KR101895529B1 - System and method for supporting drone autonomous flight based on Real Time Location System - Google Patents

System and method for supporting drone autonomous flight based on Real Time Location System Download PDF

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KR101895529B1
KR101895529B1 KR1020160004953A KR20160004953A KR101895529B1 KR 101895529 B1 KR101895529 B1 KR 101895529B1 KR 1020160004953 A KR1020160004953 A KR 1020160004953A KR 20160004953 A KR20160004953 A KR 20160004953A KR 101895529 B1 KR101895529 B1 KR 101895529B1
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tag
rtls
drones
information
autonomous flight
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KR1020160004953A
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KR20170085385A (en
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권종만
신필순
황기현
김주용
윤태수
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동서대학교산학협력단
(주)이도링크
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/0202—Child monitoring systems using a transmitter-receiver system carried by the parent and the child
    • G08B21/0269—System arrangements wherein the object is to detect the exact location of child or item using a navigation satellite system, e.g. GPS
    • B64C2201/125—
    • B64C2201/126—
    • B64C2201/127—
    • B64C2201/141—
    • B64D2700/62184—

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Abstract

The present invention relates to a RTLS-based drones autonomous flight system and a dronon autonomous flight method. According to a first aspect of the present invention, there is provided a low-power miniaturization device carried by a socially disabled person, comprising: a tag (TAG) for transmitting and receiving signals and data to and from an anchor node through ultra wide band wireless communication; Drones with RTLS-based autonomous flight and collision detection / avoidance based on RTLS; An access point (AP) for positioning based on UWB RTLS, wherein anchor nodes including a plurality of drones are formed; And acquiring location information of the tag (TAG) by data transmission / reception based on UWB RTLS between the tag (TAG) and one anchor node from one anchor node and then transmitting the location information of the tag (TAG) And when a problem occurs to a social minor possessing the tag (TAG), the social weak person having the tag (TAG) is searched through transmission of control information to the dron, A drones integration control server for receiving current status information including image information and transmitting the received status information to a related institution server for a first response; And the RTLS-based dronemonautomatic flight system.
According to a second aspect of the present invention, there is provided a method for transmitting a tag, the method comprising: a first step of acquiring location information of a tag (TAG) from an anchor node by data transmission / reception based on UWB RTLS between a tag (TAG) and an anchor node; A second step of the drone integration control server providing location information of the tag (TAG) with a drone; And a third step of the drone reaching a position of the tag (TAG) by autonomous flight by collision detection and avoidance with an object; And an RTLS-based drones autonomous flight method.
Thus, it provides not only autonomous flight to the person who owns the tag based on ultra-precise real-time positioning utilizing UWB RTLS, but also provides an effect of stable self-flight by avoiding and sensing for preventing collision with an object.
In addition, in case of disaster occurrence, extreme situation, detection of missing children, etc., it is possible to promptly and promptly respond to the situation by collecting the location quickly.

Description

RTLS-based drone autonomous flight system and drone autonomous flight based system

[0001] The present invention relates to a RTLS-based drones autonomous flight system and a drones autonomous flight method, and more particularly, to an autonomous flight control system for autonomous navigation of a dron through a UWB RTLS (Ultra Wide Band Real Time Location System) To a Dron autonomous flight system and a Dron autonomous flight method for providing information by performing flight.

The drone is a unmanned aerial vehicle that does not require pilots. It was developed and used for military purposes, which scouted and destroyed the enemy in the international dispute area. However, recently, due to the convenience of transportation and storage, It is gradually expanding.

In other words, the drones are relatively light and easy to operate, so they are used not only for broadcasting but also for monitoring wildlife in a wide area and for monitoring poaching. Moreover, they are flying in disaster and disaster areas, It extends its use to dangerous missions.

In the future, the drones are expected to be used beyond the simple reconnaissance mission of disasters and disasters to the use of medical supplies and relief supplies to survivors and victims at disaster and disaster sites, as well as the use of simple items such as milk and newspaper delivery It is also expected to be used for delivery.

Korean Patent Laid-Open Publication No. 10-2012-0071816 "Air pollution control method and system therefor" Korean Patent Registration No. 10-0789474 entitled "Unmanned Remote Control Satellite Communication System for Disaster Emergency Communication" Korean Patent Laid-Open Publication No. 10-2015-0133536 "Method and system for providing security service using drone"

The present invention relates to a method and apparatus for not only reaching a person who owns a tag based on ultrahigh precision real-time positioning utilizing UWB RTLS but also for preventing RTLS Based drone autonomous flight system and a drone autonomous flight method.

