KR101700746B1 - Fail-safe apparatus and method for flight vehicle - Google Patents

Abstract

A safety device for the malfunction of the aircraft is started. According to an embodiment of the present invention, the airborne fault safety device includes a flight condition analyzer for determining whether the airborne vehicle is malfunctioning based on a performance value quantifying the current performance of each component of the airborne vehicle; A failure safety measure unit for determining a flight state of the airplane based on a result of the determination of whether or not the airplane has failed, and for instructing a failure safety measure in accordance with the determined airplane; And an emergency control unit for controlling the flight of the airplane according to an instruction of the failure safety measure, wherein the flight state is a first flight state in which an automatic flight is possible, a second flight state in which a flight is possible but the automatic flight is impossible, And the third flight state in which the flight is impossible.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an apparatus and method for safety of an aircraft, and more particularly, it relates to an apparatus and method for preventing a malfunction in a flight by searching for a safety space based on image information and voice information about the ground, And more particularly, to a fault-safety device and method.

Conventional aircraft failure safeguards are designed to land or attempt to land at the point of operation and crash. However, such a fault safety device is a very basic system and does not take the environment into consideration, and additional damage may occur due to the occurrence of a fault safety device. For example, when a flight vehicle floats on water and a battery fault safety device is activated, a fault safety device is triggered and falls into the water even though the aircraft can land on a nearby ground. Another example is that if a malfunctioning safety device is activated and a person is attempting to land or crash, there is a risk of injury if there is a person under the vehicle.

Conventional fault safeguards are managed separately for each device, so that if two or more fault safeguards are operated at the same time, an unstable fault safety device can be activated. For example, when a vehicle is attempting landing by a GPS failure safety device, if the battery failure safety device is operated, the vehicle can be safely landed, but the power is interrupted.

Therefore, there is a need to introduce a system that prevents malfunctions from flying objects and additional problems in flight by operating fault-safe devices appropriate to the circumstances when a problem occurs in flight.

A related prior art is Korean Patent Laid-Open Publication No. 10-2014-0082268 entitled " Flight Control Computer System Incorporated With Simple Fault Diagnosis Function and Control Method Thereof, Published on 2014. 07.02.

According to an embodiment of the present invention, there is provided an apparatus and method for preventing a malfunction of a vehicle, which can diagnose malfunctions in a malfunctioning body and take malfunction safety measures according to the situation in consideration of a flight state and a surrounding environment of the malfunctioning system .

An embodiment of the present invention is to provide an apparatus and method for safely avoiding an airplane by allowing the airplane to navigate the safe space according to the state of the airplane so that the airplane can land in the safe space or fall safely.

The airborne fault safety device according to an embodiment of the present invention includes a flight condition analyzer for determining whether the airborne vehicle is malfunctioning based on a performance value quantifying the current performance of each component of the airborne vehicle; A failure safety measure unit for determining a flight state of the airplane based on a result of the determination of whether or not the airplane has failed, and for instructing a failure safety measure in accordance with the determined airplane; And an emergency control unit for controlling the flight of the airplane according to an instruction of the failure safety measure, wherein the flight state is a first flight state in which an automatic flight is possible, a second flight state in which a flight is possible but the automatic flight is impossible, And the third flight state in which the flight is impossible.

According to another aspect of the present invention, there is provided an apparatus for safely protecting an aircraft, the apparatus including a safety space search unit for searching for a safety space based on image information and sound information about the ground, It is possible to control the flying object to land in the safety space.

When the flight state is determined to be the first flight state, the emergency control unit may control to land the air vehicle in the safe space according to a command of a failure safety measure corresponding to the first flight state.

Wherein the flight condition analyzing unit determines a time when the flight can fly in the first flight state based on the performance value and the safe space searching unit searches for the safe space based on the flight time, May control the flight of the airplane to land in the safe space when the flight state does not return to the normal state from the first flight state.

If the safety space is not searched by the safety space searching unit, the failure safety measure unit may switch the flight state from the first flight state to the second flight state.

