KR101852990B1 - Unmanned aerial vehicle and method for controlling the same - Google Patents

Abstract

An unmanned aerial vehicle and a control method thereof according to various embodiments of the present invention are disclosed. The UAV has a body, a plurality of ultrasonic transmitters arranged along the periphery of the body, each of the plurality of ultrasonic transmitters being arranged along the periphery of the body, A plurality of ultrasonic receivers for receiving ultrasonic echoes generated by reflecting an ultrasonic wave from an object and converting the received ultrasonic echoes into electric signals and controlling the wings to move in the first direction by lifting the main body, And a controller for controlling the first ultrasonic transmitter to output the ultrasonic wave and receiving the electric signal from at least two ultrasonic receivers selected according to the first ultrasonic transmitter among the ultrasonic receivers. Wherein the control unit controls the first ultrasonic transmitter based on the first output time at which the first ultrasonic transmitter outputs the ultrasonic waves and at least two reception times at which the at least two ultrasonic receivers respectively receive the ultrasonic echoes, And the distance to the object is calculated on the basis of the first output point and the at least two points of reception when the object is located within the target detection range do.

Description

[0001] The present invention relates to an unmanned aerial vehicle and method for controlling the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned aerial vehicle and a control method thereof, and more particularly, to a method of detecting an object or an obstacle in the vicinity of an unmanned aerial vehicle.

Unmanned Aerial Vehicle (UAV) has been developed due to the development of aviation technology and communication technology. Unmanned aerial vehicles (also called drone) are manufactured in a wide variety of forms, including airplanes, helicopters, and multi-copters.

Unmanned aerial vehicles are being used in a variety of fields as production costs are reduced and miniaturized. In particular, unmanned aerial vehicles equipped with cameras and sensors are used in various fields such as image production, transportation, security, surveillance and observation. As the application area has expanded, attempts have been made to utilize unmanned airplanes in indoor as well as outdoor environments. The indoor environment is not only clogged by walls and ceilings, but also the risk of collision and breakage is very high because various appliances such as household appliances and furniture are located in various places. Accurate detection of obstacles is necessary to reduce the risk of collision and breakage.

The method of using the camera to detect whether there is an obstacle in the moving direction of the unmanned airplane can not be used in the case where it is difficult to check the image such as at night and the problem that the transparent object such as a window is difficult to be detected by the image I have. The method of detecting obstacles using the Raidasensor has the problem that since the Raidasensor uses a laser, it can accurately detect an obstacle even at night, but a transparent object such as a window is not detected.

Korean Patent Laid-Open No. 10-2013-0037697 (Apr. Korean Patent Publication No. 10-2010-0088400 (Aug. Korean Patent Publication No. 10-2009-0029486 (Mar. 23, 2009)

An object of the present invention is to provide an unmanned airplane capable of detecting an obstacle around the obstacle so that the obstacle can be utilized even in a room with many obstacles.

Another object of the present invention is to provide a control method of an unmanned airplane capable of detecting an obstacle around a UAV so that the UAV can be utilized indoors.

An unmanned aerial vehicle according to one aspect of the present invention includes a main body, a plurality of ultrasonic transmitters coupled to the main body and configured to generate lift and thrust, a plurality of ultrasonic transmitters arranged along the periphery of the main body, A plurality of ultrasound receivers arranged in the body and adapted to receive ultrasonic echoes generated by reflecting the ultrasonic waves from an object and convert the ultrasonic echoes into electric signals, and a control unit for controlling the wings to move in the first direction, And a controller for controlling the first ultrasonic transmitter to output the ultrasonic wave from at least two ultrasound receivers selected according to the first ultrasonic transmitter among the ultrasonic receivers, . Wherein the control unit controls the first ultrasonic transmitter based on the first output time at which the first ultrasonic transmitter outputs the ultrasonic waves and at least two reception times at which the at least two ultrasonic receivers respectively receive the ultrasonic echoes, And the distance to the object is calculated on the basis of the first output point and the at least two points of reception when the object is located within the target detection range do.

The first ultrasonic transmitter may be selected as an ultrasonic transmitter positioned in the first direction from the main body. The at least two ultrasound receivers may include first and second ultrasound receivers disposed apart from each other in the horizontal direction. The at least two reception points may include first and second reception points at which the first and second ultrasonic receivers respectively receive the ultrasonic echoes.

The control unit may be configured to determine whether the object is located within the target sensing angle in the horizontal direction from the first direction, based on the parallax between the first and second reception points.

Wherein the control unit calculates a distance difference between a first distance from the first ultrasonic receiver to the object and a second distance from the second ultrasonic receiver to the object based on the parallax, A value obtained by multiplying a sin value of an angle with the distance difference and determining whether the object is located within the target sensing range according to the comparison result.

Wherein the control unit calculates a distance difference between a first distance from the first ultrasonic receiver to the object and a second distance from the second ultrasonic receiver to the object based on the parallax, , The object may be configured to calculate an angle that is horizontally spaced from the first direction.

Wherein when the object is located outside the target sensing range, the controller controls the first ultrasonic transmitter and the second ultrasonic transmitter based on the ultrasonic receiver, which receives the ultrasonic echo more quickly than the first ultrasonic receiver and the second ultrasonic receiver, And controlling the second ultrasonic transmitter to output the ultrasonic wave at a second output time point, wherein the ultrasonic wave outputted at the second output time point is selected by the second ultrasonic transmitter, Is configured to determine whether the object is located within a target sensing range of the second ultrasonic transmitter based on at least two reception times received by the at least two ultrasonic receivers .

The interval between the first ultrasonic transmitter and the first ultrasonic receiver may be the same as the interval between the first ultrasonic transmitter and the second ultrasonic receiver.

The plurality of ultrasound transmitters may be arranged in an equiangular manner in a horizontal direction along the periphery of the main body, and the plurality of ultrasound receivers may be arranged in an equiangular manner in a horizontal direction along the periphery of the main body.

The first ultrasonic transmitter may be selected as an ultrasonic transmitter positioned in the first direction from the main body. The at least two ultrasound receivers may include first and second ultrasound receivers disposed apart from each other by a distance in the vertical direction. The at least two reception points may include first and second reception points at which the first and second ultrasonic receivers respectively receive the ultrasonic echoes.

The control unit may be configured to determine whether the object is located within the target sensing angle in the vertical direction from the first direction based on the parallax between the first and second reception points.

The first ultrasonic transmitter may be selected as an ultrasonic transmitter positioned in the first direction from the main body. Wherein the at least two ultrasound receivers include first and second ultrasound receivers disposed at a first spacing distance in a horizontal direction from each other, and first and second ultrasound receivers disposed at a second spacing distance in the vertical direction from the first and second ultrasound receivers And a third ultrasound receiver. The at least two reception points may include first to third reception points at which the first to third ultrasonic receivers each receive the ultrasonic echoes.

The control unit may be configured to determine whether the object is positioned within a first target sensing angle in a horizontal direction from the first direction based on a parallax between the first and second reception points. The control unit may be configured to determine whether the object is located within a second target sensing angle set in a vertical direction with respect to the first direction based on the first to third reception points.

Wherein the control unit determines whether the object is located within the second target sensing angle in a vertical direction with respect to the first direction based on a time difference between the average of the first and second reception points and the third reception time . ≪ / RTI >

The interval between the first ultrasonic transmitter and the first ultrasonic receiver may be the same as the interval between the first ultrasonic transmitter and the second ultrasonic receiver. The third ultrasonic receiver may be positioned in the vertical direction of the first ultrasonic transmitter.

The controller may be configured to wirelessly transmit information on the distance to the object and the direction in which the object is located.

The controller sequentially drives the plurality of ultrasonic transmitters one by one and detects at least two ultrasonic receivers corresponding to each of the sequentially driven ultrasonic transmitters to detect objects located in the direction of each of the plurality of ultrasonic transmitters can do.

According to one aspect of the present invention, there is provided a control method for an unmanned airplane, the unmanned airplane including a main body, a wing portion coupled to the main body and generating lift and thrust, and a plurality of ultrasonic transmitters arranged along the periphery of the main body, Of ultrasound receivers. According to the control method, one of the plurality of ultrasonic transmitters is selected. At least two ultrasound receivers including first and second ultrasound receivers corresponding to the first ultrasound transmitter are selected from among the plurality of ultrasound receivers. At the first output time, ultrasonic waves are output using the first ultrasonic transmitter. The first and second receiving points at which the first and second ultrasonic receivers respectively receive the ultrasonic echoes generated by reflecting the ultrasonic waves from the object are determined. Based on the first and second reception times, it is determined whether the object is located within a target sensing range of the first ultrasonic transmitter.

The wing can be used to move the UAV in a first direction. The first ultrasonic transmitter may be selected from among the plurality of ultrasonic transmitters as an ultrasonic transmitter positioned in the first direction.

When the parallax between the first and second reception points is smaller than the first threshold value, it may be determined that the object is located within the target sensing range of the first ultrasonic transmitter.

The first threshold value may be set based on an interval in the horizontal direction between the first and second ultrasonic receivers, a target sensing angle defining the target sensing range, and a velocity of the ultrasonic wave.

According to another aspect of the present invention, an unmanned aerial vehicle includes a main body, a wing portion coupled to the main body and generating a lift force and a thrust force, a plurality of wing portions arranged along the periphery of the main body, A plurality of ultrasonic sensors for sensing a return time from an object positioned within the body, and a control unit for controlling the wing to move the body so as to float, and the ultrasonic sensors operate at different points in time and are output from the ultrasonic sensors And a controller for time-divisionally driving the ultrasonic sensors so that the ultrasonic waves do not interfere with each other. And the control unit is configured to calculate the distance from the main body to the object in a direction in which the ultrasonic sensors are located based on the time detected by the plurality of ultrasonic sensors.

The predetermined target sensing angle may be set based on an angle obtained by dividing 360 degrees by the number of the plurality of ultrasonic sensors.

