KR101710364B1 - Remote Control System with Load Estimation Feedback for Unmanned Aerial Vehicle - Google Patents

Abstract

One embodiment of the present invention relates to a remote control system for controlling flight of an unmanned aerial vehicle by an input of an operator through a wireless controller. The system comprises: an information collection unit collecting navigation information and an internal signal of the aerial vehicle during flight; a mechanical unit including a motor unit controlling a rotation speed or direction of a wing unit; and the wireless controller remotely communicating with the mechanical unit of the unmanned aerial vehicle and transmitting an input signal according to a command of an operator. The wireless controller comprises: a moving control unit receiving a moving command from the operator; a load estimation unit receiving the navigation information and the internal signal of the aerial vehicle from the information collection unit to estimate load applied to the mechanical unit; a monitoring unit visually displaying the load estimated by the load estimation unit; and a haptic presentation unit presenting the load estimated by the load estimation unit in a haptic manner.

Description

{Remote Control System with Load Estimation Feedback for Unmanned Aerial Vehicle}

The present invention relates to a remote control system for an unmanned aerial vehicle, and more particularly, to a system for receiving load information applied to an unmanned aerial vehicle to a remote control of a unmanned aerial vehicle.

Recently, various types of unmanned aerial vehicles called drones have been developed and used for various purposes. In the early stage of development, it was mainly used as a military for navigation and flight simulation. However, as the drones became widely popular, it was used for the purpose of image production by mounting the camera on unmanned aerial vehicles, Is underway.

In order to control the unmanned aerial vehicle, the user controls the movement of the unmanned aerial vehicle in a direction to move the direction button by pressing a direction button provided on the radio navigator. However, the conventional remote control system for the unmanned aerial vehicle, The operation of the mechanical unit is controlled by the command when the controller inputs the movement command to the controller depending on the viewpoint of the controller only without the interaction of the controller.

In such a remote control system, the load state applied to the unmanned aerial vehicle due to the external disturbance related to the unmanned aerial vehicle can not be accurately known, and there is a limitation in predicting the load state only by the user's visual information.

As described above, when the load applied to the unmanned aerial vehicle can not be detected or detected late due to the external disturbance, it is not easy to control the unmanned aerial vehicle in the direction or speed that the user intends. Since the flight path of a flight can change, there is a possibility that it may cause various accidents. Especially, in case of a simple gas failure and damage as well as a fall, serious accidents such as personal injury may occur.

As described above, in the remote control of the unmanned aerial vehicle as described above, in addition to the visual information of the unmanned aerial vehicle seen by the navigator, the load information is derived from the navigation information transmitted from the unmanned aerial vehicle mechanism and fed back to the navigator, And to provide a remote control system capable of grasping the state and reflecting it to the remote control.

An embodiment of the present invention is a remote control system for controlling the flight of an unmanned aerial vehicle by an operator's input through a radio controller, comprising: an information collecting unit for collecting navigation information and an internal signal during flight; A mechanism part of a unmanned aerial vehicle including a motor part; And a remote controller for remotely communicating with a mechanical unit of the unmanned aerial vehicle and transmitting an input signal according to a command of the remote controller, wherein the remote controller includes: a movement controller for receiving a movement command by a remote controller; A load estimating unit that receives the navigation information and the internal signal of the airplane from the information collecting unit and estimates load information hung on the mechanical unit; A monitoring unit for visually indicating an estimated load from the load estimating unit; And a tactile suggesting unit for presenting the estimated load from the load estimating unit in a tactile manner.

The load estimating unit may estimate a load applied to the mechanical unit based on the position, posture, angular velocity, and internal signal of the mechanical unit received from the navigation information of the mechanical unit.

The tactile display unit may generate a tactile sense of a different intensity according to the load estimated by the load estimation unit. The tactile sense presentation unit may be a haptic device that allows the user to feel the force and the sense of movement through a tactile sense.

The load estimating unit may use the load state recognition algorithm to determine whether a load is being generated in the mechanical unit due to the disturbance.

