KR102297649B1 - Dron for unique object for monitoring and removing material of air pollution - Google Patents

Abstract

An embodiment relates to a special-purpose type small unmanned aerial vehicle (UAV) for monitoring and removing air pollutants. Specifically, the small UAV includes: a camera module that photographs a monitoring target during flight; a DSP unit for digital signal processing the result photographed by the camera module; a first sensor unit for detecting air pollutants in the case of the flight; a second sensor unit including at least one sensor for detecting a flight state; and a sensor fusion device for estimating the flight state by combining the flight state results sensed by the second sensor unit. In addition, the small UAV includes: a PLC that monitors and provides the air pollutants to a pre-registered ground control system (GCS) based on the result photographed by the camera module and the result sensed by the first sensor unit, and controls the flight operation according to the flight state estimated by the sensor fusion device; and a driving unit for driving the flight operation by the control of the PLC. In this case, the PLC also includes an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants. Therefore, in order to enable real-time sensing and processing of volatile organic compounds (VOCs) that easily evaporate into the atmosphere and cause photochemical smog therethrough, the small UAV is provided based on autonomous flight for the purpose of sensing and processing harmful substances (gas), thereby implementing processes of sensing, removing, and monitoring the harmful gases or air pollutants at industrial sites or disaster sites.

Description

Dron for unique object for monitoring and removing material of air pollution

The content disclosed in this specification relates to the field of unmanned aerial vehicle (i.e., drone) technology, and when performing a special purpose related to monitoring of air pollutants, etc., an unmanned aerial vehicle that achieves a mission desired by a manager by remote control or autonomous flight in the air It's about technology.

Unless otherwise indicated herein, the material described in this section is not prior art to the claims of this application, and inclusion in this section is not an admission that it is prior art.

In general, an unmanned aerial vehicle, for example, a drone, refers to an unmanned aerial vehicle (UAV) that flies by remote control or autonomous flight control. Aerial photography, delivery, farming

Its use is also expanding for use, monitoring, leisure, and the like.

The unmanned aerial vehicle market is the fastest growing among the new markets in the aviation industry, and is expected to grow from $6.4 billion in 2016 to $12.4 billion in 2023, about doubling the current level.

Existing unmanned aerial vehicle automatic flight technology is a form of inputting the flight path as coordinates before flight based on GPS location and flying the input coordinates in turn, and it has a disadvantage that it is difficult to execute indoors where GPS signals are weak or not received.

In addition, for automatic flight, each unmanned aerial vehicle company has developed GCS (Ground Control System) and distributed it with smartphone applications and computer software to realize automatic flight, but the existing GCS is mostly used by each company in a closed form. There is a problem that only FC (Flight Controller) is compatible, so it is not compatible with other companies' unmanned aerial vehicles.

In particular, in relation to such automatic flight, the aforementioned problems are more required in the field of real-time sensing and processing of volatile organic compounds (VOCs) that easily evaporate into the atmosphere and cause photochemical smog.

US 101733002 Y1 US 1020180005341 A For reference, the technology of Patent Document 1 is a technology related to an unmanned robot operating method of a system that grants multiple tasks to a plurality of unmanned robots and operates the unmanned robots based on the assigned tasks. And, the technology of Patent Document 2 is about a drone system technology for interlocking control of a plurality of drones using a touch screen.

In order to enable real-time detection and processing of volatile organic compounds (VOCs) that easily evaporate into the atmosphere and cause photochemical smog, a small unmanned aerial vehicle based on autonomous flight is used to detect harmful substances (gas) and It is intended to provide a special-purpose small UAV for monitoring and removal of air pollutants that can be provided according to the purpose of treatment.

A special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment,

A camera module for photographing an object to be monitored during flight, a DSP unit for digital signal processing the results captured by the camera module, a first sensor unit for detecting air pollutants when the flight occurs, and a flight state detection and a second sensor unit including at least one or more sensors, and a sensor fusion device for estimating the flight state by combining the result of the flight state sensed by the second sensor unit.

Then, based on the result captured by the camera module and the result sensed by the first sensor unit, air pollutants are monitored and provided to a pre-registered Ground Control System (GCS), which is estimated by the sensor fusion device. Including a PLC for controlling the flight operation according to the flight state, it has a driving unit for driving the flight operation by the control of the PLC.

In this case, the PLC also includes an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants.

