KR102025202B1 - System for remote controlling of unmanned surface vehicle - Google Patents

Abstract

Disclosed is a system for remotely controlling an unmanned surface vehicle. The system preferably comprises: an unmanned surface vehicle; and a central control center remotely monitoring a state of the unmanned surface vehicle through wireless communication and controlling the unmanned surface vehicle.

Description

Unmanned Remote Control System {SYSTEM FOR REMOTE CONTROLLING OF UNMANNED SURFACE VEHICLE}

The present invention relates to an unmanned lift remote control system, and more particularly, to an unmanned lift remote control system for determining the status and position of the unmanned lift at a central control station and controlling the operation of the unmanned lift at real time remotely. It is about.

The unmanned watercraft is developed for monitoring and reconnaissance and reconnaissance of ports, seas, and marine platform protection, and is developing multi-purpose unmanned ships such as anti-submarine warfare, atmospheric mines, reconnaissance and surveillance.

The UAV is remotely controlled from a land base or sailing vessel control station, or autonomously drives to a preset target point, and is a surveillance reconnaissance vehicle that detects and accesses radar blind spots around coastal operations and unknown objects that cannot be captured by radar. Take charge of the mission.

These unmanned waterlifts perform 24-hour surveillance reconnaissance and underwater search missions in the waters facing North Korea, including the North Sea Limit Line (NLL), and are expected to contribute to protecting lives and increasing power through collaboration with manned ships.

In addition, the private sector is expanding its scope of application such as monitoring illegal fishing in the exclusive economic zone (EEZ), supporting rescue and rescue activities in various disaster and disaster situations, or investing in marine surveys.

In line with this trend, there is a need for a plan to allow unmanned supervisors to perform various tasks quickly and safely through communication with unmanned supervisors at the central control center.

Korea Patent Publication No. 10-2018-0094286 (Published Date 2018.08.23.)

SUMMARY OF THE INVENTION The present invention has been made in accordance with such a request, and an object thereof is to provide a remote control system for an unmanned water lift that enables the central control station to determine the state and position of the unmanned water lift and control the operation of the unmanned water lift in real time. .

Unattended remote control system according to an embodiment of the present invention for achieving the above object, the unmanned water lift; And a central control station that monitors and controls the state of the unmanned water vehicle remotely through wireless communication.

In one embodiment of the present invention, the central control center, the platform information management module for converting a message received from the unmanned upper-premise message into a message that can be processed in the central control center; A map display module showing an electronic chart and showing the position of the unmanned lift top and the target on the electronic chart based on the unmanned lift and target position information received from the unmanned lift via the platform information management module. ; A platform status display module displaying the status information of the unmanned lift received from the unmanned lift through the platform information management module; A navigation route management module for calculating an expected route according to the navigation route and the mission of the unmanned aerial vehicle; And a navigation display and a navigation control module for displaying navigation information according to the navigation route and the mission of the unmanned aerial vehicle.

In one embodiment of the present invention, the central control station, the platform control module for receiving the information required for remote control of the unmanned aerial vehicle and transmits to the unmanned aerial vehicle through the platform information management module; An alarm management module that monitors the status information of the unmanned water supply and manages an alarm history and a history in association with the platform status display module for detecting an alarm condition; A time synchronization module for synchronizing current time information of the central control center with time information received from GPS; A topic storage module for storing all data processed by the platform information management module; It is preferable to further include at least one of them.

In one embodiment of the present invention, the state information of the unmanned lift top, it is preferable to include at least one of the interlocking state with the unmanned lift top, engine state, latitude and longitude, speed, fuel amount, equipment failure, RPM.

Unmanned water lift remote control system according to another embodiment of the present invention, unmanned water lift; And if the message received from the unmanned award through wireless communication is a message related to platform status display, displaying the received message through the platform status display module, and the received message is a map display related message. If the received message is shown on the electronic chart showing the position of the unmanned aerial vehicle and the target position through the map display module, and if the received message is a navigation display and a navigation control related message, the received message is displayed on the navigation display. And a central control center displaying the navigation information according to the navigation route and the mission of the unmanned aerial vehicle through the flight control module.