If the mathematical model for the mechanical unit is not determined, the load estimator receives the position, posture, angular velocity value, or internal signal of the mechanical unit from the information collecting unit and calculates a force acting on the mechanical unit and a force Lt; / RTI > The load value can be derived by subtracting the value measured by the acceleration sensor of the current mechanical part from the motor output value of the mechanical part.

The tactile display unit may further include a load implementation controller that determines a control input of the tactile suggestor using the load estimated from the load estimation algorithm, and the tactile suggestor receives the control input from the load implementation controller, The force can be generated in the same direction as the estimated load.

The monitoring unit may display the direction and the intensity of the load applied to the mechanical unit according to the load information estimated by the load estimation unit.

The remote controller for a UAV according to an embodiment includes a movement controller including a plurality of control command input means for the operator to input a movement command; A load estimating unit that receives the navigation information and the internal signal from the information collecting unit provided in the mechanism unit of the unmanned aerial vehicle to estimate load information on the mechanism unit; A monitoring unit for visually indicating an estimated load from the load estimating unit; And a tactile suggesting unit for presenting the estimated load from the load estimating unit in a tactile manner.

The load estimating unit estimates a load applied to the mechanical unit using a load estimation algorithm based on an internal signal of the vehicle including a position, an attitude, an angular velocity value of the mechanical unit received from the information collecting unit of the mechanical unit, Is estimated.

The monitoring unit may be formed of a screen-type panel that displays the direction and intensity of the load applied to the mechanical unit according to the load information estimated by the load estimation unit, to the controller.

The tactile suggesting unit determines a control input using a load estimated from a load estimation algorithm, and generates a force in the same direction as a load assumed to be received by the mechanism.

According to the embodiment of the present invention, the load generated in the mechanism part of the unmanned aerial vehicle in flight can be estimated and fed back to the radio control device visually and tactually so that the user can more accurately determine the flight status of the unmanned aerial vehicle mechanism part.

According to the embodiment of the present invention, since the load state of the unmanned aerial vehicle can be estimated through the navigation information and the internal signal of the air vehicle without adding additional sensors or devices to the unmanned aerial vehicle, the remote control can be performed without changing the design of the unmanned aerial vehicle .

According to the embodiment of the present invention, the operator can control the movement of the unmanned aerial vehicle in a direction and a speed intended for the intention through the visual or tactile load information of the unmanned aerial vehicle, It is possible to prevent accidents such as a fall or personal injury.

1 is a diagram showing a conventional remote control system for unmanned aerial vehicles
2 is a view showing a remote control system for an unmanned aerial vehicle according to an embodiment;
3 is a diagram illustrating an example of an algorithm performed by the load estimating unit of the remote control system for an unmanned aerial vehicle according to the embodiment
4 is a flowchart showing an algorithm of a model-based technique performed in a load estimating unit of a remote control system for an unmanned aerial vehicle according to an embodiment;
5 is a flowchart showing an algorithm of a model-free technique performed in a load estimating unit of a remote control system for an unmanned aerial vehicle according to an embodiment
6 is a flowchart showing an example of a load state recognition algorithm in the load estimation algorithm according to the embodiment
7 is a diagram illustrating a radio remote controller in a remote control system for an unmanned aerial vehicle according to an embodiment;

The embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the present invention is not limited to these embodiments. In describing the present invention, a detailed description of well-known functions or constructions may be omitted for the sake of clarity of the present invention.

2 is a diagram illustrating a remote control system for an unmanned aerial vehicle according to an embodiment.

As shown in FIG. 2, the remote control system for an unmanned aerial vehicle according to an embodiment of the present invention is a remote control system for controlling the flight of an unmanned air vehicle by inputting a controller through a radio controller, And a radio remote controller 20 that communicates remotely with the engine 30 of the unmanned aerial vehicle and transmits an input signal according to a command from the remote controller 10.

