KR101999126B1 - Drone automatic flight system using beacon signal and method thereof - Google Patents

Abstract

The present invention relates to a drone automatic flight system and method, and more particularly to beacons including beacon IDs (Beacon ID, hereinafter referred to as "beacon ID") unique to the road utility such as telephone poles, street lights, etc. It has a drone station for transmitting a signal, and when the destination is set, the path search based on the drone station and the beacon signal that tracks the path to the destination automatically by the beacon signal transmitted by the drone station on the found path. It relates to a drone automatic flight system and method used.

Description

Drone automatic flight system using beacon signal and method

The present invention relates to a drone automatic flight system and method, and more particularly, to a drone station for transmitting a beacon signal including a beacon ID (Beacon ID) unique to the road utility, such as telephone poles, street lights, etc. Beacon identification information included in the beacon signal transmitted from the drone station is referred to as a "station ID"), and when the destination is set, the path search based on the drone station and the beacon signal transmitted by the drone station on the found path The present invention relates to a drone automatic flight system and method using a beacon signal that automatically tracks a route to a destination.

In general, a drone is a type of flight unit that rotates a number of propellers using a battery power to fly in the sky. The drone is controlled to allow users to fly in various patterns according to the user's remote control, and to control location when setting a destination. There is an unmanned automatic drone that performs automatic flight to the destination.

In the former case, the user can control and replace the battery by landing when the battery is low, but cannot fly long distance due to the problem of battery replacement and drone control radio signal transmission distance limitation.

Therefore, user-controlled drones are not applicable to services that must fly over long distances.

Recently, an unmanned drone courier system for providing a courier service using a drone has been developed, but in the case of an unmanned drone courier system, it is difficult to apply a user-controlled drone because the drone must perform a long distance flight.

Due to the problem of the user-controlled drone, there is a demand for the development of an unmanned automatic flight system that can fly long distance without the user's control, such as unmanned drone delivery system.

Therefore, unmanned automatic drones use solar power supply technology, satellite positioning system (GPS) location tracking technology, location tracking technology using mobile communication network base station to combine long distance unmanned flight. Location tracking technology is applied.

However, this also has a limitation of the amount of charging power of the solar charging, it is difficult to overcome the limitations of the location tracking technology using at least one of the GPS and the base station using a relatively large power in accordance with this battery power limit.

Therefore, there is a demand for a method for charging a drone in the middle of a new unmanned automatic flight, and a development of an automatic flight system capable of performing automatic flight based on location tracking using a relatively low power is required.

Registered Patent No. 10-1599423 (2016.02.25.)

Accordingly, an object of the present invention is to include a drone station for transmitting a beacon signal including station identification information, which is unique beacon identification information, to a road utility such as a telephone pole and a street lamp, and a drone having a destination set based on the relay station. The present invention provides a drone automatic flight system and method using a beacon signal that automatically tracks a path to a destination by a beacon signal transmitted by the relay station.

A drone automatic flight system using a beacon signal according to the present invention for achieving the above object: a beacon signal is installed on the upper end of the road public equipment having a station information including the station ID and location information of its own ID A plurality of drone stations for transmitting; And flight path information including station information of drone stations on a path from a departure point to a destination, and receiving a beacon signal transmitted from the drone station during a flight from the departure point to the destination of the flight path information, Comprising a drone flying to the destination along the drone stations on the path of the flight path information by comparing the station information included in the beacon signal and the station information of the flight path information, the drone station, the station ID and A station storage unit for storing the station information including location information; A beacon transmitter that receives the station information and periodically broadcasts a beacon signal including the station information; And a station control unit which loads the station information from the station storage unit and transmits the station information to the beacon transmitting unit, wherein the drone includes a wireless power receiving unit that receives wireless charging power and charges a battery provided therein, and the drone station The control unit may further include a wireless power transmitter configured to generate wireless charging power and transmit the wireless charging power through the coil antenna under control, including a coil antenna for transmitting wireless charging power to an upper part of the drone landing.
The drone checks the landing of the drone through the wireless power transmitter, and transmits the wireless charging power through the wireless power transmitter when the drone lands. And a beacon transmitter for transmitting a signal, wherein the drone station includes a beacon receiver for receiving a drone beacon signal transmitted by the beacon transmitter of the drone and measuring the received signal field strength of the drone beacon signal, and receiving the measured signal The apparatus may further include a short range wireless communication unit configured to transmit a signal field strength and receive a received signal field strength measured by a drone beacon signal transmitted from a beacon transmitter of the drone by another adjacent drone station, and measured by the short range wireless communication unit. The calculated signal field strength of the drone beacon signal, and the received signal field strength Transmit and share the relative distance and position information with the drone to at least one or more other drone stations in the vicinity, and based on the relative distance and position information of the drone and the relative distance and position information of the drone received from the other drone station After calculating the position of the drone, characterized in that the transmission to the drone.
The drone may include: a flight unit configured to drive a plurality of propellers to control a height, a traveling direction, a traveling speed, and whether the drone is advanced; A battery storing limited source power and outputting a source power based on the source power; A drone storage unit for storing a drone ID and the flight path information; A beacon receiving unit receiving the beacon signal transmitted by the drone station to detect and output station information included in the beacon signal; And setting the flight path according to a preset route selection method among the drone stations between the destination and the destination by receiving the starting point and the destination, generating flight path information including station information on the set flight path, and storing the generated flight path information in the drone storage unit. And a drone controller for controlling the flight unit to sequentially find the corresponding drone station and fly in the corresponding flight path according to the flight path information transmitted by the drone station.
The drone may further include a battery capacity measuring unit connected to the battery to measure the remaining capacity of the battery and output the measured capacity to the drone controller. The drone controller may include a reference based on a preset capacity of the battery measured by the battery capacity measuring unit. If it is smaller than the capacity to control the flight to land in the drone station closest to the progress direction after charging the battery through the wireless power receiver after taking off to control the flight to fly along the flight path on the flight path information It is characterized by.
The flight unit of the drone, the direction measuring unit for measuring the change (angle) of the drone traveling direction; And a flight speed measurement unit for measuring a flight speed of the drone, wherein the drone controller further includes direction rotation information, installation height information, and distance information of the next drone station in each drone station on the set flight path when the flight path is set. It includes, and when moving from the corresponding drone station to the next drone station based on the direction and speed measured by the direction measuring unit and the flight speed measuring unit rotates to the direction rotation information of the flight path information measured by the flight speed measuring unit The flight unit may be controlled to fly a flight distance corresponding to the installation height information and the distance information based on the speed.
The station controller may receive the authentication key from the drone and perform blockchain-based authentication to transmit the wireless charging power upon successful authentication so that the wireless controller can perform wireless charging only for the authenticated drone.