If the flight state is determined to be the second flight state, the emergency control unit waits for the return of the flight state to the normal state for a predetermined time according to the command of the failure safety action corresponding to the second flight state, Thereby controlling the flight of the air vehicle.

When the flight state does not return to the normal state for the predetermined time, the emergency control unit determines the landing possible point located nearest to the airplane based on the data accumulated through the search of the safe space until immediately before the failure of the airplane You can try flying to.

When the flying object reaches the landing possible point, the failure safety measure may switch the flying state from the second flying state to the third flying state.

When the flight state is determined to be the third flight state, the failure safety control unit alerts a danger of the airplane by sending a danger warning command to the alarm system mounted on the airplane, and the emergency control unit notifies the danger alert of the airplane The collision safety system mounted on the airplane can be operated to collapse the airplane.

Wherein the aircraft state analyzer comprises: a performance value calculator for calculating a performance value that quantifies the current performance of each component of the air vehicle; A performance comparison unit comparing performance values of the respective components of the airplane with preset performance thresholds; And an aircraft malfunction determining unit for determining whether the malfunction of the air vehicle has failed based on the comparison result.

Wherein the safe space searching unit comprises: a video / sound receiving unit for receiving video and sound information on the ground; And analyzing the signal of the image information to extract color information included in the image information and motion state information of the object included in the image information, analyzing the signal of the sound information, and extracting frequency information from the sound information And a safe space determining unit for searching the safe space based on the color information, the motion state information, and the frequency information.

The safety space determination unit may measure an altitude of the air vehicle and search for the safe space based on the altitude measurement result.

According to an embodiment of the present invention, there is provided a safety method for an aircraft, comprising: determining whether a malfunction of the aircraft occurs based on a performance value that quantifies current performance of each component of the aircraft; Determining a flight state of the airplane based on a result of the determination of whether or not the airplane has failed, and commanding a corresponding failure safety measure according to the determined airplane state; And controlling the flight of the airplane according to an instruction of the failure safety measure, wherein the flight state includes a first flight state in which automatic flight is possible, a second flight state in which the automatic flight is impossible, It is determined to be one of the third flight states in which the flight is impossible.

According to another aspect of the present invention, there is provided a safety method for an aircraft, the method comprising: searching for a safety space based on image information and sound information about the ground; And controls the air vehicle to land in the safe space according to an instruction.

And controlling the flight of the airplane when the flight state is determined to be the first airplane state, controlling the airplane to land in the safe space according to a command of a failure safety measure corresponding to the first flight state have.

Wherein the step of controlling the flight of the airplane when the flight state is determined to be the second flight state is a step of returning the airplane to the normal state for a predetermined period of time according to a command of a failure safety measure corresponding to the second flight state And can control the flight of the airplane so that the airplane can fly in place.

Wherein the step of instructing the failure safety measure includes sending a danger warning command to the alarm system mounted on the airplane to warn the danger of the airplane and to control the flight of the airplane when the flight status is determined to be the third flight status The collision safety system mounted on the airplane may be operated in conjunction with the danger warning of the airplane to crash the airplane.

The step of determining whether or not the airplane has failed may include calculating a performance value that quantifies the current performance of each component of the airplane; Comparing the performance value of each component of the air vehicle with a predetermined performance threshold; And determining whether the airplane has a failure based on the comparison result.

The searching of the safe space may include receiving image information and sound information about the ground; And analyzing the signal of the image information to extract color information included in the image information and motion state information of the object included in the image information, analyzing the signal of the sound information, and extracting frequency information from the sound information And searching for the safe space based on the color information, the motion state information, and the frequency information.

According to an embodiment of the present invention, the unmanned aerial vehicle detects a malfunction of the airplane itself, and can take fault safety measures according to the situation in consideration of the flight state and the surrounding environment of the airplane in the event of a malfunction.

According to an embodiment of the present invention, a flight vehicle searches for a safe space according to a flight state, and can land or safely fall in a safe space by itself.

