KR102089705B1 - controlling method for unmanned aerial wehicle - Google Patents

Abstract

The present invention is to specify a flight path by receiving a plurality of stop points; Checking a GPS value for each waypoint in the designated route; Receiving a flight mode for each waypoint; Verifying the effectiveness of the mission; The step of designating the information of the flight path and the flight mode as a mission: verifying whether the corresponding unmanned air vehicle performs a mission in a set flight path and a flight mode: A method of controlling an unmanned air vehicle for performing a mission is provided, including In this way, it is possible to reassign a task due to a change in situation that occurs while performing an operation according to a designated task.

Description

{Controlling method for unmanned aerial wehicle}

The present invention relates to an unmanned aerial vehicle, and more specifically, it is possible not only to perform a flight according to a pre-specified mission, but also to enable re-assignment of a mission due to a situation change occurring while performing an operation according to the specified mission. The present invention relates to a method for controlling an unmanned aerial vehicle for performing a mission according to a new form.

In general, an unmanned aerial vehicle such as a drone is an unmanned aerial vehicle designed to be controlled by radio waves.

This unmanned aerial vehicle was first developed for military use, but recently, it is used for various purposes, such as acquiring geographic information or aerial situation information through aerial photography by installing a camera, sensor, or communication system.

In particular, the unmanned aerial vehicle is widely used for crime prevention and various mission performance in that it can check information about various directions while continuously moving, unlike a fixed type CCTV.

However, control of a conventional unmanned aerial vehicle was controlled by a user located on the ground by a wireless controller, and this steering method was impossible to operate normally when the unmanned aerial vehicle is outside the user's visible range.

Of course, in the related art, the desired method is controlled while confirming the image transmitted from the camera installed in the unmanned aerial vehicle through a personal terminal. This method is difficult to accurately control as the user must control and control all situations individually. In addition, there is a shortcoming in which the control over meticulous parts is often omitted.

Accordingly, recently, a mission is previously designated from a ground control station (GCS) prior to the flight of the unmanned aerial vehicle, and the unmanned aerial vehicle is configured to operate to perform the specified mission while performing flight control itself. In other words,

In this regard, it is as proposed in Patent Nos. 10-1756603, 10-2015-0060626, 10-2017-0085385, and 10-2017-0132923.

However, various control methods of the unmanned aerial vehicle according to the above-described conventional technology have a problem in that, when an error exists in a designated task, the response is not autonomously performed.

In particular, while performing a task according to a predetermined task, when a change in the position of the task occurs or an unexpected situation occurs, each of these situations is specified in advance even though appropriate action should be taken according to the changed situation or the unexpected situation. If it wasn't, there was a discomfort that an optimal action could not be made and simply returned to the ground control station and had to be reassigned a new mission.

Registered Patent No. 10-1756603 Patent Publication No. 10-2015-0060626 Patent Publication No. 10-2017-0085385 Patent Publication No. 10-2017-0132923

The present invention has been devised to solve various problems according to the prior art described above, and the object of the present invention is to provide a new form that enables real-time reassignment when a new situation occurs while performing a flight according to a predetermined task. It is intended to provide a method for controlling a mission of an unmanned aerial vehicle for performing a mission according to the present invention.

According to the task control method of the unmanned air vehicle for performing the task of the present invention for achieving the above object, in the unmanned air vehicle mission control method for performing a task by the control terminal of the ground control station configured to receive status information from the unmanned air vehicle, the task A path designation step of receiving a plurality of stop points for designating a flight path; A positioning step of checking a GPS value for each waypoint of the designated route; A flight mode input step of receiving a flight mode for each stop point; A validity verification step of verifying the validity of the mission based on the input flight path and flight mode; When the validity of the mission is confirmed, a task designation step of setting the flight path and flight mode information to the unmanned air vehicle to be designated as a mission: receiving the status information from the unmanned air vehicle flying in accordance with the specified mission and corresponding unmanned air vehicle Characterized in that it proceeds, including: a mission verification step of verifying whether or not to perform the mission in the set flight path and flight mode.

Here, the input to each waypoint in the step of specifying the route is via a sequential touch of the body for each waypoint by the user while displaying a map screen for assignment of tasks on the screen of the control terminal. It is made to receive the sequence number via and, and the flight mode input for each stop point in the flight mode input step is performed at the corresponding point when the user touches a specific point on the displayed map screen for input to each stop point. It is characterized in that it is configured to display and receive a pop-up for selecting a set mode and selecting detailed instructions for each mode.

In addition, the flight modes for each of the stopover points include a stop flight flying in a stationary state, a turning flight flying while turning a certain radius, a lifting flight flying while rising or falling, and a tracking flight tracking an object. Characterized in that the flight control information is received, including free flight waiting at the corresponding point.