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A drone automatic flight method using a beacon signal according to the present invention for achieving the above object: A beacon having a station information including a station ID and location information of the drone station installed on the upper end of the road public equipment is a unique ID Beacon signal transmission step of transmitting a signal; And a drone has flight path information including station information for each of the drone stations on the path from a departure point to a destination, and receives a beacon signal transmitted from the drone station when flying from the departure point to the destination, A flight step of flying to the destination by comparing the station information included in the received beacon signal and the station information of the drone station of the flight path information, wherein the flight step, the drone receives the starting point and destination, the destination at the starting point A flight path that selects one flight path according to a preset path search method among flight paths that can be generated by the drone stations in between, and includes a flight ID and location information of the drone station corresponding to the selected flight path. Flight paths that generate and store information Positive step; And a beacon signal transmitted from the drone station during the flight, and compares the station ID and location information included in the received beacon signal with the station ID and location information of the drone station of the flight path information to fly to the destination. And a wireless charging step of transmitting the wireless charging power by the drone station after the beacon signal transmitting step, wherein the flying step includes a drone controller of the drone having a battery capacity measuring unit in flight. When the remaining capacity of the battery is measured and the measured battery capacity is smaller than the preset reference capacity, the wireless charging power transmitted by the drone station that detects the drone landing through the wireless power transmitter after landing at the closest drone station on the flight path Receiving a charging step of charging the battery And the drone controller controls the flight unit after the completion of charging to fly back along the flight path after takeoff, and the flight path flight step includes: a drone beacon signal in which the drone controller broadcasts a drone beacon signal including a drone ID; A broadcast step; And a flight path flight determination step of determining whether the station ID and location information included in the received beacon signal and the station ID and location information of the drone station of the flight path information are on the flight path flying to the destination. Obtaining a drone beacon signal received signal field strength of the drone beacon signal received by the drone station and receiving the received signal field strength received from another drone station adjacent thereto; And a drone location tracking step including a location tracking step in which the drone station calculates the location of the corresponding drone by the received signal field strength of the drone beacon signal.
The flight path setting step may include selecting one flight path according to a preset path search method among flight paths in which the drone receives a starting point and a destination and can be generated by drone stations between the destination and the destination. Flight path search step; And a flight path information generation step of generating and storing flight path information including station ID and location information of the drone station corresponding to the selected flight path and rotation direction and distance information from each drone station to the next drone station. The flying path flight step may include: a beacon signal receiving step of receiving a beacon signal from any drone station; A drone station position arrival determining step of determining whether a drone station has been reached by the received signal electric field strength of the beacon signal; A flight information loading step of loading rotation direction information and distance information for flying to the next drone station corresponding to the station ID for the drone station at the location of the drone station; And a beacon signal-based flight step of controlling to fly to the next drone station by a distance corresponding to the station ID after rotating in the rotation direction corresponding to the loaded rotation direction information.
The wireless charging step may include a drone authentication step of receiving an authentication key from the drone after the beacon signal transmission step and performing authentication using the authentication key; And a wireless charging power transmission step of transmitting the wireless charging power when the authentication is successful.

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The present invention can be equipped with a drone station in the road utility such as telephone poles and street lights, so that when the battery of the drone falls below the standard can perform automatic wireless charging through the drone station, thereby improving the charging efficiency of the drone battery and flight distance of the drone Has the effect to increase.

In addition, the present invention uses a low-power beacon signal transmitted by the drone station installed in the public facilities on the road tracks its location to move to the destination along the path, so the battery power consumption according to the location tracking It has an effect that can be minimized.

In addition, the present invention has an effect that can maximize the flight distance of the drone by providing a means for easily charging the battery when the drone needs, and minimizes the power consumption according to the location tracking.

In addition, the present invention has the effect of restricting the flight of the non-certified drone by the classification of the non-certified drone by performing the authentication for the drone in flight through the drone station installed in the road public equipment.

1 is a view showing the configuration of a drone automatic flight system using a beacon signal according to the present invention.
2 is a view showing an example in which the drone landed on the drone station of the drone automatic flight system configured in the street light for wireless charging according to the present invention.
3 is a view showing a case where a drone of a drone automatic flight system using a beacon signal according to an embodiment of the present invention automatically moves to a specific flight path and tracks location by a beacon signal transmitted by a drone station.
4 is a view for explaining a location tracking method of the drone automatic flight system using a beacon signal according to another embodiment of the present invention.
5 is a view showing a detailed configuration of the drone station of the drone automatic flight system using a beacon signal according to the present invention.
6 is a view showing a detailed configuration of the drone of the drone automatic flight system using a beacon signal according to the present invention.
7 is a flowchart illustrating a route setting method according to a destination input in a drone automatic flight method using a beacon signal according to the present invention.
8 is a view for explaining the path setting method of the drone and the automatic flight method according to the set path according to the present invention.
9 is a flowchart illustrating a drone automatic flight method using a beacon signal according to the present invention.