The mechanism part 30 includes an information collecting part 31 for collecting navigation information and an internal signal during a flight and a motor part 32 for controlling the rotation speed or direction of at least one of a plurality of blades provided on a side surface of the mechanism part can do.

The information collecting unit 31 may collect or collect information such as a navigation sensor, a gyro sensor, an acceleration sensor, and electric signal information for motor control within the air vehicle, which are essential for the flight of the unmanned aerial vehicle. The above sensors are known in a conventional unmanned aerial vehicle, and a detailed description thereof will be omitted.

The remote control system for the unmanned aerial vehicle of the embodiment receives the navigation and internal signal data of the flying mechanism from the information collecting unit 31 and transmits the navigation and internal signal data to the radio remote controller to estimate the load information received by the mechanism due to disturbance around the current mechanism. This is characterized by the fact that Here disturbance can be understood as all the forces that affect the movement of the mechanism part of the unmanned aerial vehicle in flight and it can be seen as an external shake that occurs when an additional element such as a camera, Elements, and the like.

The term " load " means a force applied to the current mechanical part due to the disturbance as described above. When there is a load, the mechanical part is in a state of receiving a force in a specific direction due to disturbance. This means that the unmanned aerial vehicle can move as intended by the navigator without affecting the disturbance.

The remote controller included in the remote control system for the unmanned aerial vehicle according to the embodiment includes a movement control unit 24 for receiving a movement command by a controller, a navigation control unit 24 for receiving navigation and internal signal information from the information collection unit, A monitoring unit 21 for visually indicating the load estimated from the load estimating unit 22 and a tactile suggesting unit 23 for presenting the estimated load tactically from the load estimating unit 22 .

The movement control unit 24 may be constituted by a plurality of control command input means that are pressed or changed in direction by the operator, and each control command input means can control the speed of any one of the vanes provided in the mechanism unit. At least four control command input means for controlling the movement of the mechanism in the horizontal direction and at least four control command input means for moving the mechanism in the vertical direction may be provided. .

The load estimating unit 22 is configured to receive the navigation and internal signal information from the information collecting unit and estimate the load information hung on the mechanism unit. The load estimating unit 22 includes a load estimation algorithm, , The angular velocity value, and the like.

The wireless controller of the embodiment is provided with a monitoring unit 21 for visually indicating a load estimated from the load estimating unit 22 and may be provided on a display screen such as a panel on the upper end of the wireless controller as one embodiment. The shape of the mechanical part appears on the display screen, and the magnitude and direction of the force applied to the mechanical part can be indicated by an arrow. This is an example, and the load information displayed on the display screen according to the user setting can be variably changed.

The radio control unit of the embodiment may be provided with a tactile suggesting unit 23 for presenting the estimated load from the load estimating unit 22 in a tactile manner. As one example, the tactile suggesting unit 23 may be combined with the movement control unit 24, and the tactile suggesting unit 23 may be provided in each control command input unit of the movement control unit 24 . That is, when the operator touches the finger to the control command input means of the mobile control unit for manipulating the unmanned air vehicle, the controller may receive tactile force of different intensity from each control command input means in accordance with the load information transmitted from the load estimation unit have.

The tactile display unit may be implemented as a haptic device that allows the user to feel the force and the sense of movement through a tactile sense, but the present invention is not limited thereto. It is also possible to implement a vibration device that can sense the difference when the controller touches the finger.

The operator can roughly estimate in what direction the current mechanism part receives the load in the current direction by the tactile sense felt by the respective control command input means, and can stabilize the flight of the mechanism part by reflecting it to the steering maneuver later.

3 is a flowchart illustrating an example of an algorithm performed by the load estimating unit of the remote control system for an unmanned aerial vehicle according to the embodiment.

Referring to FIG. 3, first, a step S10 of transmitting navigation information (position, attitude, velocity, acceleration, angular velocity, etc.) or control and signal information (current, Is completed, a step S20 is performed to determine whether a load is applied to the current mechanism section. If it is determined that there is no load, the load estimation algorithm is terminated, and the pilot can perform manipulation of the unmanned aerial vehicle as intended.