In addition, the status information provided from the unmanned aerial vehicle in the mission verification step includes image data captured while flying along the flight path and altitude, direction, flight time and location information at the time of flight, and provides status information from the unmanned aerial vehicle. When receiving, the process of mapping the location information among the status information on the map screen of the control terminal is further included, and the image data is controlled to be displayed on a separate area from the map screen among the display areas of the control terminal. Characterized in that it further includes the process of.

In addition, in the task verification step, when a request to change a task of the unmanned air vehicle occurs, a first process of requesting to enter a waypoint for a new task on the map screen, and a request to enter a flight mode for each of the received waypoints The second process to communicate with the unmanned aerial vehicle, the third process to control the unmanned aerial vehicle to stop at a stopover point currently being located or moving, and the existing process when the unmanned aerial vehicle arrives at the stopover point in the third stage The missions stored in the unmanned air vehicle are reset, and at the same time, information about the flight route by the waypoints received in the first and second processes and the flight mode for each waypoint is dataized, and wirelessly transmitted to the unmanned air vehicle for a new mission. Characterized in that it proceeds, including the fourth process to be designated.

As described above, the task control method of the unmanned aerial vehicle for performing the task of the present invention is performed to accurately control the unmanned aerial vehicle while simultaneously controlling the unmanned aerial vehicle while simultaneously checking the map screen, the video screen, and the status screen displayed on the display window of the control terminal. It has the effect that the user can accurately recognize whether or not.

In particular, the task control method of the unmanned aerial vehicle for performing a mission of the present invention is not only performed by the unmanned aerial vehicle's flight control by either manual control or automatic control, but it is possible to change the mission by real-time manual operation. When the mission is changed, the changed mission is controlled to be performed by automatic control, so that the utilization of the boundary mission can be further improved.

1 is a block diagram schematically illustrated to describe a system construction state for mission control of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention
2 is a state diagram showing a display window of a control terminal for mission control of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention
3 is a flowchart illustrating a method for controlling a mission of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention
Figure 4 is a state diagram for explaining the state of the map screen when the assignment of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention

Hereinafter, a preferred embodiment of a method for controlling a mission of an unmanned aerial vehicle for performing a mission of the present invention will be described with reference to FIGS. 1 to 4.

First, the attached FIG. 1 is a schematic block diagram illustrating a system construction state for mission control of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention.

According to this, the system for mission control of an unmanned aerial vehicle for performing a mission of the present invention is largely made up of an unmanned aerial vehicle 100 and a control terminal 200.

Here, the unmanned aerial vehicle 100 includes a wireless data transceiver 120 to enable wireless data transmission and reception, as well as having a control controller 110 for checking status information. At this time, the state information of the unmanned aerial vehicle 100 includes basic information such as pitch (pitch-forward tilt), roll (left-right tilt), yaw (horizontal rotation degree), altitude, speed, and gimbal control signals, It includes video signals, location signals, and battery information.

In addition, the control terminal 200 is a terminal possessed by a user for flight control and assignment of an unmanned aerial vehicle 100, and may be a ground control station (GCS).

The control terminal 200 includes a wireless data transceiver 220 to enable wireless data transmission and reception with the unmanned aerial vehicle 100.

In addition, the above-described control terminal 200 has a display window 230 and an operation unit 240, the display window 230 from the map screen 231 and the unmanned air vehicle 100 of the region to perform the mission An image screen 232 displaying the received image signal and a status screen 233 displaying status information of the unmanned air vehicle 100 are displayed. This is as shown in Figure 2 attached.

In particular, the display window 230 of the control terminal 200 is formed of a touch panel so that a user can perform a touch-type operation, and when the map screen 231 is touched, the corresponding touch position is a GPS value. It is made to be programmed to provide conversion.

In addition, the wireless data transceivers 120 and 220 of the unmanned air vehicle 100 and the control terminal 200 are configured as a transceiver configured to enable real-time communication through WIFI and telemetry communication ports.

Next, the attached Figure 3 is a flow chart illustrating to explain the method for controlling the mission of an unmanned aerial vehicle for performing a mission according to an embodiment of the present invention.

As can be seen from this, the task control method of the unmanned aerial vehicle for performing a task according to an embodiment of the present invention is largely a path designation step (S100), a position confirmation step (S200), a flight mode input step (S300), and validation Step (S400), the task designation step (S500) and the task verification step (S600) proceeds, including, in particular, the task designation step (S500) is to be performed during the mission of the unmanned air vehicle (100) to be performed again In addition, by allowing the re-execution of the task assignment step to be applied to the unmanned aerial vehicle 100 in real time, it is possible to easily cope with the change of situation.