In another embodiment of the present invention, the unattended supplicant periodically transmits a message including its status information to the central control center, and the platform status display module is included in the message received from the unattended supplicant. If an alarm situation is detected by monitoring status information, it is desirable to notify an administrator to the alarm and manage the alarm history and history in conjunction with the alarm management module.

Unmanned water lift remote control system according to another embodiment of the present invention, unmanned water lift; And a central control center for controlling the unmanned aerial vehicle remotely through wireless communication to control the unmanned aerial vehicle in remote operation mode or autonomous operation mode.

In another embodiment of the present invention, the central control station, after setting the unmanned lift top to the remote operation mode, and transmits a remote control command including RPM, steering angle information to the unmanned lift top to the unmanned lift top After real-time remote control and setting the unmanned aerial vehicle to the autonomous driving mode, the unmanned aerial vehicle may transmit the autonomous driving information including the inflection point coordinates, the route width, the speed, and the passing information to the unmanned aerial vehicle. It is desirable to autonomously operate to the target point based on the system.

In another embodiment of the present invention, the central control station, if the emergency return command from the administrator while operating the unmanned lift assumption in the autonomous operation mode, and requests the emergency return to the unmanned lift assumption, In addition, after stopping the mission performed according to the emergency return request, it is preferable to return to the position where the mission first started.

Unmanned water lift remote control system according to another embodiment of the present invention, unmanned water lift; And a central control station that remotely controls the operation of the unmanned lift top and monitors the state information received from the unmanned lift top through wireless communication.

In another embodiment of the present invention, the central control office, it is preferable to input the RPM, the steering angle information from the administrator to remotely control the unmanned lift, and transmit it to the unmanned lift.

Unmanned water lift remote control system according to another embodiment of the present invention, unmanned water lift; And a central control center for setting the unmanned aerial vehicle to a remote operation mode and transmitting a remote control command including RPM and steering angle information to the unmanned aerial vehicle, wherein the unmanned aerial vehicle is received from the central control center. It is desirable to perform the operation based on the RPM and the steering angle information included in the remote control command.

In another embodiment of the present invention, it is preferable that the unmanned upper limit periodically transmits its location information to the central control center.

Unmanned water lift remote control system according to another embodiment of the present invention, unmanned water lift; And a central control center configured to set the unmanned aerial vehicle to an autonomous driving mode, and transmit autonomous driving information including an inflection point coordinate, route width, speed, and passing information to the unmanned aerial vehicle. It is preferable to perform autonomous operation to the target point based on the point of inclination coordinates, route width, speed, and passing information included in the autonomous operation information received from the central control station.

In another embodiment of the present invention, the central control station, according to the emergency return command received from the administrator requesting the emergency return to the unmanned upper hand, the unmanned upper hand stops the mission that was performed according to the emergency return request After that, it is desirable to return to the position where the mission first started.

The remote control system of the unmanned aerial vehicle according to the present invention can remotely monitor and control the status of the unmanned aerial vehicle by determining the state and position of the unmanned aerial vehicle at the central control station and controlling the operation of the unmanned aerial vehicle in real time.

In addition, by using the navigation route and the operation control function, the unmanned aerial boat can be given autonomous mission to perform autonomous operation and return to autonomy.

1 is a view schematically showing the configuration of an unmanned water remote control system according to an embodiment of the present invention.
2 to 6 are process diagrams for explaining the method for remote control of the unmanned water determination according to an embodiment of the present invention.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention in connection with one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled. Like reference numerals in the drawings refer to the same or similar functions throughout the several aspects.

Hereinafter, with reference to the accompanying drawings will be described in detail with respect to the unmanned water remote control system according to a preferred embodiment of the present invention.

1 is a view schematically showing the configuration of an unmanned water remote control system according to an embodiment of the present invention.

In FIG. 1, the unmanned aerial vehicle 10 performs a remote control operation by the central control center 100 by performing communication with the central control center 100 according to a wireless communication method, and operates in a remote operation mode or an autonomous driving mode. Do this.

Specifically, in the case of operating in the remote operation mode under the control of the central control center 100 in accordance with the remote control command received from the central control center through wireless communication to perform the mission and the result of the central control center 100 In the case of operating in autonomous driving mode, autonomous driving to the target point is performed according to the operation information received from the central control center 100, and the result can be transmitted to the central control center 100.