Hereinafter, a configuration and operation of a drone automatic flight system using a beacon signal according to the present invention will be described with reference to the accompanying drawings, and a drone automatic flight method using a beacon signal in the system will be described.

1 is a view showing the configuration of a drone automatic flight system using a beacon signal according to the present invention, Figure 2 is an example in which the drone is landed on the drone station of the drone automatic flight system configured in the street lamp for wireless charging according to the present invention FIG. 3 is a diagram illustrating an example in which a drone of a drone automatic flight system using a beacon signal according to an embodiment of the present invention automatically tracks a location and a specific flight path by a beacon signal transmitted by a drone station. 4 is a view for explaining a location tracking method of the drone automatic flight system using a beacon signal according to another embodiment of the present invention. A description with reference to FIGS. 1 to 4 is as follows.

The drone automatic flight system using the beacon signal according to the present invention includes a drone station 100 and a drone 200, and may further include a drone management server 300 according to an embodiment.

The drone station 100 transmits a beacon signal including its own station ID and through the coil antenna 131 upon detection of the drone 200 landing on the top or upon receiving a charge request signal from the drone 200. Transmit wireless charging power.

The drone station 100 may be configured at an upper end of a road utility such as a street lamp, a telephone pole, and the like to facilitate the landing of the drone 200. However, the public equipment on which the drone station 100 may be installed is not limited to road public equipment.

The drone station 100 forms a cell 301 which is formed by the reach distance of the transmission signal according to the transmission signal strength of the beacon signal.

The structure of the cell 301 may be designed according to the present invention. However, since the drone station 100 is installed in public facilities such as headlamps and street lamps, the cell structure design is limited. The cell structure may be formed as shown in FIGS. 3 and 4.

Since utility poles and street lamps are often arranged in a line along the road, overlapping areas between cells may not be generated as shown in FIG. 3, and overlapping areas may be formed small. Of course, since the power of the drone station 100 is sufficient, the transmission power of the beacon signal may be increased to increase the radius of the cell 301 so that the overlapping area may be generated.

In some areas, as shown in FIG. 4, a large overlapping area between the plurality of cells 301 is formed, and the drone 200 may receive beacon signals from three or more drone stations 100.

Therefore, in the present invention, a non-overlapping drone position tracking technique in a region where a cell region does not overlap as shown in FIG. 3 and an overlapping region drone position tracking technique in a region where a large overlap of cell regions as shown in FIG. It would be desirable.

Since the non-overlapping area drone position tracking technology requires that the drone 200 can fly its own position with only one beacon signal, each drone station 100 has its own unique identification information such as a station ID and another adjacent drone station. And a drone station-based non-overlapping area drone position tracking method having the direction of rotation information Θ and distance information D for proceeding to 100 and broadcasting the information on the beacon signal, and the drone 200. Station information of the drone station 100 existing on the flight path from the starting point to the destination, and the position information including the rotation direction and distance information for each drone station 100 to proceed to the next drone station 100 There may be a drone-based non-overlapping drone location tracking method for storing flight path information including flight. In the former case, the drone 200 may have an advantage of storing flight path information including a station ID for the drone station 100 on the flight path. However, in the former case, it is preferable to use the latter because it has a limitation that it is difficult to transmit a lot of information on the characteristics of the beacon signal.

The drone-based non-overlapping area drone location tracking method will be described with reference to FIG. 3. The drone 200 may store flight path information about the flight path 302.

When the drone 200 receives the beacon signal from the drone station 100-2 on the flight path 302 and arrives at the drone station 100-2 by the received signal field strength, the drone 200 is included in the beacon signal from the flight path information. Load the location information including the rotation direction (angle: Θ) and the distance (D) corresponding to the station ID, rotate by the rotation direction (Θ), fly by the distance, and then broadcast from the drone station (100-3) It will be determined whether the drone station 100-3 has reached the received signal field strength of the beacon signal. Since the drone 200 flies by the distance D, the drone 200 may fly without receiving a beacon signal from the drone station 100-3 for a predetermined distance therebetween.

Also, when the drone 200 receives the beacon signals from three or more drone stations 100 as shown in FIG. 4, the drone 200 estimates its own position more accurately by using the received signal field strengths of the three or more beacon signals, It may be configured to correct its position information by.

In addition, the drone 200 may also be configured to broadcast a beacon signal (hereinafter referred to as a drone beacon signal "drone beacon signal"), a plurality of drone stations receiving the beacon signal broadcast by the drone 200 They provide the received signal field strength received by them to each one drone station 100 through communication with each other, the specific drone station 100 receives the received signal field strength for the drone beacon signal is Calculate the position of the drone 200 by using the location information of the drone station 100 providing the received signal field strength of the drone beacon signal and the received signal field strength, and provide the calculated position information to the drone 200. It may be configured. As shown in FIG. 4, the drone 200 may form a cell 302 by a drone beacon signal broadcasted by the drone 200. The location information of the drone 200 may be provided to the drone management server 300.

In addition, when the drone 200 is moved by the distance information (D) when the non-overlapping area drone position tracking method is applied, if the beacon signal transmitted by the next drone station 100 is not received, the satellite reaches the position of the next drone station 100. It may also be configured to fly by position tracking using a Global Positioning System (GPS).