The predetermined target sensing angle may be 20 degrees or less, and the number of the plurality of ultrasonic sensors may be 18 or more.

The controller may drive two, three, four, or five ultrasonic sensors located at any one of the 180, 120, 90, or 72 degrees of the plurality of ultrasonic sensors at the same timing have.

The UAV according to the present invention can detect the position of a surrounding obstacle or an object without interference between ultrasonic waves by driving the plurality of ultrasonic sensors in a time division manner. Therefore, the unmanned airplane can accurately detect the position of the surrounding obstacle, and based on this information, the obstacle can be avoided and moved to a desired destination.

1 shows a schematic plan view of an unmanned aerial vehicle according to an embodiment of the present invention.
2 shows a block diagram of a control unit mounted in an unmanned air vehicle according to an embodiment of the present invention and a remote control device for controlling the unmanned air vehicle.
FIG. 3 is a block diagram illustrating the operation of the peripheral sensing unit of FIG. 2;
4 shows a schematic plan view of an unmanned aerial vehicle according to another embodiment of the present invention.
Figures 5A through 5E illustrate exemplary arrangements of ultrasonic transmitters and ultrasonic receivers mounted on the outer surface of a second guard in accordance with embodiments of the present invention.
6 shows target detection ranges of ultrasonic sensors of an unmanned aerial vehicle according to an embodiment of the present invention.
FIGS. 7 and 8 are views for explaining a method of detecting a position of an object using an ultrasonic transmitter and an ultrasonic receiver according to an embodiment of the present invention.
9 is a view for explaining a method of detecting a position of an object using an ultrasonic transmitter and ultrasonic receivers arranged as shown in FIG. 5B according to an embodiment of the present invention.
10 is a view for explaining a method of detecting a position of an object using an ultrasonic transmitter and ultrasonic receivers arranged as shown in FIG. 5C according to an embodiment of the present invention.

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

Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art, and the following embodiments may be modified in various other forms, The present invention is not limited to the following embodiments. Rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an," and "the" include plural forms unless the context clearly dictates otherwise. Also, " comprise "and / or" comprising "when used herein should be interpreted as specifying the presence of stated shapes, numbers, steps, operations, elements, elements, and / And does not preclude the presence or addition of one or more other features, integers, operations, elements, elements, and / or groups. As used herein, the term "and / or" includes any and all combinations of one or more of the listed items.

Although the terms first, second, etc. are used herein to describe various elements, regions and / or regions, it should be understood that these elements, components, regions, layers and / Do. These terms are not intended to be in any particular order, up or down, or top-down, and are used only to distinguish one member, region or region from another member, region or region. Thus, the first member, region or region described below may refer to a second member, region or region without departing from the teachings of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings schematically showing ideal embodiments of the present invention. In the figures, for example, variations in the shape shown may be expected, depending on manufacturing techniques and / or tolerances. Accordingly, embodiments of the present invention should not be construed as limited to any particular shape of the regions illustrated herein, including, for example, variations in shape resulting from manufacturing.

1 shows a schematic plan view of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the UAV 100 includes a main body 110, a wing 120, and ultrasonic sensors 150. The UAV 100 may further include a first protection unit 130 and a second protection unit 140. 1, the UAV 100 includes a controller 200 (FIG. 2) for controlling the overall operation of the UAV 100, and the controller 200 can be mounted on the main body 110 have.

The UAV 100 may be in the form of a multi-copter, e.g., a quad-copter as shown in FIG. The unmanned airplane (100) can fly in a closed room, and can take a vertical takeoff and landing form. The UAV 100 may be in the form of a helicopter, or a quad-copter or octacopter. The UAV 100 may be in the form of an airplane that requires a runway to take off. Embodiments of the present invention are not limited to the quad-copter type shown in Fig.

The main body 110 is a portion where the components of the UAV 100 are coupled to each other and may include devices such as a wing 120, a controller 200, and a battery.

The wing parts 120 are coupled to the main body 110 and the wing parts 120 are coupled to each other to generate lifting force and thrust force so that the UAV 100 can float and move in a desired direction. The wing portion 120 may include a support portion 121, a propeller drive portion 122, and a propeller 123 as shown in FIG. The support portion 121 is fixed to the main body 110 and supports the propeller drive portion 122 and the propeller 123. The propeller driving unit 122 rotates the propeller 123 under the control of the control unit 200. The propeller 123 is rotated by the propeller drive unit 122 to generate a thrust force to move or rotate the lifting and maneuvering aircraft 100 to float the UAV 100. Although four wing portions 120 are shown in FIG. 1 as being coupled to the body 110, this is exemplary and may include six, eight, or more wing portions 120 coupled to the body 110 . When the UAV 100 is in the form of a helicopter, one or more horizontal wings and vertical wings may be superimposed on the body 110.

The first protection unit 130 is coupled to the main body 110 and is disposed so as to surround the wing 120 to protect the wing unit 120 even if the UAV 100 moves in the horizontal direction and collides with another object . According to the design of the UAV 100, the first protection part 130 may be omitted.

The second protective portion 140 is disposed to surround the main body 110 and the wing portions 120. The second protective portion 140 can prevent the main body 110 and the wing portions 120 from colliding with the UAV 100, ). ≪ / RTI > The ultrasonic sensors 150 may be disposed on the outer surface of the second protection unit 140. Here, the outer surface means the opposite surface of the inner surface facing the main body 110. [

The second protective portion 140 may have a circular annular shape as shown in Fig. 1, but this is illustrative and may have a shape of a polygonal annulus. The number of sides of the polygonal ring may be the same as the number of the ultrasonic sensors 150. The second protection unit 140 may be coupled to the first protection unit 130 and fixed thereto. However, the second protective portion 140 may be directly coupled to the main body 110. [ The second protection unit 140 may be omitted according to the design of the UAV 100. The ultrasonic sensors 150 may be directly mounted on the main body 110 or may be mounted on the main body 110 through a sensor support extending from the main body 110. [ (Not shown).

The ultrasonic sensors 150 are arranged along the circumference of the body 110. As shown in FIG. 1, the ultrasonic sensors 150 may be mounted on the outer surface of the annular second protector 140 at regular intervals.

The ultrasonic sensors 150 may be connected to the controller 200 and may operate according to the control of the controller 200 and provide the sensing result to the controller 200. [ Each of the ultrasonic sensors 150 can sense the time that the output ultrasonic waves are reflected from the object after the ultrasonic waves are outputted. For example, the ultrasonic sensors 150 may include an ultrasonic transmitter for outputting ultrasonic waves and an ultrasonic receiver for receiving ultrasonic waves reflected from the object. The ultrasonic sensor 150 according to embodiments of the present invention may include one ultrasonic transmitter and a plurality of ultrasonic receivers, and the ultrasonic receivers may be disposed apart from each other to detect the distance to the object as well as the position of the object have. The ultrasonic sensors 150 may generate an electric signal corresponding to the received ultrasonic wave and provide the generated electric signal to the controller 200. [

The controller 200 can sense the distance from the ultrasonic sensor 150 to the object on the basis of the time difference between the output time of the output of the ultrasonic waves and the time of the reception of the reflected ultrasonic waves. For example, the distance that the ultrasonic wave travels between the ultrasonic sensor 150 and the object is equal to the distance traveled by the ultrasonic wave during the time difference between the output time point and the reception time point. The distance between the ultrasonic sensor and the object can be detected by calculating 1/2 of the moved distance. The controller 200 may store information on the speed of the ultrasonic wave, and may be connected to a temperature sensor for sensing the temperature, which is a factor affecting the ultrasonic velocity, or may receive temperature information from the outside.

The ultrasonic sensors 150 may be arranged along the horizontal direction of the UAV 100, and each of the ultrasonic sensors 150 may be configured to detect an object within a predetermined target sensing angle, respectively.

The ultrasonic sensors 150 can sense 360 degrees in the horizontal direction of the UAV 100. The target sensing angle may be determined according to the number of the ultrasonic sensors 150 mounted around the horizontal direction of the UAV 100. For example, when the number of the ultrasonic sensors 150 is 24 as shown in FIG. 1, the target sensing angle may be 15 degrees or more. For example, when the number of the ultrasonic sensors 150 is eight, the target sensing angle may be 45 degrees which is 1/8 of 360 degrees. The number of the ultrasonic sensors 150 may be 8 or more and 36 or less. For example, the number of ultrasonic sensors 150 may be 8, 9, 10, 12, 15, 16, 18, 20, 24, 30, or 36, for example. At this time, the target sensing angle may be 45 degrees, 40 degrees, 36 degrees, 30 degrees, 24 degrees, 22.5 degrees, 20 degrees, 18 degrees, 15 degrees, 12 degrees, or 10 degrees. The number of the ultrasonic sensors 150 may be 36 or more. The predetermined target sensing angle may be 20 degrees or less, and the number of the ultrasonic sensors 150 may be 18 or more.

According to an example, when the UAV 100 is in the form of a quadrupole, the direction in which the UAV 100 moves is generally limited to four directions in the front, rear, left, and right directions on the basis of the UAV 100, (150) may be designed to be a multiple of four.

When the ultrasonic sensors 150 adjacent to each other output ultrasonic waves at the same time, the outputted ultrasonic waves cause interference with each other and the distance to the object can not be detected. The controller 200 according to the embodiments of the present invention can control the ultrasonic sensors 150 to operate at different points in time. Accordingly, the ultrasonic waves output from the ultrasonic sensors 150 positioned adjacent to or close to each other may not interfere with each other. For example, the control unit 200 may drive the ultrasonic sensors 150 in a time division manner. Each of the ultrasonic sensors 150 may sense an object positioned within its target sensing angle and the controller 200 may sense the direction in which the object is located based on the ultrasonic sensor 150 sensing the object .

