KR102264740B1 - The ground drone control system having a voice recognition module and a drone control methods using it - Google Patents

Abstract

The present invention creates a mission for a drone through a voice input in a ground control system that recognizes a user's voice input through a voice recognition module, executes the created mission, and outputs the process or result on a visualized screen while remotely Disclosed is a drone ground control system using voice recognition that allows the drone to be controlled.
The disclosed drone ground control system receives a voice, recognizes at least one drone name, at least one ground point name, and at least one mission name from the input voice, and performs a drone code for mission performance control and a voice recognition module for generating route codes and mission codes; an input/output device unit for providing a first user interface for input and output of voice and visualized information related to the mission performance control; a system control unit for allocating a communication channel to the recognized drone to set control, connecting ground points to create a movement path, setting a mission and creating an encrypted mission file to control mission performance; a data management unit for collecting and managing drone information, geographic information, weather information, and mission files for the mission performance control; and a communication device unit that provides the communication channel for the mission performance control and transmits/receives data to and from an external device.

Description

The ground drone control system having a voice recognition module and a drone control methods using it}

The present invention relates to a drone ground control system and method using voice recognition, and more particularly, in a ground control system that recognizes a user's voice input through a voice recognition module, a mission for the drone is generated through voice input, and the generated mission It relates to a drone ground control system and method using voice recognition that enables remote control of the drone from the ground while executing the process or result in a visualized screen.

In general, a method of controlling a drone is performed within a range of 2 km in which a user can visually identify a drone through a wireless controller. Compared to land drones or marine drones, flying drones have a different level of control depending on the user's piloting skill, but there is a high risk of accidents caused by flying crashes.

Another way to control a drone is to use a ground control system. In particular, in the case of a flying drone, it has the advantage of being able to autonomously fly into an area outside the range of visual identification and control through a visualized screen.

As a result, the ground control system is increasingly being used in various industries, but user input is complicated and difficult to control and control the drone.

For this reason, there is an increasing demand for a system that conveniently provides user input and safely performs and controls various missions using drones.

Korean Patent Publication No. 10-2018-0068771 (2018.06.22)

An object of the present invention for solving the above-described risk factors and inconveniences is to automatically generate a movement route for a drone through a user voice input, perform a mission according to the movement route, and perform multiple tasks of the drone. It is to provide a ground control system to control.

In addition, another object of the present invention is to provide a drone control method including creation of a movement route for the drone, collision determination, and response to a fall accident due to battery discharge, in performing various tasks using the drone, and a visualized screen It is to provide a user interface including output and voice input and voice output.

That is, an object of the present invention is to create a mission for a drone through a voice input in a ground control system that recognizes a user's voice input through a voice recognition module, execute the created mission, and visualize the process or result. An object of the present invention is to provide a drone ground control system and method using voice recognition that enables remote control of the drone from the ground while outputting to a screen.

A drone ground control system according to an embodiment of the present invention for achieving the above object receives a voice, at least one drone name from the received voice, at least one ground point name, and at least one mission A voice recognition module for recognizing a name and generating a drone code, a route code, and a mission code for mission performance control; an input/output device unit for providing a first user interface for input and output of voice and visualized information related to the mission performance control; a system control unit for allocating a communication channel to the recognized drone to set control, connecting ground points to create a movement path, setting a mission and creating an encrypted mission file to control mission performance; a data management unit for collecting and managing drone information, geographic information, weather information, and mission files for the mission performance control; and a communication device unit that provides the communication channel for the mission performance control and transmits/receives data to and from an external device.

The voice recognition module may include: a voice input unit receiving voice input; a voice output unit for outputting the mission performance control by voice; and a drone code for identifying a control target drone by recognizing at least one drone name from the received voice, and a path code for recognizing at least one or more ground point names to identify a ground point to generate a movement route; It may include a voice recognition unit for recognizing at least one mission name and generating by encrypting a mission code for identifying a mission to be performed by the control target drone.

The voice recognition module may further include a voice input interface for selectively deleting the identified m ground points through a voice input or adding new ground points through a voice input.

The input/output unit may include: a microphone for receiving the voice; a speaker outputting the voice; a touch screen for receiving the information on a screen; a display for outputting the information to a screen; and a button joystick for inputting the information.

The system control unit may include: a drone communication unit to which a communication channel for the control target drone identified by the drone code is allocated; a mission generation unit that connects one or more ground points identified by the route code to generate a movement route in which geographic information is set, and sets the mission identified by the mission code to generate the encrypted mission file for performing the mission; a mission controller configured to transmit the mission file by setting control rights to the control target drone to which the communication channel is assigned, and to control mission performance by determining stability against weather information, battery discharge, and path collision; a mission storage unit for storing the mission file from the time of creation and transferring it to the data management unit at the time when the mission is completed; And it may include a virtual mission unit that analyzes the movement path and geographic information setting by simulating the generated mission file, and determines the stability of mission performance by analyzing attribute information including location, direction, latitude, longitude, and altitude. .

The data management unit may include: a data collection unit for collecting drone information, geographic information, weather information, and mission files from a wired/wireless network; and a database for storing the collected drone information, the geographic information, the weather information, and the mission file. Here, the drone information includes the type, specification, and performance information of the drone to be controlled, and the geographic information includes 2D or 3D map information including topography, features, and place names, and location, direction, latitude, longitude, and altitude. Attribute information may be included, weather information may include temperature, wind speed, wind direction, and weather information, and the mission file may include classified mission information.

Drone names include reconnaissance aircraft, collectors, explorers, land aircraft, maritime aircraft, observers, image collectors, rescue searchers, mountain reconnaissance aircraft, land observers, and ocean observers, and ground point names include features, geographical names, addresses, and coordinates, The mission name includes training, reconnaissance, monitoring, search, shooting, attack, supply, and rescue, and the system control unit may provide a user setting for adding or deleting a drone name, a ground point name, and a mission name.