FIG. 1 is a block diagram illustrating an aircraft fault-safety device according to an embodiment of the present invention. Referring to FIG.
FIG. 2 is a block diagram illustrating a detailed configuration of the aircraft condition analyzing unit of FIG. 1. FIG.
3 is a block diagram illustrating a detailed configuration of the secure space search unit of FIG.
FIG. 4 is a view for explaining an air vehicle employing the air vehicle failure safety device according to an embodiment of the present invention.
FIG. 5 is a block diagram illustrating an operation procedure of a safety device for a vehicle operated by a user input operation according to an exemplary embodiment of the present invention. Referring to FIG.
FIG. 6 is a flowchart illustrating an air vehicle failure safety method according to an embodiment of the present invention. Referring to FIG.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, 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. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Throughout the specification and claims, where a section includes a constituent, it does not exclude other elements unless specifically stated otherwise, but may include other elements.

FIG. 1 is a block diagram illustrating an aircraft fault-safety device according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 1, an aircraft fault-safety device 100 according to an embodiment of the present invention includes a flight condition analysis unit 110, a safe space search unit 120, a fault safety measure unit 130, an emergency control unit 140, . ≪ / RTI >

The flight status analyzer 110 determines whether the flight 10 has failed based on the performance values obtained by quantifying the current performance of the respective components of the flight 10.

That is, the flight condition analyzing unit 110 calculates a performance value that quantifies the performance of each of the components through a performance quantification process of expressing the performance of each component of the air vehicle 10 in numerical values, It is possible to determine whether the air vehicle 10 has failed based on the calculated performance value.

At this time, the flight state analyzer 110 can compare the quantified performance values of the respective components with the performance thresholds described later. The performance values of the flight state analysis unit 110 are objective data .

Here, the air vehicle 10 may include all unmanned aerial vehicles. For example, the air vehicle 10 may include a drones, a military unmanned airplane, an unmanned helicopter, and a control device, as well as devices that are automatically operated by a user's input operation.

In addition, the above-mentioned components refer to all the components of the air vehicle 10 that enable the air vehicle 10 to fly. For example, the components may include components that directly cause the air vehicle 10 to fly, such as an engine or a motor, a wing or a propeller, a fuel and a fuel tank, as well as components indirectly assisted by flight such as various sensors and communication devices Components, and the like.

Hereinafter, the flight state analysis unit 110 will be described in more detail with reference to FIG. 2 is a block diagram illustrating a detailed configuration of the flight state analysis unit 110 of FIG.

Referring to FIG. 2, the aircraft state analysis unit 110 may include a performance value calculation unit 210, a performance comparison unit 220, and a flight malfunction determination unit 230.

The performance value calculating unit 210 may calculate a performance value that quantifies the current performance of each component of the air vehicle 10.

The performance comparison unit 220 may compare the performance of each component of the air vehicle 10 with a preset performance threshold.

Here, the performance threshold may be a preset value for evaluating whether each component is operating normally, and may be used as a criterion for performance of each component.

That is, when the performance values of the respective components are less than the performance threshold, the performance comparison unit 220 may consider that the performance of each of the components is not satisfactory, If the performance threshold is greater than or equal to the performance threshold, each of the components may be considered as performing performance.

For example, it is assumed that the performance threshold is preset to 75%. At this time, if the engine of the air vehicle 10 has a function of about 60% of the expected RPM, the performance comparison unit 220 can consider that the engine does not perform the performance.

The aircraft malfunction determining unit 230 may determine whether the air vehicle 10 is malfunctioning based on the comparison result.

That is, when the performance value is smaller than the performance threshold, the malfunction determining unit 230 determines that a malfunction has occurred in the air vehicle 10, as a result of comparing the performance values of the respective components with the performance threshold .

However, in some cases, the performance value of a part of the components may be lower than the performance threshold value, resulting in a failure in performance. In such a case, the aircraft malfunction determination unit 230 immediately determines that the air vehicle 10 is in a malfunction state It may not judge.