The control unit 200 may drive the ultrasonic sensors 150 one by one in a predetermined order. For example, the controller 200 may drive the ultrasonic sensors 150 one by one in a clockwise or counterclockwise direction. Accordingly, all the objects positioned in the horizontal direction of the UAV 100 can be detected. If the ultrasonic sensor 150 located in one direction senses an object, the controller 200 can sense the direction in which the object is positioned based on the position of the ultrasonic sensor 150 that senses the object. Also, as described above, the control unit 200 can sense the distance to the object based on the time difference between the output time and the reception time.

According to another example, the control unit 200 groups the ultrasonic sensors 150, simultaneously drives the ultrasonic sensors 150 belonging to the same group, and then drives the ultrasonic sensors 150 belonging to the next group So that all the ultrasonic sensors 150 can be driven. For example, the control unit 200 drives some ultrasonic sensors 150 of the ultrasonic sensors 150 at the same timing, and drives the ultrasonic sensors 150 at some timing at the next timing. (150).

The ultrasonic sensors 150 belonging to the same group can be determined as the ultrasonic sensors 150 positioned at any one of 180 degrees, 120 degrees, 90 degrees, or 72 degrees with respect to the center of the main body 110. The ultrasonic sensors 150 belonging to one group may be, for example, two, three, four or five. For example, when the number of the ultrasonic sensors 150 belonging to one group is four, the ultrasonic sensors 150 belonging to the same group can be selected to form 90 degrees with respect to the center of the body 110 . The number of the ultrasonic sensors 150 belonging to the same group can be determined according to the frequency of the ultrasonic waves and the environment in which the UAV 100 is used.

2 shows a block diagram of a control unit mounted in an unmanned air vehicle according to an embodiment of the present invention and a remote control device for controlling the unmanned air vehicle.

2, the control unit 200 may include a flight control unit 210, a photographing control unit 220, a peripheral sensing unit 230, and a wireless communication unit 250. The remote control device 300 is an apparatus for controlling an unmanned airplane (for example, 100 in FIG. 1) by wireless communication with the wireless communication unit 250 of the control unit 200 and includes a display unit 310, a control input unit 320, And a wireless communication unit 330.

The control unit 200 may be mounted on the main body 110 of the UAV 100 and may control the wing 120, the ultrasonic sensor 150, and the photographing apparatus 160. Although not shown in FIG. 1, the UAV 100 may include a photographing device 160 capable of photographing the surroundings. However, depending on the use of the UAV 100, the photographing apparatus 160 and the photographing control unit 220 may be omitted.

The flight control unit 210 may include a posture sensing unit 211 and a posture control unit 212 for controlling the wing unit 120. [

The attitude sensing unit 211 includes sensors such as a geomagnetic sensor, an acceleration sensor, and the like, and can sense whether the UAV 100 maintains a normal attitude. For example, when the UAV 100 is in a stop flight, the posture sensing unit 211 may sense whether the UAV 100 is horizontal. Also, when the UAV 100 is in a moving flight, the attitude sensing unit 211 may sense the direction, the moving speed, and the acceleration of the UAV 100. The posture sensing unit 211 may include a GPS module.

The posture control unit 212 may control the wing unit 120 according to a control command received from the remote control device 300. [ The posture control unit 212 may control the wing unit 120 to make the attitude of the UAV 100 abnormal when the attitude of the UAV 100 detected by the attitude sensing unit 211 is abnormal. For example, when the attitude control unit 212 senses that one of the UAV 100 is abnormally tilted, the attitude control unit 212 determines that the wing of the unmanned air vehicle 100, The attitude of the UAV 100 can be normally increased by increasing the rotational speed of the propeller 123 of the unit 120 or by decreasing the rotational speed of the propeller 123 of the wing 120 opposite to the inclined side It can be restored.

The photographing control unit 220 can control the photographing apparatus 160. [ The photographing apparatus 160 may be mounted in the main body 110 or may be coupled to the outside of the main body 110. [ The photographing apparatus 160 may include a camera, a housing, and a camera rotation unit for rotating the camera. The photographing control unit 220 may adjust the focus of the camera or the direction of the camera by controlling the camera rotation unit. The photographing control unit 220 can control the photographing apparatus 160 according to the control command received from the remote control apparatus 300 and can transmit the photographed image received from the photographing apparatus 160 to the remote control apparatus 300 have. The remote control apparatus 300 can display the transmitted photographed image through the display unit 310. The user can remotely control the UAV 100 even in a situation where the UAV 100 can not be directly seen through the captured image displayed through the display unit 310. [ The photographing apparatus 160 includes a microphone module and may transmit surrounding sounds.

The peripheral sensing unit 230 may control the ultrasonic sensors 150 and sense where the object is positioned around the UAV 100 based on the information sensed by the ultrasonic sensors 150. 1, by driving the ultrasonic sensors 150 in a time division manner, a direction in which an object is positioned through the ultrasonic sensor 150, which senses an object, without causing interference with the ultrasonic waves, And the distance to the object can be detected by using the parallax sensed by the ultrasonic sensor 150.

The wireless communication unit 250 can transmit and receive control commands and data in a wireless communication with the remote control device 300. The peripheral sensing unit 230 needs information on the ultrasonic velocity that varies depending on the temperature to detect the distance to the object. The wireless communication unit 250 may receive the temperature information from the remote control device 300 or the temperature information from the indoor temperature control device in which the UAV 100 operates. The control unit 200 may obtain temperature information through a temperature sensor mounted on the UAV 100.

The peripheral sensing unit 230 can transmit information about the position of an object around the UAV 100, that is, the direction in which the object is located and the distance to the object, to the remote control device 300 through the wireless communication unit 250 have.

The remote control device 300 may include a control input 320 for a user to receive control inputs for controlling the UAV 100. The control input unit 320 may include a stick, a handle, a button, a switch, and the like for controlling the UAV 100. The wireless communication unit 330 wirelessly communicates with the wireless communication unit 250 of the UAV 100.

The display unit 310 can display the photographed image photographed by the photographing apparatus 160. [ According to another example, the display unit 310 may display information on the position of an object of the unmanned air vehicle 100, which is transmitted from the peripheral sensing unit 230. When the UAV 100 is in a stop flight state, the display unit 310 may display a direction and a distance of objects located around the entire horizontal direction of the UAV 100. When the UAV 100 moves in one direction, the display unit 310 can display directions and distances of objects moving in the direction and in the lateral direction.

FIG. 3 is a block diagram illustrating the operation of the peripheral sensing unit of FIG. 2;

Referring to FIG. 3, the peripheral sensing unit 230 controls the ultrasonic sensors 150-1 to 150-12. In the present embodiment, it is assumed that the number of the ultrasonic sensors 150-1 to 150-12 is 12. The target sensing angle of each of the ultrasonic sensors 150-1 to 150-12 is 30 degrees which is 1/12 of 360 degrees . The first ultrasonic sensor 150-1 senses an object between -15 degrees and +15 degrees with respect to the Y direction, and the second ultrasonic sensor 150-2 senses an object between +15 degrees and +45 Detects an object in between.

According to an example, the peripheral sensing unit 230 may drive the first ultrasonic sensor 150-1 to sense whether an object is within ± 15 degrees with respect to the Y direction. At this time, the peripheral sensing unit 230 may deactivate all the remaining ultrasonic sensors 150-2 to 150-12 except for the first ultrasonic sensor 150-1. If there is an object, the peripheral sensing unit 230 senses the distance to the object and informs the remote control device 300 or the control unit 300 that the object is located within the range of ± 15 degrees from the Y direction (200). Depending on the context, +/- 15 deg. May be referred to as the target sensing angle defining the target sensing range of the first ultrasonic sensor 150-1.

The remote control device 300 may display the object position information on the display unit 310 so that the user can control the UAV 100 not to collide with surrounding objects. The control unit 200 provides the object position information to the flight control unit 210 and the flight control unit 210 controls the flight control unit 210 so that the unmanned airplane 100 does not collide with the detected object even if there is no control command from the remote control device 300 It is possible to control the wing section 120 to stop the UAV 100 or move around the detected object.

The peripheral sensing unit 230 may drive the first ultrasonic sensor 150-1 and then deactivate the first ultrasonic sensor 150-1 and drive the second ultrasonic sensor 150-2. If it is detected by the second ultrasonic sensor 150-2 that an object is present between +15 degrees and +45 degrees with respect to the Y direction, the peripheral sensing unit 230 transmits the position information of the sensed object to the remote controller (300) or the control unit (200).

In this manner, the peripheral sensing unit 230 sequentially drives the ultrasonic sensors 150-1 to 150-12 one by one so that the ultrasonic waves do not interfere with each other, and all the objects located in the periphery of the UAV 100 Can be detected.

According to another example, the peripheral sensing unit 230 may simultaneously drive the first ultrasonic sensor 150-1 and the seventh ultrasonic sensor 150-7 located opposite to the first ultrasonic sensor 150-1. Thereafter, the peripheral sensing unit 230 may simultaneously drive the second ultrasonic sensor 150-2 and the eighth ultrasonic sensor 150-8. In this manner, the peripheral sensing unit 230 drives the ultrasonic sensors 150-1 through 150-12 two times, thereby reducing the time required for detecting all the objects located in the vicinity of the UAV 100 to 1/2 .

According to another example, the peripheral sensing unit 230 may include four ultrasonic sensors (e.g., first, fourth, seventh and tenth ultrasonic sensors 150-1, 150-4, 150-7, 150-10 (E.g., second, fifth, eighth, and eleventh ultrasonic sensors 150-2, 150-5, 150-8, and 150-11) are driven simultaneously It can be driven at the same time. In this way, the peripheral sensing unit 230 drives the ultrasonic sensors 150-1 to 150-12 four times, thereby reducing the time required for detecting all the objects located in the vicinity of the UAV 100 to 1/4 .

4 shows a schematic plan view of an unmanned aerial vehicle according to another embodiment of the present invention.