In addition, the present invention is to provide a RTLS-based drones autonomous flight system and a dronon autonomous flight method for monitoring environmental factors such as atmospheric conditions using drones.

In addition, the present invention is to provide a RTLS-based drones autonomous flight system and a dronon autonomous flight method in order to promptly and precisely acquire position information in the event of a disaster, an extreme situation, or a detection of a missing person.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the RTLS-based drones autonomous flight system according to an embodiment of the present invention is a low-power miniaturization device carried by a socially disabled person, and transmits and receives signals and data with an anchor node through Ultra Wide Band A tag (TAG) for performing the tagging; Drones with RTLS-based autonomous flight and collision detection / avoidance based on RTLS; An access point (AP) for positioning based on UWB RTLS, wherein anchor nodes including a plurality of drones are formed; And acquiring location information of the tag (TAG) by data transmission / reception based on UWB RTLS between the tag (TAG) and one anchor node from one anchor node and then transmitting the location information of the tag (TAG) And when a problem occurs to a social minor possessing the tag (TAG), the social weak person having the tag (TAG) is searched through transmission of control information to the dron, A drones integration control server for receiving current status information including image information and transmitting the received status information to a related institution server for a first response; .

At this time, when the drones integration control server attaches the air pollution detection sensor to the drones, the drones integrated control server senses the current standby state while autonomously flying in a city center or an industrial area where the anchor node is installed by the drones, It is desirable to provide it as an institutional server.

The drones are configured to receive the position information of the tag (TAG) when the remaining capacity of the battery is less than a preset charge amount, and then return to a preset position after autonomous flight to the position of the tag (TAG) . ≪ / RTI >

In order to accomplish the above object, the RTLS-based dronemonautonomous flight method according to the embodiment of the present invention is characterized in that the Dron integrated control server transmits the location of the tag (TAG) by transmitting and receiving data based on UWB RTLS between the tag (TAG) Comprising: a first step of obtaining information from the anchor node; A second step of the drone integration control server providing location information of the tag (TAG) with a drone; And a third step of the drone reaching a position of the tag (TAG) by autonomous flight by collision detection and avoidance with an object; .

A fourth step of, after the third step, transmitting the current situation information including the image information collected by the drones by the camera to the drones integrated control server; .

The RTLS-based drones autonomous flight system and the dronon autonomous flight method according to the embodiment of the present invention not only reach the person carrying the tag by autonomous flight based on the ultra-precise real-time positioning utilizing UWB RTLS, And provides a stable autonomous flight through detection and detection.

The RTLS-based drones autonomous flight system and the dronon autonomous flight method according to the embodiment of the present invention provide an effect that quick response can be achieved through quick and accurate position acquisition in case of disaster occurrence, extreme situation, and child detection .

In addition, the RTLS-based drones autonomous flight system and the dronon autonomous flight method according to another embodiment of the present invention provide an effect of monitoring environmental factors such as atmospheric conditions using a drones.

1 is a diagram illustrating an RTLS-based drones autonomous flight system in accordance with an embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of a dron in the RTLS-based drones autonomous flight system of FIG. 1; FIG.
3 is a reference diagram illustrating a drones integration control platform of a drones integration control server in the RTLS-based drones autonomous flight system of FIG.
4 is a diagram showing a configuration of a drones integration control server in the RTLS-based drones autonomous flight system of FIG. 1;
5 is a flow chart illustrating a RTLS-based drones autonomous flight method in accordance with an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the present specification, when any one element 'transmits' data or signals to another element, the element can transmit the data or signal directly to the other element, and through at least one other element Data or signal can be transmitted to another component.

1 is a diagram illustrating an RTLS-based drones autonomous flight system in accordance with an embodiment of the present invention. Referring to FIG. 1, the RTLS-based drones autonomous flight system includes a tag 1, a dron 10, an anchor node 20, a mobile communication network 30, an IP network 40, A server 50, a database 53, a manager / practitioner terminal 60, and a related institution server 70.

The tag (TAG) 1 is a low-power miniaturization device that can be carried by a socially disabled person (the elderly, the disabled, etc.) and performs transmission and reception of signals and data with the UWB anchor node 20 through ultra wide band wireless communication do.

Here, the anchor node 20 is an AP (Access Point) for UWB RTLS-based positioning, which is an ultra precise real-time positioning technology, and is installed in the city center and can be installed in a streetlight, a street tree, etc. as shown in FIG. The anchor node 20 may also include a drones 10. To this end, the anchor node 20 must be able to transmit and receive signals and data through the drones integration control server 50 and the mobile communication network 30 or the IP network 40.