The drone 200 includes a plurality of propellers, and includes a battery to fly by determining a flight altitude and a flight direction by using the propeller's rotation, the rotation speed, the rotation direction, and the like using the source power stored in the battery.

The drone 200 of the present invention includes flight path information including a station ID of a drone station 100 from a starting point to a destination, which forms a flight path previously searched for a starting point and a destination, or a station ID and location information. The flight path information should be stored, and the same station ID is received by receiving the beacon signal broadcast by the drone station 100 during the flight and comparing the station ID and location information included in the beacon signal with the station ID and location information on the flight path information. And fly through the drone stations 100 on the flight path having the location information.

The drone setting method and the external setting method may be applied as a method of storing the flight path information on the flight path of the drone 200.

The drone setting method, the drone 200 has a map information including the location information and station ID for the drone station 100 for the whole country, and between the starting point and destination when the starting point and destination input from the user, administrator, etc. A single flight path is searched according to a preset path search method among a plurality of flight paths existing by a plurality of drone stations 100, and a station ID for each of the drone stations 100 on the searched flight path and Create and store flight route information including location information. The flight path information may further include installation height information on which each drone station 100 is installed and rotation direction information for moving from the drone station 100 to the next drone station on the flight path.

The external setting method stores map information based on drone stations 100 nationwide in an external manager computer (not shown), and the manager computer receives a starting point and a destination from the manager and searches for a flight route for the starting point and destination. Then, flight path information for the searched flight path will be generated. The generated flight path information may be transmitted to the drone 100 by a computer and stored.

The drone stations 100 and the drone management server unit 300 are connected through the wired or wireless data communication network 400 to perform data communication.

The wired / wireless data communication network 400 may be a network in which at least one or more of an internet network including a WiFi network, a WiBro network, and the like are combined. That is, the drone station 100 and the wired / wireless data communication network 400 may be connected by wire or wirelessly.

The drone management server unit 300 manages information related to the drone station 100 according to the addition and deletion of the drone stations 100, assigns an authentication key to the registered drone 200, and assigns the drone station 200. Through authentication using the authentication key through, it may be configured to return the authentication result to the drone station (100).

In addition, the drone management server unit 300 may be configured to manage the flight position of the drone 200.

5 is a view showing a detailed configuration of the drone station of the drone automatic flight system using a beacon signal according to the present invention.

Referring to FIG. 5, the drone station 100 includes a station controller 110, a station storage unit 120, and a wireless power transmitter 130, and according to an exemplary embodiment, a short range wireless communication unit 150 and a long range communication unit 160. ) May be further included.

The station controller 110 controls the overall operation of the drone station 100 according to the present invention. Detailed configuration and operation of the station control unit 110 will be described after the other configuration first.

The station storage unit 120 stores a station ID including a drone based non-overlapping area drone location tracking method, or a station ID based on a drone station based non-overlapping area drone location tracking method and its location information. Referring to FIG. 3, the location information is entered from another adjacent first drone station 100-1 based on the reference drone station 100-2 that is its own, and then the other second drone station 100-3 is entered. Direction of rotation (information) Θ and distance (information) D from the reference drone station 100-2 to the second drone station 100-3. The first drone station 100-1 and the second drone station 100-3 are relative concepts, and it may be preferable to store location information of each of the plurality of adjacent drone stations 100.

The wireless power transmitter 130 includes a coil antenna 131 formed on an upper part of the drone station 100 in which a drone landing site is formed, and is wirelessly charged under the control of the station controller 110 when the drone 200 lands. Power is transmitted through the coil antenna 131. The wireless power transmitter 130 may be configured to perform data communication with the drone 200 according to the wireless charging protocol (provision) defined by the applied wireless power consortium (WPC), wireless charging association (A4WC), and the like. .

The beacon transmitter 140 periodically transmits a beacon signal including the station ID stored in the station storage unit 120 or the station information including the station ID and location information under the control of the station controller 110. The radius of the cell 301 will be determined according to the intensity of the beacon signal transmitted by the beacon transmitter 140.

The short range wireless communication unit 150 is wirelessly connected to at least one of another adjacent drone station 100 and the drone 200 to perform wireless data communication. The short range wireless communication unit 130 may be applied to a short range wireless communication protocol such as Bluetooth, Wi-Fi (WiFi), broadband wireless communication (UWB), Zigbee, or the like.

The short range wireless communication unit 150 may be configured to include the beacon transmitting unit 140, may be configured to include a beacon receiving unit (not shown) for receiving a beacon signal, for low power consumption of the drone 200 It would be desirable to apply the Bluetooth 4.0 protocol with Bluetooth Low Energy (BLE).

The remote communication unit 160 is wired and wirelessly connected to the wired / wireless data communication network 400 to perform data communication between the drone management server 300 and the station controller 110 at a remote location.

The configuration and operation of the station controller 110 will be described in more detail. The station controller 110 includes a drone authentication unit 111, a wireless charging processor 112, and a position calculator 113. Control the overall behavior of the.

When the drone authentication unit 111 detects the landing of the drone 200, the authentication information (for example, an accredited certificate, an authentication key, an OTP number) from the drone 200 that landed through the wireless power transmitter 130 or the short range wireless communication unit 150. And the like) to receive and communicate with the drone management server 300 to perform authentication by the authentication information.

The authentication method may be a blockchain-based authentication method, or may be one-time password (OTP) based authentication method, authorized certificate method, and the like.

The authentication management server 300 will be configured to perform an operation corresponding to the applied authentication method.