The voice recognition module includes a name that refers to equipment provided in the drone or a specific function operation of the equipment; And receiving a voice that further includes a name including route creation, route change, route deletion, squadron mission, mission performance, mission stop, virtual mission, screen enlargement, and screen change indicating the functional operation of the drone ground control system, It is possible to create new drone codes, route codes, and mission codes for mission performance control.

The system controller may generate a mission file based on the newly created drone code, route code, and mission code to control the mission performance of the drone to be controlled.

Corresponding to the user interface provided by the input/output device, a microphone for providing an audio input means, a speaker for providing an audio output means, and a touch screen for providing a screen input means are provided in an external device forming a wired/wireless network with the communication device. , a second user interface for input and output of voice and visualized information may be further provided through an input/output device including a display and a button joystick for providing a screen output means.

Meanwhile, a drone ground control method according to another embodiment of the present invention for achieving the above object includes: a voice recognition module including a voice input unit, a voice output unit, and a voice recognition unit; input/output device unit; system control; data management department; A method for controlling the ground of a drone of a system including a communication device unit, the method comprising: (a) receiving a voice input from a voice input unit; (b) recognizing, by a voice recognition unit, at least one drone name, at least one ground point name, and at least one mission name from the received voice; (c) generating, by a voice recognition unit, a drone code, a route code, and a mission code for mission performance control; (d) establishing, by the system controller, a control right by recognizing a control target drone based on the generated drone code, and allocating a communication channel to the recognized drone; (e) generating, by the system controller, a moving path by connecting ground points based on the generated path code; (f) generating, by the system control unit, an encrypted mission file by setting a mission based on the generated mission code; and (g) controlling, by the system controller, the mission performance of the control target drone based on the generated mission file.

In step (e), generating the movement path for the m ground points recognized by the voice recognition unit includes: (e-1) generating the movement path by calculating the shortest movement distance; (e-2) generating a movement path by connecting ground points in the order of input of the received voice; and (e-3) generating a movement route to which altitude information linked with a 3D map is applied.

In the step (g), when the system controller controls the battery discharge accident of the control target drone, the step of controlling the mission performance of the control target drone is (g-1) the total movement distance of the generated movement path calculating; (g-2) calculating the battery consumption of the drone required for the calculated moving distance; (g-3) calculating the corrected battery consumption by reflecting the total weight and mission performance speed and altitude of the drone with respect to the calculated battery consumption and reflecting weather information including temperature, wind speed, and wind direction of the moving route; and (g-4) determining whether the battery charge amount of the drone satisfies the corrected battery consumption amount.

In step (g), with respect to the drone performing a specific mission at a specific ground point, the system control unit adds numbers and symbols to the 2D or 3D map information of a certain scale included in the geographic information through the user interface of the input/output device unit. It provides a visualized screen output by projecting two-dimensional or three-dimensional grid coordinates attached to it, and by recognizing and discriminating grid coordinates consisting of numbers and symbols through user voice input, the movement of the drone can be controlled with the identified coordinates. .

On the other hand, the drone ground control method according to another embodiment of the present invention for achieving the above object is a voice recognition module including a voice input unit, a voice output unit, and a voice recognition unit in order to multi-control mission performance of n drones. ; input/output device unit; system control; data management department; And a method for ground control of a drone in a system including a communication device unit, the method comprising: (a) receiving a voice from a voice input unit; (b) identifying, by a voice recognition unit, an n-th drone to be controlled, m ground points, and an n-th mission from the received voice; (c) generating, by the voice recognition unit, n drone codes, s path codes, and n mission codes for mission performance control; (d) allocating, by the system controller, an n-th communication channel to the n-th drone and setting control rights; (e) generating, by the system controller, s moving paths by connecting m ground points based on the s generated path codes; (f) generating, by the system control unit, an nth mission file in which a mission is set based on the generated n number of mission codes; (g) transmitting, by the system controller, the nth mission file to the nth drone through the nth communication channel; (h) determining, by the system controller, weather information, battery discharge, and path collision stability for the mission performance of the n-th drone; and (i) controlling, by the system controller, the mission performance of the n-th drone.

In step (h), the step of determining the path collision stability for the n-th drone overlaps with the movement path of the n-th drone in (h-1) one or more movement paths over which the system controller controls mission performance determining a ground point; (h-2) identifying one or more drones moving to the overlapping ground point; (h-3) determining a time point at which the identified one or more drones arrive at an overlapping ground point; (h-4) determining an altitude at which the one or more identified drones move to an overlapping ground point.

When it is determined as a path collision in step (h), in step (i), the system control unit provides the visualized information as a screen output to adjust the mission execution time of the n-th drone to cope with the path collision. .

On the other hand, the drone ground control method according to another embodiment of the present invention for achieving the above object, in order to control a squadron mission of n drones, a voice recognition module including a voice input unit, a voice output unit, and a voice recognition unit; input/output device unit; system control; data management department; A method for ground control of a drone in a system including a communication device unit, the method comprising: (a) receiving a flight-related voice from a voice input unit; (b) generating, by the system controller, a movement path of a flight mission from the received voice; (c) receiving a voice related to drone selection from a voice input unit; (d) selecting, by the system control unit, n drones to perform the formation mission; (e) generating, by the system control unit, one or more squadron forms through the selected n drones and providing them as a visualized screen output; (f) receiving a voice input related to flight squadron selection from a voice input unit; (g) the system control unit selecting a flight type; (h) generating, by the system control unit, n drones in a squadron corresponding to the selected squadron form, and generating an nth mission file for the nth drone in which front and rear, left and right safety distances and vertical safety altitudes are reflected; (i) transmitting, by the system controller, the n-th mission file generated to the n drones; (j) the system control unit may include the step of controlling the formation missions for the n drones that collectively perform the transmitted n-th mission file.

According to the present invention, the present invention includes a voice recognition module to automatically generate a movement path of a drone with respect to a ground point identified through a user's voice input, set a mission to automatically generate a mission file, and to automatically generate a mission file for a control target drone. performance can be controlled.