4, the UAV 100a includes a main body 110, a wing 120, ultrasonic transmitters 151-1 to 151-8, and ultrasound receivers 152-1 to 152-8. . The ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 may constitute the ultrasonic sensors 150 (FIG. 1). The UAV 100a may further include a first protection unit 130 and a second protection unit 140. 2, the controller 200 may include a main body 110 and a control unit 200. The main body 110 may include a control unit 200, which is not shown in FIG. 1, As shown in FIG. Since the main body 110, the wing 120, the first and second protective portions 140 and 150, and the control unit 200 have been described above with reference to FIGS. 1 and 2, they will not be described repeatedly, .

The UAV 100a may be, for example, a multi-copter type such as a quad-copter or a helicopter as shown in FIG. 4, and may be vertically taken off and landed so as to be able to fly indoors.

The wing portion 120 is coupled to the main body 110 and can generate lifting force and thrust force to move the UAV 100a in a desired direction. The wing portion 120 may include a support portion 121, a propeller drive portion 122, and a propeller 123. The first protector 130 may be coupled to the main body 110 and may surround the wing 120 to protect the wing 120. The second protective portion 140 may be disposed to surround the main body 110 and the wing portions 120 to protect the main body 110 and the wing portions 120.

The ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 are arranged along the circumference of the main body 110 to surround the main body 110 and the wing portion 120, And may be mounted so as to face the second protective portion 140 in the outward direction. Although the UAV 100a is shown as including eight ultrasonic transmitters 151-1 through 151-8 and eight ultrasonic receivers 152-1 through 152-8 in FIG. 4, this is exemplary, The number of the ultrasonic transmitters 151 and the number of the ultrasonic receivers 152 may be changed according to the design of the UAV 100a. 4, the number of the ultrasonic transmitters 151-1 to 151-8 and the number of the ultrasonic receivers 152-1 to 152-8 are equal to each other. However, this is also an example, The number of the ultrasonic transmitters 151 and the number of the ultrasonic receivers 152 may be different from each other. For example, the number of the ultrasonic receivers 152 may be an integer multiple of 2 or more of the number of the ultrasonic transmitters 151. For example, when the number of the ultrasonic transmitters 151 is four, the number of the ultrasonic receivers 152 may be four, eight, twelve, or sixteen depending on the designed arrangement.

An exemplary arrangement of the ultrasonic transmitters 151 and the ultrasonic receivers 152 mounted on the second protective portion 140 will be described in more detail below with reference to Figures 5A-5E.

Figures 5A through 5E illustrate exemplary arrangements of ultrasonic transmitters and ultrasonic receivers mounted on the outer surface of a second guard in accordance with embodiments of the present invention. 5A to 5E shows a part of the outer surface of the second protective portion.

4, the ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 are disposed on the second protective portion 140 in a horizontal (horizontal) Can be alternately arranged along the direction (H). The ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 may be positioned at the same height in the vertical direction (V).

The ultrasonic receivers 152-1 to 152-8 may be arranged at a constant distance D1 from each other. Each of the ultrasonic transmitters 151-1 to 151-8 may be disposed in the middle between two adjacent ultrasonic receivers 152 among the ultrasonic receivers 152-1 to 152-8. For example, the distance from each of the ultrasonic transmitters 151-1 to 151-8 to the adjacent ultrasonic receivers 152 may be 1/2 of the separation distance D1.

When the ultrasonic transmitters 151 and the ultrasonic receivers 152 are arranged as shown in FIG. 5A, one ultrasonic transmitter (for example, the first ultrasonic transmitter 151-1) and two ultrasonic receivers (E.g., the first ultrasonic receiver 152-1 and the eighth ultrasonic receiver 152-8) may constitute one ultrasonic sensor. The first ultrasonic receiver 152-1 may form one ultrasonic sensor together with the second ultrasonic transmitter 151-2 and the second ultrasonic receiver 152-2. These ultrasonic sensors can sense the horizontal position of the sensed object and the distance to the object.

Referring to FIG. 5B, the ultrasonic transmitters 151-1 to 151-8 may be disposed at regular intervals along the horizontal direction H on the second protection unit 140. FIG. The ultrasonic receivers 152-1a and 152-1b to 152-8a and 152-8b may be disposed above and below the corresponding ultrasonic transmitters 151-1 to 151-8 in the vertical direction Y. [ For example, the first ultrasonic transmitter 151-1 may be disposed between the ultrasonic receivers 152-1a and 152-1b. The ultrasonic receivers 152-1a and 152-1b may be spaced apart from each other by a predetermined distance D2 and may be spaced apart from the first ultrasonic transmitter 151-1 by the same distance.

When the ultrasonic transmitters 151 and the ultrasonic receivers 152 are disposed as shown in FIG. 5B, one ultrasonic transmitter (for example, the first ultrasonic transmitter 151-1) Two adjacent ultrasonic receivers (e.g., ultrasonic receivers 152-1a and 152-1b) may constitute one ultrasonic sensor. The ultrasonic sensor can sense the vertical position of the sensed object and the distance to the object.

5C, the ultrasonic receivers 152-1 to 152-8 may be disposed on the second protection unit 140 at a first distance D1 that is the same along the horizontal direction H . The ultrasonic receivers 152-1 through 152-8 may be positioned at the same height in the vertical direction (V).

The ultrasonic transmitters 151-1 to 151-8 may be arranged in the vertical direction V from the midpoint between the two adjacent ultrasonic receivers 152 among the ultrasonic receivers 152-1 to 152-8 have. Further, additional ultrasonic receivers 152 including a ninth ultrasonic receiver 152-9 may be disposed in the vertical direction V from the ultrasonic transmitters 151-1 through 151-8.

5C, the first ultrasonic receiver 152-1, the eighth ultrasonic receiver 152-8, and the ninth ultrasonic receiver 152-9 may form a triangle, and the first ultrasonic transmitter 152-1, the eighth ultrasonic receiver 152-8, -1) can be located in the middle of these. The ninth ultrasonic receiver 152-9 may be disposed at a distance from the horizontal plane on which the ultrasonic transmitters 151-1 through 151-8 are located, in the vertical direction V by a second distance D2. According to another example, two ultrasonic receivers 152 may be disposed at the lower side in the vertical direction V of the ultrasonic transmitter 151, and one ultrasonic receiver 151 may be disposed at the upper side.

The first ultrasonic transmitter 151-1 and the first ultrasonic receiver 152-1, the eighth ultrasonic receiver 152-8 and the ninth ultrasonic receiver 152-9 that surround the first ultrasonic transmitter 151-1 constitute one ultrasonic sensor And the ultrasonic sensor can detect the horizontal position of the sensed object, the vertical position, and the distance to the object.

5D, the upper ultrasonic receivers 152-1a to 152-8a may be disposed on the second protective portion 140 at the same distance apart by a first distance D1 along the horizontal direction H have. The lower ultrasonic receivers 152-1b to 152-8b may be disposed on the second protective portion 140 at a first distance D1 spaced apart in the horizontal direction H. [ The distance between the horizontal plane on which the upper ultrasonic receivers 152-1a to 152-8a are located and the horizontal plane on which the lower ultrasonic receivers 152-1b to 152-8b are located may be the second separation distance D2.

The ultrasonic transmitters 151-1 to 151-8 may be located between adjacent four ultrasonic receivers 152. [ For example, the first ultrasonic transmitter 151-1 is connected between the first and eighth upper ultrasonic receivers 152-1a and 152-8a and the first and eighth lower ultrasonic receivers 152-1b and 152-8b Lt; / RTI >

The first ultrasonic transmitter 151-1 and the first and eighth upper ultrasonic receivers 152-1a and 152-8a and the first and eighth lower ultrasonic receivers 152-1b and 152-8b surrounding the first ultrasonic transmitter 151-1, Can constitute one ultrasonic sensor, which can sense the horizontal position of the sensed object, the vertical position, and the distance to the object.

5E, the ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 are alternately arranged on the second protection unit 140 along the horizontal direction H . The ultrasonic transmitters 151-1 to 151-8 and the ultrasonic receivers 152-1 to 152-8 may be positioned at the same height in the vertical direction (V). The ultrasonic receivers 152-1 to 152-8 may be arranged at a constant distance D1 from each other. Each of the ultrasonic transmitters 151-1 to 151-8 may be disposed in the middle between two adjacent ultrasonic receivers 152 among the ultrasonic receivers 152-1 to 152-8.

The upper ultrasonic receivers 152-9a to 152-18a are disposed along the horizontal direction H on the second protective portion 140 and are arranged in the vertical direction V of the ultrasonic transmitters 151-1 to 151-8 ). ≪ / RTI > The lower ultrasonic receivers 152-9b to 152-18b are arranged along the horizontal direction H on the second protection part 140 and are arranged in the vertical direction V of the ultrasonic transmitters 151-1 to 151-8 ). ≪ / RTI > The distance between the horizontal plane where the upper ultrasonic receivers 152-9a to 152-18a are located and the horizontal plane where the lower ultrasonic receivers 152-9b to 152-18b are located may be the second separation distance D2.

The ultrasonic transmitters 151-1 to 151-8 may be located between adjacent four ultrasonic receivers 152. [ For example, the first ultrasonic transmitter 151-1 includes first and eighth ultrasonic receivers 152-1 and 152-8, a first upper ultrasonic receiver 152-9a, and a first lower ultrasonic receiver 152- 9b.

The first ultrasonic transmitter 151-1 and the first and eighth ultrasonic receivers 152-1 and 152-8 surrounding it, the first upper ultrasonic receiver 152-9a, and the first lower ultrasonic receiver 152 9b can constitute one ultrasonic sensor, which can sense the horizontal position, the vertical position, and the distance to the object of the sensed object.

Referring again to FIG. 4, each of the ultrasonic transmitters 151-1 to 151-8 outputs an ultrasonic wave under the control of the controller 200. FIG. Each of the ultrasonic receivers 152-1 to 152-8 receives the ultrasonic echoes generated by reflecting the ultrasonic waves output from the ultrasonic transmitters 151-1 to 151-8 from the object and converts the ultrasonic echoes into electric signals And provides it to the control unit 200.

