 has a positive pitch angle with respect to the piloting plane, the UAV 110 will swing forward, and if the UAV 110 has a negative pitch angle around the piloting plane, You will lose.

In addition, the second axis 130 represents a direction corresponding to a longitudinal axis for defining the two-dimensional motion of the airplane. More specifically, the UAV 110 may perform lateral rolling around the second axis 130. In addition, the degree of movement of the UAV 110 around the second axis 130 can be expressed using a roll angle.

In addition, the third axis 140 represents a direction corresponding to a vertical axis that extends to define the three-dimensional motion of the airplane. More specifically, the UAV 110 may perform yawing about the third axis 140. In addition, the degree of movement of the UAV 110 around the third axis 140 can be expressed using a yaw angle. By way of example, depending on the yaw angle, the nose of an airplane can either turn left or right to the front.

Three axes 120, 130, and 140 are defined to define the three-dimensional motion of the UAV 110, and the pitch angle, roll angle, and yaw angle corresponding to each axis are measured, Can be measured and controlled.

The unmanned airplane 110 may occasionally fly in an urban environment where there is a high building to perform missions such as surveillance and reconnaissance. However, when a sensor for measuring the posture and the maneuvering surface of the unmanned airplane 110 fails, the safety of the unmanned airplane 110 may be increased. It has become an indispensable factor to check the normal operation of the UAV 110. In addition, since the supply of the unmanned airplane 110 is increasing day by day, a method of testing the unmanned airplane 110 by attempting a test flight or using a device such as a crane, There is a problem in that it involves constraints of

On the other hand, in the case of using the embodiment according to the present invention, while the UAV 110 is traveling on a taxiway connected to the runway, the measurement data measured by the UAV 110 and the valid posture data It is possible to expect an effect of determining whether the UAV 110 is operating normally or not. A detailed description of embodiments according to the present invention will be added to the drawings to be added below.

FIG. 2 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to an exemplary embodiment of the present invention. More specifically, FIG. 2 shows a side view of the unmanned airplane and the traveling track running on the traveling track equipped with the unmanned aerial vehicle inspection device. Referring to FIG. 2, a UAV 210 running on a traveling track is shown. Illustratively, the running track may be a track connected to the runway of the UAV 210. The unmanned airplane 210 can determine whether the internal sensors of the UAV 210 are operating normally by using the valid attitude data received from the UAVs 221, 222 and 223 .

Illustratively, FIG. 2 shows an embodiment in which one unmanned aerial vehicle inspection device 221, 222, 223 is installed in each of the three sections, but this is only an exemplary description for explaining the concept of the present invention, Should not be construed as limiting or limiting. It will be apparent to one of ordinary skill in the art that at least one unmanned airplane inspection device may be installed in each section and that the unmanned airplane inspection device may be installed at various locations within each section.

In this embodiment, it is assumed that the UAV 210 travels from the first section to the third section via the second section. When the unmanned airplane 210 travels in the first section, the first unmanned aerial vehicle inspection device 221 can detect the running of the UAV 210. In addition, the first UAV 221 can transmit the valid attitude data including the first pitch angle to the UAV 210. According to this embodiment, the first pitch angle may be zero degrees.

In addition, the UAV 210 may compare the valid posture data received from the first UAV 210 with the measured pitch angle to determine whether the internal sensor is malfunctioning. More specifically, the UAV 210 detects a malfunction of the internal sensor of the UAV 210 when the valid posture data and its measurement data have a difference outside a predetermined error range, Can not be determined.

When the unmanned airplane 210 enters the second section including the inclined plane, the unmanned airplane 210 travels in a state in which the front portion thereof is bowed, and the pitch angle measured by the UAV 210 also changes. In such a case, the second ARPU 222 may detect that the UWB 210 is traveling in the second section. The second ARPU 222 may transmit the valid posture data 230 corresponding to the second section to the UWB 210. [ More specifically, the effective posture data 230 corresponding to the second section may be a pitch angle? 1 having a negative value.