That is, according to another embodiment of the present invention, when the performance value for a part of the components is below the performance threshold, the airbag failure determining unit 230 determines whether the number of the component parts exceeds a preset threshold value Can be determined. As a result of the determination, if the number exceeds the threshold value, the aircraft malfunction determination unit 230 may determine that the air vehicle 10 is malfunctioning.

In another embodiment of the present invention, a specific component may be preset as an important component among the respective components. Accordingly, when the performance value of a specific component set to the critical component is lower than the performance threshold, the airbag failure determining unit 230 may determine that the airbag 10 is defective.

Referring back to FIG. 1, the secure space searching unit 120 may search for a safe space based on image information and sound information about the ground.

Here, the safe space means a space that can minimize damage to people and property as well as the air vehicle 10 when the air vehicle 10 performs an abnormal movement including a fall.

Hereinafter, the secure space searching unit 120 will be described in more detail with reference to FIG. 3 is a block diagram illustrating a detailed configuration of the secure space search unit 120 of FIG.

Referring to FIG. 3, the secure space searching unit 120 may include a video / audio receiving unit 310 and a safe space determining unit 320.

The image / sound receiving unit 310 may receive image information and sound information about the ground. For this, the image / sound receiving unit 310 may include a camera for acquiring the image information, and a microphone for acquiring the sound information, though it is not shown in the figure.

The security space determination unit 320 may analyze the signal of the image information to extract color information included in the image information and motion state information of the object included in the image information.

The safe space determining unit 320 may analyze the signal of the sound information and extract the frequency information from the sound information.

The safe space determining unit 320 may search the safe space based on the extracted color information, the motion state information, and the frequency information.

That is, the safe space determining unit 320 determines whether a difference between pixels within a certain range of the image is equal to or greater than a predetermined level, based on the color information included in the image information, If it is more than the predetermined level, the area can be searched as the safety space (a space composed of flat surfaces without obstacles).

In addition, the safe space determining unit 320 may measure the degree of motion indicating the degree of motion of the object based on the motion state information of the object included in the image information, and when the measured value of the degree of motion is low It is determined that there is not a lot of people or vehicles, and the area can be searched as the safe space. On the other hand, when the measured value of the degree of motion is high, the safe space determining unit 320 determines that there are many people or cars, thereby excluding the corresponding area when searching for the safe space.

In addition, the safe space determining unit 320 extracts a human voice, a car sound, and sounds similar thereto based on the frequency information included in the sound information, and when the sound is extracted with less than a predetermined standard, It is possible to search the area as the safe space by judging the area as a high possibility that the person or the property will not be damaged. On the other hand, when the sound is extracted in a large amount exceeding a predetermined standard, the safety space determining unit 320 determines that the area is a space that can damage a person or property, can do.

In addition, the safety space determination unit 320 may measure the altitude of the air vehicle 10 and search the safe space based on the altitude measurement result.

That is, in addition to the color information, the motion state information, and the frequency information, the safe space determination unit 320 may search for the safe space based on the altitude measurement result.

For example, when the altitude of the air vehicle 10 is high as a result of the high altitude measurement, the safe space determination unit 320 analyzes the image information by adjusting the resolution to be higher than a reference value, The accuracy of information can be increased. Therefore, the safe space determination unit 320 can more efficiently search the safe space using the extracted information.

Referring again to FIG. 1, the fault-safety measure 130 determines the flight state of the air vehicle 10 based on a determination result of the failure of the air vehicle 10. That is, the failure safety measure 130 determines the flight state of the air vehicle 10 as one of the first, second, and third flight states based on the determination result of the failure of the air vehicle 10 .

Here, the first flight state means a state in which automatic flight is possible.

The second flight state means that the flight is possible but the automatic flight is impossible. More specifically, the second flight state means that the current position can not be grasped due to a GPS failure or the like, or a state in which the direction can not be grasped due to a failure of the machine.

The third flight state means that the flight is impossible due to a collision, a wing or a motor failure.

The fault-safety measure 130 commands the corresponding fault-safety measure in accordance with the determined state of flight.

That is, when the flight state is determined to be the first flight state, the failure safety measure 130 may command a failure safety measure corresponding to the first flight state.