Accordingly, the manager / practitioner terminal 60 and the related institutional server 70 transmit the tag (TAG) 1 through the relative position information between the tag (TAG) 1 having the identification number and the plurality of anchor nodes 20, It is possible to precisely grasp the position of the robot.

Meanwhile, the drone 10 may be a multicopter drone having an RTLS-based autonomous flight and collision detection / avoidance based on RTLS (RTLS) function.

The drone 10 determines the remaining battery level and if it is below a preset charge amount, it receives the positional information of the tag (TAG) 1 and sets the position of the tag (TAG) 1 After autonomous flight, it is possible to perform a function of returning to a preset point. In another embodiment of the present invention, the drones 10 may have a function of automatically returning to a docking station for charging the battery.

In another embodiment of the present invention, the dron 10 receives the information of the battery remaining amount of the tag (TAG) 1 from the drones integration control server 50 connected to the anchor node 20, (TAG) 1 after receiving the positional information of the tag (TAG) 1 after autonomous flight to the position of the tag (TAG) 1 which is a previously programmed place, After autonomous flight, it is possible to perform a function of returning to a preset point.

The mobile communication network 30 may be a synchronous mobile communication network or an asynchronous mobile communication network. As an embodiment of the asynchronous mobile communication network, a WCDMA (Wideband Code Division Multiple Access) communication network is exemplified. In this case, although not shown in the drawings, the mobile communication network may include a radio network controller (RNC), an asynchronous mobile switching center (MSC), and the like. Meanwhile, it is well known that the WCDMA network is changed to a next generation mobile communication network such as a 3G LTE network and a 4G network, and the mobile communication network 30 transmits and receives signals and data to and from the drone 10 through a base station do.

Meanwhile, the IP network 40 is a high speed network of a large communication network capable of a large capacity, long distance voice and data service, and can be, for example, the Internet. Also, the IP network 40 may be a next generation wired network for providing a high-speed multimedia service based on ALL IP (Internet Protocol).

The mobile communication network 30 and the IP network 40 are connected to each other through a gateway GW. The gateway GW is a protocol converter. The gateway GW is a protocol converter, Thereby enabling data transmission / reception between a proxy server connected via a wired network. The gateway is a wap gateway and may include a protocol stack for accessing the drones control server 50 by the drones 10 corresponding to the wireless terminals.

The drone integrated control server 50 has a tag (TAG) (1) through transmission of control information to the drone (10) when a problem occurs to a social weak person (elderly person, disabled person) And receives the current situation information including the image information collected by the camera of the drone 10 and then transmits the current situation information to the related institution server 70 through the IP network 40 so that the related institution server 70), 119 police stations, and civil emergency facilities, as well as respond to them with quick emergency measures, thereby providing services that can reduce the damage.

The drones integration control server 50 detects the current standby state while autonomously flying in a city center or a satin area where a plurality of anchor nodes 20 are installed by the drones 10 when an air pollution detection sensor is attached to the drones 10 And provides the service to the meteorological office that operates the related institution server 70 through the IP network 40 to provide a service for monitoring and patroling to prevent secondary damage.

The database 53 may store the sensing information received from each drones 10 and the GPS position information according to the autonomous flight when the drones integration control server 50 has a plurality of drones 10. [

The manager / practitioner terminal 60 and the related institution server 70 send tracking information about the drone 10, which is the result of the RTLS-based precision tracking service (Tracking Service) performed by the drones integration control server 50, So that monitoring can be performed.

The RTLS based autonomous flight system based on the RTLS has the following features: Reconnaissance and initial response services to cope with extreme situations in the event of a disaster, services related to traffic situation monitoring, prevention of accidents and ensuring safety through bridge underwater inspection, (Police or insurance company) services, aviation blind blind spot autonomous flight patrol service, navigation service on the school and public places of the visually impaired. (TAG) (1) to the children in the coastal area autonomous flight patrol service, amusement park, beaches, etc., and to find out the location of the child by autonomous detection of the child by the drones (10) It can be used for anti-social service and so on.

2 is a block diagram showing the configuration of the drones 10 of Fig. Referring to FIG. 2, the drone 10 includes an RTLS-based autonomous flight based RTLS modlue 11, a collision detection / avoidance module 12, a GPS / / camera modlue 13, an extra module 14, a control module 15 and a communication module (3G / LET Network module)

The RTLS-based autonomous flight module 11 is connected to the GPS receiver of the GPS / camera module 13 under the control of the control module 15 and the ultra precision real-time positioning provided by the drones integration control server 50 in the urban area where UWB RTLS is installed And performs autonomous flight to the target point using UWB RTLS (Ultra Wide Band Real Time Location System).