The unmanned airplane 210 receives the effective attitude data 230 including the value of the pitch angle alpha 1 and compares the value of alpha 1 with the measurement data of the internal sensor to determine whether or not it is within a predetermined error range . According to the determination result, the UAV 210 can check whether the internal sensor corresponding to the horizontal axis movement is malfunctioning.

When the unmanned airplane 210 enters the third section from the second section to the flat section, the third unmanned airplane inspection apparatus 223 can detect that the unmanned airplane 210 is traveling in the third section. In addition, the actual pitch angle of the UAV 210 will be 0 degrees according to the running attitude corresponding to the third section, and the third UAV 223 will also receive the attitude data including the pitch angle 0 degrees, (210). The unmanned airplane 210 can check whether the internal sensor is malfunctioning in the same manner as in the first section.

According to the embodiment of the present invention, the UAV 210 can determine whether the UAV 210 can maintain the horizontal plane by simply passing through each section of the installed traveling track, and whether the internal sensor changes the pitch angle It is possible to expect that the user can check the unmanned airplane 210 more quickly and conveniently.

FIGS. 3A and 3B are diagrams for explaining the operation of the unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention. More specifically, FIGS. 3A and 3B show a front view of a unmanned airplane and a traveling track running on a traveling track equipped with an unmanned aerial vehicle inspection device. Referring to FIG. 3A, the UAV 310 is shown running on a traveling track. However, unlike the embodiment described with reference to FIG. 2, the unmanned airplane 310 can transmit measurement data measured by the first unmanned aerial vehicle inspection device 321. The first ARPU 321 can determine whether the ARPU 310 operates normally by using the valid posture data corresponding to the measurement data.

In addition, the first Aircraft Inspection Apparatus 321 may include a display. The first ARPU 321 may display the graphic object corresponding to the result of the determination of the normal operation using the display. Illustratively, the graphical object may be in O-form or X-form. In another embodiment, the graphic object may output green light or output red light.

In the case of FIG. 3A, the UAV 310 may be traveling in the horizontal section of the traveling track. Assuming normal operation of the internal sensor of the UAV 310, the UAV 310 transmits the 0 degree pitch angle, the 0 degree roll angle, and the 0 degree yaw angle as measurement data to the first UAV check device 321 . The first ARPU 321 can compare the valid posture data corresponding to the section in which the ARPU 321 is installed with the received measurement data to determine whether the ARPU 310 is operating normally. In the case of the embodiment of FIG. 3A, the received measurement data is present within the error range from the 0-degree effective attitude data, and the first UAV checking apparatus 321 displays a graphic object of O type, It can notify that the airplane 310 is operating normally.

Referring to Fig. 3B, the running track has an angle of beta 1 about the horizontal plane. When the UAV 310 travels on the traveling track, it is possible to obtain an effect of simulating the movement corresponding to the lateral play motion during flight. The actual roll angle of the UAV 310 in motion, as well as the angle of β 1 corresponding to the traveling track, will also be β 1 . Accordingly, the second UAV 330 can previously store the value of the roll angle? 1 as the valid posture data corresponding to the section. However, the roll angle measured by the internal sensor of the UAV 310 may be β 2 rather than β 1 . The UAV 310 may transmit the measured value of the roll angle beta 2 to the second UAV 322 as measurement data. Second drone checking device 322 may determine the normal operation of the drone (310) by calculating the difference between each roll of the roll angle β 1 β 2 with valid position data in the received sample data. If the difference between? 1 and? 2 deviates from a predetermined error range, the second Aircraft Inspection Apparatus 322 can display the X-shaped graphic object on the display.

FIG. 4 is a diagram illustrating an operation of an unmanned aerial vehicle inspection apparatus according to another embodiment of the present invention. More specifically, FIG. 4 shows a top view of a unmanned airplane and a traveling track running on a traveling track equipped with an unmanned aerial vehicle inspection device. In the present embodiment, it is assumed that the UAV 410 travels from the first section to the third section via the second section. The unmanned airplane 410 can perform simulations corresponding to left and right motions during actual flight by running the traveling track shown in FIG. More specifically, the nose of the unmanned airplane 410 can be returned to the right or to the left with respect to the front according to the section in the traveling track, and the movement can be measured by the yaw angle of the UAV 410.