When the wireless charging processing unit 112 performs authentication, when the authentication success information is input from the drone authentication unit 111, the wireless charging power is transmitted to the drone 200 through the wireless power transmitter 130, but wireless according to the protocol. The power transmitter 130 checks the charging state of the drone 200 and continuously transmits the wireless charging power until the battery of the drone 200 is fully charged.

The position calculator 113 transmits the drone beacon signal by the drone 200, performs data communication with other drone stations 100 adjacent through the short range wireless communication unit 150, and the short range wireless communication unit 150 transmits the beacon. It may be configured to receive a beacon signal from the drone 200 and other drone stations 100, including a receiver (not shown).

The position calculator 113 includes position information including mutual distance information of adjacent drone stations 100, and a reception signal field for a drone beacon signal received from the drone 200 by each of the drone stations 100, respectively. The position of the drone 200 is calculated by applying at least one of the strength and the received signal electric field strength value of the drone beacon signal received directly from the drone 200, and the calculated position information of the drone 200 is calculated. 200). The calculated calculation position information may be configured to transmit to the drone management server 300.

6 is a view showing a detailed configuration of the drone of the drone automatic flight system using a beacon signal according to the present invention.

Referring to FIG. 6, the drone 200 includes a battery 201, a power supply unit 203, a drone control unit 210, a drone storage unit 220, a beacon receiving unit 230, and a flight unit 250. For example, the wireless power receiver 202, the short range wireless communication unit 240, the battery capacity measuring unit 260, the image processing unit 270, the input unit 280, and the GPS module 290 may be further included.

The battery 201 stores limited power and supplies a source power within the stored power.

The power supply unit 203 receives the source power from the battery 201 and generates driving power (5V, 3.3V, etc.) required for the drone 200 and outputs the necessary power.

The drone controller 210 controls the overall operation of the drone 200 according to the present invention. The detailed configuration of the drone controller 210 will be described in detail after first explaining other configurations.

When the drone-based non-overlapping area drone location tracking method is applied, the drone storage unit 220 stores map data and set flight path information having station information including station ID and location information for drone stations 100 around the country. In the case of drone station based non-contact area drone location tracking method, flight path information will be stored.

The beacon receiver 230 receives the beacon signal broadcast by the drone station 100, detects the station ID or station information including the station ID and the location information from the beacon signal, and transmits it to the drone controller 210.

The beacon receiver 230 measures the received signal field strength (RSSI) of the beacon signal received and transmits it to the drone controller 210.

The flight unit 250 includes a plurality of propellers (not shown) and a motor (not shown) for rotating the propellers, and controls the rotation speed, the rotation direction, and the like of the propellers so that the flight direction and the flight height of the drone 200 are controlled. , Control your flight speed.

The flight unit 250 may preferably include a direction measurement unit (not shown) for measuring a change (angle) of the traveling direction of the drone and a flight speed measurement unit (not shown) for measuring the flight speed of the drone. The direction measuring unit may include a gyro sensor, and the flight speed measuring unit may include an acceleration sensor.

The wireless power receiver 202 receives the wireless charging power transmitted by the drone station 100 when the drone 200 lands on the drone station 100, and charges the battery 201 by the received wireless charging power.

The wireless power receiver 202 may be configured to perform communication between the drone controller 210 and the drone station 100 according to the protocol at the start of the wireless charging.

The short range wireless communication unit 240 may be configured to include the beacon receiving unit 230, or may be configured to include a beacon transmitting unit (not shown) for broadcasting a drone beacon signal including a drone ID periodically according to an embodiment. In addition, it performs short-range wireless communication between the drone controller 210 and the drone station 100 in close proximity.

The battery capacity measuring unit 260 is connected to the battery 201 to measure the remaining capacity of the battery 201, and transmits the measured battery remaining capacity information to the drone controller 210.

The image processor 270 is processed by the drone controller 210 to process the image photographing the scene that enters the lens angle of view of the camera (not shown) provided in the drone 200 in a preset image format drone storage unit 220 ).

The camera included in the image processor 270 may be a camera having a pan / tilt / zoom function.

The input unit 280 may be an input device including a plurality of keys, buttons, switches, and the like for performing various functions and settings of the drone 200, and may be connected to an external device such as an administrator computer to control the external device and the drone. 220 may be an interface device for performing wired data communication. The flight path of the drone may be set through the input unit 280.

The GPS module 290 receives its own positional information and absolute time information from at least three, preferably four or more GPS satellites, from a plurality of GPS positioning satellites. The position is calculated and output to the drone controller 210.

The GPS module 290 may be selectively configured according to an embodiment of the present invention, and may be configured to be temporarily driven under the control of the drone controller 210 only when necessary.

The GPS module 290 may be configured to operate when the drone 200 takes off at the starting point and the destination for the starting point and the destination without the drone station 100 and fly to the first drone station 100, and the last drone station 100 It may be driven when flying to the destination, and when the beacon signal is not received from the drone station 100 on the flight path for a certain time.

 Referring to the detailed configuration and operation of the drone control unit 210, the drone control unit 210 is a destination setting unit 211, location tracking unit 212, flight control unit 213, charge determination unit 214 and the authentication processing unit 215 to control the overall operation of the drone 200 according to the present invention.

Specifically, the destination setting unit 211 is a flight path for the flight path from the starting point to the destination through the input unit 280 when one of the overlapping area drone location tracking method and the drone station based non-overlapping area drone location tracking method is applied. The information is obtained and stored in the drone storage unit 220 to set a destination.

