KR102166326B1 - Three-dimensional routing system of drones - Google Patents

Abstract

The present invention relates to a three-dimensional route setting system for a drone capable of implementing measurement and information work such as spatial distribution using a drone by enabling a three-dimensional route setting for autonomous flight of a drone even in a space with an obstacle, A transmission module that is arranged on the boundary surface dividing a three-dimensional space and transmits an optical signal toward the inside of the space, and is provided to fly within the space, and detects the optical signal transmitted from the transmission module and transmits the corresponding optical signal. A three-dimensional route setting system of a drone including a flying unit that moves in flight targeting a sending module from which a call is transmitted is disclosed.

Description

Drone's 3D route setting system {THREE-DIMENSIONAL ROUTING SYSTEM OF DRONES}

The present invention relates to a three-dimensional route setting system for a drone, and it is possible to set a three-dimensional route for autonomous flight of a drone even in a space where an obstacle exists, so that measurement and information work such as spatial distribution using a drone can be implemented. It relates to a 3D route setting system for drones.

In the case of unmanned flying devices such as drones, flight performance is greatly affected by the flight environment in which the flight is performed.

In particular, since the flight performance of drones indoors or in rough terrain is subject to many limitations due to limited spaces and various obstacles, despite the advantages of spatial measurement using drones, there is a great difficulty in constructing an autonomous flight system.

Today, many methods for autonomous flight of drones are being studied, but most of them implement active flight of drones using GPS and expensive sensors, and in this case, the drone itself can perform path flight and avoidance flight recognizing obstacles. Although there is an advantage of being a drone, the initial production cost of a drone is very high, and there is a disadvantage that the drone is enlarged due to various parts for active flight.

As described above, when drones become larger and larger, there is a problem that more and more restrictions are placed on flight in a narrow space such as indoors, and it becomes difficult to mount a measuring device necessary for spatial measurement.

In addition, when used for indoor measurement, there is a problem that precise control of the drone is difficult due to the error range of GPS reception due to the characteristics of the room, and immediate reaction to obstacles in a narrow space is not easy.

Therefore, not only makes it possible for drones to fly 3D autonomously even in environments where spatial constraints such as indoors and rough terrain exist, and as the drone includes only a minimum number of sensors for autonomous flight, it is possible to utilize a low-cost and lightweight drone for spatial measurement systems There is a demand for a new drone's autonomous flight system.

The problem to be solved by the present invention is that it is possible to set a three-dimensional path for autonomous flight of a drone even in a space where an obstacle exists, and thus, a three-dimensional path of a drone that can implement measurement and information work such as spatial distribution using a drone. It is to provide a setting system.

Meanwhile, the technical problem to be solved by the present invention is not limited to the above-described technical problem, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. I will be able to.

A three-dimensional route setting system of a drone according to the present invention for solving the above technical problem is a transmission module disposed on a boundary surface partitioning a three-dimensional space and transmitting an optical signal toward the inside of the space; And a flight unit that is provided to fly in the space, senses an optical signal transmitted from the transmission module, and moves toward a transmission module from which the corresponding optical signal is transmitted.

Here, the sending module may be provided in plural on each of the different boundary surfaces that partition the space, and may be arranged to have different x, y, and z coordinates set in advance.

In addition, the transmission module transmits an optical signal having straightness, and a flight path including x, y, z coordinate movement may be set in the space through a combination of the optical signals transmitted from a plurality of the transmission modules. .

In addition, the transmission module may induce the flight movement of the flight unit by sequentially turning on and off a plurality of the transmission modules disposed on different boundary surfaces according to a set flight path.

In addition, the sending module, when trying to change the flight path of the flight unit in flight, stops the operation of any one sending module that the flight unit is currently targeting, and is arranged on the flight path to be changed. One sending module can be used to send an optical signal.

Meanwhile, the flight unit includes a photosensitive sensor for detecting an optical signal transmitted from the transmission module, and when the optical signal is not detected, it performs in situ flight, and when the optical signal is detected, the optical signal is transmitted. It moves toward the transmission module, but the path setting value may be controlled differently according to the reception angle of the optical signal detected by the photosensitive sensor at the current flight position.