According to the embodiments, in order to enable real-time detection and processing of volatile organic compounds that are easily evaporated into the atmosphere and cause photochemical smog, a small unmanned aerial vehicle based on autonomous flight is used to detect and process harmful substances (gas). By providing it according to the purpose, it realizes the detection and removal of harmful gases or air pollutants and the monitoring process at industrial sites or disaster sites.

1 is a conceptual diagram to which a special-purpose small unmanned aerial vehicle is applied for monitoring and removing air pollutants according to an embodiment;
2 is a view showing the overall system to which a special-purpose small unmanned aerial vehicle is applied for monitoring and removing air pollutants according to an embodiment;
3 is a block diagram illustrating the configuration of a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment;
4 is a block diagram showing the configuration of the PLC applied to the special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants of FIG.
5 is a view showing a screen of use of a ground control system applied to a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment;
6 is a view for explaining a detailed operation state expression operation applied to a special purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment
7 is a view showing the flow of precision navigation and flight control applied to a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment;

1 is a conceptual diagram to which a special-purpose small unmanned aerial vehicle is applied for monitoring and removing air pollutants according to an embodiment.

As shown in FIG. 1 , the concept according to one embodiment is based on autonomous flight, for example, to enable real-time detection and processing of volatile organic compounds that easily evaporate into the atmosphere and cause photochemical smog. By providing a small unmanned aerial vehicle that is suitable for the purpose of detecting and processing harmful substances (gas), the detection and removal of harmful gases or air pollutants and monitoring processes are implemented at industrial sites or disaster sites.

To this end, first, a special purpose unmanned aerial vehicle operation system for monitoring and removing air pollutants is provided. In other words, it manufactures an unmanned aerial vehicle suitable for the characteristics of an industrial site, and stably transmits the processing information and operation state information of the air pollutant measurement and removal device in real time, and operates a ground station system for storing the shooting information of the unmanned aerial vehicle for the sea.

Second, we develop automatic flight control and automatic navigation technology that is adaptive to the operating environment. Specifically, it provides an automatic take-off and landing function using a geographical correction function and a flight function on a designated route, and provides a flight control and route control function at a specific location for detecting and removing air pollutants. And, in addition to this, it provides air pollutant detection and removal, and gas operation information transmission technology.

Third, develop long-range unmanned aerial vehicles that can operate in various atmospheric environments. To this end, it analyzes the corrosion resistance of the unmanned aerial vehicle's components and composes strong material parts, protects and mounts safety devices and GPS-based location tracking for fall, and mission equipment, and is equipped with self-lighting components that can identify the unmanned aerial vehicle. .

Fourth, develop a real-time harmful substance removal device and technology using vacuum UV photocatalytic decomposition technology. Specifically, a vacuum ultraviolet photocatalyst decomposition technology is developed, and a VUV photocatalyst-based air purification device is developed.

2 is a view showing the overall system to which a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment is applied.

As shown in FIG. 2, the system to which a special-purpose small unmanned aerial vehicle is applied for monitoring and removing air pollutants according to an embodiment includes a number of special-purpose small unmanned aerial vehicles (100-1, 100-2, 100-1, 100-2, …, 100-n) and a number of special-purpose small UAVs (100-1,100-2,…, 100-n) and among a number of special-purpose small UAVs (100-1,100-2,…, 100-n) It includes a GCS (200) for selecting one or more small unmanned aerial vehicles to control the flight and monitor the operation status.

In this case, the special-purpose small unmanned aerial vehicle (100-1, 100-2, ..., 100-n) is, for example, a plurality of drones that perform missions while flying in the air.

For reference, the autonomous mission described herein refers to autonomously performing a mission by autonomous flight according to predetermined flight information at a predetermined time. In addition, the manual mission refers to manually dispatching the drone after receiving the dispatch and flight information and mission performance information input by the administrator, and the autonomous mission and manual mission refer to flying in automatic flight mode according to the given information. do.

The above-mentioned special-purpose small unmanned aerial vehicle (100-1, 100-2, ..., 100-n) monitors and removes air pollutants such as fine dust in an area desired by the manager by unmanned autonomous flight when monitoring air pollution, It enables the detection and removal of harmful gases or air pollutants and monitoring processes at industrial sites or disaster sites.