On the other hand, when a drone-based non-overlapping area drone location tracking method is applied, the destination setting unit 211 receives information about a starting point and a destination through the input unit 280, and stores stations for drone stations 100 in the whole country. Preset route searching method among a plurality of flight paths from the map data (which may include the actual map image or not including the map image) to the station from the starting point to the destination including the ID and location information including the location information According to the selected one flight path, and generates flight path information including the station ID and location information of the drone stations (100) for the selected flight path is stored in the drone storage unit 220. The flight path search method may include a shortest distance, a low building area priority (beacon signal refraction minimization priority), a path priority with a large number of overlapping areas between cells (location tracking accuracy priority), and the like.

The position tracking unit 212 is a station ID based position tracking using only the station ID included in the beacon signal received through the beacon receiving unit 230 according to an embodiment, a station ID and reception using the received signal field strength of the received beacon signal. Location tracking based on signal field strength, location tracking based on station ID and location information, location tracking based on station ID, location information and received signal field strength, and location tracking based on non-overlapping and overlapping areas may be applied. . Since the location tracking methods have been described with reference to FIGS. 1 to 4, the description thereof will be omitted.

The flight adjustment unit 213 controls the flight unit 250 to fly to a destination with reference to the location information and flight path information tracked by the location tracking unit 212.

When the flight control unit 213 wirelessly charges the battery 201 according to the present invention, the flight controller 213 searches for the nearest drone station 100 by referring to the current location and flight path information tracked by the location tracking unit 212, and searches. And a landing adjustment unit 213-1 which drives the image processor 270 when the drone station 100 is in close proximity and controls the flight unit 250 to land at the landing place from the image acquired through the image processor 270. It would be desirable to include. That is, the landing adjustment unit 213-1 determines the exact position of the user using the image so that the drone 200 lands on the coil antenna 203 of the drone station 100 to increase the efficiency of wireless charging. The flight unit 250 is controlled. The landing controller 213-1 may be driven when the wireless charge request signal is received from the charge determiner 214.

The charge determination unit 214 periodically measures the remaining battery capacity of the battery 201 through the battery capacity measuring unit 260 during the flight, and checks whether the measured remaining capacity falls below a preset reference remaining capacity.

When the measured remaining capacity falls below the reference remaining capacity, the charging determination unit 214 transmits a wireless charging request signal to the flight control unit 213, and thus upon receiving the landing completion signal from the landing control unit 213-1. According to the embodiment, the wireless power receiver 202 and the short-range wireless communication unit 240 through the request of the wireless charging to the drone station 100, and driving the wireless power receiver 202 is received from the drone station 100 The battery 201 is wirelessly charged by the wireless charging power.

When the authentication information request is generated from the drone station 100 according to the transmission of the wireless charging request signal of the charge determination unit 214, the authentication processor 215 may transmit the authentication information stored in the drone storage unit 220 to the wireless power receiver 202. And a short range wireless communication unit 240 to transmit to the drone station 100. The wireless charging power will be received if the authentication is successful by the transmitted authentication information. In particular, the authentication processing unit 215 may include a blockchain authentication unit 216, etc., and performs blockchain-based authentication through the blockchain authentication unit 216.

The blockchain authentication unit 216 applies a blockchain technique to verify the drone location and authenticate through the "recognition record" for each drone. Check.

The charger lock DB will be shown in Table 1 below.

drone Charger Lock-1 Charger Lock-2 Charger Lock-3 Charger Lock-4 Charging coordinates
(Charging station) Charging coordinate-1 Charging coordinates-2 Charging coordinates-3 Charging coordinates-4

7 is a flowchart illustrating a drone automatic flight method using a beacon signal according to the present invention, FIG. 8 is a flowchart illustrating a route setting method according to a destination input in a drone automatic flight method using a beacon signal according to the present invention. Is a view for explaining the path setting method of the drone according to the invention and the automatic flight method according to the set path. Hereinafter, a drone automatic flight method will be described with reference to FIGS. 7 to 9 when a station ID and a non-overlapping area drone position tracking method of a beacon signal are applied.

First, the drone controller 210 sets a starting point and a destination through the destination setting unit 211 (S111). The starting point will be the current location. The starting point information may be obtained through the GPS module 290 when the GPS module 290 is included.

First, a destination setting method using a drone-based non-contact area drone location tracking method will be described with reference to FIG. 8.

The drone controller 210 checks whether a destination setting command is input through the input unit 280 (S211).

When the destination setting command is input, the drone controller 210 requests to input a starting point and a destination (S213). When the drone 200 includes a display unit (not shown), the departure and destination input requests may be made by displaying at least one of text and graphics on the display, and transmitting the origin and destination input request information to a connected external device. The external device may be configured to display the source and destination input request information in at least one of text and graphics.

After the starting and destination input request, the drone controller 210 checks whether a starting point is input through the input unit 280 or the GPS module 290 and a destination is input through the input unit 280 (S215).

When the starting point 901 and the destination 902 are input, the drone controller 210 may go from the starting point 901 to the destination 902 in a map area including the starting point 901 and the destination 902 on a map of the whole country. A plurality of flight paths are searched (S217) and one flight path is selected according to a preset path search (selection) method among the searched flight paths (S219).

When the flight path is selected, the drone controller 210 loads the station ID and location information of the drone station 100 on the selected flight path (S221), and the station IDs for the drone stations 100 on the loaded flight path. And generate flight path information including location information and store it in the drone storage unit 220 (S223).

9, when the starting point and the destination are input, the drone controller 210 searches for the first flight path 903 and the second flight path 904 (S217), and the searched first flight path 903 and The first flight path 903 will be selected based on a predetermined flight path selection method (path priority with a shorter GPS period and a shorter distance between drone stations) among the second flight paths 904 (S219).