The control unit 200 controls the wing unit 120 so that the UAV 100a floats and moves. The control unit 200 controls the wing unit 120 of the UAV 100a according to a control command received from the remote control device 300 of FIG. In the following description, it is assumed that the direction in which the UAV 100a moves is the first direction Y. [

The control unit 200 controls the ultrasonic transmitters 151-1 to 151-8 to output ultrasound waves to the ultrasound transmitters 151-1 to 151-8, At least two ultrasonic receivers (for example, the first ultrasonic receiver 152-1 and the eighth ultrasonic receiver 152-8) selected according to the first ultrasonic transmitter 151-1 among the ultrasonic receivers 152-1 through 152-8, Lt; / RTI >

According to an example, the controller 200 may select one of the ultrasonic transmitters 151-1 to 151-8 according to a preset order, and may drive the ultrasonic transmitters 151-1 to 151-8 in a time division manner. For example, the controller 200 can select the ultrasonic transmitters 151-1 to 151-8 one by one in a clockwise direction or a counterclockwise direction.

The control unit 200 controls the ultrasonic transmitters 151-1 to 151-8 in the direction in which the unmanned air vehicle 100a moves, that is, in the first direction Y, It is possible to select the first ultrasonic transmitter 151-1. When the object sensed by using the first ultrasonic transmitter 151-1 is located outside the target sensing range of the first ultrasonic transmitter 151-1, the ultrasonic transmitter 151 in the direction in which the object is positioned next . ≪ / RTI > For example, when the object sensed by using the first ultrasonic transmitter 151-1 is located outside the target sensing range of the first ultrasonic transmitter 151-1, the second ultrasonic transmitter 151-2 selects .

The control unit 200 selects one ultrasonic transmitter 151-1 through 151-8 from among the ultrasonic transmitters 151-1 through 151-8 and selects one ultrasonic sensor together with the selected ultrasonic transmitter 151-1 At least two ultrasound receivers to configure (e.g., 152-1, 152-8) may be selected. In the case of the UAV 100a shown in FIG. 4, at least two ultrasonic receivers (e.g., 152-1 and 152-8) are connected to a selected ultrasonic transmitter (e.g., 151-1) (E.g., 152-1, 152-8).

According to another example, the control unit 200 may be configured to receive not only the nearest pair of ultrasonic receivers (e.g., 152-1 and 152-8) corresponding to the selected ultrasonic transmitters (e.g., 151-1) Receivers (e.g., 152-2, 152-7). (E.g., 152-1, 152-8) when the closest pair of ultrasound receivers (e.g., 152-1, 152-8) is selected corresponding to an ultrasound transmitter (e.g., It is possible to increase the error of the position of the object to be sensed. The controller 200 may consider the separation distance of the two ultrasound receivers selected when selecting at least two ultrasound receivers.

5B, when the controller 200 selects the first ultrasonic transmitter 151-1, the first ultrasonic transmitter 151-1 corresponds to the first ultrasonic transmitter 151-1, It is possible to select the ultrasonic receivers 152-1a and 152-1b which are adjacent to each other in the vertical direction.

5C, after the controller 200 selects the first ultrasonic transmitter 151-1, the controller 200 selects the first ultrasonic transmitter 151-1 corresponding to the first ultrasonic transmitter 151-1, Three ultrasonic receivers 152-8, 152-1 and 152-9 adjacent to each other can be selected.

5D, when the controller 200 selects the first ultrasonic transmitter 151-1, the first ultrasonic transmitter 151-1 corresponds to the first ultrasonic transmitter 151-1, (152 - 8 a, 152 - 8 b, 152 - 1 a, 152 - 1 b) adjacent to the ultrasonic receivers

5E, after the controller 200 selects the first ultrasonic transmitter 151-1, the controller 200 selects the first ultrasonic transmitter 151-1 corresponding to the first ultrasonic transmitter 151-1, (152-8, 152-1, 152-9a, 152-9b) adjacent to the ultrasonic receivers (152-8, 152-1, 152-9a, 152-9b).

The ultrasonic sensor, which is composed of one ultrasonic transmitter selected by the controller 200 and at least two ultrasonic receivers selected corresponding thereto, has its own target sensing range. By sensing only the object within the target detection range, the control unit 200 can determine the position of the object. For example, in the case of the UAV 100a of FIG. 4, when an object within the target sensing range is sensed using the ultrasonic sensor including the third ultrasonic transmitter 151-3, 110, that is, in the X direction, in which the third ultrasonic transmitter 151-3 is located.

The target sensing range is defined for one ultrasonic sensor using each of the ultrasonic transmitters 151-1 through 151-8 and is described in more detail below with reference to Fig.

6 shows target detection ranges of ultrasonic sensors of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to Fig. 6, the unmanned aerial vehicle 100a shown in Fig. 4 is shown. The UAV 100a includes first to eighth ultrasonic transmitters 151-1 to 151-8. Each of the first to eighth ultrasonic transmitters 151-1 to 151-8 constitutes one ultrasonic sensor together with at least two ultrasonic receivers 152 located in the periphery. In the case of the UAV 100a of FIG. 4, for example, the first ultrasonic transmitter 151-1 constitutes one ultrasonic sensor together with the first and eighth ultrasonic receivers 152-1 and 152-8, The second ultrasonic transmitter 151-2 constitutes one ultrasonic sensor together with the first and second ultrasonic receivers 152-1 and 152-2. In this manner, the UAV 100a includes eight first to eighth ultrasound transmitters 151-1 to 151-8 and first to eighth ultrasound receivers 152-1 to 152-8, And may include an ultrasonic sensor.

Each of the ultrasonic sensors has its own target sensing ranges (R1 to R8). The ultrasonic sensor including the first ultrasonic transmitter 151-1 has a first target sensing range R1. The first target sensing range R1 can be defined as a horizontal target sensing range Rh, a vertical target sensing range, and a detectable distance d. 6 shows the horizontal target sensing range Rh and the horizontal target sensing range Rh is the horizontal target sensing range Rh when the first ultrasonic transmitter 151-1 detects the horizontal direction angles? lt; / RTI > Here, the first horizontal target sensing angle? H1 and the second horizontal target sensing angle? H2 may be equal to each other. Since the first horizontal target sensing angle h1 and the second horizontal target sensing angle h2 are defined based on the ultrasonic output direction Y, the first horizontal target sensing angle h1 and the second horizontal target sensing angle h2 ) May be referred to as a horizontal target sensing angle [theta] h.

The ultrasonic output direction is actually wider than the target detection range, but in this specification, the ultrasonic output direction is defined as the normal direction of the output surface on which the ultrasonic transmitter outputs ultrasonic waves. For example, in FIG. 4, the ultrasonic output direction of the first ultrasonic transmitter 151-1 is defined as the Y direction.

The horizontal target sensing angle? H may be determined according to the number of the ultrasonic transmitters 151. [ For example, when the number of the ultrasonic transmitters 151 is eight, the horizontal target sensing angle? H may be determined to be 1/8 (that is, 45 degrees) or more of 360 degrees. Although the horizontal target sensing angle? H is shown to be 45 degrees in FIG. 6, it may be larger than 45 degrees so as not to generate an empty space between the target horizontal sensing areas of the ultrasonic sensors.

The vertical target sensing angle is defined as an angle in a vertical direction with respect to a direction in which the first ultrasonic transmitter 151-1 outputs ultrasonic waves. The detectable distance d is determined by the frequency of the ultrasonic transmitter 151, the ultrasonic receiver 152, and the ultrasonic waves used.

The ultrasonic wave output from the ultrasonic transmitter 151 tends to spread more widely than the target sensing area. Accordingly, the ultrasonic sensors detect an object located outside the target sensing range. In other words, when the UAV 100a moves in the frontal direction, the first ultrasonic sensor positioned in the frontal direction senses that there is an object ahead by 1 meter, but actually, there is no obstacle in the frontal direction, May be detected. Therefore, if it is possible to confirm whether the object sensed by each ultrasonic sensor is an object located within its target sensing range, more accurate object sensing becomes possible.

The operation of the control unit 200 will be described in detail with reference to FIG. It is assumed that the UAV 100a is moving in the first direction Y and that the controller 200 selects the first ultrasonic transmitter 151-1 located in the moving direction Y of the UAV 100a do. It is also assumed that the controller 200 selects at least two ultrasonic receivers including the first and eighth ultrasonic receivers 152-1 and 152-8 corresponding to the first ultrasonic transmitter 151-1.

The controller 200 controls the first and second ultrasonic transmitters 151-1 and 151-2 so that the first output time and the first and eighth ultrasonic receivers 152-1 and 152-8 output ultrasonic echoes, It is possible to detect the number of reception points. The first output time point may be determined based on a time point at which the control unit 200 outputs a control signal to output the ultrasonic wave by the first ultrasonic transmitter 151-1, and the reception points may be determined by the first and eighth ultrasonic receivers 152 -1, and 152-8, respectively.

The control unit 200 can determine whether the object is located within the target sensing range (R1 in FIG. 6) of the first ultrasonic transmitter 151-1 based on the first output timing and the at least two reception timing . 6) of the first ultrasonic transmitter 151-1, the controller 200 controls the first ultrasonic transmitter 151-1 based on the first output point and the at least two reception points, And calculate the distance from the transmitter 151-1 to the object.

FIGS. 7 and 8 are views for explaining a method of detecting a position of an object using an ultrasonic transmitter and an ultrasonic receiver according to an embodiment of the present invention.

Referring to FIGS. 7 and 8, T1 is a first ultrasonic transmitter 151-1, and R1 and R8 are first and eighth ultrasonic receivers 152-1 and 152-8, respectively. The separation distance between the first and eighth ultrasonic receivers Rl and R8 is denoted by D1. OBJ is an object sensed by an ultrasonic sensor composed of a first ultrasonic transmitter T1 and first and eighth ultrasonic receivers R1 and R8. It is assumed that the first and eighth ultrasonic receivers R1 and R8 are positioned in the horizontal direction.

