KR101857616B1 - Air drone with collision prevention communication function using guardian module - Google Patents

Abstract

The present invention relates to an air drone with a collision prevention communication function using a guardian module, which transmits collision prevention data to another air drone through a guardian module in real time, and further, is moved for collision avoidance by receiving collision prevention data from the other air drone in real time. According to the present invention, when operating the air drone, the guardian module is used to prevent a collision between air drones to provide excellent collision avoidance ability of the air drone.

Description

[0001] The present invention relates to an air drone with collision prevention communication function using guardian module,

The present invention relates to a public drones having an anti-collision communication function using a guardian module, and more particularly, to a public drones having an anti-collision communication function using a guardian module for ensuring excellent collision avoidance capability of the public drones.

Generally, the drone is remotely controlled by a wireless communication method, developed for military use, and used for simple shooting practice. However, according to the continuous development of electronic communication technology, the drones are widely spread not only for military use but also for various other fields. For example, drones can be used for various disasters or accidents that can not be easily accessed by people, jungles, ogres, volcanoes, etc., and are used to capture the situation on the spot or to obtain lifesaving or broadcast images. It may be used for commercial purposes or for security and control services on behalf of surveillance cameras.

Recently, according to the generalization of drones, individuals also purchase drones for hobby.

The general construction of such a dron includes a plurality of fans for outputting lift, a battery for supplying power to the fans, and a control unit. The fan is composed of a motor generating a rotational force by the electric power supplied from the battery, and a propeller fixed to the drive shaft of the motor.

Recently, as the development of unmanned aerial vehicles has accelerated and the demand for using unmanned airplanes in high airspace has increased, the air collision between unmanned airplanes and manned airplanes has become a major problem. Accordingly, Demand is also increasing.

Commercial manned aircraft follow the instructions by the control and TCAS to prevent collision, and the final collision avoidance is performed according to the pilot's See-and-Avoid. When a pilot performs a collision avoidance, he or she determines the movement in accordance with the rules set out in FAA's 14 CFR 91.113 Right-of-Way Rules. However, since unmanned aircraft do not carry pilots, collision avoidance function should be used to detect and avoid the collision avoidance ability equivalent to that of manned aircraft. In this regard, many countries, including the United States, have classified Sense-and-Avoid or Detect-and-Avoid of unmanned aerial vehicles as major issues and have conducted research and development. Equipment for sense-and-avoid of unmanned aerial vehicles includes collaborative sensors that transmit and receive data by communicating with other aircraft using transponders such as TCAS and ADS-B, radar, And non-collaborative sensors that obtain information by measurement. They are divided into an active sensor type that emits energy to the outside, such as a radar, according to the measurement principle, and a passive sensor that does not emit energy, such as an image sensor.

Since TCAS provides TA (Traffic Advisory) and Raising or Declining Resolution Advisory (RA) to the manned aircraft pilot, it needs to be modified in order to be applied to unmanned aircraft. Recently, the ADS-B, which can exchange information on the position, altitude, and speed of the other aircraft through a transponder instead of the TCAS, is being illuminated as a next-generation navigation monitoring device.

Currently, in the United States, Europe, Australia and other countries, the ADS-B is mandatory for civilian aircraft. As the development of small ADS-B transponder progresses, research to install ADS- . In the case of Lada, it is advantageous to quickly search the surrounding area without being greatly affected by the weather change. However, since the size of the system is large, the policy information center (http: // e-policy. kari.re.kr) rules are followed. Since image sensors have advantages over other sensors in terms of size and cost, and various information can be obtained from images, researches on recognition and collision avoiding methods using image sensors have been carried out steadily. Recently, it has been attracting much attention as a sensor for sense-and-avoid of unmanned aerial vehicles due to remarkable development such as improvement of performance of sensor itself and improvement of recognition accuracy by deep running. Researches have been published to fly the complex space without collision.

Such collision avoidance techniques have been actively studied in various fields, and researches for realizing sense-and-avoid of unmanned airplanes in connection with the above-described various detection devices are actively performed.

As a technique for avoiding collision of a conventional unmanned aerial vehicle, Korean Unexamined Patent Application Publication No. 10-2017-0002191 discloses a method for controlling collision avoidance of an unmanned aerial vehicle, Transmitting an alarm signal informing that one unmanned aerial vehicle changes the flight path; Calculating a flight path of the unmanned air vehicle in which the control station receives the alarm signal and transmits the alarm signal; Comparing the flight paths of the n unmanned aerial vehicles to the control station to search for a collision-capable unmanned aerial vehicle; Adjusting and simulating the flight paths of the unmanned aerial vehicles other than the unmanned aerial vehicle to which the control station has transmitted the alarm signal until the number of collisionable unmanned aerial vehicles becomes zero; Determining the flight path of the n unmanned aerial vehicles where the number of the collision-capable unmanned aerial vehicles becomes zero; And transmitting the control signal to at least one of the unmanned aerial vehicles other than the unmanned aerial vehicle to which the control station has transmitted the alarm signal, thereby changing the flight path to the determined flight path.