When the first flight path is selected, the drone controller 210 may determine station IDs and location information for PS (abbreviation of Path Drone Station) 1, PS2, PS3, PS4, PS5, and PS6 that are drone stations 100 of the first flight path. Load from the map data stored in the drone storage unit 220 (S221), and includes station information including station ID and station location information for each of the drone stations 100 of the loaded first flight path 903. Generates flight path information to be stored in the drone storage unit 220. The station information may be sequentially stored with respect to the direction from the origin to the destination, and may include index information. If the previous drone station is set to 100-1, the current drone station is set to 100-2, and the next drone station is set to 100-3, the station location information is the next drone in the direction of entry from the previous drone station 100-1 on the flight path. Rotation direction information Θ for heading to the station 100-3 and distance information d from the corresponding drone station 100-2 to the next drone station 100-3 may be included.

 When the destination is set as described above (S111), the drone controller 210 checks whether a flight start command is input through the input unit 280 (S113).

When the flight start command is input, the drone controller 210 controls the flight unit 250 to take off and starts tracking the location based on the beacon signal broadcast by the drone station 100, and compares the tracked location with the flight path. To start (S115).

At this time, the manager will have to set the starting point 901 and the destination 902 to the location where the drone station 100 is installed in order to fly based only on the pure beacon signal. In this case, since the departure point 901 and the destination 902 should be the location of the road utility where the drone station 100 is installed, the distance (d0) from the departure point to the first drone station 100 (PS1) and the last The distance d5 from the drone station 100 (PS6) to the destination may be configured to drive the GPS module 290 to perform GPS-based location tracking.

When the flight is started, the drone controller 210 starts to monitor the remaining capacity of the battery 201 through the battery capacity measuring unit 260 (S117).

When the remaining battery capacity starts to be monitored, the drone controller 210 compares the monitored battery remaining capacity with a preset reference remaining capacity until it reaches the destination 902 (S121). Determine whether it is necessary (S119).

If it is determined that charging is required, the drone controller 210 searches for the drone station 100 closest to the location currently being tracked (S123), and after flying to the upper part of the drone station 100 searched by the received signal field strength, the image. The processor 270 drives the landing location of the drone station 100, and accurately lands on the coil antenna 231 of the landing area of the drone station 100 based on the captured image (S125).

Upon landing, the drone controller 210 requests charging to the drone station 100 through the wireless power receiver 202 or the short range wireless communication unit 240 (S127). The drone station 100 may be configured to include a pressure sensor at the landing place of the drone station 100 so that the drone station 100 recognizes the landing of the drone 200 as a wireless charging request.

After the charge request, the drone controller 210 monitors whether charging is completed through the battery capacity measuring unit 260 (S129), and when the charging is completed, takes off by controlling the flight unit 250 (S131). Until it arrives at the destination 902 of the flight path (S121), while flying along the flight path and repeating the above-described process after S115, if it is determined that the destination is reached (S121), it lands at the destination (S133).

On the other hand, the present invention is not limited to the above-described typical preferred embodiment, but can be carried out in various ways without departing from the gist of the present invention, various modifications, alterations, substitutions or additions in the art Anyone who has this can easily understand it. If the implementation by such improvement, change, replacement or addition falls within the scope of the appended claims, the technical idea should also be regarded as belonging to the present invention.

100: drone station 110: station control unit
111: drone authentication unit 112: wireless charging processing unit
113: position calculation unit 120: station storage unit
130: wireless power transmitter 140: beacon transmitter
150: short-range wireless communication unit 160: remote communication unit
200: Drone 201: Battery
202: wireless power receiver 203: power supply
210: drone control unit 211: destination setting unit
212: position tracking unit 213: flight control unit
213-1: Landing control unit 214: Charge determination unit
215: authentication processing unit 220: drone storage unit
230: beacon receiving unit 231: coil antenna
240: short-range wireless communication unit
250: flight unit 260: battery capacity measuring unit
270: image processing unit 280: input unit
290: GPS module

Claims (16)