L1 is a first distance from the object OBJ to the first ultrasonic transmitter T1 and L2 is a second distance from the object OBJ to the first ultrasonic receiver R1 and L3 is a distance between the object OBJ and the first ultrasonic transmitter T1. 8 is the third distance to the ultrasound receiver R8.

θ1 denotes an output angle at which the object OBJ is positioned with respect to the first ultrasonic transmitter T1 defined by the direction Y in which the first ultrasonic transmitter T1 outputs the ultrasonic waves. ? 2 denotes a first reception angle at which the object OBJ is located with respect to the first ultrasonic receiver R1, which is defined with reference to the direction Y. [ 3 denotes a second reception angle at which the object OBJ is located with respect to the eighth ultrasonic receiver R8, which is defined with reference to the direction Y. [ The ultrasonic velocity is denoted as spd.

The first output time when the first ultrasonic transmitter T1 outputs ultrasonic waves is t1 and the first reception time when the first ultrasonic receiver R1 receives the ultrasonic echoes generated by reflecting the ultrasonic waves from the object OBJ t2 and the second reception time when the eighth ultrasonic receiver R8 receives the ultrasonic echoes generated by reflecting the ultrasonic waves from the object OBJ is t3. The time difference between the first reception time point and the second reception time point is? T (= t3-t2).

A distance L1 + L2 of the ultrasonic wave reflected from the object OBJ starting from the first ultrasonic transmitter T1 and traveling to the first ultrasonic receiver R1 is L1 + L2, L1 + L2 = spd (t2-t1) since the distance between the first output point of time t2 and the first output point of time t1 corresponds to the distance traveled by the ultrasonic waves.

The distance of the ultrasonic wave reflected from the object OBJ and arriving at the eighth ultrasonic receiver R8 starting from the first ultrasonic transmitter T1 is L1 + L3 and the distance L1 + L3 is the second reception time L1 + L3 = spd (t3-t1) because the distance between the first output point of time t3 and the first output point of time t1 corresponds to the distance traveled by the ultrasonic waves.

As shown in Fig. 7, the first reception angle [theta] 2 is smaller than the output angle [theta] 1, and the second reception angle [theta] 3 is larger than the output angle [theta] 1. Therefore,? 2 =? 1 - ?? 2 and? 3 =? 1 + ?? 3.

The separation distance D1 is very small compared with the distance L1 to the object OBJ. The separation distance D1 is only a few centimeters (cm), but the distance L1 is at least several tens of centimeters (cm). Therefore, ?? 2 and ?? 3 are negligibly small.

Referring to FIG. 8, a state in which ?? 2 and? 3 are converged to 0 is shown. As shown in FIG. 8, the difference DELTA L between the third distance L3 and the second distance L2 corresponds to the distance traveled by the ultrasonic wave during the time difference DELTA t. The distance difference DELTA L can be expressed by the product of the parallax DELTA t and the ultrasonic velocity spd.

In addition, the distance difference? L can be expressed through a trigonometric function as shown in Fig. The distance difference DELTA L can be expressed by the product of the distance D1 and the sin value of the output angle [theta] 1.

Therefore, the output angle [theta] ¹ corresponding to the angle at which the object is positioned based on the ultrasonic output direction Y can be calculated as sin ^{- 1} (spd * [Delta] t / D1) through inverse sine.

The control unit 200 may store information on the ultrasonic velocity spd and information on the separation distance D1. Accordingly, the control unit 200 determines whether the object OBJ is moving in the first direction Y, that is, in the direction from the ultrasonic output direction Y, based on the parallax DELTA t between the first and second reception times t2 and t3 It can be calculated arithmetically at what angle in the horizontal direction.

According to another example, the control unit 200 may calculate the second distance from the first ultrasonic receiver Rl to the object OBJ based on the parallax DELTA t between the first and second reception times t2 and t3 L2 between the second ultrasonic receiver R8 and the second distance L3 from the eighth ultrasonic receiver R8 to the object OBJ. The distance difference DELTA L can be calculated by multiplying the parallax DELTA t and the ultrasonic velocity spd. The control unit 200 can calculate the angle in which the object OBJ is spaced from the first direction Y in the horizontal direction, i.e., the output angle [theta] 1, based on the separation distance D1 and the distance difference [ have. The control unit 200 can calculate the output angle [theta] ¹ as sin ^{- 1} ([Delta] L / D1).

If the object OBJ is located on the horizontal target sensing angle? H defined on the basis of the first direction Y, the parallax? T between the first and second reception times t2 and t3 is D1 * sin ([theta] h) / spd. A parallax such as D1 * sin ([theta] h) / spd is referred to as a reference parallax ([Delta] tr).

The difference DELTA L between the third distance L3 and the second distance L2 is small when the object OBJ is located in the direction of an angle smaller than the horizontal target sensing angle h from the first direction Y The parallax DELTA t between the first and second reception times t2 and t3 will be smaller than the reference parallax DELTA tR. When the third distance L3 and the second distance L2 are equal to each other, when the object OBJ is located in the first direction Y from the first ultrasonic transmitter T1, ) Becomes zero. Therefore, the parallax DELTA t also becomes zero.

Therefore, the control unit 200 determines that the object OBJ is in the horizontal direction from the first direction Y based on the parallax DELTA t between the first and second reception times t2 and t3, It is possible to judge whether or not it is located within a predetermined area. For example, when the parallax DELTA t is smaller than the reference parallax DELTA tr, the controller 200 can determine that the object OBJ is positioned within the horizontal target detection angle h from the first direction Y to the horizontal direction When the parallax DELTA t is larger than the reference parallax DELTA trr, the control unit 200 determines that the object OBJ is located outside the horizontal target detection angle h in the horizontal direction from the first direction Y .

According to another example, the control unit 200 may calculate the second distance from the first ultrasonic receiver Rl to the object OBJ based on the parallax DELTA t between the first and second reception times t2 and t3 L2 between the second ultrasonic receiver R8 and the second distance L3 from the eighth ultrasonic receiver R8 to the object OBJ. The distance difference DELTA L can be calculated by multiplying the parallax DELTA t and the ultrasonic velocity spd. The control unit 200 can compare the value D1 * sin (? H) obtained by multiplying the separation distance D1 by the sin value? Sin (? H) of the horizontal target sensing angle? H with the distance difference? L have. If the distance difference? L is smaller than the value D1 * sin (? H), the control unit 200 can determine that the object OBJ is located within the horizontal target sensing range Rh. Conversely, when the distance difference? L is smaller than the value D1 * sin (? H), the control unit 200 can determine that the object OBJ is located outside the horizontal target sensing range Rh.

When the control unit 200 determines that the object OBJ is located within the horizontal target sensing range Rh, the control unit 200 can calculate the first distance L1 to the object OBJ. For example, as shown in Fig. 8, the first distance L1 can be assumed to be equal to the second distance L2 and the third distance L3. Therefore, the first distance L1 is a value obtained by subtracting the first output time t1 from the average of the first reception time t2 and the second reception time t3 ((t2 + t3) / 2) t3) / 2 - t1) by the ultrasonic velocity (spd), and then multiplying it by 1/2. That is, the first distance L1 can be calculated as ((t2 + t3) / 2 - t1) * spd / 2.

When the controller 200 determines that the object OBJ is located outside the horizontal target sensing range Rh, the controller 200 calculates the object OBJ based on the first reception time t2 and the second reception time t3, ) Is located outside the horizontal target sensing range Rh. For example, when the first reception time t2 is faster than the second reception time t3, the controller 200 determines that the object OBJ is outside the horizontal target sensing range Rh in the direction of the first ultrasonic receiver R1 It can be judged that it is located. On the contrary, if the first reception time t2 is later than the second reception time t3, the controller 200 determines that the object OBJ is located outside the horizontal target sensing range Rh in the direction of the eighth ultrasonic receiver R8 It can be judged that it is located.

The controller 200 can select the next ultrasonic transmitter positioned in the direction in which the object OBJ is positioned with respect to the first ultrasonic transmitter T1. 4, when it is determined that the object OBJ is located outside the horizontal target sensing range Rh in the direction of the first ultrasonic receiver R1 with respect to the first ultrasonic transmitter T1, The second ultrasonic transmitter 151-2 can select the second ultrasonic transmitter 151-2.

The controller 200 may select at least two ultrasonic receivers corresponding to the second ultrasonic transmitter 151-2. For example, the controller 200 may select the first and second ultrasonic receivers 152-1 and 152-2 corresponding to the second ultrasonic transmitter 151-2. The control unit 200 transmits the object OBJ to the second ultrasonic transmitter 151 through the second ultrasonic transmitter 151-2 and the first and second ultrasonic receivers 152-1 and 152-2, -2) in the target sensing range R2. If it is determined that the object OBJ is located within the target sensing range R2 of the second ultrasonic transmitter 151-2, the control unit 200 detects that the object OBJ is located on the right front side in the plan view of Fig. 4 And the distance to the object (OBJ) can also be detected through the above method.

9 is a view for explaining a method of detecting a position of an object using an ultrasonic transmitter and ultrasonic receivers arranged as shown in FIG. 5B according to an embodiment of the present invention.

Referring to FIG. 9, T1 is a first ultrasonic transmitter 151-1, R1a and R1b are ultrasonic receivers 152-1a and 152-1b shown in FIG. 5B, respectively, and a first ultrasonic receiver R1a, And the second ultrasonic receiver Rlb. The separation distance between the first and second ultrasonic receivers R1a and R1b is denoted by D2. OBJ is an object sensed by an ultrasonic sensor composed of a first ultrasonic transmitter T1 and first and second ultrasonic receivers R1a and R1b. It is assumed that the first and second ultrasonic receivers (R1a, R1b) are positioned in the vertical direction.