The GCS 200 selects any one or more small UAVs among these special-purpose small UAVs 100-1, 100-2, ..., 100-n, and inputs an operation command of the selected small UAV or outputs the operation state of the small UAV. a monitoring device 210 that receives the operation command input from the monitoring device 210, the main control unit 220 that generates a control signal to be sent to the selected small unmanned aerial vehicle, and the control signal generated by the main control unit 220 is selected It transmits to the small UAV and includes a transceiver 230 for receiving operation information from a plurality of special-purpose small UAVs (100-1, 100-2, ..., 100-n).

A practical example of a system to which a special-purpose small unmanned aerial vehicle is applied for monitoring and removing air pollutants according to one embodiment is as follows.

In other words, a landing station is installed in an area where it is difficult to monitor only with a fixed CCTV, such as a city center, a riverside, a park, a hiking trail, or an island or mountainous area.

And, when each drone is stored, autonomous or manual missions can be performed as above, and in particular, in the event of an accident, for example, the drone is sent to the accident site by issuing a manual mission command from the remote control center without transporting the drone to the scene. can be flown to acquire field images.

For example, it is possible to acquire drone footage of the scene by scrambled to the site of a hazardous gas disaster in the city, or, for example, a fire and highway accident site, a water accident site, a forest fire accident site, and the like.

In addition, it is possible to output the on-site guidance voice of the control center or receive and listen to the on-site voice through the voice input/output device when dispatching to the field, so that it can be used for safety accident management.

Additionally, in one embodiment, the camera control command is to rotate the camera left, right, up, or down, or to zoom in and out, and to track a specific object in a photographed image.

And, the operation command is a power command to turn on or off the power of the selected small UAV, a camera control command to control the camera of the selected small UAV, a movement to control any one or more of the movement direction, movement speed, and movement range of the selected small UAV It includes any one or more of control commands.

The movement control command sets the position coordinates to which the small unmanned aerial vehicle will move, or sets the position coordinates to move, and the point that must be passed, so that it operates according to a specific course. In another example, the movement control command is set to move at regular intervals in a specific direction, such as moving 200 m to the east or moving 100 m to the northwest from the current location.

In one embodiment, the monitoring device 210 may use a tablet PC including a touch screen, a smart phone, or the like, and in another embodiment, a PC or a notebook computer having a separate input/output device may be used.

And, the method of controlling through a touch input in the monitoring device 210 including a touch screen includes the steps of confirming the position of the touch input part generated by the user, activating the command of the touch input position, the activated command including the step of executing

3 is a block diagram illustrating the configuration of a special-purpose small unmanned aerial vehicle 100 for monitoring and removing air pollutants according to an embodiment.

As shown in FIG. 3 , the small unmanned aerial vehicle 100 according to an embodiment detects a camera module 110 , a DSP unit 120 , a first sensor unit 130 for detecting air pollutants, and a flight state. and a second sensor unit 140, a sensor fusion device 150 for estimating a flight state based on the detection result of the flight state, and a PLC 160 for controlling each unit.

In this case, when the PLC 160 detects air pollutants based on the captured results of the camera module 110 and the detected results of the air pollutants, the IOT module communicates with the GCS as IOT data. include

The camera module 110 captures an area to be monitored during flight, for example, an area desired by an administrator, or an atmospheric environment such as an area.

The DSP unit 120 digitally processes the result captured by the camera module 110 .

The first sensor unit 130 detects air pollutants when the flight occurs. In this case, the first sensor unit 130 includes a fine dust analog sensor and a solar digital sensor, so that air pollutants are detected.

The second sensor unit 140 includes at least one sensor for detecting a flight state when the flight occurs. In this case, the second sensor unit 140 includes any one or more of a wind speed sensor, a barometric pressure sensor, a GPS, a 3-axis acceleration sensor, a 3-axis gyro sensor, and a geomagnetic sensor to measure data necessary for flight and mission performance.

The sensor fusion unit 150 is to estimate the flight state by combining the flight state results detected by the second sensor unit 140 . For example, the flight state is estimated by calculating the combination of wind speed, air pressure, acceleration, etc. during flight.

The PLC 160 monitors air pollutants based on the results captured by the camera module 110 and the results detected by the first sensor unit 130 and provides them to a pre-registered GCS, and the sensor The flight operation is controlled according to the flight state estimated by the fusion device 150 . In this case, the PLC 160 includes an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants.