However, in addition to the conventional technologies, existing technologies still have a problem that the unmanned airplane has to have the same level of detection and avoidance capability as that of the manned airplane for the airplane flight, and a clear technical development is required to be.

In order to solve the problems of the prior art as described above, it is an object of the present invention to have a superior collision avoidance capability of a public drones by using a guardian module to prevent collision between the public drones when operating the public drones .

Other objects of the present invention will become readily apparent from the following description of the embodiments.

In order to achieve the above object, according to one aspect of the present invention, data for collision prevention is transmitted to another public drones in real time through a guardian module, and collision prevention data is received from other public drones in real time, There is provided a public drones having an anti-collision communication function using a guardian module that is activated for avoidance.

A navigation sensor unit for acquiring data necessary for flight; A camera for acquiring an external image; A wireless communication unit for wirelessly receiving an operation signal for operation; A GPS for acquiring data about the flight position; And a control unit for receiving the data of the navigation sensor unit and outputting a control signal corresponding to the operation signal received by the wireless communication unit, A control unit for controlling the wireless transmission to the other public drones through the guardian module and outputting a control signal to perform a start for avoiding the collision avoidance data of the other public drones received through the guardian module; A plurality of driving units respectively controlled by the control signal of the control unit and generating propulsive forces necessary for flight and direction switching by rotation of the propeller; And a power supply unit for supplying power necessary for operation.

The guardian module uses a beacon channel as a guardian channel for transmitting and receiving collision preventive data and transmits collision avoidance data to a header of the beacon channel in real time to another public droner. Address, and when the beacon of another public drone is received, the control unit synchronously receives the transmission contents of the beacon header, checks the ID and the data for preventing the collision, The beacon may be fired for 10 to 30 msec and controlled to operate in a slave mode for 120 to 200 msec.

The guardian module uses a channel fixed method to recognize a plurality of other public drones, constitutes a transmitting / receiving channel for avoiding collision avoidance as many as the number of public drones desired to avoid collision, and a public drones The fixed channel is transmitted in a beacon channel of each channel, and when the fixed channel is used, only the ID and the transmission channel number are transmitted to the beacon channel, It is possible to transmit its own position only in a predetermined channel and have the total collision avoidance detection have a critical time as long as the length of each channel is multiplied by the number of public drone desiring to avoid.

According to the public drones having the collision prevention communication function using the guardian module according to the present invention, when the public drones are operated, by using the guardian module to prevent collision between the public drones, .

FIG. 1 is a block diagram illustrating a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a concept of wireless communication of a Guardian module in a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.
3 is a diagram illustrating a guardian MAC frame processing configuration in a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.
4 is a diagram illustrating real-time data processing in a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.
FIG. 5 is a block diagram illustrating an operation of a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.

The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated and described in detail in the drawings. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention, And the scope of the present invention is not limited to the following examples.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and redundant explanations thereof will be omitted.

FIG. 1 is a block diagram illustrating a public drones having an anti-collision communication function using a guardian module according to an embodiment of the present invention.

Referring to FIG. 1, a public drones 100 having an anti-collision communication function using a guardian module according to an exemplary embodiment of the present invention transmit data for collision prevention to other public drones in real time through a guardian module 110 In addition, collision avoidance data is received in real time from another public drone to be activated for collision avoidance.

The public drones 100 having a collision avoidance communication function using a guardian module according to an embodiment of the present invention include a navigation sensor unit 120 for acquiring data necessary for flight, a camera 130 for acquiring an external image, A wireless communication unit 160 for wirelessly receiving an operation signal for control from a ground level regulator, a GPS 220 for acquiring data on the flight position, And outputs the control signal corresponding to the operation signal received by the wireless communication unit 160. The flight speed, the position and the flight direction obtained through the navigation sensor unit 120 and the GPS 220 are transmitted to the guardian module To the other public drones via the control module 110 and performs an operation for avoiding according to the collision avoidance data of the other public drones received through the guardian module 110 A plurality of driving units 210 respectively controlled by the control signals of the control unit 170 and generating propulsive forces necessary for flight and direction switching by rotation of the propeller, And a power supply unit 190 for supplying necessary power. Here, the navigation sensor unit 120 may include a single sensor or a plurality of sensors for detecting speed, attitude, inclination, altitude, obstacles on a flight path, and the like necessary for controlling the flight. The wireless communication unit 160 may use various communication methods including wireless communication such as Wi-Fi, Bluetooth or various RF signals. The power supply unit 190 may be a rechargeable rechargeable battery or may be a conventional battery. The driving unit 210 may be a motor in which a propeller is fixed to a rotary shaft. The air drone 100 having the collision prevention communication function using the guardian module according to the present invention includes a lighting unit 140 for irradiating light to a photographing region of the camera 130, a microphone 150 for acquiring audio from the outside, And a storage unit 180 for storing various data to be obtained, set values, data and programs necessary for the operation, and the like.

