KR101941643B1 - System and method for control of multi drone - Google Patents

System and method for control of multi drone Download PDF

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Publication number
KR101941643B1
KR101941643B1 KR1020160129075A KR20160129075A KR101941643B1 KR 101941643 B1 KR101941643 B1 KR 101941643B1 KR 1020160129075 A KR1020160129075 A KR 1020160129075A KR 20160129075 A KR20160129075 A KR 20160129075A KR 101941643 B1 KR101941643 B1 KR 101941643B1
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KR
South Korea
Prior art keywords
drones
drone
virtual
flight
agent
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KR1020160129075A
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Korean (ko)
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KR20180038231A (en
Inventor
조경은
김준오
치옥용
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동국대학교 산학협력단
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • B64C39/024Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes
    • G09B9/02Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12Motion systems for aircraft simulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C2201/00Unmanned aerial vehicles; Equipment therefor
    • B64C2201/14Unmanned aerial vehicles; Equipment therefor characterised by flight control
    • B64C2201/146Remote controls

Abstract

The multidron control system according to an embodiment of the present invention analyzes the individual information related to the drones and the operator, the real-time monitoring information of the drones, and the flight policy information of the drones, and manages the virtual server and the drone And a virtual drones agent that collects real-time monitoring information and transmits the collected information to the virtualization server, and controls the drones' flight according to the dron control command.

Description

[0001] SYSTEM AND METHOD FOR CONTROL OF MULTI DRONE [0002]
The present invention relates to a multi-drone control system and method, and more particularly, to a multi-drone control system and method, and more particularly, to a multi-drone control system and method, To a multi-drone control system and method.
A so-called drones, unmanned airplane, means a flight capable of carrying out a mission through remote control or autopilot without a pilot boarding. According to the UAV roadmap published by the Office of the Secretary of Defense (OSD), the drones can be used "without firing human pilots, flying autonomously or remotely using aerodynamic forces, disposing or reusing Means a powered vehicle capable of carrying fatal or non-fatal cargo.
Although the beginning of the drones has been used for military purposes for combat and reconnaissance, it has recently been used in a variety of fields such as agriculture, forest fire monitoring and evolving, shipping, logistics, communication, shooting, disaster response, research and development. It is expanding.
The reason why the dron system is popular in various fields is that it can be remotely controlled and can be operated by attaching an additional device to the drones. Additional devices can be selected as needed, including temperature, ambient light, oxygen and carbon dioxide sensors, as well as GPS, camera and ultrasonic equipment. By wireless communication, the drones can transmit the result of the mission such as photo or video to the ground, and the ground control system can check or adjust the sensor value measured by telemetry.
Korean Registered Patent No. 10-1636478 (Feb. 26, 2015, " Dron Network Handover Control Method ")
A first object of the present invention is to provide a multi-drone control system capable of safely operating a drone even if network disconnection between a control program and a drone occurs without changing or modifying existing drone and control programs.
The second task is to provide a multi-drone control system which can prevent dangerous factors in advance or operate a multidron under limited conditions in consideration of the individual information of the drones and the operator, the command of the control terminal, and the real-time monitoring flight information of the drones.
The third task is to provide a multi-drone control method for constructing a specific mesh-up network for each point of a drone, a virtualization server and a control terminal with low packet loss and high connection stability in order to construct a network necessary for a multidron and a multi- have.
The multidron control system according to an embodiment of the present invention analyzes individual information related to drones and controllers, real-time monitoring information of the drones, and flight policy information of a corresponding region, and generates a drones control command And a virtual drones agent for collecting real-time monitoring information of the drones and delivering them to the virtualization server, and controlling the flight of the drones according to the drones control command.
According to another embodiment of the present invention, the virtualization server defines a virtual space for an actual space, which is a flight allowable zone, and provides a real time flight monitoring information and real time flight monitoring information of the drone and the controller, .
According to another embodiment of the present invention, the individual information of the driver may include personal information of the driver, presence or absence of the dragon flight, the driver's drone flight history, the year of the drone operation, the number of times of the drone operation, the accident history of the drone flight, A flight test level, and a rating.