The driving unit 170 drives the flight operation by the control of the PLC 160 , for example, by the PWM control of the PLC 160 . At this time, the driving unit 170 includes a transmission, a motor, and a propeller, and drives the flight operation by differently changing the rotation speed and rotation direction according to the estimated flight state.

FIG. 4 is a block diagram illustrating the configuration of the PLC 160 applied to the special-purpose small UAV for monitoring and removing air pollutants of FIG. 3 .

As shown in FIG. 4 , the PLC 160 applied to the special-purpose small unmanned aerial vehicle according to an embodiment performs signal processing and a part for signal input/output of the first sensor unit 130 and the second sensor unit 140 . It is made to include all the part for communication with the GCS.

To this end, the PLC 160 according to an embodiment includes a power module, a serial communication module, an A/D module for signal input/output and signal processing of the first sensor unit and the second sensor unit, a D/A module, and a D It includes /I module, D/O module, IOT module for communication with GCS, and CPU module for controlling each module.

The power module supplies power to the PLC itself.

The serial communication module communicates with a control unit other than the PLC, for example, SPI communication or I ² C communication.

The A/D module is analog including the detection result of analog air pollutants such as fine dust by the first sensor unit 130 and the analog flight state detection result such as acceleration and geomagnetism by the sensor fusion device 150 . It is the digital transformation of information.

The D/A module converts digital information by a digital unit to analog.

The D/I module receives digital information including a detection result of digital air pollutants such as sunlight by the first sensor unit 130 and a digital flight state detection result by the sensor fusion device 150 .

The D/O module outputs digital information including the detection result of digital air pollutants by the first sensor unit 130 .

The IOT module communicates with the GCS as IOT data for the monitoring result of the air pollutants. In this case, the IOT module provides its own wired/wireless communication module, for example, a LoRa module, and provides air pollutant monitoring results to the GCS on the ground.

The CPU module is a basic CPU module of the PLC, and controls each module. Specifically, the CPU module is captured by the camera module and converted through the DSP unit, and the result is detected by the first sensor unit 130 and the sensor fusion unit 150, and the A/D module and the D/A Based on the results processed by the module and D/I module, air pollutants are monitored and provided to the GCS registered in advance by the IOT module. And, the CPU module controls the flight operation by controlling the flight operation driving operation of the driving unit according to the flight state estimated by the sensor fusion device 150 and converted by the A/D conversion module. Therefore, air pollutants are monitored through this, and further, air pollutants are removed.

In addition, if it is further explained in this regard, modules with various functions are required for the existing PLC system used in various environments, and accordingly, PLC manufacturers provide various modules that satisfy the requirements of users.

For example, a module having various functions, such as a digital input/output module, an analog input/output module, and a communication module, is used in a PLC system, and a system desired by a user is built through these various modules.

For example, the technology of Patent Document KR101778333 Y1 is an invention registered as such a technology, and specifically relates to a PLC system having a diagnostic module for diagnosing whether an output module of the PLC is defective in operation.

The above-described IOT module according to an embodiment uses these points to provide a PLC that provides an IOT function from the above-described IOT module, and through this, further optimized monitoring and control from the device side is made easy. .

Accordingly, the PLC 160 according to an embodiment basically includes an input module that receives all signals from various digital and analog sensor units, a CPU module that is a central control unit, and an output that outputs a control signal to a control target. contains modules.

In addition, the PLC 160 is provided with an IOT module that additionally performs an IOT function in the PLC itself, so that the CPU module interworks with the input/output module by such an IOT module to perform an IOT function from the corresponding control logic. By doing so, it communicates with the GCS on the ground.

Additionally, in addition to the above, the PLC 160 issues an alarm or the like with a voice designated for the collected data.

To this end, the IOT module is equipped with its own TTS engine, and according to the voice information for each data preset for the data collected from the input module of the PLC, for example, according to the voice message, the voice alarm is different.

Specifically, the IOT module has its own TTS engine to generate a voice alarm according to the voice information corresponding to each air pollutant detection result of the first sensor unit 130 .

In this case, the voice message is registered, for example, in a flash voice memory provided in the IOT module itself.

So, for the data collected through this, for example, by giving an alarm with a designated voice from the GCS on the ground, it provides a convenient monitoring result of air pollutants to the manager.

Also, in addition to this, the PLC 140 performs a noise canceling function for an external voice.

Specifically, the IOT module performs an audio IOT function by receiving an external voice input from a GCS on the ground, performing noise cancellation, and outputting audio.