In addition, the user can operate the ground control system easily and conveniently through the voice input interface provided with a concise and intuitive name, and it has the effect of stably and efficiently controlling the mission performance of the drone for various purposes in various fields. have.

In addition, the ground control system can perform the device function of the ground control system through a user's voice input without going through a wired/wireless network for separate voice recognition or an external device.

In addition, the user's voice input provides an interface with a concise and intuitive name, and suggests a method of controlling the performance of various missions in the drone by voice.

In addition, the name recognized and determined by the voice recognition module can be flexibly applied to the name and mission of the drone, and the name that refers to the device function of the ground point and ground control system.

In addition, it is possible to provide a variety of user interfaces expanded according to the type and form of mission performance.

In addition, it can be expected to spread the service supply through drones in various industrial fields by stably multi-purpose and multi-controlling of one or more drones through visualized screen output.

1 is a configuration diagram schematically showing the overall configuration of a drone ground control system according to an embodiment of the present invention.
2 is a block diagram schematically showing the configuration of a voice recognition module according to an embodiment of the present invention.
3 is a block diagram schematically showing the configuration of a system control unit according to an embodiment of the present invention.
4 is a block diagram schematically illustrating the configuration of a data management unit according to an embodiment of the present invention.
5 is a diagram illustrating an example of controlling n drones through n communication channels in the drone ground control system according to an embodiment of the present invention.
6 is a diagram illustrating an example of automatically generating a movement path in the drone ground control system according to an embodiment of the present invention, according to the ground point input sequence, or according to the shortest distance connection.
7A and 7B are diagrams for explaining an example of multi-controlling a drone according to an embodiment of the present invention.
8 is a view for explaining an example of controlling in response to a path collision according to an embodiment of the present invention.
9 is a diagram for explaining an example of providing a grid coordinate system according to the present invention.
10 is a diagram illustrating an operation flowchart for explaining a drone ground control method according to an embodiment of the present invention.
11 is a diagram illustrating a flow chart of an operation for multiple control of mission performance of n drones in the drone ground control method according to an embodiment of the present invention.
12 is a diagram illustrating an example in which a multiple drone ground control system multi-controls mission performance of n drones, respectively, according to an embodiment of the present invention.
13 is a diagram illustrating an example of transferring or converting drone control rights in a multi-drone ground control system according to an embodiment of the present invention.
14 is a diagram illustrating an example of transferring a mission between drones in a multi-drone ground control system according to an embodiment of the present invention.
15 is a flowchart illustrating an operation of controlling a formation mission of n drones in a drone ground control method according to an embodiment of the present invention.
16 is a diagram illustrating an example of generating a movement path according to a user setting (input sequence arrangement, shortest path, 8-character path) using a ground point according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied in several different forms and is not limited to the embodiments described herein.

In order to clearly explain the present invention, parts irrelevant to the description are omitted, and the same or similar components will be described with the same reference numerals throughout the specification.

Throughout the specification, when a part is "connected" with another part, this includes not only the case of being "directly connected" but also the case of being "electrically connected" with another element interposed therebetween. . In addition, when a part "includes" a certain component, this means that other components may be further included rather than excluding other components unless otherwise stated.

When a part is referred to as being “above” another part, it may be directly on top of the other part, or the other part may be involved in between. In contrast, when a part refers to being "directly above" another part, no other part is involved in between.

Terms such as first, second and third are used to describe, but are not limited to, various parts, components, regions, layers and/or sections. These terms are used only to distinguish one part, component, region, layer or section from another part, component, region, layer or section. Accordingly, a first part, component, region, layer or section described below may be referred to as a second part, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of referring to specific embodiments only, and is not intended to limit the invention. As used herein, the singular forms also include the plural forms unless the phrases clearly indicate the opposite. The meaning of "comprising," as used herein, specifies a particular characteristic, region, integer, step, operation, element and/or component, and includes the presence or absence of another characteristic, region, integer, step, operation, element and/or component. It does not exclude additions.

Terms indicating a relative space such as “below” and “above” may be used to more easily describe the relationship of one part shown in the drawings to another part. These terms, along with their intended meanings in the drawings, are intended to include other meanings or operations of the device in use. For example, if the device in the figures is turned over, some parts described as being "below" other parts are described as being "above" other parts. Thus, the exemplary term “down” includes both the up and down directions. The device may be rotated 90 degrees or at other angles, and terms denoting relative space are interpreted accordingly.

Although not defined otherwise, all terms including technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention belongs. Commonly used terms defined in the dictionary are additionally interpreted as having a meaning consistent with the related technical literature and the presently disclosed content, and unless defined, are not interpreted in an ideal or very formal meaning.

Hereinafter, a preferred embodiment of a drone ground control system and method using voice recognition according to the present invention will be described in detail with reference to the accompanying drawings. The following detailed description is provided to provide a comprehensive understanding of the modules, systems, and/or methods described herein. However, this is merely an example and the present invention is not limited thereto.

In describing embodiments according to the present invention, expressions such as "including" or "comprising" herein refer to certain steps, methods, functions, operations, elements, properties, codes, information. , data, any part or combination thereof, and the presence of one or more other steps, methods, functions, acts, elements, attributes, codes, information, data, parts or combinations thereof, other than those described, or addition is not excluded. Expressions such as "m", "n", "first", "second", and "nth" used to describe various elements are only used to distinguish one element from another element. will be using

The term "module" or "unit" according to the present invention means software and hardware components that perform a certain function or role, and the term "system" refers to a hardware device comprising one or more "modules" or "units" , and the term "user" is an unspecified individual who inputs a voice into the "system", and unless otherwise specified in the phrase, it is meant to include a plural form.

In addition, a "system" having a "module" or "unit" is an unspecified hardware device that does not specifically limit the object, and unless specifically stated in the phrase, it also includes a plural form, and specifies and limits the device function to be performed I never do that.

1 is a configuration diagram schematically showing the overall configuration of a drone ground control system according to an embodiment of the present invention.