If the flight state is determined to be the second flight state, the failure safety measure 130 may command a failure safety measure corresponding to the second flight state.

If the flight state is determined to be the third flight state, the failure safety measure 130 may command a failure safety measure corresponding to the third flight state.

The emergency control unit 140 controls the flight of the air vehicle 10 in accordance with the instruction of the failure safety measure corresponding to each of the first to third flight states. That is, the emergency control unit 140 can control the flight of the air vehicle 10 differently according to the change of the flight state.

In particular, when the flight state is determined to be the first flight state or the second flight state, the emergency control unit 140 may control the airplane 10 to land in the safe space.

Hereinafter, a process for controlling the flight of the air vehicle 10 in accordance with a command for a failure safety measure according to each flight state of the air vehicle 10 will be described in detail.

First, when the flight state is determined to be the first flight state, the emergency control unit 140 causes the flight body 10 to land in the safety space according to a command for a failure safety measure corresponding to the first flight state Can be controlled.

Specifically, the emergency control unit 140 may wait for the flight state to return from the first flight state to the normal state in consideration of the flightable time of the air vehicle 10. For this, the flight condition analyzing unit 110 may determine a time during which the air vehicle 10 can fly in the first flight condition, based on the performance values for the respective components.

If the flight state does not return to the first flight state during the waiting time set shorter than the flightable time, the emergency control unit 140 can control the flight of the airplane 10 to land in the safe space have. For this, the safe space searching unit 120 may search for the safe space based on the available flight time.

If the safe space is not searched for a search time shorter than the availablity time, the emergency control unit 140 determines that the safety space is not searched for, You can control the flight.

To this end, the failure safety measure 130 may switch the flight state from the first flight state to the second flight state.

That is, when the safety space is not searched by the safety space searching unit 120, the malfunction safety control unit 130 may notify the malfunctioning state of the air vehicle 10, And to switch the flight state from the first flight state to the second flight state.

Next, when the flight state is determined to be the second flight state, the emergency control unit 140 determines that the flight state returns to normal for a predetermined period of time according to a command of a failure safety measure corresponding to the second flight state So that the flight of the air vehicle 10 can be controlled so as to fly in place.

However, if the flight state does not return to the normal state for the predetermined time, the emergency control unit 140 determines whether or not the air conditioner 10 is operating normally, based on the result of searching for the safe space until the failure of the air vehicle 10 You can try to fly to the nearest landing spot (safety space) nearest you.

Accordingly, when the flying object 10 reaches the landing possible point, the emergency control unit 140 controls the flight of the air vehicle 10 according to a command for a failure safety measure corresponding to the third flight state .

To this end, the failure safety measure 130 may switch the flight state from the second flight state to the third flight state. That is, when the emergency control unit 140 reaches the landing position of the air vehicle 10, the failure safety measure 130 can not guarantee a safe landing in the second flying state, It is possible to switch the flying state from the second flying state to the third flying state in preparation for the fall.

Finally, when the flight state is determined to be the third flight state, the emergency control unit 140 may operate the fall safety system mounted on the air body 10 to crash the air body 10. [

Since the third flight state is a state in which the flight can not be performed, the fall safety system can operate to induce a safe fall by using a parachute or a balloon, and the alarm system mounted on the air vehicle 10, To alert the user to a critical alarm.

To this end, the failure safety measure 130 may send a danger alarm command to the alarm system to alert the danger of the air vehicle 10. Accordingly, the emergency control unit 140 can collapse the air vehicle 10 in conjunction with the danger warning.

FIG. 4 is a view for explaining an air vehicle employing the air vehicle failure safety device according to an embodiment of the present invention.

Referring to FIG. 4, the air vehicle 10 adopting the air vehicle failure safety device according to the embodiment of the present invention includes a flight control device 12, a receiver 14, a failure safety device 16, a fall safety system 18 And an alarm system 20.

The flight control device 12 may control the flying object 10 so that the flying object 10 can fly according to a user input operation or a predetermined setting of the flying object 10.

The receiver 14 may receive the control command by the user input operation from the user.