In addition, the flight unit, when a plurality of optical signals are sensed from multiple angles through the photosensitive sensor, may set a flight path first targeting a transmitting module that transmits an optical signal sensed vertically to the photosensitive sensor.

And, the flight unit, while flying toward any one transmission module set as a target, when the optical signal transmitted from the one transmission module is stopped and the optical signal transmitted from the other transmission module is detected, It is possible to modify the flight path targeting the other transmission module.

Furthermore, when there is an obstacle that obstructs the free path flight of the flight unit in the space, the transmission module is disposed on the obstacle including the boundary surface partitioning the space, so that the flight unit By bypassing the obstacle at a point, a flight path capable of flying and moving to another point in the space may be established.

The three-dimensional route setting system of a drone according to the present invention having the above-described configuration allows setting a three-dimensional route for autonomous flight of a drone even in a space with an obstacle, so that measurement and information work such as spatial distribution using a drone can be performed. Can be implemented.

Meanwhile, the effects of the present invention are not limited to the above-mentioned effects, and other effects that are not mentioned will be clearly understood by those of ordinary skill in the art from the description of the claims.

1 shows the configuration of a 3D route setting system for a drone according to the present invention.
2 to 5 show the flight path setting process of the flight unit through the transmission module.
6 to 7 show the process of determining the target of the flight unit by the photosensitive sensor.
8 shows an example in which the 3D route setting system of a drone according to the present invention is applied to an indoor space where an obstacle exists.

Hereinafter, an embodiment of the present invention in which the object of the present invention may be specifically realized will be described with reference to the accompanying drawings. In describing the present embodiment, the same names and the same reference numerals are used for the same components, and additional descriptions thereof will be omitted.

In addition, in describing the present embodiment, the configuration shown in the drawings is only an example to aid understanding of the detailed description, and thus it is specified that the scope of the rights is not limited.

As shown in Figure 1, the 3D route setting system of the drone according to the present embodiment may be configured to include a transmission module 100 and a flight unit 200.

The transmission module 100 is a configuration for guiding the flight path of the flight unit 200, is disposed on a boundary surface partitioning a three-dimensional space, and may be provided to transmit an optical signal toward the inside of the space.

Here, the three-dimensional space may be an indoor space such as an interior of a building, or may be a predetermined area partitioned by using a virtual boundary surface of an open external space.

Hereinafter, in describing the present embodiment, expressing the three-dimensional space in which the sending module 100 is arranged as an indoor space having a rectangular parallelepiped shape as shown in FIG. 1 is only an example for helping understanding of the present invention. ) Does not limit the shape of the three-dimensional space in which it is composed.

In addition, in the case of the three-dimensional space in which the sending module 100 is configured, it may be a closed space surrounded by a boundary surface in which all directions are materialized, but it may be a space with one or more sides open, such as an indoor space with an open ceiling or wall. It can be varied without limitation.

Even the three-dimensional space may be an open external space such as outdoors, and in this case, walls, fences, pillars, etc., on which the transmission module 100 can be installed, may be additionally installed based on the boundary surface partitioning the three-dimensional space. have.

Returning to the main point, the sending module 100 may be composed of a plurality of each of the different boundary surfaces that divide the three-dimensional space as described above, and the plurality of sending modules 100 may have different x, y, z coordinates set in advance. Can be placed.

For example, as shown in FIG. 1, the front, rear, left and right walls, ceiling, and floor of an indoor space are set as virtual coordinate planes, and a plurality of transmission modules 100 are preset different coordinate values on each coordinate plane. It can be arranged to have.

Accordingly, the flight unit 200 in which the flight path is guided by the transmission module 100 can perform a stable flight by setting an accurate position as a target according to the coordinate system of the transmission module 100 set in advance in a three-dimensional space. .

The flight unit 200 is provided to fly in a three-dimensional space, detects an optical signal transmitted from the transmission module 100, and can fly toward the transmission module 100 to which the corresponding optical signal is transmitted.

Although not shown in the drawing, the flight unit 200 may be equipped with various measurement equipment for performing spatial measurement, and perform flight movement along the flight path guided by the sending module 100 and It can be arranged to measure distribution and collect various types of information.