For example, in this case, an audio IOT function is performed by receiving an external audio input, performing noise cancellation, and outputting audio through an audio amplifier provided in the IOT module itself.

Hereinafter, the operation of the special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to one embodiment will be described (see FIG. 3 ).

The special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment first captures a monitoring target such as an area or region desired by an administrator when the camera module is in flight.

And, the DSP unit digitally processes the result captured by the camera module in this way.

At this time, the first sensor unit detects air pollutants such as fine dust and sunlight when the flight occurs.

In addition, when the second sensor unit is such a flight, by including at least one sensor for detecting the flight state, the flight state is comprehensively sensed, and the sensor fusion device combines the result of the detected flight state to determine the flight state. estimate

Then, the PLC monitors air pollutants based on the results captured by the camera module and the results detected by the first sensor unit and provides them to the pre-registered GCS.

For example, when the fine dust detection result by the first sensor unit in a specific area photographed by the camera module exceeds a preset fine dust concentration, the PLC determines an abnormal state and alarms the GCS.

In this case, the PLC includes an IOT module that communicates with the GCS as IOT data for the air pollutant monitoring result, and communicates with the GCS on the ground for the air pollutant monitoring result by the IOT module.

In addition, this PLC controls the flight operation according to the flight state estimated by the sensor fusion device.

At this time, by controlling the operation of the propeller through a motor or the like under the control of the PLC, the driving unit drives the flight operation according to the estimated flight state.

Therefore, in order to enable real-time detection and processing of volatile organic compounds that easily evaporate into the atmosphere and cause photochemical smog, a small unmanned aerial vehicle based on autonomous flight is used for the purpose of detecting and processing harmful substances (gas). By providing it appropriately, the detection and removal of harmful gases or air pollutants and monitoring processes are implemented at industrial sites or disaster sites.

As described above, one embodiment includes a camera module for photographing an object to be monitored during flight, a DSP unit for digital signal processing a result photographed by the camera module, and a system for detecting air pollutants in the case of flight 1 sensor unit, a second sensor unit including at least one sensor for detecting a flight state, and a sensor fusion device for estimating a flight state by combining the result of the flight state detected by the second sensor unit.

Then, based on the result captured by the camera module and the result sensed by the first sensor unit, air pollutants are monitored and provided to a pre-registered Ground Control System (GCS), which is estimated by the sensor fusion device. Including a PLC for controlling the flight operation according to the flight state, it has a driving unit for driving the flight operation by the control of the PLC.

In this case, the PLC also includes an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants.

Therefore, in order to enable real-time detection and processing of volatile organic compounds that easily evaporate into the atmosphere and cause photochemical smog, a small unmanned aerial vehicle based on autonomous flight is used for the purpose of detecting and processing harmful substances (gas). By providing it appropriately, the detection and removal of harmful gases or air pollutants and monitoring processes are implemented at industrial sites or disaster sites.

5 is a view showing a screen of use of a ground control system applied to a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment.

As shown in FIG. 5 , the use screen displayed on the monitoring device 210 of the ground control system according to an embodiment displays each location and operation status of a plurality of small UAVs on a map.

In addition, when the user touches a portion where a specific drone is located among the plurality of drones, the detailed operating state of the specific drone and a manipulation input window for operating the specific drone are displayed, and the detailed operating status includes speed, remaining battery, It includes operation duration, altitude, etc., and the operation input window displays camera movement, flight position movement, takeoff, landing, and power button.

In addition, when the user touches a part of the screen while the monitoring device 210 and a specific drone are not connected, it is determined whether there is a drone at the corresponding location, and when it is determined that there is a drone, the detailed operation state of the corresponding drone is displayed. If the user selects another drone after that, the detailed operation status of the other drone is displayed.

When the user touches a part of the screen while the monitoring device 210 and a specific drone are connected, it is determined whether there is a button part for controlling the camera movement, flight position movement, takeoff, landing, power supply, etc. at the touched position, and there is a button part If it is determined, the command corresponding to the button is activated.

In addition, the monitoring device 210 forms a warning pop-up when the remaining battery of the drone 100 falls below a predetermined value, or displays the drone 100 with the remaining battery below a predetermined value in a different color from that of the other drones. Notifies the user that the battery is low.

6 is a view for explaining a detailed operation state expression operation applied to a special-purpose small UAV for monitoring and removing air pollutants according to an embodiment.