According to another embodiment of the present invention, the individual dron information includes at least one of a name of the drones, a maker, a performance table, a degree of aging of the drones and modification of the drones, a weight and size of the drones, a number of wings, The maximum travelable distance, and the battery duration.
According to another embodiment of the present invention, the virtualization server divides and manages the drone flight permission zone into a grade-specific flight zone accessible by the drone level, permits the flight to the higher grade drone as the zone adjacent to the risk element, Safe zones allow flights only for low-grade drones.
According to another embodiment of the present invention, the virtual drone agent receives a corresponding protocol from the virtualization server in real time according to a different instruction system for each manufacturer of the drone in order to analyze command syntax of a plurality of commercial drone.
According to another embodiment of the present invention, the virtual drones agent detects at least one of real-time position information of the drones, flight restriction zone departure, collision with the treadmill, restricted area invasion, and flight control immaturity.
According to another embodiment of the present invention, the real-time monitoring information of the drones may include at least one of the real-time location system (RTLS), camera, GPS / Navigation, gyro sensor, Lt; / RTI >
A dron according to another embodiment of the present invention includes a communication unit for receiving an instruction from a control terminal or a virtual drones agent and transmitting monitoring information of the drones to the virtual drones agent, SDN) to process the converted transmission method, and a controller for controlling the drone flight according to the command received from the bridge module.
According to another embodiment of the present invention, the communication unit is connected to the control terminal or the virtual drones agent through a Bluetooth network, and the bridge module comprises a Bluetooth to WiFi data converter module.
According to another embodiment of the present invention, the bridge module converts one unit asynchronous command sent from the control terminal or the virtual drones agent into Wi-Fi data, and sends a continuous signal to the control unit until the command is completed.
According to another embodiment of the present invention, when the distance between the drones and the control terminal or the virtual drones is in a range of 100 m or more and 3 km or less, the main drones are divided into main drones and sub drones, And the virtual drone agent is connected to the virtual drone agent through WiFi, and the sub drone is connected to the main drone as a mesh up asynchronous network that is an Ultra-wideband communication-UWB (or LTE Direct-LTE Direct) , And receives and shares commands from the main drone.
According to another embodiment of the present invention, the control unit is designed to preferentially execute the command received from the virtual drones agent rather than the command of the control terminal.
In another aspect of the present invention, there is provided a method for controlling a multidron, the method comprising: transferring flight monitoring information received from a drones communication unit or a control terminal to a virtualization server; Generating a flight control signal and delivering the flight control signal to the virtual drone agent; transmitting the flight control signal to the communication unit of the drone; And converting and transmitting the signal to the bridge module provided in the drone.
According to another embodiment of the present invention, the communication unit of the drones and the bridge module provided in the drones are connected by a WiFi or WiFi-D method in order to secure a maximum bandwidth.
According to another embodiment of the present invention, the communication unit and the virtual drones agent are connected via a Bluetooth network, and the bridge module converts the Bluetooth signal into a Wi-Fi signal.
According to another embodiment of the present invention, the connection between the virtual drone agent and the virtualization server is performed by inquiring a key value through a MAC address, and is connected to a WiFi / Local LAN / 3G / 4G / LTE Lt; / RTI >
According to another embodiment of the present invention, the virtual drones agent further includes a step of dynamically creating or discarding a packet relay daemon in accordance with the connection between the virtual drones agent and the control terminal for connection or disconnection of the plurality of drones do.
According to another embodiment of the present invention, the virtual drones agent further includes acquiring the packet relay daemon in a time-first contending manner when a plurality of drones access the virtual drones agent at the same time.
According to another embodiment of the present invention, the bridge module and the virtual drones agent satisfy the condition for transmitting the flight monitoring information so that the delay time is within a predetermined time, It is connected according to the storage location designation.
According to another embodiment of the present invention, there is provided a packet relay daemon generated in the virtual drone agent through a connection between the virtual drone agent and the virtualization server for 1: N connection between the virtual drone agent and the bridge module, The bridge module is connected.