On the other hand, as shown in Figs. 2 to 5, the sending module 100 according to the present invention coordinates x, y, z through a combination of optical signals to set and induce the flight path of the flight unit 200 as described above. A flight path including movement may be provided to the flight unit 200.

To this end, the transmission module 100 transmits an optical signal having a straightness toward the inside of space, and a flight path including x, y, z coordinate movement through a combination of optical signals transmitted from a plurality of transmission modules 100 It is set in a three-dimensional space.

In addition, the transmission module 100 may induce flight movement of the flight unit 200 by sequentially turning on/off a plurality of transmission modules 100 disposed on different boundary surfaces according to a set flight path.

More specifically, when inducing the flight unit 200 to a straight path corresponding to the path movement of the x-coordinate as shown in FIG. 2, a plurality of transmission modules 100a disposed on the boundary surface located in front of the flight unit 200 When any one of them is operated to transmit an optical signal, the flight unit 200 may fly forward according to the optical signal transmitted from the corresponding transmission module 100a.

Subsequently, when converting the flight path of the flight unit 200 arriving at the target point to the side of the y-coordinate path movement as shown in FIG. 3, a plurality of transmissions arranged on the boundary surface located at the side of the current flight direction of the flight unit 200 By operating any one of the modules 100b to transmit an optical signal, it is possible to guide the flight path of the flight unit 200 to the transmitting module 100b at the side.

When it is desired to change the flight path of the flight unit 200 in flight as described above, the transmission module 100 stops the operation of any one transmission module 100 that the flight unit 200 is currently targeting, and changes the Another transmission module 100 disposed on the flight path may transmit an optical signal.

That is, as mentioned above, when the flight path of the flight unit 200 that is flying targeting the transmission module 100a located at the front boundary is switched, the operation of the transmission module 100a located at the front boundary is turned off. ) And can be turned on (on) the transmission module (100b) disposed on the side boundary, which is the flight path to be changed.

And in the ascending or descending flight, which is a path movement corresponding to the z-coordinate movement of the flight unit 200 as shown in FIG. 4, the flight is performed through the sending module 100c disposed on the boundary surface forming the ceiling or the floor of the space. The flight path of the unit 200 may be set to rise or fall.

Likewise, as shown in FIG. 5, when the flight unit 200 guided along the flight path corresponding to the x, y, and z coordinates is made to fly linearly along the path corresponding to the x coordinate movement, the transmission module located at the rear boundary By allowing the (100d) to transmit the optical signal, the flight unit 200 can detect this and establish a flight path targeting the transmission module 100d.

Through a series of processes as described above, the flight unit 200 can perform a path flight targeting a plurality of transmission modules 100 disposed on the boundary of space, and to change the flight path of the flight unit 200 At the same time, the operation of the transmission module 100, which is the current flight target, is turned off and the operation of the transmission module 100 disposed in the subsequent movement path is turned on. You can build a three-dimensional path.

In addition, the flight unit 200 according to this embodiment is a configuration for performing a path flight along a flight path set by the transmission module 100, and a photosensitive sensor (not shown) for detecting an optical signal transmitted from the transmission module 100 ) Can be included.

Through such a photosensitive sensor, the flight unit 200 can be controlled to perform in situ flight when the optical signal transmitted from the transmission module 100 is not detected, and when the optical signal is detected, the transmission module that transmits the optical signal ( 100), but the path setting value may be controlled differently according to the reception angle of the optical signal detected by the photosensor at the current flight position.

More specifically, as shown in FIG. 6, the flight unit 200 according to this embodiment transmits an optical signal vertically sensed to the photosensitive sensor when a plurality of optical signals are detected from various angles through the photosensitive sensor. It is possible to set a flight path with the sending module 100 first as a target.

That is, the flight unit 200 processes the sending module 100, which is sending an optical signal in a linear path belonging to the x, y, z coordinates of the current location, as a priority route setting value, and at any one point in the three-dimensional space. When flying a route to another point, it is possible to set a priority route with the shortest straight distance.

In addition, as shown in FIG. 7, while the flight unit 200 is flying toward any one sending module 100 set as a target, the operation of the one sending module 100 is turned off. Thus, when the transmission of the optical signal is stopped, and the optical signal transmitted from the other transmission module 100 is detected, the flight path may be modified targeting the transmission module 100.