As shown in FIG. 6 , the detailed operation state display operation according to an embodiment can be known by an administrator, etc. let it be

In this case, the detailed operation state display operation according to an embodiment includes the battery remaining state when the small UAV is flying, connection information with GCS, GPS information, and roll, pitch, and yaw (Roll), pitch, and yaw ( Yaw), etc., mode type, speed, and the like.

And, at this time, this detailed operation state expression operation is performed individually for, for example, a plurality of different small UAVs, and in this case, a preset index is given to each small UAV.

7 is a view showing the flow of precision navigation and flight control applied to a special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to an embodiment.

As shown in Fig. 7, the precise navigation and flight control flow applied to the special-purpose small unmanned aerial vehicle according to an embodiment can provide automatic flight control and automatic navigation technology adaptive to the operating environment suitable for monitoring air pollutants. do.

Specifically, the precise navigation and flight control flow applied to the special-purpose small unmanned aerial vehicle according to an embodiment provides an automatic take-off and landing function and a designated route flight function using a geographical correction function, to provide flight control and route control functions of

And, the precise navigation and flight control flow applied to these special-purpose small unmanned aerial vehicles makes it possible to provide air pollutants and removal, and aircraft operation information transmission technology in addition to this.

To this end, the precise navigation and flight control flow applied to these special-purpose small unmanned aerial vehicles is set up by planning the mission, and the speed / By performing direction/height control, it provides an automatic take-off and landing function and a designated route flight function.

And, the precise navigation and flight control flow applied to the special-purpose small UAV also provides flight control and route control functions at a specific location by allowing missions to be performed through DGPS coordinate value analysis.

Additionally, by implementing an alarm function, the status of the drone is checked, and the start or re-inspection is performed according to the checked result.

Additionally, the special-purpose small unmanned aerial vehicle for monitoring and removing air pollutants according to another embodiment is different from the aforementioned PLC, and has an external input/output port, that is, a digital input, a digital output, an analog input. (Analoge Input: 4-20mA input, etc.) It is possible to provide a monitoring system that can directly handle communication ports such as RS-485 communication port, RS-232 communication port, LAN port, audio port, etc. let it be

To this end, the special-purpose small UAV for monitoring and removing air pollutants according to an embodiment includes a data collection unit that receives analog data and digital data from an external measurement device, respectively, and a commercial CPU accordingly.

The data collection unit includes an ADC converter that converts a signal of an analog sensor into a digital signal, a GPIO port for receiving an electrical input or output to control an external sensor by interworking with viewer software, and digital data from the external measuring device. An RS485 port, an RS232 port for communication with the data processing unit and communication with the viewer software, and an MCU connected to the ADC converter, GPIO port, RS485 port, and RS232 port to process data and execute control commands of the viewer software may include.

Therefore, through this, external input/output ports, that is, digital input, digital output, analog input (Analoge Input: 4-20mA input, etc.), RS-485 communication port, RS232 communication port, LAN (LAN) ) port, audio port, etc. are handled directly by the small UAV itself, so there is no need to discuss different specifications with each NVR company.

In addition, data output (D/O (data out)) for controlling external measuring devices, contact output, port for controlling alarm, etc., data input (D/I (data in)), analog input (Analog Input: 4-20mA input, etc.) is pre-processed by the MCU and delivered to the CPU, RS-485 communication port, LAN port, audio port, etc.

By trending data directly from Mera, administrators can easily grasp data such as water level, pressure, and temperature, and this has the effect of providing a method to efficiently control external systems.

And, in this case, the special-purpose small unmanned aerial vehicle for monitoring and removing the data input to the external input/output port according to an embodiment of the present invention converts the data directly into the memory of the small unmanned aerial vehicle (DATABASE) and displays it as an image on the monitor. When displaying, data trend in graph format should be displayed together.

To this end, the special-purpose small UAV for monitoring and removing air pollutants according to an embodiment is a monitoring area or analog or digital data such as fine dust processed together with the collected images of the monitoring area are stored as a database in the SD. The database along with the image can be displayed on the screen of the central control center as data trends in text or graph format.

The content displayed on the screen is a database of various conditions such as fine dust.

Suga is displayed together with the video, and when text is displayed on the video, it can be set as the text of the text, the unit of the text value, the location of the text on the screen, font, color, etc.