According to an embodiment of the present invention, the drone can be operated safely even if network disconnection between the control program and the drone occurs without changing or modifying the existing drone and the control program.
Also, according to an embodiment of the present invention, the risk factors may be blocked in advance or the multi-drone may be operated under limited conditions, taking into account the individual information of the drones and the operator, the command of the control terminal, and the real-time monitoring flight information of the drones.
In addition, according to an embodiment of the present invention, it is possible to construct a specific mesh-up network for each point of a drone, a virtualization server and a control terminal with low packet loss and high connection stability for network construction required for multi- A dynamic software defined network can be implemented.
1 is a diagram showing a general configuration of a multi-drone control system according to an embodiment of the present invention.
2 is a diagram illustrating a virtual space defined in accordance with an embodiment of the present invention.
3 is a block diagram showing the configuration of a drones according to an embodiment of the present invention.
4 is an exemplary diagram for explaining a communication establishing technique for a local area network according to an embodiment of the present invention.
5 is an exemplary diagram for explaining a communication establishing technique for a long-distance network according to an embodiment of the present invention.
6 is a diagram showing a schematic configuration of a dynamic software definition network according to an embodiment of the present invention.
7 is a diagram illustrating a connection method between network modules according to an embodiment of the present invention.
Before explaining the embodiments of the present invention, the technical means adopted by the embodiments of the present invention will be introduced to solve these problems after examining the problems of the existing drone operating state.
With the popularization of drones, drones such as drone parks and drone airstrips have been developed all over the country, but there has been no development of systems to control or regulate drone flight.
In addition, most of the control programs provided by commercial ready-to-wear drones are used through smartphones. In addition, when the smartphone is connected to the drones, the data network with the outside is completely shut off. The control of the drone terminal is lost, which is a dangerous disadvantage to the drone flight operation.
Therefore, the general public's dron operation is dependent on the user's qualitative common sense, and there is a risk that it can be used as a tool of privacy infringement of another person, accident caused by drones' departure or fall, and deliberate terror.
Therefore, the embodiments of the present invention propose a technical means for operating the risk information in a limited or restricted condition in consideration of the individual information of the drones and the operator, the command of the control terminal, and the real-time monitoring flight information of the drones.
In addition, the embodiments of the present invention can be applied to a dron, a virtualization server having low packet loss, a high connection stability, and a dynamic software definition for establishing a specific mesh-up network for each point of a control terminal for network construction required for multi- Network.
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It should be noted that the same constituent elements are denoted by the same reference numerals as possible throughout the drawings.
1 is a view schematically showing a configuration of a multi-drone control system according to an embodiment of the present invention.
Referring to FIG. 1, a multidron control system according to an embodiment of the present invention includes a virtualization server 100 and a virtual drones agent 200.
The multidron control system of the present invention is difficult to implement with a single technology and consists of a set of technologies built using fusion complex technology.
The virtualization server 100 first defines a virtual space for the actual space, which is the flight permission period, as shown in FIG. 2, and operates the virtual drones agents 200, 210, and 230.
The virtualization server 100 is equipped with an AP simulator module for directly processing packets and defining a dynamic software defined network (Dynamic SDN). The dynamic software defined network will be described in detail below.
The virtualization server 100 receives the operator individual information and individual drones information registered in advance by the drone operator, and creates the drone agent 200 in real time.
The virtualization server 100 may be implemented, for example, as a cloud system, and may store the controller individual information, the individual information of the drones, and the flight policy information of the corresponding region, which the controller inputs when registering the drones, in the cloud server.
Here, the individual information of the driver may include personal information of the driver, presence or absence of the dragon flight qualification, a pilot's drone flight history, and the like. In addition, the individual control information may further include at least one of a drone operation year, a drone operation frequency, an accident history at a drone flight, a drone flight competition history, a drone flight test level, and a grade.
The dron individual information may include registration information (including name, manufacturer, performance performance table, etc.) of the drones, the degree of drones 'retirement, and the drones' remodeling. Further, the individual information of the drone may include information of the specific drone specification such as the weight of the drone, the size, the number of wings, the pixel and image quality of the mounted camera, the maximum travelable distance, and the battery duration.