The unmanned aerial vehicle 10 may periodically transmit its status information, its location information and the location information of the tracked target to the central control center 100.

Here, the state information of the unmanned lift 10 may include an interlocking state with the central control center 100, an engine state, a latitude and longitude (position), a speed, a fuel amount, a failure, and a revolution per minute (RPM).

The central control center 100 may remotely control the unmanned lift 10 by operating a wireless communication system, thereby controlling the operation of the unmanned lift 10 in a remote operation mode or an autonomous operation mode.

When operating the unmanned lift top 10 in the remote operation mode, the central control center 100 sets the mode of the unmanned lift top 10 to the remote operation mode, and then the RPM, steering angle information, etc. By transmitting a remote control command including a remote control unmanned watercraft 10 can be remote in real time.

When the unmanned lift 10 is operated in the autonomous driving mode, the central control center 100 sets the mode of the unmanned lift 10 to the autonomous driving mode, and then sets the coordinates of the point of incidence to the unmanned lift 10. Target point of incidence), route width (the route width to be displayed on the map), speed (the unmanned target target speed value to reach the target point), and pass information (arrival to the target point of incidence if it is within the ± error range of the input value). Autonomous driving information, including the like).

As described above, the unmanned aerial vehicle 10 set in the autonomous driving mode by the central control center 100 performs a mission by driving to a target point to perform a mission through navigation equipment based on the autonomous driving information. The driving information up to the point may be periodically transmitted to the central control center 100.

The central control center 100 and the unmanned lift top 10 perform communication according to a wireless communication method, and the wireless communication between the central control station 100 and the unmanned lift top 10 may include satellite communication and mobile communication according to a distance and a location. Near field communication may be used, but is not limited thereto.

The central control center 100 is the platform information management module 110, platform status display module 120, map display module 130, navigation route management module 140, navigation display and navigation control module 150, platform The control module 160, the alarm management module 170, the time synchronization module 180, and the topic storage module 190 may be included. Each component of the central control center 100 is exemplary, and other components may be added or some components may be omitted. In addition, each configuration of the central control center 100 may be implemented in hardware, software or a combination thereof.

The platform information management module 110 is in charge of communication with the unmanned upper limit 10, after the process initialization, if a message is received from the unmanned upper limit 10, the received message using the header value of the received message If the message is a valid message and the result of the verification is a valid message, the received message may be converted into a message (for example, a DSS message) that can be processed by the central control center 100.

If the message converted message is a message related to platform status display, the message converted message is transmitted to the platform status display module 120. If the message converted message is a message related to map display, the message converted message is mapped. When the message is converted to the exhibition module 130 and the message converted message is a message related to navigation display and flight control, the message converted message may be transmitted to the navigation display and flight control module 150.

The platform status display module 120 synchronizes the current time with the time information (time information received from the GPS) included in the message received from the time synchronization module 180, and the message is received from the platform information management module 110. If so, the state information of the unmanned lift 10 included in the message (interlocking state with the unmanned lift, engine state, latitude and longitude, speed, fuel amount, failure presence, RPM, etc.) can be displayed.

The platform status display module 120 monitors the status information of the unmanned lift 10 to notify the administrator of the warning situation, and alerts the administrator to the alarm management module 170 to manage the generated alarm. Can transmit

The map display module 130 shows the electronic chart, and the unmanned number through the latitude and longitude position information for the target unmanned lift 10 and the target received from the unmanned lift 10 via the platform information management module 110 The position of the assumption 10 and the position of a target can be shown on an electronic chart.

Specifically, when a message is received from the platform information management module 110, it shows the electronic chart, and analyzes the information contained in the message to check whether the location information about the target is included, and the location information about the target result Is included in the electronic chart, the position of the target is shown on the electronic chart, and if the position information of the target is not included, that is, only the position information of the unmanned lift 10 is included in the electronic chart. The position of the unmanned lift top 10 can be shown. Here, when showing the position of the target on the electronic chart, the position of the unmanned lift 10 may be shown together.

The navigation route management module 140 may calculate an expected route according to the navigation route and the mission of the unmanned aerial vehicle 10.

When the navigation path management module 140 receives a message including the navigation information (position, speed, etc.), waypoint coordinates, obstacle information, etc. received from the platform information management module 110, the information included in the received message According to the navigation information, waypoint coordinates, obstacle information, and the like can be displayed through the navigation and navigation control module 150, using the information contained in the received message The expected route according to the navigational route and mission of (10) can be calculated.