2, the guardian module 110 is divided into a physical layer and a data link layer, and the data link layer is divided into a medium access (MAC) sublayer and an adaptation sublayer. The medium access layer uses a hybrid multiple access (HMA) scheme, which utilizes the characteristics of the physical layer, binary CDMA, to access the medium through a combination of codes and time slots. The advantage of binary CDMA is that it can transmit the modulated signals of various levels generated in the existing multi-code CDMA system to the TDMA signal waveform in an outward form, thereby enabling high-speed transmission with low noise CDMA characteristics and low power consumption TDMA (Time Division Multiple Access). The adaptation sublayer serves to make the lower protocol stack compatible with the protocol stack of the other wireless standards.

The guardian technology by the guardian module 110 is a domestic wireless communication standard that combines binary CDMA technology and ARIA, a NIS security algorithm. Conventional wireless communication technologies have a problem in that it is difficult to utilize variously in a home network due to a heavy power consumption, and transmission / reception is not smooth due to radio wave interference when transmitting large amounts of data. In contrast, the Guardian technology combines the advantages of CDMA and TDMA technology, and is characterized by strong noise immunity as compared to wireless LAN and Bluetooth, and is capable of transmitting data at very high speeds while consuming low power. Compared with other short-range wireless communications, the ability to transmit and receive long distances is far superior. As a result, Guardian technology can transmit and receive data (video and voice) up to 500 meters without a base station when LOS is guaranteed, and can freely transmit and receive video and audio even when moving (60 km / h) . Here, wireless transmission and reception of high-quality images is much freer, and it can be used together with existing wireless communication technology without signal interference, and provides quality of service (QoS) and data encryption function of multimedia service. In particular, an independent ad-hoc network is created between terminals without an access point (AP), and 40 simultaneous terminals and 250 terminal connections per piconet (network where two or more devices share the same channel) It is possible to send and receive multimedia data directly between an individual, an individual, an individual and a plurality of persons.

Guardian technology also uses 128bit AES and ARIA encryption decryption algorithms for network security. The encryption algorithm is implemented in hardware in the Soc, so there is little delay in data packet processing due to encryption / decryption. Encryption generally consists of the original data, the key that encrypted it, the encrypted data, and the key to restore the encrypted data back to the original data. The symmetric encryption method and the asymmetric encryption method can be divided according to the encryption key management method. The symmetric cryptosystem is a well known method of encrypting and decrypting the same key and sharing the same key as the other. The asymmetric encryption method uses a public key that is known by anyone who encrypts it, and a secret key when decrypting it. The encryption key, the decryption key, and the key are different from each other. In the transmission network, symmetric keys are used, and the master and slave share the same key to maintain network security. Generally, the format of the unencrypted guardian frame is composed of MAC Header + Payload + FCS.

The guardian module 110 can use a beacon channel as a guardian channel for transmitting / receiving data for collision avoidance, transmit collision avoiding data to a header of a beacon channel to another public droner in real time, Can use the MAC address. When a beacon of another public drones is received, the control unit 170 synchronously receives the transmission contents of the beacon header, checks the ID and the data for preventing collision, and moves the other public drones horizontally to a point where no collision with the other public drones occurs It is possible to control each of the driving units 210. The beacon may be fired for 10 to 30 msec with the master function and controlled to operate in the slave mode for 120 to 200 msec.

The guardian module 110 may use a channel fixed method to recognize a plurality of other public drone, configure a avoidance transmission / reception channel by the number of the public drone desiring collision avoidance, A fixed channel of the public drones can be used to transmit the position of the fixed channel to the beacon channel of each channel. If a fixed channel is used, the ID of the beacon and the transmission channel And the total collision avoidance detection can have a critical time equal to the number of public drones desired to avoid the length of each channel.

According to the present invention, the Guardian communication chip is applied to the drones that require real-time processing, so that the collision avoidance function can be easily applied.

The guardian module 110 is a module capable of transmitting images and data. The ARM9 can be used as a CPU, the channels can be allocated in software, and the control unit 170 and the wireless communication unit 160 can be reconfigured . Therefore, it is possible to separately configure a channel for control communication and a channel for video transmission of the public drones. In particular, a collision avoidance channel can be separately provided and a function for collision avoidance can be additionally used.