Referring to FIG. 1 , the drone ground control system 200 according to an embodiment of the present invention includes a voice recognition module 100 , an input/output device unit 210 , a system control unit 220 , a data management unit 230 , and a communication device. part 240 may be included.

The voice recognition module 100 receives a voice and recognizes at least one drone name, at least one ground point name, and at least one mission name from the received voice, and performs mission performance control. A drone code 11 , a route code 12 , and a mission code 13 are generated.

The name of the drone may include a reconnaissance aircraft, a collector, a searcher, a land aircraft, a maritime aircraft, an observer, an image collector, a rescue searcher, a mountain reconnaissance aircraft, a land observer, a marine observer, and the like.

The ground point name may include a feature, a place name, an address, coordinates, and the like.

The mission name may include training, reconnaissance, surveillance, search, shooting, attack, supply, rescue, and the like.

The input/output device unit 210 provides a first user interface for input and output of voice and visualized information related to mission performance control. Here, the input/output unit 210 includes a microphone for receiving a voice; a speaker that outputs voice; a touch screen that receives information on the screen; a display for outputting information to the screen; and a button/joystick for inputting information.

The system controller 220 assigns a communication channel to the recognized drone to set control, connects ground points to create a movement path, sets a mission and creates an encrypted mission file 24 to control mission performance.

The system controller 220 may provide a user setting for adding or deleting a drone name, a ground point name, and a mission name.

The data management unit 230 collects and manages drone information 21 , geographic information 22 , weather information 23 , and mission file 24 for mission performance control.

The communication device unit 240 provides a communication channel for mission performance control, and transmits and receives data to and from an external device.

On the other hand, in the drone ground control system 200 according to an embodiment of the present invention, in response to the first user interface provided by the input/output unit 210 , an external device forming a wired/wireless network with the communication unit 240 is provided. Through an input/output device including a microphone providing a voice input means, a speaker providing an audio output means, a touch screen providing a screen input means, a display providing a screen output means, and a button/joystick, It is possible to further provide a second user interface for inputting and outputting the specified information.

2 is a block diagram schematically showing the configuration of a voice recognition module according to an embodiment of the present invention.

Referring to FIG. 2 , the voice recognition module 100 according to an embodiment of the present invention may include a voice input unit 110 , a voice output unit 120 , and a voice recognition unit 130 .

The voice input unit 110 receives a user's voice or receives a user's voice input, for example, a microphone or a speakerphone.

The voice output unit 120 outputs a voice related to the mission performance control as an audible sound. For example, a speaker or a loudspeaker may be mentioned.

The voice recognition unit 130 recognizes and discriminates the user's voice input, and generates the encrypted drone code 11 , the route code 12 , and the mission code 13 as identification information. That is, the voice recognition unit 130 generates a movement path by recognizing the drone code 11 for identifying the control target drone by recognizing at least one or more drone names from the received voice, and at least one or more ground point names. The path code 12 for identifying the ground point to be performed and the mission code 13 for identifying the mission to be performed by the control target drone by recognizing at least one mission name are encrypted and generated.

In addition, the name that the voice recognition unit 130 recognizes and determines the user's voice input can be flexibly applied as a name that refers to the name and mission of the drone, the ground point and the device function of the ground control system, and the voice recognition module The user interface may be provided with various names depending on the provided system.

Meanwhile, the voice recognition module 100 according to an embodiment of the present invention may further include a voice input interface for selectively deleting the identified m ground points through voice input or adding new ground points through voice input. can

In addition, the voice recognition module 100 according to an embodiment of the present invention may include a name indicating equipment provided in the drone or a specific function operation of the equipment; And receiving a voice that further includes a name including route creation, route change, route deletion, squadron mission, mission performance, mission stop, virtual mission, screen enlargement, and screen change indicating the functional operation of the drone ground control system, It is possible to create new drone codes, route codes, and mission codes for mission performance control.

Accordingly, the system controller 220 may generate a mission file based on the newly created drone code, the route code, and the mission code to control the mission performance of the drone to be controlled.

3 is a block diagram schematically showing the configuration of a system control unit according to an embodiment of the present invention.

Referring to FIG. 3 , the system control unit 220 according to an embodiment of the present invention includes a drone communication unit 221 , a mission generation unit 222 , a mission control unit 223 , a mission storage unit 224 , and a virtual mission unit ( 225).

The drone communication unit 221 may allocate a communication channel to the control target drone identified by the drone code 11 through a user voice input.

The mission generation unit 222 connects one or more ground points identified by the route code 12 to generate a movement route in which geographic information is set, and sets the mission identified by the mission code 13 to perform the encrypted mission. A mission file 24 may be created.

The mission control unit 223 may transmit the mission file 24 by setting control to the control target drone to which the communication channel is assigned, and may control the mission performance by determining the stability of weather information, battery discharge, and path collision.

The mission storage unit 224 may store the mission file 24 from the time of creation, and may transmit it to the data management unit 230 at the time when the mission is completed.

The virtual mission unit 225 simulates the generated mission file 24 to analyze the movement path and geographic information settings, and interprets attribute information including location, direction, latitude, longitude, and altitude to determine the stability of mission performance can do.

4 is a block diagram schematically illustrating the configuration of a data management unit according to an embodiment of the present invention.

Referring to FIG. 4 , the data management unit 230 according to an embodiment of the present invention may include a data collection unit 231 and a database 232 .

The data collection unit 231 may collect drone information 21 , geographic information 22 , weather information 23 , and mission file 24 from a wired/wireless network.

The database 232 stores the collected drone information 21 , geographic information 22 , weather information 23 , and mission file 24 .

Here, the drone information 21 may include the type, specification, and performance information of the drone to be controlled.

The geographic information 22 may include 2D or 3D map information including topography, features, and place names, and attribute information including location, direction, latitude, longitude, and altitude.

The weather information 23 may include temperature, wind speed, wind direction, and weather information.

The mission file 24 may include classified mission information.

5 is a diagram illustrating an example of controlling n drones through n communication channels in the drone ground control system according to an embodiment of the present invention.