The collision detection and avoidance module 12 performs image processing on the image information collected through the camera of the GPS / camera module (GPS / camera module 13) by the control unit 15 to prevent collision with an object, By using the proximity object detection information collected by the sensor module (14a) of the module (Extra module) 14 to detect and avoid an object, the RTLS based autonomous flight module 11 ) To assist in carrying out the autonomous flight.

The GPS / camera module 13 provides coordinate information by the GPS receiver and image information by the camera to the control unit 15 in real time.

The additional module 14 includes a sensor module 14a, a light / sound module 14b, and a voice chat module 14c.

The sensor module 14a includes a temperature sensor, a humidity sensor, a gyro sensor, a geomagnetism sensor, and other sensors for detecting atmospheric air, in addition to a proximity sensor for detecting the proximity object sensing described above. Air quality information including information, direction and angle information, geomagnetism information, and air pollution information, and provides the collected information to the control unit 15.

The illumination / sound output module 14b performs sound projection for external identification using illumination formed outside the drones 10 and other sound information transmission for transmission of the notification sound information under the control of the controller 15.

The voice communication module 14c is configured to recognize a voice from the outside according to the control of the control unit 15 and conduct a conversation with the outside through voice output by an automatic response process. In the embodiment of the present invention, the voice communication module 14c is located at a close distance from the social abbreviation having the tag (TAG) 1, and then the drones integration control server 50, the manager / The communication module 16 can be controlled to transmit and receive voice through one of the related institution servers 70 and the mobile communication network 30 and the IP network 40. [

The control module 15 grasps the location of the tag (TAG) 1 around the anchor node 20 in the urban area where the UWB RTLS is installed, performs autonomous flight to the target point, And to control the flight module 11 as a main function.

More specifically, the control module 15 controls the communication module 16 to perform periodic access to the drones integration control server 50 via the mobile communication network 30 and the IP network 40.

Accordingly, the drones integration control server 50 completes the grasp of the position information of the tag (TAG) 1 based on the UWB RTLS through the anchor node 20, generates the position information of the dron 10, (10).

In another embodiment of the present invention, the control module 15 receives the real-time position information via the communication module 16, thereby correcting for the GPS information collected by the GPS / camera module 13 using the received position information It is possible to control the RTLS-based autonomous flight module 11 to perform autonomous flight up to the target point based on precise position information.

FIG. 3 is a reference diagram showing a drones integration control platform 50p constituting a drones integration control server 50 in the RTLS-based drones autonomous flight system of FIG. FIG. 4 is a diagram showing the configuration of a drones integration control server 50 in the RTLS-based drones autonomous flight system of FIG.

Referring to FIG. 4, the drones integration control server 50 includes a communication unit 51, a control unit 52, and a database 53. The control unit 52 includes a monitoring module 52a, an information collecting / managing module 52b, a precise position determining module 52c and a precise position providing module 52d.

The monitoring module 52a monitors the monitoring of the drone 10 through the RTLS based precision tracking service and detects the position of the tag 10 via the tag 10 And controls the communication unit 51 to provide the tracking information to the manager / practitioner terminal 60 and the related institution server 70 through the IP network 40. [

The information collection / management module 52b is connected to the communication unit 51 to receive the information collected from the sensor module (environment) 14a of the drone 10 and the GPS / camera module 13, Temperature / humidity sensing information, the direction of the drones 10, and the direction of the drones 10, as an element, which is the collection information based on the point of the anchor node 20 among the movement paths of the drones 10, Air quality information including angle information, geomagnetic information, and air pollution information.

The direction and angle information of the drones 10 measured by the gyro sensor are used as upper meta information, with the identification number of the tag (TAG) 1 attached to the dron 10 as a major category, After storing the image information collected by the camera in the category, the temperature / humidity detection information collected by the temperature and humidity sensor, the geomagnetic information collected by the geomagnetic sensor, the standby time collected by the atmospheric detection sensor The contamination information can be configured in one DB unit on the database 53. [

At this time, the DB may mean a functional and structural combination of software and hardware for storing respective corresponding information. The DB may be implemented as at least one table, and may further include a separate DBMS (Database Management System) for searching, storing, and managing information stored in the database 53. In addition, it may be implemented in various ways such as a linked-list, a tree, a form of relational information, and includes all data storage media and data structures capable of storing information corresponding to the database 53 .