The conventional air drone collision avoidance function is developed on the basis of a sense-and-avoid or a detect-and-avoid charge, and the gist of the present invention is that the general contents are applied to a specific channel of the guardian module 110, .

Perform the following method for the automatic avoidance function of the air drone.

Referring to FIG. 3, the channel synchronization method used in the collision avoidance method uses a CSMA / CA: Carrier Sense Multiple Access with Collision Avoidance method, and is a guardian's basic channel synchronization method. The public drones use beacon channels as collision avoidance guardian channels. The ID of the module uses the MAC address of the module. Is the critical time of this collision avoidance during the time of scanning the total number of channels configured for collision avoidance. That is, it becomes the maximum time for recognizing collision avoidance. With all guardian collision avoidance modules, the public drones can fire beacons for 20 msec with the master function and operate in slave mode for 160 msec. It transmits the flight speed, GPS position and flight direction in real time to the header of the beacon channel. When the beacon is received, the beacon header is synchronized to receive the transmission contents of the beacon header, and identifies the ID, position, speed, and direction, and horizontally moves to a position where no collision occurs with the self position.

Referring to FIG. 4, the configuration of the present invention simultaneously detects air drones around a maximum of eight air drums and performs real-time processing for 160 msec (IFS: Inter frame space).

According to the present invention, a channel fixed method can be proposed as a method of recognizing the n public drones at the same time, which is easiest and simple in configuration when the guardian module 110 is used. And constitute a desired number of avoidance transmission / reception channels for collision avoidance of the public drones. We use the future defined fixed channel of the air drone to recognize each position of the public drones. The location of the fixed channel is sent in the beacon channel of each channel. If a fixed channel is used, only the self ID and the transmission channel number are transmitted to the beacon channel. When a fixed channel is used, it transmits its position only in a predetermined channel. The Guardian channel is synchronous and can know which channel number it will transmit its position and velocity direction.

Referring to FIG. 5, the total avoidance detection is a critical time as long as the length of each channel. That is, it takes time to avoid the maximum collision. The avoidance distance is determined by the speed of each dron. Therefore, it is possible to prevent collision by calculating collision avoidable regions simultaneously with the number of collision avoidance channels.

The collision avoidance function of the present invention can be applied to flight flight, group flight and unmanned flight, and can be used as a method for avoiding airborne collision. A value of a beacon RSSI (Receive Signal Strength Indicator) of the guardian module 110 may be used as an auxiliary collision avoidance parameter if necessary.

According to the air drone having the anti-collision communication function using the guardian module according to the present invention, by using the guardian module to prevent the collision between the air drones when the air drones are operated, .

Although the present invention has been described with reference to the accompanying drawings, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the scope of the appended claims and equivalents thereof.

110: Guardian module 120: Navigation sensor unit
130: camera 140: illumination
150: microphone 160: wireless communication unit
170: control unit 180:
190: Power supply unit 210:
220: GPS

Claims (4)

The collision avoidance data is transmitted to the other public drones in real time through the guardian module and the collision avoidance data is received in real time from the other public drones to start collision avoidance,
A navigation sensor unit for acquiring data necessary for flight;
A camera for acquiring an external image;
A wireless communication unit for wirelessly receiving an operation signal for operation;
A GPS for acquiring data about the flight position;
And a control unit for receiving the data of the navigation sensor unit and outputting a control signal corresponding to the operation signal received by the wireless communication unit, A control unit for controlling the wireless transmission to the other public drones through the guardian module and outputting a control signal to perform a start for avoiding the collision avoidance data of the other public drones received through the guardian module;
A plurality of driving units respectively controlled by the control signal of the control unit and generating propulsive forces necessary for flight and direction switching by rotation of the propeller; And
A power supply unit for supplying power necessary for operation;
Lt; / RTI >
Wherein the guardian module comprises:
Wherein the collision avoidance control unit uses a beacon channel as a guardian channel for transmitting and receiving collision avoidance data and transmits collision avoidance data to a header of the beacon channel to another public drone in real time,
Wherein,
When the beacon of another public drones is received, receives the transmission contents of the beacon header synchronously and confirms the ID and the data for preventing collision, and horizontally moves to a point where the other air drones do not collide with itself , A master function to fire beacons for 10 to 30 msec, and a control to operate in a slave mode for 120 to 200 msec. delete delete The method according to claim 1,
Wherein the guardian module comprises:
A channel fixed method is used to recognize a number of different public drones, a transmitting and receiving channel for avoiding as many air drones as desired for collision avoidance, and a predefined fixed In the case of using a fixed channel, it transmits only its own ID and transmission channel number to the beacon channel, and transmits only its own channel to the beacon channel, And a total collision avoidance detection has a critical time equal to the length of each channel multiplied by the number of the public drones desiring to avoid the collision avoidance communication function using the guardian module.

Images