In addition, when a message is received from the navigation display and the navigation control module 150, the navigation route management module 140 analyzes the received message and, when the received message is a navigation route execution request and a command response message, assumes that the message is unmanned. Calculate the navigation route of 10), and transmits a flight command message including the same to the unmanned aerial vehicle 10 through the platform information management module 110, and the received message is linked to the unmanned aerial vehicle 10 and In the case of the mode information message, the navigation route calculation is stopped according to the interlocking state with the unmanned aerial vehicle 10 and the mode information, and the platform information management module displays a message including the interlocking state with the unmanned aerial vehicle 10 and the mode information. If the received message is an emergency return message through the 110 and the received message is an emergency return message, the calculation of the navigation route is stopped, and a message requesting an emergency return is returned through the platform information management module 110. It can transmit to the acquisition assumption (10).

The navigation display and the navigation control module 150 may display navigation information according to the navigation route and the mission of the unmanned aerial vehicle 10.

When a message is received from the navigation route management module 140, the navigation display and navigation control module 150 analyzes the received message and updates the navigation route list when the received message is a navigation route editing result message. If the message is a navigation route execution result message, the navigation route operation information may be updated. If the received message is an emergency return message, the navigation route operation control may be stopped.

In addition, when the navigation display and the navigation control module 150 receives a navigation route execution request from an administrator, the navigation display and navigation control module 150 transmits a message requesting the execution of the navigation route to the navigation route management module 140 according to the administrator's request, Upon receiving a request for a change in interlocking state and mode with the assumption 10, a message for requesting a change in interlocking state and mode is transmitted to the navigation route management module 140 according to a request of an administrator, When the emergency return for 10) is requested, a message for requesting an emergency return may be transmitted to the navigation route management module 140 according to a request of the administrator.

The platform control module 160 receives the RPM and steering angle information for remotely controlling the unmanned aerial vehicle 10 set in the remote operation mode from the administrator, and receives the platform status display module 120 and the platform information management module 110. It can be transmitted to the unmanned top 10.

The unmanned aerial vehicle 10 performs the operation based on the RPM and the steering angle information received from the central control center 100, and periodically controls the navigation information (position, speed, etc.), waypoint coordinates, obstacle information, etc. ), The central control center 100 may calculate the navigation route using the navigation information (location, speed, etc.), waypoint coordinates, obstacle information, etc. received from the unmanned aerial vehicle 10.

In addition, the platform control module 160 receives autonomous driving information (point of change coordinates, route width, speed, passing information, etc.) to be transmitted to the unmanned lift 10 set in the autonomous driving mode from the manager, and displays the platform state display module ( 120) and the platform information management module 110 may be transmitted to the unmanned lift 10.

Here, when the autonomous driving information is assumed to pass through four point of inflection, the unmanned lift top 10 is set up to one point of inflection from the current position based on the autonomous operation information received from the central control center 100. Go to speed, and if you reach the 1st point, move to the speed set to the 2nd point, if you reach the 2nd point, go to the speed set to the 3th point, and if you reach the 3nd point , Move to the speed set by the 4th change point, which is the last change point If the final point of change is set to the start position, it is possible to return.

As described above, if an emergency return command is received from the central control center 100 while performing an autonomous operation based on autonomous operation information, the unmanned aerial vehicle 10 stops the mission that was being performed and then starts the mission for the first time. May return to position.

Based on the autonomous operation information, the unmanned aerial vehicle 10 performing the mission by autonomous operation may periodically transmit its status information, its location information and the location information of the target to the central control center 100, and the central control center ( 100 may display the navigation route, the moving state of the unmanned lift 10, etc. on the electronic chart, and may change from the current position of the unmanned lift 10 to the inflection point through the navigation display and the flight control module 150. You can also display a variety of information to get to the set point.

On the other hand, the alert management module 170 manages the history and history for each warning situation occurred in each of the unmanned top 10 in conjunction with the platform status display module 120.

The time synchronization module 180 transmits the current time information included in the GPS data received through the GPS module (not shown) to the platform status display module 120 to transmit the time information of the central control center 100 to the current time. Can be synchronized with information.