The failure safety device 16 can control the air vehicle 10 when an abnormality occurs in the air vehicle 10.

The fall safety system 18 can protect not only the air vehicle 10 but also a person or property in a falling space when the air vehicle 10 falls. The fall safety system 18 according to an embodiment of the present invention may be a parachute or a balloon.

The alarm system 20 may warn an alarm when the air conditioner 10 determines that the air conditioner 10 is malfunctioning or falls, thereby protecting a person or property near the air conditioner 10.

FIG. 5 is a block diagram illustrating an operation procedure of a safety device for a vehicle operated by a user input operation according to an exemplary embodiment of the present invention. Referring to FIG.

Referring to the upper left part of FIG. 5, if there is a failure occurring in the battery remaining amount, a warning alarm is issued and the battery state is transmitted to the ground control center. The transmission of the battery status to the ground control center is for receiving a control command by the user input operation from the ground control center or for preparing other follow-up actions at the ground control center.

If the flying object 10 is continuously flying while the fault is transmitted, the altitude of the flying object 10 may be lowered. If the flying object is lowered below a predetermined level, the motor may be turned off and a safety fall system installed on the object may be operated to safely land the vehicle.

Referring to the left center of FIG. 5, when the motor state of the air vehicle 10 is abnormal or the installed sensors show an abnormal value, the motor is turned off and the safety fall system is activated when the flight is no longer possible.

5, when RF communication for communicating with the ground control center is interrupted, the air vehicle 10 can wait in a flying state until RF communication is restored to its normal state.

If the RF communication is not recovered even after a predetermined time elapses and the GPS sensor for detecting the position of the air vehicle 10 and performing automatic flight is normal, . ≪ / RTI >

If the GPS sensor is unavailable, the motor can be turned off to operate the safety fall system.

FIG. 5 is a flowchart illustrating an operation procedure of a safety device for a vehicle operated by a user input operation according to an embodiment of the present invention. However, the operation procedure of the air vehicle 10 using the GPS sensor have.

FIG. 6 is a flowchart illustrating an air vehicle failure safety method according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 6, in step 610, the airborne fault safety device 100 determines whether or not the air vehicle 10 has failed based on the performance value quantifying the current performance of each component of the air vehicle 10 .

Next, in step 620, the aviation safety device 100 searches for a safe space based on image information and sound information about the ground.

Next, in step 630, the airborne fault safety device 100 determines the flight state of the air vehicle 10 based on the determination result of the failure of the air vehicle 10, Order safety measures.

Next, in step 640, the aircraft fault safety device 100 controls the flight of the air vehicle 10 in accordance with the instruction of the failure safety measure.

The present invention has been described with reference to the preferred embodiments.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (19)