A plurality of drone stations installed at an upper end of a road public body to transmit a beacon signal including station information including a station ID and location information which are unique IDs thereof; And
It has flight path information including the station information of the drone stations on the route from the origin to the destination, and receives the beacon signal transmitted from the drone station during the flight from the origin to the destination of the flight path information, the received beacon Comprising a drone flying to the destination along the drone stations on the path of the flight path information by comparing the station information included in the signal and the station information of the flight path information,
The drone station,
A station storage unit for storing the station information including the station ID and location information;
A beacon transmitter that receives the station information and periodically broadcasts a beacon signal including the station information; And
A station controller which loads the station information from the station storage and transmits the station information to a beacon transmitter;
The drone includes a wireless power receiver for receiving a wireless charging power to charge the battery provided therein,
The drone station,
Including a coil antenna for transmitting the wireless charging power to the top of the drone landed by the wireless power generation under the control to generate a wireless charging power further comprises a wireless power transmitter,
The station control unit,
Check the landing of the drone through the wireless power transmitter and transmits the wireless charging power through the wireless power transmitter when the landing of the drone,
The drone,
Includes a beacon transmitter for transmitting a beacon signal including a drone ID, which is its own unique drone identification information,
The drone station,
And a beacon receiver configured to receive a drone beacon signal transmitted by the beacon transmitter of the drone and measure the received signal field strength of the drone beacon signal, and transmit the measured received signal field strength, and another drone station adjacent to the drone of the drone. Further comprising a short-range wireless communication unit for receiving the received signal field strength measured for the drone beacon signal transmitted from the beacon transmitter,
The received signal field strength of the drone beacon signal measured by the short range wireless communication unit, and the relative distance and position information of the drone calculated by the received signal field strength are transmitted to at least one or more other drone stations in the vicinity. And calculating the position of the drone based on the relative distance and position information of the drone and the relative distance and position information of the drone received from another drone station, and then transmitting the drone to the drone. Automatic flight system.
delete delete delete The method of claim 1,
The drone,
A flight unit configured to drive a plurality of propellers to control a height, a traveling direction, a traveling speed, and whether the drone is advanced;
A battery storing limited source power and outputting a source power based on the source power;
A drone storage unit for storing a drone ID and the flight path information;
A beacon receiving unit receiving the beacon signal transmitted by the drone station to detect and output station information included in the beacon signal; And
Set the flight path according to a preset route selection method among the drone stations between the destination and the destination by receiving the departure point and the destination, and generate flight path information including the station information on the set flight path and store it in the drone storage unit. And a drone controller for controlling the flight unit to sequentially find the corresponding drone station according to the flight path information according to the flight path information transmitted by the drone station and fly in the corresponding flight path. Flight system.
delete The method of claim 5,
The drone,
It further comprises a battery capacity measuring unit connected to the battery to measure the remaining capacity of the battery to output to the drone controller,
The drone control unit,
If the remaining capacity of the battery measured by the battery capacity measuring unit is less than a predetermined reference capacity, the flying unit is controlled and landed in the closest drone station in the direction of travel, charging the battery through the wireless power receiver, and then taking off the ship. A drone automatic flight system using a beacon signal, characterized in that for controlling the flight to fly along the flight path on the flight path information.
delete The method of claim 5,
The flight portion of the drone,
A direction measuring unit measuring a change (angle) of the drone's traveling direction; And
Including a flight speed measurement unit for measuring the flight speed of the drone,
The drone control unit,
When the flight path is set in each of the drone station on the set flight path further includes direction rotation information, installation height information and distance information of the next drone station,
When moving from the corresponding drone station to the next drone station, based on the direction and speed measured by the direction measuring unit and the flight speed measuring unit, the rotation is performed by the direction rotation information of the flight path information and then the speed measured by the flight speed measuring unit. A drone automatic flight system using a beacon signal, characterized in that for controlling the flight to fly the flight distance corresponding to the installation height information and distance information based on.
The method of claim 1,
The station control unit,
Receiving an authentication key from the drone and performing a blockchain-based authentication to send the wireless charging power upon successful authentication, the drone automatic using the beacon signal, characterized in that the wireless charging can be performed only for the certified drone. Flight system.
A beacon signal transmitting step of transmitting a beacon signal including a station information including a station ID and location information of a drone station installed at an upper end of a road public facility; And
The drone has flight path information including station information for each of the drone stations in the path from the origin to the destination, and receives a beacon signal transmitted from the drone station during the flight from the origin to the destination, Comprising a flight step of flying to the destination by comparing the station information included in the beacon signal and the station information of the drone station of the flight path information,
The flight step,
The drone receives a starting point and a destination, selects one flight path according to a preset path search method among flight paths generated by drone stations between the destination and the destination, and the drone corresponding to the selected flight path. A flight path setting step of generating and storing flight path information including a station ID and location information of the station; And
Receive the beacon signal transmitted from the drone station during the flight, the flight path flight to fly to the destination by comparing the station ID and location information of the drone station of the station ID and location information included in the received beacon signal Including steps
After the beacon signal transmitting step, the drone station further comprises a wireless charging step of transmitting wireless charging power,
The flight step,
The drone controller of the drone measures the remaining capacity of the battery through the battery capacity measuring unit during the flight, and if the measured remaining capacity of the battery is smaller than the preset reference capacity, lands at the nearest drone station on the flight path and then through the wireless power transmitter. And a charging step of receiving the wireless charging power transmitted by the drone station detecting the landing of the drone to charge the battery,
The drone control unit controls the flight unit after the completion of the charge and fly again along the flight path after takeoff,
The flight path flight step,
A drone beacon signal broadcasting step of broadcasting, by the drone controller, a drone beacon signal including a drone ID; And
And a flight path flight determination step of determining whether the station ID and location information included in the received beacon signal and the station ID and location information of the drone station of the flight path information are on the flight path flying to the destination,
Obtaining a drone beacon signal received signal field strength of the drone beacon signal received by the drone station and receiving the received signal field strength received from another drone station adjacent thereto; And
The drone station further comprises a drone position tracking step comprising a position tracking step of calculating the position of the corresponding drone by the received signal field strength of the drone beacon signal.
delete delete delete The method of claim 11,
The flight path setting step,
A flight path search step of the drone receiving a starting point and a destination and selecting one flight path according to a preset path search method among flight paths generated by drone stations between the destination and the destination; And
A flight path information generation step of generating and storing flight path information including station ID and location information of the drone station corresponding to the selected flight path and rotation direction and distance information from each drone station to the next drone station,
The flight path flight step,
Beacon signal receiving step for receiving a beacon signal from any drone station;
A drone station position arrival determining step of determining whether a drone station has been reached by the received signal electric field strength of the beacon signal;
A flight information loading step of loading rotation direction information and distance information for flying to the next drone station corresponding to the station ID for the drone station at the location of the drone station; And
And a beacon signal based flight step of controlling to fly to the next drone station by a distance corresponding to the station ID after rotating in the rotation direction corresponding to the loaded rotation direction information. Way.
The method of claim 11,
The wireless charging step,
A drone authentication step of receiving an authentication key from the drone after the beacon signal transmission step, and performing authentication by the authentication key; And
And a wireless charging power transmission step of transmitting the wireless charging power when the authentication is successful.

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