If it is determined that there is a load, a step S30 of estimating a load value may be performed, and the load estimation may be estimated by a Model-based technique or a Model-free technique. Adjustable.

FIG. 4 is a flowchart illustrating an algorithm of a model-based technique performed in a load estimating unit of a remote control system for an unmanned aerial vehicle according to an embodiment.

Referring to FIG. 4, a step (D10) of feeding back the position, attitude, angular velocity and voltage and current value of the mechanical part to the radio controller is performed in the GPS and IMU basically installed in the mechanical part. Next, a step (D20) is performed to determine whether or not a load is applied to the mechanical part through the load state recognition algorithm. If it is judged that there is no load, the load estimation algorithm is terminated and the pilot can perform manipulation of the unmanned aerial vehicle as intended. If it is judged that there is a load, the load acting on the mechanism portion is estimated through the disturbance observer Step D30 may be performed. The embodiment is not limited to the disturbance observer, and may include various methods for estimating the disturbance based on the model.

An example of the above-described load estimation algorithm is as follows. The state (position, posture) of the mechanism section is defined by the following equation (1).

Based on Equation (1), the dynamics of the mechanical unit can be expressed by Equation (2).

Based on Equation (2), the entire dynamics including the disturbance can be derived as Equation (3).

From Equation (3), the nonlinear disturbance observer can be designed as Equation (4), and the load due to the disturbance can be estimated through this.

As described above, it is preferable that the algorithm of the Model-based (model-based) technique is applied to the case where the structure of the unmanned aerial vehicle is mathematically modeled and the attitude and position can be derived through the mathematical modeling. In addition, the embodiment uses a method of estimating a model-based disturbance (Disturbance observer, Disturbance estimator, Kalman filter, H _∞ filter, etc.) when a mathematical model for the load estimation unit is used It is possible to estimate the disturbance acting on the mechanical part.

FIG. 5 is a flowchart showing an algorithm of a model-free technique performed in a load estimating unit of a remote control system for an unmanned aerial vehicle according to an embodiment.

Referring to FIG. 5, a step (T10) may be performed in which the position, attitude, angular velocity, and voltage current value for the motor control are received by the radio controller in GPS and IMU basically installed in the mechanical unit. Then, a step (T20) of judging whether or not a load is being applied to the mechanical part through the load state recognition algorithm can be performed.

If it is determined that the load is not generated, the load estimation algorithm is terminated, the pilot can perform manipulation of the unmanned aerial vehicle as intended, and if it is determined that the load is being generated, T30) may be performed. In the step T30, the load value can be estimated through the force acting on the mechanical part by the motor and the force due to the movement of the current mechanical part. In the embodiment, the value measured by the acceleration sensor of the current mechanical part is subtracted from the motor output value of the mechanical part, and this value can be assumed to be the load applied to the current mechanical part.

As described above, the algorithm of the model-free technique of the embodiment can estimate the load occurring in the current mechanism through the motor and the sensor built in the mechanism even if the structure of the unmanned aerial vehicle is not mathematically modeled.

6 is a flowchart showing an example of a load state recognition algorithm (an example in the case where the reference posture is not skewed) in the load estimation algorithm according to the embodiment.

Referring to FIG. 6, the load state recognition algorithm first performs a step (K10) of feeding back a posture and a remote control (RC) value of the mechanical unit to the radio controller. Next, a step (K20) for judging whether the posture of the mechanical part is inclined or not is performed. If the posture of the mechanical part is not tilted, it is determined whether or not the RC command is given (step K21). If the RC command is given, it is determined that the load is being generated in the current mechanical part. It is judged that no load is generated in the mechanical part.

When it is determined that the posture of the mechanical unit is inclined, it is determined whether or not the RC command is given (step K30). If the RC command is not given, it is determined that the load is applied. (K40) to determine whether or not the posture of the mechanical unit matches the command.