This will be described in more detail in the order of each control step.

First, in order to designate a boundary task using the unmanned air vehicle 100, a route designation step (S100) is performed to request a route for the boundary.

In this route designation step (S100), it is made by requesting input of two or more stop points 250. That is, it is possible to specify a flight path to perform a task as an input to a plurality of stop points 250.

At this time, the input to each of the waypoints is performed by touching a specific point of the map screen displayed on the control terminal with a finger or the like. The flight path 260 is established.

In addition, the information of the set flight route 260 is continuously displayed on the map screen 231 of the control terminal 200 (refer to the attached FIG. 4), and is provided when the unmanned air vehicle 100 is flying later. It is possible to accurately recognize whether the received location information matches the flight path 260.

In addition, when the user's touch for the route designation step (S100) is in progress, the location checking step (S200) and the flight mode input step (S300) are performed together.

In the positioning step (S200), the touch point by the user is recognized as each waypoint 250, and a GPS value for the corresponding point is checked and stored as a GPS value for each waypoint.

In addition, in the flight mode input step (S300), the operation of receiving the flight mode for each of the stop points 250 is additionally performed.

The input of the flight mode for each waypoint displays a pop-up for selecting a mode set to be performed at a corresponding point and selecting detailed instructions for each mode when a user touches a specific point on the map screen S231. It is performed by receiving each mode selected by the user and detailed instructions for each mode.

Here, the flight modes for each of the transit points include a stationary flight flying in a stationary state, a turning flight flying while turning a certain radius, an ascending flight flying while rising or falling, and a tracking flight tracking an object. Free flight waiting at the corresponding point is included before flight control information is received, and detailed instructions for each mode include stop time, flight radius, flight speed, altitude, flight time, and tracking time.

Then, when the positioning step (S200) and the flight mode input step (S300) is completed, a validation step (S400) is performed.

In this validation step (S400), the validity of the mission based on the input flight path 260 and flight mode is verified.

For example, it is to perform verification on whether the flight in the input flight path (S260) and flight mode can be performed by checking the flight distance and flight time based on the battery capacity (or remaining amount). .

Then, if the validity of the mission is confirmed by the above process, the mission designation step (S500) is performed.

In the task designation step (S500), various types of information related to the mission for which the validity has been verified (for example, each GPS value of the flight route and information related to the flight mode) are converted into data that can be read by the unmanned aerial vehicle 100, and then wireless data are generated. The data is transmitted from the control terminal 200 to the unmanned air vehicle 100 through communication or wired data communication, whereby a task set by the user is input to the unmanned air vehicle 10, whereby task assignment is performed.

Then, when the assignment of the mission is completed and the unmanned aerial vehicle 100 is controlled to fly, the unmanned aerial vehicle 100 sequentially flies each of the designated transit points 250 according to the input mission, and each transit point ( At 250), a boundary task is performed by performing a designated flight mode.

On the other hand, during the boundary task of the unmanned air vehicle 100 is performed, various status information is periodically wirelessly transmitted from the unmanned air vehicle 100 flying according to the mission to the control terminal 200, and the control terminal 200 ) Performs a task verification step (S600) of verifying whether the corresponding unmanned air vehicle 100 performs a task in a set flight route 260 and a flight mode based on the various status information received periodically.

At this time, the status information provided from the unmanned aerial vehicle 100 includes image data captured while flying along the flight path 260, altitude and direction at the time of flight, and flight time and location information (GPS value). In the case of information, it can be provided to the control terminal 200 every 500ms so that the user can know exactly whether the unmanned air vehicle 10 is flying along the designated flight path 260.

In addition, when the control terminal 200 receives status information from the unmanned aerial vehicle 100, the location information among the status information is mapped and displayed on the designated flight path 260 displayed on the map screen 231. In addition to this, image data is displayed on the image screen 232 of the control terminal 200, and other status information (altitude, direction, flight time, etc.) is displayed on the status screen 233. Accordingly, the user can verify whether the unmanned aerial vehicle 100 is flying accurately according to a designated mission.

On the other hand, if the duty of the unmanned aerial vehicle 100 is required to be changed according to the user's need while the boundary task of the unmanned aerial vehicle 100 is performed, the task change is performed in real time without returning the unmanned aerial vehicle 100 .

That is, when the user is requested to change the task of the unmanned aerial vehicle 100, the control terminal 200 receives input of a plurality of stop points 250 for a new task through the displayed map screen 231 at the same time. The flight mode for each stop point 250 is input.