In one embodiment, the UAVs 421, 422 and 423 installed in the first section, the second section and the third section of the traveling track transmit valid posture data corresponding to each section from the UAV 410 So that the unmanned airplane 410 can determine whether the internal sensor is operating normally. However, the description of the unmanned aerial vehicle inspection devices 221, 222, and 223 shown in FIG. 2 may be applied to the present embodiment, and a detailed description thereof will be omitted.

When the unmanned airplane 410 travels in the first section of the traveling track, the first unmanned aerial vehicle inspection device 421 can detect the running of the unmanned airplane 410. Since the first section corresponds to the straight line section, the first unmanned aerial vehicle inspection device 421 can transmit the yaw angle 0 degree to the unmanned airplane 410 as valid attitude data.

However, the second and third sections may be defined as left and right rotation sections, and the yaw angle values corresponding to the respective sections may be defined as γ 1 in the second section and γ 2 in the third section. In this case, the yaw angle to be actually measured when the UAV 410 is operating normally should also be γ 1 for the second section and γ 2 for the third section. Accordingly, the second UAV 422 can transmit the valid attitude data including the value of the yaw angle? 1 to the UAV 410 which is traveling in the second section. Similarly, the third UAV 423 can transmit the valid attitude data including the value of the yaw angle? 2 to the UAV 410 that is traveling in the third section.

A detailed description of the process of determining whether the UAV 410 is operating normally using the transmitted valid posture data may be applied to the UAV 210 explained with reference to FIG. 2, so that a detailed description thereof will be omitted.

Each of Figs. 2, 3B and 4 discloses a configuration in which any one of a pitch angle, a roll angle and a yaw angle is determined as measurement data by using one of the running tracks. It should be noted, however, that the above description is merely an example of description to help understand the concept of the present invention. At least two sensing data are simultaneously tested using one traveling track, and the normal operation of the unmanned airplane It will be obvious to those skilled in the art.

FIG. 5 is a flowchart illustrating a method for automatically checking an unmanned airplane according to an embodiment of the present invention. The automatic checking method 500 of the unmanned airplane includes a step 510 of detecting the running of the UAV through the traveling track, a step 520 of selecting the measurement data based on the interval in which the traveling is sensed, And transmitting (530) the attitude data to the unmanned airplane or the external device.

Step 510 is a step in which the unmanned airplane checking apparatus detects the running of the unmanned airplane through the traveling track. In one embodiment, the traveling track may be a traveling track connected to an runway for flying the unmanned airplane. At step 510, the UAV can detect the running of the UAV using at least one sensor.

In one embodiment, in step 510, the DAT may propagate a high-speed pulse laser and sense the reflected wave reflected from the UAV to detect the traveling of the UAV. According to another embodiment, in step 510, the UAV may measure a change amount of weight added to a specific section of a traveling track, and may detect the running of the UAV when the variation is equal to or greater than a threshold value.

Step 520 is a step of selecting measurement data based on the period in which the traveling is sensed. As described above, the running track installed for checking the unmanned airplane may have predetermined measurement data that can be checked according to each section. In step 520, the UAV may check the interval during which the UAV is detected and select measurement data corresponding to the interval. Illustratively, the measurement data may be at least one of a roll angle, a pitch angle, and a yaw angle.

Step 530 is a step of transmitting the valid attitude data corresponding to the measurement data to the unmanned airplane or the external device. More specifically, the external device may be an external device for controlling or testing the unmanned airplane, and may be implemented by various types of electronic devices such as a notebook computer, a smart phone, a wearable device, a smart pad, etc. including a communication interface. The valid posture data may be an actual measured value corresponding to the section, and the unmanned airplane or the external device can determine whether the unmanned airplane is operating normally by using the transmitted effective attitude data.

In step 530, the UAV may transmit valid attitude data to the UAV or external device using a communication interface. The communication interface may be a wireless interface such as a wireless LAN (WLAN), a wireless fidelity (WiFi) direct, a DLNA (Digital Living Network Alliance), a Wibro (Wireless broadband), a Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access) May include an Internet interface and a short range communication interface such as Bluetooth (TM), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC . In addition, the communication interface may represent any interface (e.g., a wired interface) capable of communicating with the outside.