A flight state analyzer for determining whether the airplane has failed based on a performance value that quantifies the current performance of each component of the airplane;
A safe space search unit searching a safe space based on at least one of image information and sound information about the ground;
A failure safety measure unit for determining a flight state of the airplane based on a result of the determination of whether or not the airplane has failed, and for instructing a failure safety measure in accordance with the determined airplane; And
And an emergency control unit for controlling the aircraft to land in the safe space in response to an instruction of the failure safety measure,
The flight state
When it is determined that a malfunction has occurred in the air vehicle,
Wherein the air conditioner is determined to be one of a first flight state in which automatic flight is possible, a second flight state in which the flight is possible but the automatic flight is impossible, and a third flight state in which the flight is impossible.
delete The method according to claim 1,
When the flight state is determined to be the first flight state,
The emergency control unit
Wherein the control unit controls the airplane to land in the safety space in accordance with an instruction of a failure safety measure corresponding to the first flight state.
The method of claim 3,
The aircraft state analysis unit
Based on the performance value, a time when the flight can fly in the first flight state,
The safe space searching unit
Searching for the safe space based on the avail- able time,
The emergency control unit
And controls the flight of the airplane to land in the safe space when the flight state does not return to the normal state from the first flight state.
The method of claim 3,
If the safe space is not searched by the safe space searching unit,
The fault-safety measure
And switches the flight state from the first flight state to the second flight state.
The method according to claim 1,
When the flight state is determined to be the second flight state,
The emergency control unit
Wherein the control unit controls the flight of the airplane so that the airplane returns to the normal state for a predetermined period of time according to the command of the failure safety measure corresponding to the second flight state.
The method according to claim 6,
If the flight state does not return to the normal state for the predetermined time,
The emergency control unit
Wherein the airplane tries to fly toward a nearest landing point of the airplane based on the accumulated data through the search of the safe space until the failure of the airplane.
8. The method of claim 7,
When the flying object reaches the landing possible point,
The fault-safety measure
And switches the flying state from the second flying state to the third flying state.
The method according to claim 1,
When the flight state is determined to be the third flight state,
The fault-safety measure
A danger warning command is sent to the alarm system mounted on the airplane to warn the danger of the airplane,
The emergency control unit
And a crash safety system mounted on the airplane is operated in conjunction with a danger warning of the airplane to crash the airplane.
The method according to claim 1,
The aircraft state analysis unit
A performance value calculation unit for calculating a performance value that quantifies the current performance of each component of the air vehicle;
A performance comparison unit comparing performance values of the respective components of the airplane with preset performance thresholds; And
And an aircraft malfunction determination unit for determining malfunction of the aircraft based on the comparison result.
The method according to claim 1,
The safe space searching unit
An image / sound receiving unit for receiving at least one of image information and sound information about the ground; And
Extracting color information included in the image information and motion state information of an object included in the image information, analyzing the signal of the sound information, extracting frequency information from the sound information, analyzing the signal of the image information, And a safety space determination unit for searching the safe space based on at least one of the color information, the motion state information, and the frequency information.
12. The method of claim 11,
The safe space determination unit
Wherein the altitude of the flying object is measured and the safety space is searched based on the altitude measurement result.
Determining whether the airplane has a failure based on a performance value that quantifies current performance of each component of the airplane;
Searching a safe space based on at least one of image information and sound information about the ground;
Determining a flight state of the airplane based on a result of the determination of whether or not the airplane has failed, and commanding a corresponding failure safety measure according to the determined airplane state; And
And controlling the aircraft to land in the safe space according to an instruction of the failure safety measure,
The flight state
When it is determined that a malfunction has occurred in the air vehicle,
A first flight state in which automatic flight is possible, a second flight state in which the flight is possible but the automatic flight is impossible, and a third flight state in which the flight is impossible.
delete 14. The method of claim 13,
When the flight state is determined to be the first flight state,
The step of controlling the airplane to land in the safe space
Wherein the control unit controls the airplane to land in the safety space according to an instruction of a failure safety measure corresponding to the first flight state.
14. The method of claim 13,
When the flight state is determined to be the second flight state,
The step of controlling the airplane to land in the safe space
Wherein the control unit controls the flight of the airplane so that the airplane is allowed to return to the normal state after waiting for the airplane to return to the normal state for a predetermined time according to the command of the failure safety measure corresponding to the second flight condition.
14. The method of claim 13,
When the flight state is determined to be the third flight state,
The step of commanding the fault-
A danger warning command is sent to the alarm system mounted on the airplane to warn the danger of the airplane,
The step of controlling the airplane to land in the safe space
And a crash safety system mounted on the airplane is operated in conjunction with a danger warning of the airplane to crash the airplane.
14. The method of claim 13,
The step of determining whether or not the airplane has a failure
Calculating a performance value that quantifies the current performance of each component of the air vehicle;
Comparing the performance value of each component of the air vehicle with a predetermined performance threshold;
And determining whether the airplane has failed based on the comparison result.
14. The method of claim 13,
The step of searching for the safe space
Receiving at least one of image information and sound information about the ground; And
Extracting color information included in the image information and motion state information of an object included in the image information, analyzing the signal of the sound information, extracting frequency information from the sound information, analyzing the signal of the image information, And searching for the safe space based on at least one of the color information, the motion state information, and the frequency information.

Images