Flight policy information in your area may include flight limit altitude and maximum flight limit.
Particularly, the virtualization server 100 can divide the multidrone into several classes according to the individual information of the operator and the individual information of the drones, and can operate differential control on the flight of the control terminal and the dron according to the drones rating.
At this time, the virtualization server 100 can generate the corresponding drone simulator in real time based on the individual information of the drone and the controller registered in the virtualized flight area and the real-time flight monitoring information. Also, as the drones are withdrawn from the virtualized flight area, the drones simulator may be destroyed.
For this purpose, the virtualization server 100 can display the actual drones' flight images on the virtualized flight zone displayed image, and display the individual information of each drones or the real-time monitoring information together.
For example, when performing acrobatics with a multidron, flying a group of multiple drones, or operating a multi-drone for training and public / military purposes, the operator's ability to operate, By collecting and controlling similar drones, that is, drones of the same class, it is possible to perform efficient and safer dron operation. At this time, it is possible to control the flight by separating the multidrons into different virtual spaces according to the degree of the drones.
In addition, when operating a multi-drone for long distance flight, the drones are divided into grades based on battery duration, motor specification, maximum travelable distance, and maneuvering ability, It can be divided and operated.
In addition, it is possible to prevent the confusion of the drone flight by managing the drone flight permission area divided into the grade flight areas accessible by the drone level. Here, when the drone flight permission area is divided by the drone grade, the area adjacent to the dangerous elements such as the transmission tower or the dangerous building is allowed to fly only for the high grade drones, while the relatively safe area is only for the low grade drones It is possible to operate the multi-drone more safely and efficiently.
The drone manipulation terminal 400 is connected to the virtual drone agent 200 through the AP of the virtualization server 100 in a 1: 1 manner. As shown in FIG. 2, a virtual space declaration service using GPS (or real time locating system (RTLS) coordinates for indoor use) operates.
The virtual drone agent 200 collects the command sent from the control terminal 400 to the drones 300 by the operator. The virtual drone agent 200 defines a protocol for interpreting the command syntax of various commercially available drones. For this purpose, the virtual drone agent 200 can receive the corresponding protocol from the virtualization server 100 in real time according to a different instruction system for each manufacturer of the drones.
The virtual drone agent 200 also has A-D and D-A protocol components for converting and delivering analog and digital signals.
The virtual drones agent 200 may be, for example, a Digital to Digital, an Analog to Digital, a Digital to Analog (D / A) converter according to a signal according to a command, for example, Parrot group (European company), DJI group (Chinese company), DIY The command data is converted into the command data.
The virtual drone agent 200 monitors in real time the control information of the control terminal 400, the control command data, the control time and the real time flight, the position and the state of the drone 300, .
In addition, the virtual drones agent 200 can confirm registration information for the drones 300, individual information of the drones, and the like from the virtualization server 100.
Specifically, the virtual drones agent 200 detects the deviation of the dragon 300 from the flight restriction area, collision with the treadmill, restricted area invasion, flight control immaturity, and the like.
Here, the flight restrictions may set restrictions on flight speeds, flight heights, and total flight distances, as well as rules that must flow within the virtual flight space area.
The steering information of the steering terminal 400 may include steering signals such as Roll, Pitch, Yaw, and Power.
The virtual drones agent 200 converges the real-time location information of the drones in communication with the drones 200. The location information includes altitude, longitude and latitude, and can be expressed in coordinates. The virtual drone agent 200 transmits the state information of the drones 300 to a real time position tracking system (RTLS), a camera, a GPS / Navigation, a gyro sensor, an acceleration sensor Can be received and obtained.
The virtual drones agent 200 controls the drones 200 to stay in the flight allowable zone when the abnormal flight of the drones 200 and the abnormal manipulation command of the manipulation terminal 400 are detected, 200 can land. This may be an execution according to the control command received from the virtualization server 100. [
The drones 200 and the control terminals 400 may be designed to preferentially execute the commands of the virtual drones agent 200 rather than commands of the control terminals 400 for security, .