It is presumed that no load occurs when the position and command of the mechanical part coincide with each other. If it is determined that the load does not coincide with the command, it can be assumed that a load is being generated in the mechanical part.

FIG. 7 is a view illustrating a remote controller in a remote control system for an unmanned aerial vehicle according to an embodiment. Referring to FIG. 7, the radio remote controller 20 provided in the remote control system for the unmanned aerial vehicle of the embodiment has a configuration for visually and tactically implementing the load information estimated by the load estimation algorithm to the controller.

At the upper end of the radio control unit 20, a monitoring unit 21 for displaying load information to the operator may be provided. The monitoring unit 21 may be formed as a window-shaped screen as shown in an example, and load information generated in the mechanism unit may be numerically displayed on the screen. In addition, the load direction and intensity can be displayed in the direction of the arrow according to the user's setting.

Below the monitoring unit 21, a tactile display unit 24 for presenting a tactile sense to the driver may be provided. The tactile display unit 24 may be implemented as a two-axis load tactile feedback system using a small DC motor as shown, but is not limited thereto.

The tactile suggesting unit 24 may be formed by a motor and may receive the control input from the load implementation controller and generate tactile force in the same direction as the load assumed to be received by the mechanism, thereby providing tactile load information to the controller. The load implementation controller may determine the control input of the tactile suggestor using the estimated load from the load estimation algorithm. An example of this is as follows.

이라고 가정한다. 그리고, Nicosia observer 등 다양한 계측(observer) 기법을 이용하여 부하정보를 고려한 조종기 부하 구현부의 제어입력(u_J)와 기구부의 제어입력(u_D)을 아래와 같은 수학식 5와 같이 임의의 함수인 f로 정의할 수 있다.The load of the radio control unit is r _{J ,} the load of the mechanism unit is r _D ,

. The control input (u _J ) and the control input (u _D ) of the controller load implementation unit considering the load information are calculated by using various observer techniques such as Nicosia observer and the control input (u _D ) .

는 이동제어부를 통해 기구부가 움직여야 하는 위치의 오차를 나타낸다. 즉, 실시예의 무선조종기에 구비되는 부하 구현 제어부는 촉각 제시부의 제어입력과 기구부의 제어입력을 동시에 결정할 수 있으며, 조종자에게 기구부의 힘 정보를 제공해줄 수 있다. 또한, 조종자는 임의적으로 자세 제어와 힘 제어를 수행할 수도 있고, 추정되는 부하를 촉각적으로 느끼면서 무선조종기를 통해 기구부의 동작을 직접 제어할 수 있다. In Equation (5)

Represents an error of a position at which the mechanism section should move through the movement control section. That is, the load implementation controller included in the radio controller of the embodiment can simultaneously determine the control input of the tactile display unit and the control input of the mechanical unit, and can provide the controller with force information of the mechanical unit. Also, the operator can arbitrarily perform attitude control and force control, and can directly control the operation of the mechanism through the radio controller while feeling the estimated load tactile.

As described above, the remote control system for the unmanned aerial vehicle according to the embodiment uses the navigation information or the control input information of the mechanism part of the unmanned aerial vehicle in flight to reflect the load information generated by the disturbance around the current mechanism part in the radio control device . That is, the embodiment can estimate the load state of the unmanned aerial vehicle using the navigation information and the internal signal information without adding additional sensors or devices to the unmanned aerial vehicle, so that the remote operation can be performed without changing the design of the unmanned aerial vehicle.