The unmanned airplane can determine whether the internal sensor operates normally by comparing the measured data with the transmitted effective attitude data. More specifically, the at least one sensor can be used to measure at least one of a roll angle, a pitch angle, and a yaw angle corresponding to the running posture. Illustratively, the internal sensor may be an inertial measurement unit (IMU) included in an unmanned aerial vehicle. The inertial measurement device is a multi-sensor including an accelerometer capable of measuring the mobile inertia, a gyro system capable of measuring the rotational inertia, and a geomagnetic system capable of measuring the azimuth angle.

In addition, the step 530 may further include transmitting new valid attitude data corresponding to a new section to at least one of the unmanned airplane and the external device when the section in which the unmanned airplane travels is changed.

The automated aircraft inspection method 500 described in FIG. 5 may be performed using an unmanned aerial vehicle inspection device implemented with a combination of devices described together in each step.

FIG. 6 is a flowchart illustrating a method for automatically checking an unmanned airplane according to another embodiment of the present invention. 6 is a flowchart illustrating a method for automatically checking an unmanned airplane 600 according to an embodiment of the present invention. Referring to FIG. 6, a method 600 for detecting an automation of an unmanned airplane includes a step 610 of detecting a running of an unmanned airplane through a traveling track, a step 620 of receiving measurement data corresponding to a detected interval, Comparing the received measurement data and effective attitude data corresponding to the measured data to determine whether the unmanned airplane is in normal operation (630), and displaying (640) a graphic object corresponding to a result of the determination .

The description of step 610 may be applied to step 510, and a detailed description thereof will be omitted. If the traveling of the UAV is detected within a certain interval in step 610, the UAV can receive the measurement data corresponding to the specific interval in step 620. More specifically, in step 620, the UAV may receive the measurement data from a control device associated with the UAV or the UAV that is traveling on a specific section.

In another embodiment, in step 620, the DAT may receive the entire measurement data measured by the UAV and extract the measurement data corresponding to the specific interval from the total measurement data.

Step 630 is a step of determining whether the UAV is operating normally by comparing the received specific data and the effective attitude data corresponding to the measured data. The effective attitude data is a value determined according to the traveling track, and represents a value measured when the internal sensor of the UAV is operating ideally.

In addition, in step 640, the DAS device may display a graphical object corresponding to the result of the determination of step 630. In one embodiment, the graphical object may include the word "normal" when the UAV is operating normally. In another embodiment, in the case where the UAV does not operate normally, the graphical object may contain the word "abnormal ". It is to be understood that the above description is only illustrative for the understanding of the present invention, and may be implemented by various types of graphic objects that enable the user to determine the state of the UAV.

7 shows a block diagram of an unmanned aerial vehicle according to one embodiment. Referring to FIG. 7, the UAV 700 may include a sensor unit 710, a determination unit 720, a communication unit 730, and a database 740. The sensor unit 710 includes at least one sensor and is capable of sensing measurement data corresponding to the attitude of the UAV 700. More specifically, the sensor unit 710 includes at least one inertial sensor, which detects the inertial force of the motion of the UAV 700 and measures the acceleration, the velocity, the direction and the distance of the UAV 700 , And an AHRS (Attitude Heading Reference System) may be used as an example.

The determination unit 720 can determine whether the UAV 700 is operating normally by comparing the measured data with the effective attitude data determined according to the interval in which the UAV 700 travels in the traveling track.

The communication unit 730 can receive the updated valid posture data from the external device when the section in which the unmanned airplane travels is changed.

In another embodiment, the communication unit 730 may transmit the measurement data sensed by the sensor unit 710 to an external device such as an unmanned aerial vehicle inspection device or a control device.

The database 740 may store in advance the valid attitude data corresponding to the section in which the unmanned airplane travels in the running track. Illustratively, if there is a first running track, a second running track, and a third running track in the first UAV, the database 740 of the UAV 700 may include an interval Can be stored in advance. In this case, when the sensor unit 710 senses that the sensor unit 710 passes through one of the intervals, the unmanned airplane 700 detects whether the internal sensor is operating normally using the valid posture data stored in the database 740 can do.