Referring to FIG. 5 , in the drone ground control system 200 according to an embodiment of the present invention, the system controller 220 recognizes the user's voice input through the voice recognition module 100 and is identified as the drone code 11 . A first communication channel to an n-th communication channel may be allocated to the drones to be controlled by the first to n-th drones.

That is, the system controller 220 allocates the first communication channel to the image collector corresponding to the first drone, allocates the second communication channel to the rescue searcher corresponding to the second drone, and the mountain reconnaissance aircraft corresponding to the third drone. Allocating a third communication channel to , allocating a fourth communication channel to a land observer corresponding to the fourth drone, and allocating an nth communication channel to an ocean observer corresponding to the nth drone.

6 is a diagram illustrating an example of automatically generating a movement path in the drone ground control system according to an embodiment of the present invention, according to the ground point input sequence, or according to the shortest distance connection.

Referring to FIG. 6 , the drone ground control system 200 according to an embodiment of the present invention uses m (m is a natural number) ground points identified through a user's voice input in the voice recognition module 100 as a movement path. can create

That is, the drone ground control system 200 may automatically generate a movement path by arranging three ground points as shown in FIG. 6A .

In addition, the drone ground control system 200 receives four ground points as voice input through the voice recognition module 100 as shown in FIG. 6B , and receives the four ground points in the order of input of the received voice. can be connected to create a movement route. For example, as shown in (b) of FIG. 6 , the drone ground control system 200 sequentially accesses the first ground point, the second ground point, the third ground point, and the fourth ground point through the user's voice input. With respect to the identified four ground points, a moving route may be automatically generated by connecting the starting point - the first ground point - the second ground point - the third ground point - the fourth ground point - the starting point.

In addition, the drone ground control system 200 may calculate the shortest moving distance for four ground points as shown in FIG. 6C , and connect them to create a moving path. For example, the drone ground control system 200 is a starting point - a second ground point - a first ground point - a third ground point by calculating the shortest distance for four ground points as shown in FIG. 6C . - 4th ground point - By connecting to the starting point, the movement path can be automatically created and a visualized screen output can be provided.

In addition, the drone ground control system 200 may generate a movement path to which altitude information linked with a 3D map is applied.

The drone ground control system 200 according to the present invention can provide a visualized screen output for automatic generation of a movement route, and at this time, a voice input interface for selectively deleting m ground points or adding new ground points is further added. can provide That is, the user inputs a voice related to the deletion or addition of a ground point through the voice input interface, and through this voice input, among the first ground point, the second ground point, the third ground point, and the fourth ground point, the user inputs the voice input. You can optionally delete one or more and add new ground points.

7A and 7B are diagrams for explaining an example of multi-controlling a drone according to an embodiment of the present invention.

Referring to FIGS. 7A and 7B , the drone ground control system 200 according to an embodiment of the present invention may multi-control mission execution of n (n=natural numbers) drones.

First, identifying a first drone to be controlled, m ground points, and a mission through a user voice input, allocating a first communication channel to the first drone and setting control rights; automatically generating a first mission file in which a mission is set by automatically generating a movement path; transmitting a first mission file to a first drone through a first communication channel; determining weather information, battery discharge, and path collision stability for the mission performance of the first drone; One drone may be controlled by a method including the step of controlling the mission performance of the first drone.

Next, identifying a second drone to be controlled, m ground points, and a mission through a user voice input, allocating a second communication channel to the second drone, and setting control rights; automatically generating a second mission file in which a mission is set by automatically generating a movement path; transmitting a second mission file to a second drone through a second communication channel; determining weather information, battery discharge, and path collision stability for the mission performance of the second drone; Two drones may be controlled by a method including the step of controlling the execution of a mission for the second drone.

performing the steps of the above method in the same manner, identifying the n-th drone to be controlled, m ground points, and missions through a user voice input, allocating an n-th communication channel to the n-th drone, and setting control rights; automatically generating an n-th mission file in which a mission is set by automatically generating a moving path; transmitting an n-th mission file to an n-th drone through an n-th communication channel; determining weather information, battery discharge, and path collision stability for mission performance of the n-th drone; By controlling the n-th drone in a method including the step of controlling the mission performance of the n-th drone, the mission performance of n (n = natural numbers) drones can be controlled in multiple ways.

8 is a view for explaining an example of controlling in response to a path collision according to an embodiment of the present invention.

Referring to FIG. 8 , the drone ground control system 200 according to an embodiment of the present invention includes the steps of: determining a ground point overlapping a movement path of an n-th drone in one or more drone movement paths controlling mission performance; identifying one or more drones moving to overlapping ground points; determining a time point at which the identified one or more drones arrive at an overlapping ground point; A method including determining an altitude at which one or more identified drones move to an overlapping ground point can be controlled in response to a path collision.

In this case, when it is determined as a path collision, the drone ground control system 200 may control the path collision in response to the path collision by providing a visualized screen output to adjust the mission execution timing of the n-th drone.

For example, as shown in FIG. 8 , the drone ground control system 200 includes first, second, and third movement paths of the first drone, the second drone, and the third drone that control mission performance. By determining a ground point overlapping the n-th movement path of the n-th drone in the path, two drones moving to the overlapping ground point are identified. At this time, when the first drone and the third drone arrive at the overlapping ground point and the altitude of moving to the overlapping ground point is determined to determine a path collision, the drone ground control system 200 operates as shown in FIG. 8 . By providing the visualized information as a screen output, it is possible to control the n-th drone in response to a path collision by adjusting the mission execution time.

9 is a diagram for explaining an example of providing a grid coordinate system according to the present invention.

Referring to FIG. 9 , the drone ground control system 200 according to an embodiment of the present invention provides a maximum scale 2D or 3D map information including geographic information for a drone performing a specific mission at a specific ground point. It provides a visualized screen output by projecting a 2D or 3D grid coordinate system with numbers and symbols attached to it, and recognizes and identifies grid coordinates composed of numbers and symbols through user voice input and moves the drone to the identified coordinates. A user interface for performing and controlling may be further provided.