3 is a block diagram showing the configuration of the drones 300 according to the embodiment of the present invention.
3, the drones 300 according to the embodiment of the present invention include a controller 310, a communication unit 320, a bridge module 330, a GPS module 340, a GYRO / ACCEL module 350, (360) and a subscriber identity module (370).
The control unit 310 can control a plurality of hardware or software components connected to the control unit 310 by driving an operating system or an application program for operating the drone of the present invention and can perform data processing or operation including various signals And can control the operation of the other components of the drones.
Controls the flight of the drones 300 by controlling the communication unit 320, the bridge module 330, the GPS module 340, the GYRO / ACCEL module 350, the camera module 360 and the subscriber identity module 370. The control unit 310 may authenticate the drones 300 through the communication unit 320 or may transmit the location information and the monitoring information of the drones 300 to the virtualization server 100.
The control unit 310 may be designed to follow commands received from the virtual drone agent 200 prior to the steering commands received from the control terminal 400 in order to safely operate the multidron according to the purpose of the present invention. Accordingly, the dangerous steering command of the steering terminal 400 can be blocked.
The communication unit 320 receives a command from the control terminal 400 or the virtual drones agent 200 and transmits the monitoring information of the drones to the virtual drones agent 400.
The communication unit 320 is usually connected to the control terminal 400 through a Bluetooth network and is connected to the bridge module 330 through a 1: 1 WiFi.
The bridge module 330 processes data received through the communication unit 320 based on a software defined network (SDN) and processes the converted data by the transmission method. The software define network is a software that controls all the functions of the network. Software that controls the network equipment can be modified by the designer as desired.
The bridge module 330 is a WiFi to mash network bridge, which basically uses a Bluetooth network with the virtual drones agent 200, and can use UWB (Ultra-Wideband communication). For example, the bridge module 330 may be a Bluetooth to WiFi data converter module that converts data from Bluetooth to Wi-Fi.
The algorithm of the bridge module 330 may include dynamic demon address mapping, mapping data sharing (mapping data sharing), and a vision composer, which is software used to check the circuit of the network module .
Generally, the drone 300 receives a continuous signal from the control terminal 400 for operation, and this method has a high possibility of signal transmission failure.
Accordingly, in order to solve such a problem, the present invention includes a bridge module 330 to convert one unit asynchronous command sent from the control terminal 400 into Wi-Fi data via the bridge module 330, The control unit 310 transmits a continuous signal until the command is completed.
4, when the distance between the control terminal 400 or the virtual drone agent 200 and the drone 300 is within a range of 10 m or less, the control terminal 400 Or the virtual drones agent 200 and the drones 300 are connected by Bluetooth and the drones 300 process the data received via Bluetooth through the bridge module 330 and transmit the data to the WiFi network.
100, S: 0, W: 0, H: 0) to move 1m in the NE direction in order to send one unit of asynchronous command to move the control terminal 400, for example, : 0, R: 90] is transmitted to the communication unit 320 only once through the Bluetooth, the bridge module 330 converts the Bluetooth data into a Wi-Fi signal, and when the drones 300 move 1 meter (100 cm) in the NE direction Which is a continuous signal.
Referring to FIG. 5, a communication establishing technique for a long-distance network will be described. In FIG. 5, one main drone 380 and the remaining plurality of sub drone 390 are operated through an asynchronous mesh-up network. The main drones are responsible for receiving commands from the control terminal 400 or the virtual drones agent 200 and sharing the received commands to the subronon 390.
When the distance between the drones 300 and the control terminal 400 or the virtual drones 200 is in a range of 100 m or more and 3 km or less, the control terminal 400 or the virtual drones agent 200 and the main drones 380 may be WiFi Lt; / RTI >
The main drone 380 and the sub drone 390 are connected to a mash up asynchronous network, which is UWB-UWB (or LTE Direct-LTE Direct).
To this end, the drone 300 is equipped with a UWB communication module, and the location information and flight schedule of the drones are shared.