The database 740 may include not only running track information corresponding to each airfield but also information of a running track for inspecting an unmanned airplane existing in the world in addition to information of a running track for inspecting an unmanned airplane existing in Korea. In such a case, the user can expect the effect that the user can easily check the unmanned airplane by using the traveling track on the unmanned airplane existing in all over the world and the whole country only by updating the database 740 periodically.

The embodiments described above may be implemented in hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

Although the embodiments have been described with reference to the drawings, various technical modifications and variations may be applied to those skilled in the art. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Claims (14)

A sensor unit installed on the traveling track for sensing the running of the unmanned airplane running on the traveling track;
A controller for selecting at least one of a roll angle, a pitch angle, and a yaw angle for checking whether the unmanned airplane is in a normal operation state as measurement data based on a first section in which the running of the unmanned airplane is detected; And
And a communication unit for transmitting the valid attitude data corresponding to the measurement data to at least one of the unmanned airplane and the external device associated with the unmanned airplane
Lt; / RTI >
Wherein the unmanned airplane or the external device associated with the unmanned airplane determines whether the unmanned airplane is operating normally by comparing the measured data and the received effective attitude data. delete The method according to claim 1,
Wherein the control unit selects new measurement data based on the second section when the sensor unit detects that the section in which the unmanned airplane travels is changed to the second section, And transmits the attitude data to at least one of the unmanned airplane and an external device associated with the unmanned airplane. A sensor unit installed on the traveling track for sensing the running of the unmanned airplane running on the traveling track;
Wherein the measurement data corresponding to the first section in which the running of the unmanned airplane is sensed, the measurement data including at least one of a roll angle, a pitch angle and a yaw angle, is transmitted to the unmanned airplane and / A communication unit that receives at least one of the data; And
A determination unit for comparing the measured data and the effective attitude data corresponding to the measured data to determine whether the unmanned airplane is operating normally,
And a control unit. 5. The method of claim 4,
Wherein the communication unit transmits a control signal corresponding to a result of the determination to at least one of the unmanned airplane and an external device associated with the unmanned airplane when the determination unit determines that the unmanned airplane is operating normally. 5. The method of claim 4,
A display unit for displaying a graphical object corresponding to a result of the determination, when the determination unit determines that the unmanned airplane is operating normally;
Further comprising: In a UAV that travels on a pre-installed driving track,
Measuring data corresponding to the attitude of the unmanned airplane, wherein the measurement data includes at least one of a roll angle, a pitch angle and a yaw angle;
A database for storing valid posture data corresponding to a section in which the unmanned airplane travels in the traveling track; And
Determining a normal operation of the UAV by comparing the measured data with effective posture data determined according to a section in which the UAV is running in the traveling track;
Lt; / RTI >
Wherein the valid posture data is a value determined along a running track, and indicates a value measured when the sensor unit normally operates. 8. The method of claim 7,
A communication unit for receiving the updated valid posture data from the external device when the section in which the unmanned airplane travels within the traveling track is changed,
And further comprising: delete 8. The method of claim 7,
Wherein the sensor unit senses the position of the unmanned airplane in the traveling track and determines a section in which the unmanned airplane travels. Measuring data selected according to a position on the traveling track of a UAV traveling on a traveling track formed according to predetermined conditions, the measuring data comprising at least one of a roll angle, a pitch angle and a yaw angle;
Comparing the measured posture data and pre-stored posture data corresponding to a position on the traveling track; And
Determining whether the unmanned airplane is operating normally according to a result of the comparison;
A method for inspecting an unmanned airplane comprising: delete 12. The method of claim 11,
Wherein the acquiring of the measurement data comprises acquiring the measurement data corresponding to a position in the travel track connected to a runway for flight of the unmanned airplane. 12. The method of claim 11,
Wherein the acquiring of the measurement data includes acquiring at least one of a roll angle, a pitch angle, and a yaw angle corresponding to the attitude of the unmanned airplane.
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