10 is a diagram illustrating an operation flowchart for explaining a drone ground control method according to an embodiment of the present invention.

1 to 10 , the drone ground control system 200 according to an embodiment of the present invention first receives a user's voice from the voice input unit 110 of the voice recognition module 100 (P310).

Next, the voice recognition unit 130 of the voice recognition module 100 identifies the control target drone, the ground point, and the mission from the received voice (P320).

That is, the voice recognition unit 130 identifies at least one drone name to be controlled, at least one ground point name, and at least one mission name from the received voice.

At this time, the voice recognition unit 130 generates the drone code 11, the route code 12, and the mission code 13 for mission performance control based on the identified information.

Next, the system control unit 220 allocates a communication channel to the drone identified as a control target and sets the control right (P330).

That is, the system controller 220 recognizes the control target drone based on the generated drone code 11 , allocates a communication channel to the recognized drone, and sets the control right.

At this time, the system controller 220 automatically creates a movement route to the identified ground point and sets geographic information and mission information (P335).

That is, the system controller 220 may generate a movement route by connecting ground points based on the generated route code 120 . In addition, the system controller 220 generates a movement path by calculating the shortest movement distance as shown in FIG. 6 for the m ground points recognized by the voice recognition unit 130, or in the order of inputting the received voice. A movement route can be created by connecting ground points, or a movement route applied with altitude information linked with a 3D map can be created.

Next, the system controller 220 automatically generates a mission file (P340).

That is, the system control unit 220 generates an encrypted mission file 24 by setting a mission based on the generated mission code 13 .

Next, the system controller 220 controls the drone by performing the mission file (P350).

That is, the system controller 220 controls the mission performance of the control target drone based on the generated mission file 24 .

At this time, the system controller 220 determines the stability of weather information, battery discharge, and path collision in mission performance (P355).

That is, the system control unit 220 detects the battery discharge of the drone, detects a collision accident according to the detection of the movement path of the drone, or checks weather information for mission performance.

When controlling the battery discharge accident of the control target drone, the system control unit 220 calculates the total moving distance of the generated moving path, calculates the battery consumption of the drone required for the calculated moving distance, and for the calculated battery consumption , reflects the drone's total weight and mission performance speed and altitude, and calculates the corrected battery consumption by reflecting the weather information including the temperature, wind speed, and wind direction of the moving route, and determines whether the battery charge of the drone meets the corrected battery consumption By doing so, it is possible to control the battery discharge accident.

In addition, the system control unit 220, with respect to the drone performing a specific mission at a specific ground point, through the user interface of the input/output device unit 210, the maximum scale 2D or 3D map information included in the geographic information, the number And it provides a visualized screen output by projecting two-dimensional or three-dimensional grid coordinates with symbols, recognizes and determines grid coordinates consisting of numbers and symbols through user voice input, and controls the movement of the drone through the identified coordinates can do.

Then, the system control unit 220 performs the mission file when the mission is not completed (P360-NO) and repeats the operation of controlling the drone, and when the mission is completed (P360-YES), the mission file is stored in the database ( 232), stops the control operation of the drone and terminates the service.

In the drawings and flowcharts shown to explain the drone ground control method using the drone ground control system having a voice recognition module in the above description, the methods are divided into a plurality of steps, but at least some of the steps are performed in a different order or , may be performed in combination with other steps, may be omitted, may be divided into detailed steps, or may be performed by adding one or more steps not shown.

11 is a diagram illustrating a flow chart of an operation for multiple control of mission performance of n drones in the drone ground control method according to an embodiment of the present invention.

Referring to FIG. 11 , the drone ground control system 200 according to an embodiment of the present invention receives a voice from the voice input unit 110 (P410).

Next, the voice recognition unit 130 identifies the n-th drone to be controlled, the m ground points, and the n-th mission from the received voice (P420).

Next, the voice recognition unit 130 generates n drone codes, s route codes, and n mission codes for mission performance control (P430).

In this case, the system controller 220 may automatically create a movement route to the identified ground point and set geographic information and mission information (P435).

Next, the system controller 220 allocates an n-th communication channel to the n-th drone and sets control rights (P440).

Next, the system controller 220 generates s movement paths by connecting m ground points based on the s generated path codes (P450).

Next, the system controller 220 generates an nth mission file in which a mission is set based on the n generated mission codes (P460).

In this case, the system controller 220 may determine weather information, battery discharge, and path collision stability for the mission performance of the n-th drone. That is, the system control unit 220 determines a ground point overlapping the movement path of the n-th drone in one or more movement paths controlling mission performance, and identifies one or more drones moving to the overlapping ground point, It is possible to determine when one or more identified drones arrive at an overlapping ground point, and determine an altitude at which the one or more identified drones move to an overlapping ground point, thereby determining path collision stability. If it is determined as a path collision, the system controller 220 may provide the visualized information as a screen output to adjust the mission execution time of the n-th drone to control it in response to the path collision.

Next, the system controller 220 transmits the nth mission file to the nth drone through the nth communication channel (P470).

That is, as shown in FIG. 12 , the first drone ground control system transmits the first mission file to the image collector that is the first drone through the first communication channel, and transmits the second mission file to the second through the second communication channel. It is transmitted to the rescue searcher, the drone, and the nth mission file is transmitted to the nth drone, the mountain reconnaissance unit, through the nth communication channel. 12 is a diagram illustrating an example in which a multiple drone ground control system multi-controls mission performance of n drones, respectively, according to an embodiment of the present invention. In FIG. 12 , the n-th drone ground control system transmits the first mission file to the first drone, which is a supply device, through the first communication channel, and transmits the n-th mission file to the n-th drone, the mountain reconnaissance unit, through the n-th communication channel. is to transmit

Next, the system controller 220 controls the mission performance of the n-th drone (P480).

In this case, the system control unit 220 may detect the battery discharge of the drone, detect a collision accident according to the detection of the movement path of the drone, or check weather information for mission performance (P485).