The precise position measurement module 52c is configured to detect the position of the tag TAG 1 and the relative position of the anchor node 20 including the dron 10 in a very wide band, And acquires location information by 'RTLS technology utilizing UWB' corresponding to the wireless technology for transmitting data.

In another embodiment of the present invention, the precise position location module 52c is configured to communicate with one base station and two neighbor base stations (TAG) 1 by a tag (TAG) 1 and a base station based 'triangulation' (Time Difference of Arrival) using a difference in signal arrival time between the UWB signal and the UWB signal, thereby performing position correction by the RTLS technique using the UWB.

The precise position providing module 52d grasps the position of the tag TAG 1 and the relative position information of each anchor node 20 including the drones 10 through correction using the UWB RTLS And controls the communication unit 51 to transmit the generated positional information to the drone 10 so as to track the position of the tag 10 to the drone 10.

5 is a flowchart illustrating a RTLS-based drones autonomous flight method according to an embodiment of the present invention. 5, the drones integration control server 50 transmits location information of a tag (TAG) 1 by data transmission / reception based on UWB RTLS between a tag (TAG) 1 and a plurality of anchor nodes 20, From the node 10 (S110).

After step S110, the drone integrated control server 50 provides location information of the tag (TAG) 1 to the drone 10 (S120).

After step S120, the drone 10 reaches the position of the tag (TAG) 1 by autonomous flight by collision detection and avoidance with the object (S130).

After step S130, the drone 10 transmits the current situation information including the image information collected by the camera to the drones integration control server 50 (S140).

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) .

The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms have been used, they have been used only in a general sense to easily describe the technical contents of the present invention and to facilitate understanding of the invention , And are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

1: Tag (TAG)
10: Drones
11: Autonomous flight based on RTLS modlue based on RTLS
12: Collision detection / avoidance module (Collision detection / avoidance module)
13: GPS / camera module (GPS / camera modlue)
14: Extra module
14a: Sensors modlue for environment
14b: Lights / sounds module
14c: Voice communication module
15: Control module
16: Communication module (3G / LET Network module)
20: Anchor node
30: Mobile communication network
40: IP network
50: Dron integrated control server
51:
52:
52a: Monitoring module
52b: Information collecting / managing module
52c: Precise positioning module
52d: Precision Positioning Module
53: Database
60: Manager / practitioner terminal
70: Related institution server

Claims (5)

A tag (TAG) (1) for performing signal and data transmission / reception with an anchor node through ultra wide band wireless communication with a low power miniaturization device carried by a socially disabled person;
A dron 10 having RTLS-based autonomous flight and collision detection / avoidance based on RTLS;
An anchor node (20) for forming a plurality of access points (AP) for positioning based on UWB RTLS, including the drones (10);
Acquiring positional information of the tag (TAG) by data transmission / reception based on UWB RTLS between the tag (TAG) and one anchor node from one anchor node, and providing position information of the tag (TAG) And when a problem occurs to a social minor possessing the tag (TAG), a social abbreviation having the tag (TAG) is searched through transmission of control information to the dron, A drones integration control server 50 for receiving current situation information including information and transmitting the information to the related institution server 70 to make an emergency response countermeasure;
A database 53 for storing sensing information received from each of the drones 10 and GPS position information according to autonomous flight when there are a plurality of drones 10; And
A manager / practitioner terminal 60 that receives tracking information on the drone 10 through the IP network 40 as a result of RTLS-based precision tracking service performed by the drone integrated control server 50 and performs monitoring, And an associated institution server (70).

delete [2] The drones according to claim 1,
When the remaining capacity of the battery is detected and is less than a preset charge amount, the position information of the tag (TAG) (1) is received, and after autonomous flight to the position of the tag (TAG) RTLS based drone autonomous flight system.
The Drones integration control server 50 acquires the location information of the tag (TAG) 1 from the anchor node 20 by transmitting and receiving data based on UWB RTLS between the tag (TAG) 1 and the anchor node step;
A second step of providing location information of the tag (TAG) (1) to the drone (10) by the drone integrated control server (50);
A third step of the drone 10 reaching a position of the tag (TAG) 1 by autonomous flight by collision detection and avoidance with an object; And
And a fourth step of transmitting current situation information including image information collected by the drone (10) to the drones integrated control server (50).
delete
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KR102092324B1 (en) 2019-02-12 2020-03-24 충남대학교산학협력단 A monitoring device of the drone's battery pack charged status considering atmospheric temperature and atmospheric pressure according to flight height of the drone
CN111193909A (en) * 2020-01-09 2020-05-22 华平智慧信息技术（深圳）有限公司 Emergency rescue scene video acquisition method and system
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