In addition, the load of the unmanned aerial vehicle in flight can be estimated and the visual and tactile feedback of the load can be determined more accurately by the user. In addition, the operator can control the movement of the unmanned aerial vehicle in the intended direction and speed through the visual or tactile load information of the unmanned aerial vehicle, and it is possible to steer the unmanned aerial vehicle so as to fly more stably, It is possible to prevent accidents such as damage in advance.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood that various modifications and applications other than those described above are possible. For example, each component specifically shown in the embodiments of the present invention can be modified and implemented. It is to be understood that all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

20: Radio remote control
21: Monitoring section
22:
23:
24:
30: Unmanned Aerial Vehicle
31: Information collecting section
32:

Claims (15)

A remote control system for controlling a flight of an unmanned aerial vehicle by an operator's input through a radio controller,
An information collecting unit for collecting navigation information and internal signal information in flight;
And a motor unit for controlling a rotating speed or direction of the wing portion; And
And a remote controller for remotely communicating with a mechanical unit of the unmanned aerial vehicle and transmitting an input signal according to a command of a driver,
The radio-
A movement controller for receiving a movement command by a controller;
A load estimator for receiving information including the navigation and internal control signals from the information collecting unit and estimating load information held by the mechanical unit;
A monitoring unit for visually indicating an estimated load from the load estimating unit; And
And a tactile suggesting unit for tactually presenting the estimated load from the load estimating unit. The method according to claim 1,
Wherein the load estimating unit estimates a load applied to the mechanical unit based on the position, posture, angular velocity value and control signal of the mechanical unit received from the navigation unit and the internal signal information of the mechanical unit. The method according to claim 1,
Wherein the tactile suggesting unit generates a tactile sense of a different intensity according to the load estimated by the load estimating unit. The method of claim 3,
Wherein the tactile display unit is a haptic device for allowing the tactile sense of force and sense of movement to be felt through a tactile sense. 3. The method of claim 2,
Wherein the load estimator uses the load state recognition algorithm to determine whether a load is being generated in the mechanical unit due to disturbance. 6. The method of claim 5,
The load estimator receives a position, an attitude, an angular velocity value, a control command value, a current, a voltage signal, and the like of the mechanical unit from the information collecting unit, A remote control system for a unmanned aerial vehicle that estimates a load value using a load estimation algorithm through an acting force and a force due to the motion of the current mechanism. The method according to claim 6,
Wherein the load value is derived by subtracting a value measured by an acceleration sensor of a current mechanical part from a motor output value of a mechanical part. 8. The method of claim 7,
When using the mathematical model for the load estimator, it is possible to use a method that can estimate the model-based disturbance (Disturbance observer, Disturbance estimator, Kalman filter, H _∞ filter, etc.) A remote control system for unmanned aerial vehicles that estimates disturbance. 9. The method according to claim 6 or 8,
And a load implementation controller for determining the control input of the tactile suggesting unit using the load estimated from the load estimation algorithm if it is estimated that a load is being generated in the mechanism unit by the load state recognition algorithm, system. 10. The method of claim 9,
Wherein the tactile suggesting unit receives a control input from the load implementation controller and generates force in the same direction as the load assumed to be received by the mechanism. The method according to claim 1,
Wherein the monitoring unit displays the direction and intensity of the load applied to the mechanical unit according to the load information estimated by the load estimating unit. A movement control unit comprising a plurality of control command input means for the operator to input a movement command;
A load estimator for receiving navigation information and an internal signal from an information collecting unit provided in a mechanical unit of the unmanned aerial vehicle to estimate load information hung on the mechanical unit;
A monitoring unit for visually indicating an estimated load from the load estimating unit; And
And a tactile suggesting unit for presenting the estimated load from the load estimating unit in a tactile manner. 13. The method of claim 12,
The load estimating unit estimates a load applied to the mechanical unit using the load estimation algorithm based on the position, posture, angular velocity, control command value, input current, and voltage value of the mechanical unit received from the navigation and internal signal information of the mechanical unit. Radio manipulator for aviation. 13. The method of claim 12,
Wherein the monitoring unit comprises a screen-type panel for displaying a direction and an intensity of a load applied to the mechanical unit according to the load information estimated by the load estimation unit. 13. The method of claim 12,
Wherein the tactile suggesting unit determines a control input using a load estimated from a load estimation algorithm and generates a force in the same direction as a load assumed to be received by the mechanism.

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