The topic storage module 190 may generate a log file that can be used for analysis by storing all data processed by the platform state display module 120 in conjunction with the platform state display module 120.

2 to 6 are process diagrams for explaining the method for remote control of the unmanned water determination according to an embodiment of the present invention.

First, as shown in FIG. 2, when the platform information management module 110 receives a message from the unmanned upper bound 10 through wireless communication after initializing the process (S10), the platform information management module 110 receives the header value of the received message. Check whether the received message is a valid message (S30).

If the message received in step S20 is a valid message (S30: Yes), the central control station 100 can process the message received in step S20. For example, the message is converted into a DSS message (S40).

Thereafter, it is checked whether the message converted in step S40 is a message related to platform status display (S50).

As a result of the checking in step S50, when the message converted in step S40 is a message related to platform status display (S50: YES), the message converted in step S40 is transferred to platform status display module 120. Transmit (S60).

On the other hand, if the result of the check in step S50 is that the message converted in step S40 is not a message related to platform status display (S50: No), the message converted in step S40 is a message related to map display. Check whether it is (S70).

As a result of the checking in step S70, if the message converted in step S40 is a message related to map display (S70: YES), the message converted in step S40 is transmitted to the map display module 130. (S80) If the message converted in step S40 is not a message related to map display (S70: No), check whether the message converted in step S40 is a message related to navigation display and flight control. (S90).

As a result of the checking in step S90, when the message converted in step S40 is a message related to navigation display and flight control (S90: YES), the message converted in step S40 is converted to the navigation route management module 140. And transmits to the navigation display and the navigation control module 150 through (S100), and if the message converted from the above-mentioned step S40 is not a message related to the navigation display and the navigation control (S90). : No), the process proceeds to step S20 described above to receive a message sent from the unmanned upper limit (10).

Whether the message converted in step S40 is a platform status display related message, a map display related message, a navigation display and a flight control related message may be determined through a specific field value of the header.

On the other hand, when the platform state display module 120 receives a message including time information from the time synchronization module 180 after the process initialization (S10), as shown in Figure 3 (S110: Yes), to the corresponding message The current time information is synchronized with the included time information (time information received from the GPS) (S120).

Then, when receiving the message transmitted by the platform information management module 110 through the step S60 (S130), after checking whether the received message is a valid message using the header value of the received message (S140), If the received message is a valid message (S140: YES), the status information of the unmanned aerial vehicle 10 included in the received message (interlocking state with the unmanned aerial vehicle, engine status, latitude and longitude, speed, fuel amount, failure) Existence, RPM, etc.) are displayed (S150), and the status information of the unmanned lift 10 included in the received message is monitored to check whether a warning has occurred (S160).

When a warning occurs as a result of the check in step S160 (S160: Yes), to transmit a warning message to the alarm management module 170 to manage the history of the warning occurred in the unmanned water tank (S170) . Here, the warning occurrence message transmitted by the platform status display module 120 to the warning management module 170 may include an alarm cause, an alarm occurrence time, and the like.

If the check result of the above step S160 does not generate a warning (S160: No), a message transmitted from the platform control module 160 to the unmanned lift 10 to remotely control the unmanned lift 10 is received. Check whether it is (S180). Here, the message received from the platform control module 160 to remotely control the unmanned aerial vehicle may include RPM, steering angle information, and the like.

If the message is received from the platform control module 160 as a result of the check in step S180 (S180: Yes), the message received from the platform control module 160 through the platform information management module 110, unmanned assumption ( 10) (S190).

If no message is received from the platform control module 160 (S180: No), the platform state display module 120 stores all data processed by the platform state display module 120 to use for analysis. The processed data is transmitted to the topic storage module 190 (S200).

On the other hand, the map display module 130 after the process is initialized (S10), as shown in Figure 4, when receiving the message transmitted by the platform information management module 110 through the above step S80 (S210), After confirming that the message is a valid message (S220), if the received message is a valid message (S220: Yes), the electronic chart is shown (S230), and whether the received message includes the location information about the target Check (S240).

When the location information of the target is included in the received message as a result of the checking of step S240 (S240: YES), the location of the target is shown on the electronic chart shown in step S230 (S250).