The GPS module 340 acquires position information of the drones 300. The location information may include information of altitude, longitude, and latitude.
The GYRO / ACCEL module 350 measures the azimuthal change of the drones 300 and measures the dynamic forces of the drones 300 such as acceleration, vibration, and impact.
The camera module 360 captures an image according to a photographing or moving picture photographing command received by the control unit 310. [
The subscriber identity module 370 is a configuration for authenticating the drones 300 to the virtualization server 100 and stores unique identification information of the drones 300 using the virtual drones agent 200. [
The multidron control system according to the present invention may be configured to perform a specific mesh-up network establishment between the virtual drones agent 200 and the drones 300, between the virtual drones agent 200 and the control terminals 400 in order to reduce packet loss and improve connection stability. For a dynamic software defined network.
FIG. 6 is a diagram illustrating a schematic configuration of a dynamic software definition network according to an embodiment of the present invention, and FIG. 7 is a diagram illustrating a connection method between network modules according to an embodiment of the present invention.
We use WiFi or WiFi Direct network configuration method to secure dedicated network and bandwidth as current drone or robot operation technique. This networking method guarantees stability in 1: 1 connection, but there is a problem due to disconnect from external network.
In order to solve this problem, as shown in FIG. 6 and FIG. 7, the present invention adopts a plurality of different network schemes to detect the presence or absence of drones and to apply an operational policy while ensuring bandwidth, To construct a dynamic software defined network that can use the necessary information in real time.
Referring to FIG. 6, a dynamic software definition network according to an embodiment of the present invention includes a multidron 510, a bridge module 530, a virtual drones agent 550, a virtualization server 570, .
In FIG. 6, the connection B between the drones 510 and 530 must ensure maximum bandwidth for high quality video as well as drones. Therefore, the same WiFi / WiFi-D method should be maintained.
When the control terminal 590 accesses the virtual drones agent 550 to configure the connection D between the virtual drones agent 550 and the control terminal 590, the virtual drones agent 550 automatically accesses the virtual drones agent 550, And the virtualization server 570. [0064] Where the information includes individual information of the drones and individual information of the drones. At this time, the key value is inquired through the Mac address of the connection D between the virtual drone agent 550 and the control terminal 590. The network scheme of the connection A between the virtual drone agent 550 and the virtualization server 570 is not limited to WiFi / Local LAN / 3G / 4G / LTE.
The virtual drones agent 550 dynamically generates or discards (or retrieves) the packet relay daemon according to the connection D between the virtual drones agent 550 and the control terminal 590 for connection or disconnection of the various drones do.
 The connection C between the bridge module 530 and the virtual drones agent 550 must satisfy the following two conditions. First, the control information is transmitted so that the delay time is within a preset predetermined time, and the control information is transmitted in accordance with the storage position specification of the high capacity content data. Here, the steering information refers to flight monitoring information.
The connection between virtual drones agent 550 and virtualization server 570 for 1: N connection between virtual drone agent 550 and bridge module 530 The daemon and the bridge module 530 are connected.
When several drones are approaching at the same time, the method of acquiring the packet relay daemon corresponding to that number is implemented as a time priority contending method. Basically, it uses a Bluetooth network. Bluetooth to WiFi Bridge is used to connect a commercial off-the-shelf drones operating as AP (Access Point).
The connection D between the virtual drone agent 550 and the control terminal 590 is performed through a program provided by the manufacturer and does not require any additional modification or additional program installation. Connection D is based on Wi-Fi, and WiFi-D can be used depending on the manufacturer's switching. However, since it is not necessary to directly receive the video contents, it is not necessary to use the high-bandwidth network 5G.
That is, the present invention is a technology for constructing an external network together by using a mesh-up to use a drones and a control program (or an app) provided by a manufacturer, and accordingly, You can also implement the content transfer method you did.
To this end, a dynamic software defined network architecture is introduced to construct an optimized network for each bridge. While retaining existing networks already applied to off-the-shelf drones, the additional network bridge modules and network switches build a new mesh-up network.