When the input of the flight route 260 and the flight mode according to the new stop point 250 is completed, the control terminal 200 wirelessly communicates with the unmanned aerial vehicle 100 while the corresponding unmanned aerial vehicle 100 is currently located or moved It is controlled so that it stops at a specific stop point 250 being performed.

Subsequently, when the unmanned aerial vehicle 100 arrives at the specific stopover point, the mission previously stored in the unmanned aerial vehicle 100 is controlled to be reset, and at the same time, the flight path 260 according to the newly designated stopover point 250 is controlled. And designating a new mission by wirelessly transmitting information on the flight mode for each stop point to the unmanned aerial vehicle 100.

Accordingly, the unmanned aerial vehicle 100 performs a designated task while performing a flight according to a flight mode 260 and a flight mode for each stop point from the corresponding stop point 250, and simultaneously performs the corresponding flight path 260. Accordingly, it transmits image data taken while flying and status information such as altitude and direction at flight, flight time, and location information (GPS value) to the control terminal for user verification.

In the end, the task control method of the unmanned aerial vehicle for performing the task of the present invention while simultaneously checking the map screen 231 and the video screen 232 and the status screen 233 displayed on the display window 230 of the control terminal 200 As it is made to control the unmanned aerial vehicle 100, it is possible for the user to accurately recognize whether or not the boundary task is correctly performed.

In particular, the method for controlling a mission of an unmanned aerial vehicle for performing a mission of the present invention is not only to perform the flight control of the unmanned aerial vehicle 100 by manual or automatic control, but can change the mission according to real-time manual operation. In addition, when the mission is changed in this way, the changed mission is controlled to be performed by automatic control, thereby improving the utilization of the boundary mission.

100. Unmanned Air Vehicle 110. Control Controller
120. Wireless data transceiver 200. Control terminal
220. Wireless data receiver 230. Display window
231. Map screen 232. Video screen
233. Status screen 240. Control panel
250. Waypoint 260. Flight path
S100. Path designation step S200. Location check step
S300. Flight mode input step S400. Validation stage
S500. Assignment stage S600. Mission verification stage

Claims (5)

In the task control method of an unmanned air vehicle for performing a task by a control terminal configured to receive status information from the unmanned air vehicle through wireless data communication,
A path designation step of designating a flight path by receiving a plurality of stop points for a mission;
A positioning step of checking a GPS value for each waypoint of the designated route;
A flight mode input step of receiving a flight mode for each stop point;
A validity verification step of validating a mission based on the input flight path and flight mode;
When the validity of the mission is confirmed, a task designation step of setting information to be designated as a mission by transmitting information of the flight path and flight mode to the unmanned vehicle:
Includes a task verification step of receiving status information from an unmanned air vehicle flying according to the specified mission and verifying whether the unmanned air vehicle performs a mission in a set flight path and flight mode.
The status information provided from the unmanned aerial vehicle in the mission verification step includes image data captured while flying along the flight path, altitude and direction at flight, and flight time and location information,
When receiving status information from the unmanned air vehicle, a process of mapping the location information among the status information on a map screen of the control terminal is further included, and the image data is displayed on the map screen of the display area of the control terminal. The process of controlling to be displayed in a separate area is further included,
In the mission verification step,
A first process of requesting input of a waypoint for a new mission on the map screen when a request to change the mission of the unmanned air vehicle occurs;
A second process of requesting input of a flight mode for each of the received stop points,
A third process of communicating with the unmanned aerial vehicle and controlling the unmanned aerial vehicle to stop at a stopover point where it is currently located or moving;
When the unmanned aerial vehicle arrives at the transit point in the third process, the previously stored mission is reset and the flight route by the transit point received in the first and second processes and flight by each transit point A task control method of an unmanned aerial vehicle for performing a mission, characterized by proceeding with a fourth step of designating a new mission by wirelessly transmitting information on the mode to the unmanned aerial vehicle. According to claim 1,
Input for each waypoint in the route designation step is
While displaying the map screen for assignment of tasks on the screen of the control terminal, it is made to receive each stop point and stop sequence number through sequential touch by each stop point by the user,
The flight mode input for each waypoint in the flight mode input step is
When the user touches a specific point on the displayed map screen for input to each stop point, it is made to display and receive a pop-up for selecting a mode set to be performed at that point and selecting detailed instructions for each mode. Characterized by a method for controlling a mission of an unmanned aerial vehicle for performing a mission. According to claim 2,
The flight mode for each stop point is
A stationary flight in a stationary state,
Turning flights that fly while turning a certain radius,
Ascend or fly ascending or descending,
A tracking flight that tracks objects,
A mission control method of an unmanned air vehicle for performing a mission, comprising free flight waiting at a corresponding point until new flight control information is received. delete delete

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