And, at the time of warning, the expression text is displayed in one of the cases of flickering in a specified color, or text is still in a specified color and the entire screen flickers in a specified color or black and white.

In addition, when displaying the database for various situations in the image as a data trend in graph format, the text, unit, and color of the data can be displayed as set by the administrator.

And, also, if the trend bar displayed on the video is moved at the desired time, the time value of the trend where the moved bar is located appears. After checking the data, the data value located on the moving bar automatically disappears. It includes a function to be displayed in either case of flickering in color or in the case of flickering in which the text is still in a specified color and the entire screen is flickering in a specified color in color or black and white.

The method of the program for setting the expression method when expressing the data trend in the form of data characters and graphs on the image consists of general, data analog, data digital input, and digital output.

General settings are made in general, and the camera unit is to select the type of the connected camera unit, the address is the network address of the selected camera unit, and the protocol is the camera such as LSIS, Modbus, Profibus It can be selected to match the part 50 .

And, communication (Communication) can be selected among RS-232, RS485, and LAN communication. In this case, the communication port (Comm. Port) selects the communication port (COM1, COM2, ... , COM10), the IP address is the IP address of the camera, and the trend of the history is Live Alternatively, it is possible to select from the history to search the stored previous data, the history to select the date of the previous data search, and the period to select the search date period.

In Analog, Enable means whether the displayed data is used or not, String is the name of the data, Measure is the data unit, X-axis is the coordinates of the X-axis to display text on the screen, Y-axis displays the text on the screen The coordinates of the Y-axis to be used, Size is the size of the character, Color is the color of the character, Display Status is either Text or Trend, and the Minimum Range is the minimum value of data. , Range Max is the highest value of data, and Display Time is the time when the X coordinate of the time domain is set among the trend coordinates when displaying a trend.

Enable of Digital Input indicates whether the displayed data is used or not, String is the name of the data, X-axis is the X-axis coordinate to display text on the screen, Y-axis is the Y-axis coordinate to display text on the screen , Size is the size of the text, Color is the color of the text, and Effect is the alarm method (fast blinking, slow blinking, screen blinking).

Set, Display Status is selected from Text or Trend, and DisplayTime is displayed as the set time among trend coordinates in the time domain when displaying a trend.

Enable of Digital Output is whether the displayed data is used or not, String is the name of the data, X-axis is the X-axis coordinate to display text on the screen, Y-axis is the Y-axis coordinate to display text on the screen , Size is the size of text, Color is the color of text, Effect sets the alarm method (character fast blinking, slow blinking, screen blinking), and Control Status is It includes a function that allows administrators to arbitrarily set a program that selects ON/OFF control of the control system.

Additionally, when the automatic flight control method applied to the embodiment is described in detail below,

It is as below.

First, for example, the guidance device transmits a guidance signal for automatic flight guidance and automatic position guidance of the unmanned drone based on a guidance request signal received from the unmanned drone.

This will be described in more detail as follows.

The unmanned drone sends a guidance request signal to request automatic flight guidance and automatic positioning guidance.

The guidance device receives the guidance request signal transmitted from the unmanned drone.

At this time, the induction device receives an induction request signal transmitted as one of a low frequency signal, a Z-Wavw signal, and a BLE signal.

The guidance device performs a conformance check on the received guidance request signal.

Then, the induction device detects authentication information (eg, password) included in the induction request signal.

The guidance device checks the suitability of the guidance request signal based on whether the detected authentication information matches the preset authentication information.

At this time, if it is determined that the guidance request signal is suitable because the two authentication information matches, the guidance device calculates the distance between the mobile body and the unmanned drone based on the guidance request signal.

That is, the induction device detects the intensity of the output signal included in the guidance request signal.

And, the guidance device measures the received signal strength of the guidance request signal.

The guidance device calculates the distance between the moving object and the unmanned drone based on the detected output signal strength and the measured received signal strength.

Then, the guidance device sets the transmission range of the guidance signal based on the distance between the moving object and the unmanned drone.

That is, the guidance device sets the transmission range of the guidance signal based on the calculated distance between the moving object and the unmanned drone.

In this case, the induction device may vary the transmission range based on whether or not a response signal to the induction signal is received.

That is, the guidance device increases the transmission range if a response signal is not received from the unmanned drone within a set time after the guidance signal is transmitted according to the preset transmission range, and decreases the transmission range if the response signal is received within the set time.

The guidance device generates position information of the moving object.