In particular, when the transmission module 100, which is the original target and the corrected target of the flight path, as shown in FIG. 7 are arranged on the same boundary, the transmission module 100c installed on the boundary surface corresponding to the ceiling or floor through the above control method, 4) It is possible to induce a flight path corresponding to the z-coordinate (ascending or descending) of the flight unit 200, and for installing the transmission module 100 on the boundary surface corresponding to the floor such as a rough terrain as well as an indoor space. It is possible to induce the z-coordinate flight path of the flight unit 200 by arranging the transmission module 100 on the boundary surface corresponding to the side that is relatively easy to install even in an external space.

As described above, the 3D route setting system of the drone according to this embodiment not only sets the route through sequential on/off of the plurality of transmission modules 100, but also sets the detailed route and the location of the flight unit 200 in flight. Calibration can also be performed.

Further, as shown in FIG. 8, when there is an obstacle that obstructs the free path flight of the flight unit 200 in the three-dimensional space, the sending module 100 includes a boundary surface that divides the three-dimensional space and also on the obstacle. Can be placed.

Accordingly, when the flight unit 200 moves from one point in the 3D space to another point, the sending module 100 disposed on an obstacle and the sending module 100 disposed on a different interface are sequentially turned on and off (on/off). off), it is possible to reach the target point by bypassing the obstacle.

As described above, one embodiment according to the present invention has been looked at, and the fact that the present invention can be embodied in other specific forms without departing from its spirit or scope other than the above-described embodiments is known to those skilled in the art. This is obvious to them.

Therefore, the above-described embodiments should be regarded as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description and may be modified within the scope of the appended claims and equivalents thereof.

100: sending module
200: flight unit

Claims (9)

A transmission module disposed on a boundary surface dividing a three-dimensional space and transmitting an optical signal toward the inside of the space; And
It is provided to fly in the space, and includes a flight unit that detects the optical signal transmitted from the transmission module and moves toward the target transmission module from which the corresponding optical signal is transmitted,
The flight unit,
It includes a photosensitive sensor for detecting the optical signal transmitted from the sending module,
When the optical signal is not detected, it performs in situ flight, and when the optical signal is detected, it moves toward the sending module that is transmitting the optical signal, but receives the optical signal detected by the photosensitive sensor at the current flight position. A three-dimensional route setting system for drones in which route setting values are controlled differently depending on the angle.
The method of claim 1,
The sending module,
A three-dimensional route setting system of a drone that is provided in plural on each of the different boundary surfaces that partition the space and is arranged to have different preset x, y, and z coordinates.
The method of claim 2,
The sending module,
It transmits an optical signal with straightness,
A three-dimensional route setting system for a drone capable of setting a flight path including movement of x, y, and z coordinates in the space through a combination of the optical signals transmitted from the plurality of transmission modules.
The method of claim 3,
The sending module,
A three-dimensional route setting system of a drone that induces flight movement of the flight unit by sequentially turning on and off a plurality of transmission modules arranged on different boundary surfaces according to a set flight path.
The method of claim 4,
The sending module,
When attempting to change the flight path of the flight unit in flight, the operation of any one transmission module currently targeted by the flight unit is stopped, and another transmission module disposed on the flight path to be changed is an optical signal Drone's 3D route setting system to send out.
delete The method of claim 1,
The flight unit,
When a plurality of optical signals are sensed from multiple angles through the photosensitive sensor, a three-dimensional route setting system of a drone that first sets a flight path with a target transmitting module transmitting an optical signal detected perpendicularly to the photosensitive sensor.
The method of claim 7,
The flight unit,
First of all, when the optical signal transmitted from one of the transmission modules is stopped and an optical signal transmitted from the other transmission module is detected while flying toward any one transmission module set as a target, the other transmission module is operated. A drone's three-dimensional route setting system that corrects the flight path as a target.
The method of claim 4,
When there is an obstacle that obstructs the free path flight of the flight unit in the space,
The sending module,
3 of a drone that is disposed on the obstacle, including the boundary surface that partitions the space, so that the flight unit bypasses the obstacle at one point in the space and establishes a flight path to fly to another point in the space. Dimensional routing system.

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