Meanwhile, in the multi-drone ground control system, as shown in FIG. 13 , the drone control right for the first drone, the mountain reconnaissance aircraft, from the first drone ground control system may be transferred or converted to the n-th drone ground control system. 13 is a diagram illustrating an example of transferring or converting drone control rights in a multi-drone ground control system according to an embodiment of the present invention. As shown in FIG. 13 , when the drone control right for controlling the first drone, the mountain reconnaissance aircraft, is transferred or converted to the n-th drone ground control system through the first communication channel in the first drone ground control system, the n-th drone ground control system The control system controls the first drone, the mountain reconnaissance aircraft, through the second communication channel.

In addition, in the multi-drone ground control system, missions may be transferred between drones as shown in FIG. 14 . 14 is a diagram illustrating an example of transferring a mission between drones in a multi-drone ground control system according to an embodiment of the present invention. 14, when the mission of controlling a mountain reconnaissance aircraft through the n-th communication channel in the first drone ground control system is transferred to the n-th drone ground control system, the n-th drone ground control system operates through the first communication channel Through this, you can control the supply device and perform the transferred mission.

15 is a flowchart illustrating an operation of controlling a formation mission of n drones in a drone ground control method according to an embodiment of the present invention.

Referring to FIG. 15 , the drone ground control system 200 according to an embodiment of the present invention receives a voice from the voice input unit 110 (P510).

Next, when the system controller 220 recognizes the received voice as a voice related to the formation mission, based on the voice recognition, a flight path is generated (P520).

In addition, when the system controller 220 recognizes the voice input from the voice input unit 110 as the drone selection related voice, the system controller 220 selects n drones to perform the squadron mission based on the voice recognition (P530).

Next, the system controller 220 generates one or more squadron shapes through the selected n drones and provides them as a visualized screen output (P540).

At this time, when the voice input unit 110 receives a voice related to flight squadron selection, the system controller 220 selects a flight form based on voice recognition (P550).

Next, the system control unit 220 deploys n drones corresponding to the selected formation form, and generates an nth mission file for the nth drone in which front and rear, left and right safety distances, and upper and lower safety altitudes are reflected (P560) .

Next, the system controller 220 transmits the generated nth mission file to the n drones (P570).

Next, the system control unit 220 controls the formation missions of n drones that collectively perform the transmitted nth mission file (S580).

As described above, the drone ground control system 200 according to an embodiment of the present invention may control a squadron mission of n (n = natural number) drones.

Summarizing this process, the steps of automatically generating a flight mission movement path through the user's voice input; selecting n drones to perform a squadron mission through a user's voice input; automatically generating one or more squadron shapes through the selected n drones, providing them as a visualized screen output, and selecting the squadron shape through a user's voice input; Deploying n drones in a squadron corresponding to the selected squadron form, automatically generating and transmitting an n-th mission file for the n-th drone in which front and rear, left and right safety distances, and upper and lower safety altitudes are reflected; The squadron mission can be controlled by a method including the step of collectively performing the transmitted n mission files to control the squadron mission of the n drones.

Here, the drone ground control system 200 may generate a movement path according to a user setting by using a plurality of ground points as shown in FIG. 16 . 16 is a view showing an example of generating a movement path according to user settings (input sequence arrangement, shortest path, 8-character path) using a ground point according to an embodiment of the present invention As shown in FIG. 16 , the drone ground The control system 200 generates a movement path by arranging four ground points according to the input sequence as shown in FIG. 16 (a) according to user settings, or as shown in FIG. 16 (b). A movement path may be generated by connecting the four ground points with the shortest distance, or a movement path of a figure 8 shape may be generated by connecting the four ground points based on the starting point as shown in FIG. 16( c ).

At this time, the drone ground control system 200 calculates the total movement distance of the automatically generated movement path, calculates the battery consumption of the drone required for the calculated movement distance, and with respect to the calculated battery consumption, the total weight of the drone and After calculating the calibrated battery consumption by reflecting the mission performance speed and altitude and reflecting the weather information including the temperature, wind speed, and wind direction of the moving route, the battery charge of the drone is determined by determining whether the battery charge of the drone meets the calibrated battery consumption. Discharge accidents can be controlled.

As described above, according to the present invention, a mission to the drone is created through a voice command in the ground control system that recognizes a user's voice input through a voice recognition module, the created mission is executed, and the process or result is visualized. It is possible to realize a drone ground control system and method using voice recognition that allows remote control of the drone from the ground while outputting it on the screen.

Those skilled in the art to which the present invention pertains should understand that the present invention can be embodied in other specific forms without changing the technical spirit or essential characteristics thereof, so the embodiments described above are illustrative in all respects and not restrictive. only do The scope of the present invention is indicated by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. .

11: Drone Code 12: Route Code
13: Mission Code 24: Mission File
100: voice recognition module 110: voice input unit
120: voice output unit 130: voice recognition unit
200: drone ground control system 210: input/output device unit
220: system control unit 221: drone communication unit
222: mission generation unit 223: mission control unit
224: mission storage unit 225: virtual mission unit
230: data management unit 240: communication device unit

Claims (18)