L1 is a first distance L1 from the object OBJ to the first ultrasonic transmitter T1 and L2 is a second distance L2 from the object OBJ to the first ultrasonic receiver R1a, And a third distance L3 from the object OBJ to the second ultrasonic receiver Rlb.

theta] 1 is an angle [theta] 1 at which the object OBJ is positioned with respect to the first ultrasonic transmitter T1 defined by the direction Y in which the first ultrasonic transmitter T1 outputs ultrasonic waves, ). ? 2 denotes a first reception angle? 2 at which the object OBJ is located with respect to the first ultrasonic receiver R 1 a, which is defined with reference to the direction Y. [ ? 3 denotes a second reception angle? 3 at which the object OBJ is located with respect to the second ultrasonic receiver R 1 b, which is defined with reference to the direction Y. The ultrasonic velocity is denoted as spd.

The first output time when the first ultrasonic transmitter T1 outputs ultrasonic waves is t1 and the first reception time when the first ultrasonic receiver R1 receives the ultrasonic echoes generated by reflecting the ultrasonic waves from the object OBJ t2 and the second reception time when the second ultrasonic receiver Rlb receives ultrasonic echoes generated by reflecting the ultrasonic waves from the object OBJ is t3. The time difference between the first reception time point and the second reception time point is? T (= t3-t2).

The distance L1 + L2 is the distance that the ultrasonic wave transmitted from the first ultrasonic transmitter T1 and reflected from the object OBJ to reach the first ultrasonic receiver R1a travels. L1 + L2 = spd (t2-t1) since the distance between the first output point of time t2 and the first output point of time t1 corresponds to the distance traveled by the ultrasonic waves.

The distance L1 + L3 is the distance L1 + L3 from the first ultrasonic transmitter T1 to the ultrasonic wave reflected from the object OBJ and reaching the second ultrasonic receiver R1b. L1 + L3 = spd (t3-t1) because the distance between the first output point of time t3 and the first output point of time t1 corresponds to the distance traveled by the ultrasonic waves.

Since the first reception angle 2 is smaller than the output angle 1 and the second reception angle 3 is larger than the output angle 1, it can be expressed as? 2 =? 1 - ?? 2 and? 3 = have.

The separation distance D2 is very small compared with the distance L1 to the object OBJ. The separation distance D2 is only a few centimeters (cm), but the distance L1 is at least several tens of centimeters (cm). Therefore, ?? 2 and ?? 3 are negligibly small.

The distance difference DELTA L between the third distance L3 and the second distance L2 corresponding to the distance of the ultrasonic waves during the time difference DELTA t is a distance DELTA L between the parallax DELTA t and the ultrasonic velocity spd Not only can it be expressed as a product, but also can be expressed through a trigonometric function as shown in FIG. That is, the distance difference? L can be expressed by the product of the separation distance D2 and the sin value of the output angle? 1.

Accordingly, the output angle [theta] 1 corresponding to the normal line direction of the output surface on which the first ultrasonic transmitter T1 outputs ultrasonic waves, that is, the angle at which the object OBJ is positioned based on the ultrasonic output direction H, Through the sine, it can be calculated as sin ^{- 1} (spd * Δt / D2).

The control unit 200 may store information on the ultrasonic velocity spd and information on the separation distance D2. The control unit 200 calculates arithmetically how the object OBJ is positioned in the vertical direction from the ultrasonic output direction H based on the parallax DELTA t between the first and second reception times t2 and t3 .

According to another example, the control unit 200 can calculate the distance difference? L based on the time difference? T. The distance difference DELTA L can be calculated by multiplying the parallax DELTA t and the ultrasonic velocity spd. The control unit 200 can calculate the angle that the object OBJ is spaced apart from the ultrasonic output direction H in the vertical direction, that is, the output angle? 1, based on the separation distance D2 and the distance difference? have. The control unit 200 can calculate the output angle [theta] ¹ as sin ^{- 1} ([Delta] L / D2).

When the object OBJ is positioned on the first vertical target sensing angle? V1 defined in the positive vertical direction with respect to the ultrasonic output direction H, the first and second reception points in time t2 and t3, (? T) will have a positive value and is calculated as D1 * sin (? V1) / spd. A parallax such as D1 * sin (? V1) / spd is referred to as a first reference parallax (? Tr1). The first reference parallax DELTA ttr1 will have a positive value.

When the object OBJ is located on the second vertical target sensing angle? V2 defined as the vertical direction of the sound with respect to the ultrasonic output direction H, the first and second reception points in time t2 and t3, (? T) will have a negative value and is calculated as D1 * sin (? V2) / spd. A parallax such as D1 * sin (? V2) / spd is referred to as a second reference parallax (? Tr1). The second reference parallax DELTA ttr2 will have a negative value. The second vertical target sensing angle? V2 is defined as a negative value.

If the object OBJ is positioned between the first vertical target sensing angle? V1 and the second vertical target sensing angle? V2 based on the ultrasonic output direction H, the third distance L3 and the second distance L3, The parallax DELTA t between the first and second reception times t2 and t3 is smaller than the first reference parallax DELTA tv1 and the second reference parallax DELTA tv2 is smaller than the first reference parallax DELTA tl, It will be bigger.

The first vertical target sensing angle? V1 and the second vertical target sensing angle? V2 defined on the basis of the ultrasonic output direction H define a vertical target sensing range Rv.

Accordingly, the controller 200 determines that the object OBJ is moving in the vertical direction with respect to the ultrasonic output direction H based on the parallax DELTA t between the first and second reception times t2 and t3, It is possible to judge whether or not it is located between the sensing angle? V1 and the second vertical target sensing angle? V2, that is, whether it is located within the vertical target sensing range Rv. For example, when the parallax DELTA t is smaller than the first reference parallax DELTA tv1 and is larger than the second vertical target sensing angle? V2, the controller 200 controls the object OBJ in the vertical direction with respect to the ultrasonic output direction H It can be determined that it is located within the defined vertical target sensing range Rv. When the parallax DELTA t is larger than the first reference parallax DELTA tv1, the controller 200 controls the object OBJ to be positioned at an angle larger than the first vertical target sensing angle? V1 in the vertical direction with respect to the ultrasonic output direction H It can be judged that it is located. That is, it can be judged that it is located outside the vertical target detection range Rv. When the parallax DELTA t is smaller than the second vertical target sensing angle? V2, the controller 200 determines that the object OBJ is smaller than the second vertical target sensing angle? V2 in the vertical direction with respect to the ultrasonic output direction H It can be determined that it is located at an angle. That is, it can be judged that it is located outside the vertical target detection range Rv.

According to another example, the controller 200 multiplies the value D2 * sin (? V1) obtained by multiplying the separation distance D2 by the sin (? (? V1)) value of the first vertical target sensing angle? Can be compared with the difference? L. If the distance difference? L is smaller than the value D2 * sin (? V1), the control unit 200 can determine that the object OBJ is located within the vertical target sensing range Rv. The controller 200 multiplies the value D2 * sin (? V2) obtained by multiplying the separation distance D2 by the sin (? (? V1)) of the second vertical target sensing angle? Can be compared. If the distance difference? L is larger than the value D2 * sin (? V1), the control unit 200 can determine that the object OBJ is located within the vertical target sensing range Rv. Conversely, when the distance DELTA L is smaller than the value D2 * sin (? V1) or greater than the value D2 * sin (? V1), the control unit 200 determines that the object OBJ is in the vertical target sensing range Rv It can be judged that it is located outside.

When the control unit 200 determines that the object OBJ is located within the vertical target sensing range Rv, the control unit 200 can calculate the first distance L1 to the object OBJ. For example, the first distance L1 can be calculated as ((t2 + t3) / 2 - t1) * spd / 2. Briefly, the first distance L1 can be calculated as ((t2 - t1) * spd / 2 or ((t3 - t1) * spd / 2).

When the controller 200 determines that the object OBJ is located outside the vertical target sensing range Rv, the controller 200 calculates the object OBJ based on the first reception time t2 and the second reception time t3, ) Is located outside of the vertical target sensing range Rv. For example, when the first reception time t2 is faster than the second reception time t3, the controller 200 can determine that the object OBJ is located outside the vertical target sensing range Rv. Conversely, when the first reception time t2 is later than the second reception time t3, the control unit 200 can determine that the object OBJ is located outside the vertical target sensing range Rv.

10 is a view for explaining a method of detecting a position of an object using an ultrasonic transmitter and ultrasonic receivers arranged as shown in FIG. 5C according to an embodiment of the present invention.

Referring to FIG. 10, T1 is a first ultrasonic transmitter 151-1, R1, R2 and R3 are ultrasound receivers 152-1, 152-8, 152-9 shown in FIG. 5C, 1 to the third ultrasonic receivers R1, R2, and R3. The separation distance between the first and second ultrasonic receivers R1 and R2 is denoted by D1. OBJ is an object sensed by an ultrasonic sensor composed of a first ultrasonic transmitter T1 and first to third ultrasonic receivers R1, R2, R3. The first and second ultrasound receivers R1 and R2 are positioned in the horizontal direction and the third ultrasound receiver R3 is positioned in the vertical direction from the center point M of the first and second ultrasound receivers R1 and R2 .

L1 is a first distance L1 between the object OBJ and the first ultrasonic transmitter T1. L2 is a second distance L2 from the object OBJ to the first ultrasonic receiver R1 and L3 is a third distance L3 from the object OBJ to the second ultrasonic receiver R2. L4 is the fourth distance L4 from the object OBJ to the third ultrasonic receiver R3 and L5 is the fifth distance L5 from the object OBJ to the center point M. The fifth distance L5 is approximately equal to the average of the second distance L2 and the third distance L3.

theta] 1h is a horizontal angle [theta] 1h where the object OBJ is located with respect to the first ultrasonic transmitter T1, which is defined by the normal direction Y of the output surface from which the first ultrasonic transmitter T1 outputs the ultrasonic waves, to be. ? 1v is a vertical angle? 1v at which the object OBJ is located with respect to the first ultrasonic transmitter T1, which is defined with reference to the ultrasonic output direction Y. [

The first output time point at which the first ultrasonic transmitter T1 outputs the ultrasonic wave is t1 and the first to third ultrasonic receivers R1, R2 and R3 receive ultrasonic echoes generated by reflecting the ultrasonic waves from the object OBJ. The first through third reception points are t2, t3, and t4, respectively. The horizontal parallax between the first reception time t2 and the second reception time t3 is? Th (= t3-t2). Since the center point M is located at the center of the first and second ultrasonic receivers R1 and R2, the center point reception time point at which the ultrasonic echo arrives at the center point M is (t2 + t3) / 2 can do. The vertical parallax between the third reception point of time t4 and the center point reception point of time (t2 + t3) / 2 is referred to as? Tv (= t4- (t2 + t3) / 2).