In the past, a WiFi router was used instead of the Bluetooth to WiFi bridge module according to the present invention. The Wi-Fi router is a network device for connecting another wireless network to connect an external network. However, there is a problem that it is difficult to use in reality due to a high packet loss rate and a disconnection phenomenon.
Specifically, a dynamic software defined network-based multidron control method according to an embodiment of the present invention will be described.
First, the virtual drone agent 550 transfers the flight monitoring information received from the communication unit of the drone 510 or the control terminal 590 to the virtualization server 570.
Next, the virtualization server 570 analyzes the flight monitoring information to generate a flight control signal, and transmits the flight control signal to the virtual drone agent 550.
The virtual drone agent 550 transmits the flight control signal to the communication unit of the drone 510. [
The communication unit of the drone 510 converts the flight control signal and transmits it to the bridge module 530 provided in the drone.
According to the embodiment of the present invention, the drone operation can be performed through the real-time control center implemented by the virtual drone agent 550 and the virtualization server 570, as well as the drone operation, It is possible to execute.
Also, the system can be applied as a system for supplementing the drone flight system by introducing the drone real name system and allowing the virtual drone agent 550 and the virtualization server 510 to fly only when the drone is authenticated.
In addition, by using a specific mesh-up network method for each point of the virtualization server, the virtual drones agent, the communication portion of the drones, and the bridge module, it is possible to operate the drones at a remote location. With such a technology, for example, it can be used as a control center for production of contents such as movies and broadcasts at a long distance, and airplane operations.
In addition, it is possible to prevent not only dragon flight restriction and control, but also collision between drones, maneuver accident caused by immaturity of other operators, and can be used for drone pilot training for non-experts.
Meanwhile, the embodiments of the present invention can 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 ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like. In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily deduced by programmers skilled in the art to which the present invention belongs.
The present invention has been described above with reference to various embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.
100: Virtualization Server 200: Virtual Drones Agent
300: Drones 400: Control terminal
330: Bridge module 380: Main drones
390: Subdrone 510: Multidron
530: Bridge module 550: Virtual drones agent
670: Virtualization server 590: Manipulating terminal
410: control unit 420:
430: Bridge module 440: GPS module
450: GYRO / ACCEL module 460: Camera module
470: Subscriber Identity Module

Claims (21)

  1. A drone control command is generated by analyzing individual information about a drone and a pilot, real-time monitoring information of the drone, and flight policy information of a corresponding region, and generating a drone control command according to the analysis, A virtualization server for creating the corresponding drone simulator in real time based on the individual information of the drone and the operator, the real-time flight monitoring information, and the virtual space; And
    And a virtual drones agent for collecting real-time monitoring information of the drones and delivering the information to the virtualization server, and controlling the drones according to the dron control command,
    The virtualization server includes:
    The drones are managed in accordance with the rating of the drones, and the drones are divided into the accessible flight zones classified by the grade, so that the plurality of drones are separated into the virtual space, A multi-drone control system.
  2. delete
  3. The method according to claim 1,
    Wherein the navigator individual information comprises:
    A drone flight test level, and a grade, including at least one of the personal information of the pilot, the presence or absence of the drone flight, the pilot's drone flight history, the drone operation year, the drone operation frequency, Drone control system.
  4. The method according to claim 1,
    The dron individual information includes:
    The name of the dron, the maker, the driving performance table, the degree of aging of the dron and the modification of the dron, the weight of the drones, the size, the number of wings, the pixel and image quality of the mounted camera, the maximum travelable distance, Lt; / RTI >
  5. The method according to claim 1,
    The virtualization server includes:
    A multi-drone control system that manages to permit flights only to relatively high-grade drones adjacent to hazardous areas, when dividing the drone flight clearance into accessible graded flight zones by drone rating.
  6. The method according to claim 1,
    The virtual drones agent,
    And the protocol is supported from the virtualization server in real time according to a different command system for each manufacturer of the drone in order to analyze command syntax of a plurality of commercial drones.