Drone codes, route codes, and missions for mission performance control by receiving voice input and recognizing at least one drone name, at least one ground point name, and at least one mission name from the received voice a speech recognition module that generates a code;
an input/output device unit for providing a first user interface for input and output of voice and visualized information related to the mission performance control;
a system control unit for allocating a communication channel to the recognized drone to set control, connecting ground points to create a movement path, setting a mission and creating an encrypted mission file to control mission performance;
a data management unit for collecting and managing drone information, geographic information, weather information, and mission files for the mission performance control; and
a communication device unit that provides the communication channel for the mission performance control and transmits and receives data to and from an external device;
including,
The voice recognition module,
a voice input unit for receiving a voice;
a voice output unit for outputting the mission performance control by voice; and
a drone code for recognizing at least one drone name from the received voice to identify a drone to be controlled; a path code for recognizing at least one ground point name to identify a ground point to generate a movement route; at least a voice recognition unit for recognizing one or more mission names and encrypting and generating a mission code for identifying a mission to be performed by the control target drone;
a voice input interface for selectively deleting the identified m ground points through voice input or adding new ground points through voice input;
including,
The voice recognition module,
a name that refers to equipment provided in the drone or a specific functional operation of the equipment; and
Receive a voice input that further includes a name including path creation, path change, path deletion, squadron mission, mission performance, mission stop, virtual mission, screen enlargement, and screen change indicating the functional operation of the drone ground control system, the above New drone code, route code, and mission code for mission performance control,
The system control unit,
a drone communication unit assigned with a communication channel for the control target drone identified by the drone code;
a mission generation unit that connects one or more ground points identified by the route code to generate a movement route in which geographic information is set, and sets the mission identified by the mission code to generate the encrypted mission file for performing the mission;
a mission controller configured to transmit the mission file by setting control rights to the control target drone to which the communication channel is assigned, and to control mission performance by determining stability against weather information, battery discharge, and path collision;
a mission storage unit for storing the mission file from the time of creation and transferring it to the data management unit at the time when the mission is completed; and
a virtual mission unit for interpreting the movement path and geographic information settings by simulating the generated mission file, and interpreting attribute information including location, direction, latitude, longitude, and altitude to determine the stability of mission performance;
including,
The control unit is
Creates a mission file based on the newly created drone code, route code, and mission code to control the mission performance of the control target drone,
The data management unit,
a data collection unit for collecting the drone information, the geographic information, the weather information, and the mission file from a wired/wireless network; and
a database for storing the collected drone information, the geographic information, the weather information, and the mission file;
including,
The drone information includes the type, specification, and performance information of the control target drone,
The geographic information includes two-dimensional or three-dimensional map information including topography, features, and place names, and attribute information including location, direction, latitude, longitude, and altitude,
The weather information includes temperature, wind speed, wind direction, and weather information,
The mission file includes classified mission information,
The drone name includes a reconnaissance aircraft, a collector, a searcher, a land aircraft, a maritime aircraft, an observer, an image collector, a rescue searcher, a mountain reconnaissance aircraft, a land observer, and a marine observer,
The ground point name includes a feature, a place name, an address, and coordinates;
The mission name includes training, reconnaissance, surveillance, search, shooting, attack, supply, and rescue,
The system control unit provides a user setting for adding or deleting the drone name, the ground point name, and the mission name, the drone ground control system.
delete delete delete delete delete delete delete delete The method of claim 1,
Corresponding to the user interface provided by the input/output unit,
A microphone for providing an audio input means, a speaker for providing an audio output means, a touch screen for providing a screen input means, a display for providing a screen output means, and a microphone for providing an audio input means provided in the external device forming a wired/wireless network with the communication device unit; A drone ground control system that further provides a second user interface for input and output of voice and visualized information through an input/output device including a button joystick.
a voice recognition module including a voice input unit, a voice output unit, and a voice recognition unit; input/output device unit; system control; data management department; and a voice recognition module including a voice input unit, a voice output unit and a voice recognition unit for a drone ground control method of a system including a communication device unit; input/output device unit; system control; data management department; And as a drone ground control method of a system comprising a communication device unit,
(a) receiving a voice input from the voice input unit;
(b) recognizing, by the voice recognition unit, at least one drone name, at least one ground point name, and at least one mission name from the received voice;
(c) generating, by the voice recognition unit, a drone code and a route code 12 and a mission code 13 for mission performance control;
(d) setting, by the system controller, a control right by recognizing a control target drone based on the generated drone code, and allocating a communication channel to the recognized drone;
(e) generating, by the system controller, a moving path by connecting ground points based on the generated path code;
(f) generating, by the system control unit, an encrypted mission file by setting a mission based on the generated mission code;
(g) transmitting, by the system controller, the mission file to the control target drone through the communication channel;
(h) determining, by the system controller, weather information, battery discharge, and path collision stability for mission performance of the control target drone; and
(i) controlling, by the system controller, the mission performance of the control target drone based on the generated mission file;
including,
In step (b), the step of recognizing the names of at least one ground point by the voice recognition unit comprises:
selectively deleting the recognized ground point name through the received voice or adding a new ground point through the received voice;
including,
In step (e), the step of generating the movement path for the at least one ground point recognized by the voice recognition unit includes:
generating a moving path by calculating a shortest moving distance;
generating a movement path by connecting ground points in the order of input of the received voice; and
generating a movement route to which altitude information linked with a three-dimensional map is applied;
including,
In the step (h), the step of determining the path collision stability for the control target drone,
determining, by the system control unit, a ground point overlapping the movement path of the control target drone in one or more movement paths over which the mission is performed;
identifying one or more drones moving to the overlapping ground point;
determining when the identified one or more drones arrive at the overlapping ground point;
determining an altitude at which the identified one or more drones move to the overlapping ground point;
including,
In the step (i), when the system controller controls the battery discharge accident of the control target drone, the step of controlling the mission performance of the control target drone,
calculating a total moving distance of the generated moving path;
calculating battery consumption of the drone required for the calculated moving distance;
calculating the corrected battery consumption by reflecting the total weight of the drone and the mission performance speed and altitude with respect to the calculated battery consumption and reflecting weather information including the temperature, wind speed, and wind direction of the moving route; and
determining whether the battery charge amount of the drone meets the corrected battery consumption amount;
including,
The step (i) may include transmitting the mission file to the data management unit at the time when the mission is completed;
including,
In step (i), the system control unit controls a drone that performs a specific mission at a specific ground point,
Through the user interface of the input/output device unit, the 2D or 3D grid coordinates with numbers and symbols attached to the 2D or 3D map information of a certain scale included in the geographic information are projected to provide a visualized screen output,
A drone ground control method, characterized in that by recognizing and determining the grid coordinates composed of numbers and symbols through a user's voice input, and controlling the movement of the drone with the identified coordinates. delete delete delete delete delete delete delete

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