The control unit 200 determines whether the object OBJ is on the basis of the horizontal parallax DELTA th between the first reception time t2 and the second reception time t3 by using the method described above with reference to Figs. It is possible to calculate the horizontal angle? Also, the control unit 200 can determine whether or not the object OBJ is located within the target horizontal sensing range Rh based on the horizontal parallax? Th.

The control unit 200 calculates the vertical parallax DELTA tv between the third reception time point t4 and the central point reception time point (t2 + t3) / 2 by using the method described above with reference to Fig. The vertical angle [theta] 1v at which the OBJ is located can be calculated. Also, the control unit 200 can determine whether or not the object OBJ is located within the target vertical sensing range Rv based on the vertical parallax DELTA tv.

The control unit 200 can similarly detect the position of the object OBJ using the ultrasonic transmitters and the ultrasonic receivers arranged as shown in Figs. 5D and 5E by applying the method described previously with reference to Figs. 7 to 10 have.

If each step constituting the manufacturing method according to the present invention is not explicitly described or contradicted, each step can be performed in an appropriate order. The present invention is not limited to the above-described embodiments. The use of all examples or exemplary terms (e.g., etc.) in the present invention is for the purpose of describing the present invention only in detail, and is not intended to limit the scope of the present invention by the use of the above examples or exemplary terms, The range is not limited. In addition, those skilled in the art will recognize that design criteria and factors can be modified within the scope of the claims or equivalents thereof.

Accordingly, the spirit of the present invention should not be limited to the above-described embodiments, and all ranges equivalent to or equivalent to the claims of the present invention as well as the claims of the following claims Category.

100, 100a: unmanned aircraft
110:
120: wing portion
150: Ultrasonic sensor
151: Ultrasonic transmitter
152: Ultrasonic receiver
200:
300: remote control device

Claims (24)

main body;
A wing coupled to the body and generating lift and thrust;
A plurality of ultrasonic transmitters arranged along the periphery of the main body and each outputting ultrasonic waves;
A plurality of ultrasonic receivers arranged along the periphery of the main body and receiving the ultrasonic echoes generated by reflecting the ultrasonic waves from the object and converting the received ultrasonic echoes into electric signals; And
Wherein the controller controls the wing so that the main body floats and moves in a first direction, selects a first ultrasonic transmitter positioned in the first direction from the main body among the plurality of ultrasonic transmitters, The first ultrasonic transmitter selects first and second ultrasonic receivers located at the same distance from the first ultrasonic transmitter and controls the first ultrasonic transmitter to output the ultrasonic wave and receives the electric signal from the first and second ultrasonic receivers And a controller,
Wherein,
Based on a first output point at which the first ultrasonic transmitter outputs the ultrasonic waves and first and second reception points at which the first and second ultrasonic receivers respectively receive the ultrasonic echoes, Whether or not the position of the transmitter is within a target detection range of the transmitter,
And calculate the distance to the object based on the first output point and the first and second points of reception when the object is located within the target detection range. The method according to claim 1,
Wherein the first and second ultrasound receivers are spaced apart from one another in a horizontal direction. 3. The method of claim 2,
Wherein the control unit is configured to determine whether the object is located within a target sensing angle in a horizontal direction from the first direction based on a parallax between the first and second reception points. The method of claim 3,
Wherein,
Calculating a difference between a first distance from the first ultrasonic receiver to the object and a second distance from the second ultrasonic receiver to the object based on the parallax,
And comparing a value obtained by multiplying the distance by a sine value of the target sensing angle with the distance difference,
And to determine whether the object is located within the target sensing range according to the comparison result. The method of claim 3,
Wherein,
Calculating a difference between a first distance from the first ultrasonic receiver to the object and a second distance from the second ultrasonic receiver to the object based on the parallax,
And calculate an angle in which the object is horizontally spaced from the first direction based on the distance difference and the distance difference. 3. The method of claim 2,
When the object is located outside the target sensing range,
Selecting a second ultrasonic transmitter other than the first ultrasonic transmitter on the basis of an ultrasonic receiver receiving the ultrasonic echoes earlier than the first ultrasonic receiver,
Selecting at least two ultrasonic receivers according to the second ultrasonic transmitter,
Controls the second ultrasonic transmitter to output the ultrasonic wave at a second output time,
Wherein the ultrasonic echo generated by reflecting the ultrasonic wave output from the object at the second output time is based on at least two reception points received by the at least two ultrasonic receivers, Is within a target detection range of the unmanned aircraft. delete The method according to claim 1,
Wherein the plurality of ultrasonic transmitters are arranged at an equal angle in a horizontal direction along the periphery of the main body, and the plurality of ultrasonic receivers are arranged at an equal angle in a horizontal direction along the periphery of the main body. The method according to claim 1,
Wherein the first and second ultrasonic receivers are spaced apart from each other in a vertical direction. 10. The method of claim 9,
Wherein the control unit is configured to determine whether the object is located within a target sensing angle in a vertical direction from the first direction based on a parallax between the first and second reception points. main body;
A wing coupled to the body and generating lift and thrust;
A plurality of ultrasonic transmitters arranged along the periphery of the main body and each outputting ultrasonic waves;
A plurality of ultrasonic receivers arranged along the periphery of the main body and receiving the ultrasonic echoes generated by reflecting the ultrasonic waves from the object and converting the received ultrasonic echoes into electric signals; And
Wherein the controller controls the wing so that the main body floats and moves in a first direction, selects a first ultrasonic transmitter positioned in the first direction from the main body among the plurality of ultrasonic transmitters, And a controller for selecting at least three ultrasonic receivers according to a first ultrasonic transmitter and controlling the first ultrasonic transmitter to output the ultrasonic waves and receiving the electric signals from the at least three ultrasonic receivers,
Wherein,
Wherein the object is detected based on a first output time at which the first ultrasonic transmitter outputs the ultrasonic wave and at least three reception times at which the at least three ultrasonic receivers respectively received the ultrasonic echoes, And determines whether or not it is within the range,
And calculate a distance to the object based on the first output point and the at least three points of reception when the object is located within the target sensing range,
Wherein the at least three ultrasound receivers comprise first through third ultrasound receivers,
Wherein the at least three reception points include first to third reception points at which the first to third ultrasonic receivers each receive the ultrasonic echo,
Wherein the first and second ultrasound receivers are spaced apart from each other by a first separation distance in the horizontal direction and are spaced the same distance from the first ultrasound transmitter and the third ultrasound receiver is located at one of the first and second ultrasound receivers Wherein the first to third ultrasonic receivers are selected such that the first to third ultrasonic receivers are positioned apart from each other by a second distance in the vertical direction from a center point of the first and second ultrasonic receivers. 12. The method of claim 11,
Wherein the control unit is configured to determine whether the object is located within a first target sensing angle in a horizontal direction from the first direction based on a parallax between the first and second reception points,
Wherein the controller is configured to determine whether the object is located within a second target sensing angle that is set in a vertical direction with respect to the first direction based on the first to third reception points of time . 13. The method of claim 12,
Wherein the third ultrasonic receiver is located at a second distance from the center of the first and second ultrasonic receivers in the vertical direction,
Wherein the control unit determines whether the object is located within the second target sensing angle in a vertical direction with respect to the first direction based on a time difference between the average of the first and second reception points and the third reception time Wherein the control unit is configured to determine whether the unmanned airplane is unmanned. 13. The method of claim 12,
Wherein the third ultrasonic receiver is vertically spaced apart from the one of the first and second ultrasonic receivers by the second separation distance,
The control unit determines whether or not the object is positioned within the second target sensing angle in the vertical direction with respect to the first direction based on a parallax between one of the first and second reception points and the third reception point Of the unmanned aircraft. The method according to claim 1,
Wherein the control unit is configured to wirelessly transmit information on the distance to the object and the direction in which the object is located. The method according to claim 1,
The controller sequentially drives the plurality of ultrasonic transmitters one by one and sequentially transmits the objects located in the directions of the plurality of ultrasonic transmitters using at least two ultrasonic receivers selected in accordance with each of the sequentially driven ultrasonic transmitters Wherein the control unit is configured to detect an unmanned aircraft. A control method of an unmanned aerial vehicle including a main body, a wing portion coupled to the main body and generating lift and thrust, and a plurality of ultrasonic transmitters and a plurality of ultrasonic receivers arranged along the periphery of the main body,
Moving the unmanned airplane in a first direction using the wing;
Selecting a first ultrasonic transmitter positioned in the first direction from the main body among the plurality of ultrasonic transmitters;
Selecting first and second ultrasound receivers located at the same distance from the first ultrasound transmitter among the plurality of ultrasound receivers;
Outputting an ultrasonic wave using the first ultrasonic transmitter at a first output time;
Determining first and second reception points at which each of the first and second ultrasound receivers receives an ultrasound echo generated by reflecting the ultrasound from an object; And
Determining whether or not the object is located within a target sensing range of the first ultrasonic transmitter based on the first and second reception points, wherein a time difference between the first and second reception points is greater than a first threshold , Determining that the object is located within a target sensing range of the first ultrasonic transmitter,
Wherein the first threshold value is set based on a distance between the first and second ultrasonic receivers, a target sensing angle defining the target sensing range, and a speed of the ultrasonic wave. .
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