  7. The method according to claim 1,
    The virtual drones agent,
    A multi-drone control system for detecting at least one of real-time location information of the drones, departure of a restricted area, collision with a tardor, restricted area invasion, and flight control immaturity.
  8. The method according to claim 1,
    The real-time monitoring information of the drones,
    From a data of at least one of a Real Time Positioning System (RTLS), a camera, a GPS / Navigation, a Gyro sensor, and an Accelerator mounted on the drones.
  9. A communication unit for receiving an instruction from the control terminal or the virtual drones agent and transmitting monitoring information of the drones to the virtual drones agent;
    A bridge module for processing data received through the communication unit based on a software defined network (SDN) and processing the converted data by a transmission scheme; And
    And a controller for controlling the drone flight according to an instruction received from the bridge module,
    Instructions received from the virtual drones agent,
    A plurality of different virtual spaces are defined for the actual space that is the flight allowable zone and the flight allowed zones are classified into the accessible gradeable flight zones according to the class of the drone classified based on the individual information of the drone and the pilot And a plurality of drones are divided into the virtual space to control the flight.
  10. 10. The method of claim 9,
    Wherein,
    Wherein the bridge module is connected to the control terminal or the virtual drone agent via a Bluetooth network, and the bridge module is configured by a Bluetooth to WiFi data converter module.
  11. 10. The method of claim 9,
    The bridge module includes:
    Unit asynchronous command sent from the control terminal or the virtual drone agent to Wi-Fi data, and transmits a continuous signal to the control unit until the command is completed.
  12. 10. The method of claim 9,
    When the distance between the drones and the control terminal or the virtual drones is in a range of 100 m or more and 3 km or less, the multidrone may be divided into main drones and sub drones,
    The main drones are connected to the control terminal or the virtual drones agent through WiFi,
    The sub-drone is connected to the main drone through a mesh-up asynchronous network that is an Ultra-wideband communication-UWB (or LTE Direct-LTE Direct), receives a command from the main drone, .
  13. 10. The method of claim 9,
    Wherein,
    Wherein the drones are designed to preferentially execute commands received from the virtual drones agent rather than commands from the manipulation terminal.
  14. Transmitting the flight monitoring information received from the communication unit or the control terminal of the drones to the virtualization server;
    Analyzing the flight monitoring information to generate a flight control signal, and transmitting the flight control signal to the virtual drone agent;
    The virtual drone agent transmitting the flight control signal to the communication unit of the drones; And
    Wherein the communication unit of the drone converts the flight control signal and transmits the converted flight control signal to the bridge module provided in the drone,
    Wherein the bridge module is connected to a packet relay daemon generated in the virtual drones agent through a connection between the virtual drones agent and the virtualization server for 1: N connection between the virtual drones agent and the bridge module, Control method.
  15. 15. The method of claim 14,
    The communication unit of the drones and the bridge module provided in the drones,
    A multidron control method connected by WiFi or WiFi-D for maximum bandwidth.
  16. 15. The method of claim 14,
    Wherein the communication unit and the virtual drone agent are connected via a Bluetooth network, and the bridge module converts the Bluetooth signal into a Wi-Fi signal.
  17. 15. The method of claim 14,
    Wherein the connection between the virtual drone agent and the virtualization server comprises:
    And connected via at least one of WiFi / Local LAN / 3G / 4G / LTE by a key value inquiry through a MAC address.
  18. 15. The method of claim 14,
    The virtual drones agent,
    Further comprising dynamically creating or discarding a packet relay daemon according to a connection between the virtual drones agent and the control terminal for connection or disconnection of the plurality of drones.
  19. 15. The method of claim 14,
    The virtual drones agent,
    Further comprising the step of acquiring the packet relay daemon in a time priority contending manner when a plurality of drones simultaneously access the virtual drones agent.
  20. 15. The method of claim 14,
    Wherein the bridge module and the virtual drones agent,
    The content is satisfied according to a condition for transmitting the flight monitoring information so that the delay time is within a predetermined time, and is connected according to the storage position designation of the high capacity content data generated by the drones.
  21. delete
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