When the position of the target on the electronic chart in the above-described step S250 may be shown together with the position of the unmanned lift top 10.

In the case where the received message does not include the location information of the target (S240: No), the location of the unmanned water lift 10 is shown on the electronic chart shown in step S230. (S260).

On the other hand, the navigation path management module 140 receives the message transmitted by the platform information management module 110 through the step S100, as shown in Figure 5 after the process initialization (S10), (S310), After checking whether the received message is a valid message using the header value of the received message (S320), and if the received message is a valid message (S320: Yes), the navigation information and waypoint coordinates included in the received message are included. In accordance with the obstacle information, the navigation route and the navigation information are displayed through the navigation display and the navigation control module 150 (S330).

And it is checked whether a message is received from the navigation display and the navigation control module 150 (S340).

If a message is received from the navigation display and the flight control module 150 as a result of the check in step S340 (S340: Yes), the received message is analyzed to determine whether the received message is a navigation route execution request and command response message. (S350).

If the message received as a result of the checking of step S350 is a navigation route execution request and command response message (S350: Yes), the navigation route of the unmanned aerial vehicle 10 is calculated, and the navigation command message including the platform information is included. The management module 110 transmits to the unmanned upper tablet 10 (S360).

When calculating the navigation route of the unmanned aerial vehicle 10 in step S360, the navigation information (position, speed, etc.) included in the message received from the unmanned aerial vehicle 10 through the platform information management module 110, Navigation routes can be calculated using route coordinates and obstacle information.

If the message received as a result of the check in step S350 is not a navigation route execution request and command response message (S350: No), the received message is interlocked with the unmanned lift 10 and requests to change the mode. Check whether the status and mode information message (S370).

If the message received as a result of the check in step S370 is an interlocking state and mode information message (S370: Yes), the calculation of the navigation route is stopped according to the interlocking state and mode information with the unmanned aerial vehicle 10, and the interlocking state. And transmits the mode information message to the unmanned upper limiter 10 through the platform information management module 110 (S380). The unmanned lift 10 receiving the interlocking state and mode information message transmitted to the unmanned lift 10 through the step S380 may change the operation mode to the remote operation mode or the autonomous driving mode according to the received interlocking state and mode information. Can be changed to

If the message received as a result of the check in step S370 is not the interworking status and mode information message of the unmanned upper limit 10 (S370: No), the received message to request the emergency return of the unmanned upper limit 10 Check whether the emergency return message (S390).

If the message received as a result of the check in step S390 is an emergency return message (S390: YES), the calculation of the navigation route is stopped, and the emergency return message to the unmanned aerial vehicle 10 through the platform information management module 110. Transmit (S400).

Upon receiving the emergency return message sent to the unmanned lift 10 through the step S400, the unmanned lift 10 may stop the mission being performed and return to the position where the mission was first started.

On the other hand, when the navigation display and navigation control module 150 is received from the navigation route management module 140, as shown in Figure 6 after the process initialization (S410), the received message using the header value of the received message After confirming that the message is a valid message (S420), if the received message is a valid message (S420: Yes), by analyzing the received message to determine whether the received message is a route editing result message (S430).

If the message received as a result of the checking of step S430 is a navigation route editing result message (S430: Yes), the navigation route list is updated using the navigation route information included in the navigation route editing result message (S440), If the received message is not the navigation route editing result message (S430: No), it is checked whether the received message is the navigation route execution result message (S450).

If the message received as a result of the checking of step S450 is a navigation route execution result message (S450: YES), the navigation route operation information is updated based on the navigation route execution result message (S460), and the received message is a navigation route. If it is not the execution result message (S450: No), it is checked whether the received message is an emergency return message for requesting an emergency return of the unmanned service (10) (S470).

If the message received as a result of the check in step S470 is an emergency return message (S470: Yes), the navigation route control is stopped (S480).

Through a series of processes as described above, the central control center 100 controls the operation of the unmanned lift 10 remotely through wireless communication, but after setting the unmanned lift 10 to the remote operation mode, The remote control command including RPM, steering angle information, and the like can be transmitted to the assumption 10 in real time.

In this case, the unmanned lift 10 may perform driving based on RPM and steering angle information included in a remote control command, and periodically transmit its location information to the central control center 100.

Meanwhile, the central control center 100 sets the unmanned lift top 10 to the autonomous driving mode, and then transmits the autonomous driving information including the inflection point coordinates, the route width, the speed, the pass information, etc. to the unmanned lift top 10. The unmanned aerial vehicle 10 may perform the mission by autonomous operation to the target point based on the autonomous operation information.

In this way, if the central control center 100 operates the unmanned lift top 10 in the autonomous operation mode, and there is an emergency return command from the manager, the central control center 100 responds to the emergency return command 10 according to the emergency return command. In this case, the emergency return may be requested, and the unmanned aerial vehicle 10 may return to the position where the mission was first started after stopping the mission that was performed according to the emergency return request.

In addition, the central control station 100 receives the status information of the unmanned lift 10 periodically transmitted by the unmanned lift 10 and monitors the received state of the unmanned lift 10 to generate a warning situation. In addition, administrators can generate alerts and manage alert history and history.

The above described method can be embodied as computer readable code on a computer readable recording medium. Computer-readable recording media include all kinds of recording media having data stored thereon that can be decrypted by a computer system. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like. The computer readable recording medium can also be distributed over computer systems connected over a computer network, stored and executed as readable code in a distributed fashion.

Although the above has been described with reference to the embodiments, those skilled in the art will understand that various modifications and changes can be made without departing from the spirit and scope of the invention as set forth in the claims below. Could be.

10. Unmanned Award, 100. Central Control Center,
110. platform information management module, 120. platform status display module,
130. Map display module, 140. Navigation route management module,
150. Nautical Display and Flight Control Module, 160. Platform Control Module,
170. Alarm management module, 180. Time synchronization module,
190. Topic Save Module

Claims (15)

Unmanned assumption; And
And a central control station that monitors the status of the unmanned aerial vehicle remotely through wireless communication, and controls the unmanned aerial vehicle to operate in a remote operation mode or an autonomous operation mode.
The central control office,
In charge of the communication with the unmanned award through wireless communication, when receiving a message from the unmanned award, checks whether the received message is a valid message using the header value of the received message, the message confirmed as a valid message Is converted into a message that can be handled by the central control center, and the platform message is displayed as a platform status display module, and the map display related message is a map display module. Messages related to the exhibition and flight control platform information management module for transmitting to the navigation display and flight control module;
If the current time is synchronized with the time information included in the message received from the time synchronization module, and the received message is confirmed as a valid message using the header value of the message received from the platform information management module, the received message is included in the received message. It displays the status information of the unmanned water cap and monitors the status information of the unmanned water cap and informs the administrator when a warning condition is detected, and transmits all the data processed by the unmanned water cap to the topic storage module for analysis. A platform state display module for storing;
If the received message is confirmed to be a valid message using the header value of the message received from the platform information management module, the electronic chart is shown, and then on the electronic chart based on the target position information included in the received message. A map display module showing the location of the target and the location of the unmanned aerial vehicle;
When the received message is confirmed to be a valid message using the header value of the message received from the platform information management module, the navigation route and the navigation according to at least one of the navigation information, route point coordinates, and obstacle information included in the received message. The information is displayed through the navigation display and the navigation control module, the navigation route execution request and command response message are received from the navigation display and the navigation control module, and the navigation command message including the navigation command message is calculated. The platform information management module transmits to the unmanned aerial vehicle and stops the navigation route calculation by receiving the interlocking status and mode information message requesting the interlocking status and mode change from the navigation display and the flight control module. Mode information message to the unmanned assumption through the platform information management module Stops the calculation of the navigation route in response to receiving the emergency return message requesting the emergency return of the unmanned aerial vehicle from the navigation display and the flight control module, and transmits the emergency return message to the unmanned aerial vehicle through the platform information management module. Navigation route management module; And
According to the administrator's request, any one of the navigation route execution request and command response message requesting the execution of the navigation route, the linkage status and mode information message requesting the change of the linkage status and mode, and the emergency return message requesting the emergency return of the unmanned aerial vehicle Transmits to the navigation route management module, updates the navigation route list using the navigation route information included in the navigation route editing result message received from the navigation route management module, and executes the navigation route received from the navigation route management module. And a navigation display and a navigation control module for updating navigation route operation information based on the result message. delete delete delete delete delete delete delete delete delete delete delete delete delete delete

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