That is, the induction device senses at least one of the current position coordinates (x, y, z) and acceleration of the moving object through the G sensor that detects position information such as three-dimensional coordinates (x, y, z) and acceleration.

Then, the induction device generates position information including at least one of the sensed current position coordinates and acceleration.

In addition, the guidance device generates an automatic flight guidance signal based on the position information and the transmission range of the generated moving object.

That is, the guidance device generates an automatic flight guidance signal including the generated position information.

At this time, the guidance device generates an automatic flight guidance signal as a low-frequency signal or a high-frequency signal (eg, Z-Wave frequency signal, BLE frequency signal) based on the distance between the moving object and the unmanned drone.

That is, the guidance device generates a low-frequency automatic flight guidance signal when the distance between the moving object and the unmanned drone is less than or equal to a reference value (eg, 10 m).

And, when the distance between the moving object and the unmanned drone exceeds the reference value, the guidance device generates a high-frequency automatic flight guidance signal.

On the other hand, the guidance device generates an automatic position guidance signal based on the transmission range and the output strength of the guidance signal.

That is, the guidance device generates an automatic position guidance signal including authentication information and output signal strength.

At this time, the induction device sets the output strength of the automatic position guidance signal according to the preset transmission range to the output signal strength included in the automatic position guidance signal.

At this time, the guidance device generates an automatic position guidance signal as a low-frequency signal or a high-frequency signal (eg, Z-Wave frequency signal, BLE frequency signal) based on a preset transmission range.

That is, if the transmission range is less than a reference value (eg, 10m), the guidance device generates an automatic position guidance signal of a low frequency.

The guidance device generates a high-frequency automatic position guidance signal when the transmission range exceeds the reference value.

Then, the induction device transmits the generated guide signal.

That is, the guidance device transmits the generated automatic flight guidance signal and the generated automatic position guidance signal to the unmanned drone.

At this time, the induction device transmits the induction signal in a preset transmission range.

Here, the guidance device is described as transmitting the automatic flight guidance signal and the automatic position guidance signal at the same time, but may transmit only one of the two guidance signals.

The unmanned drone receives the guidance signal transmitted from the guidance device.

The unmanned drone transmits a response signal to the guidance signal to the guidance device.

At this time, if the received guidance signal is an automatic flight guidance signal, the unmanned drone sets the movement speed and movement direction of the unmanned drone based on the automatic flight guidance signal.

Then, the unmanned drone sets an automatic flight control value of the unmanned drone based on the received automatic flight guidance signal and the location information of the unmanned drone.

At this time, the unmanned drone sets an automatic flight control value including the moving speed and the moving direction.

This is explained as follows.

The unmanned drone detects the location information of the moving object from the received automatic flight guidance signal.

That is, the unmanned drone detects the position information of the moving object including the current position coordinates and the acceleration from the automatic flight guidance signal.

Unmanned drones generate location information.

That is, the unmanned drone senses at least one of the current position coordinates (x, y, z) and acceleration through a G sensor that detects position information such as three-dimensional coordinates (x, y, z) and acceleration.

The unmanned drone generates location information including at least one of the detected current location coordinates and acceleration.

The unmanned drone calculates the distance between the moving object and the unmanned drone based on the location information.

That is, the unmanned drone calculates the distance between the moving object and the unmanned drone based on the current location coordinates included in the automatic flight guidance signal and the current location coordinates of the detected location information.

If the calculated distance between the moving object and the unmanned drone is less than the set value, the unmanned drone

The speed included in the location information is set as the moving speed of the unmanned drone.

That is, the unmanned drone sets the speed included in the acceleration of the automatic flight guidance signal as the moving speed when the calculated distance is less than or equal to a preset value, that is, the distance between the moving object and the unmanned drone.

On the other hand, when the distance between the moving object and the unmanned drone exceeds a set value, the unmanned drone sets a speed higher than the speed included in the location information of the moving object as the moving speed.

That is, when the calculated distance exceeds a preset value, the unmanned drone sets a movement speed faster than the speed included in the acceleration of the automatic flight guidance signal.

Here, the unmanned drone sets the degree of speed of the movement speed according to the distance from the moving object.

The unmanned drone sets the direction included in the location information of the moving object as the moving direction.

That is, the unmanned drone sets the moving direction to the direction included in the acceleration of the automatic flight guidance signal.

The unmanned drone automatically flies based on the set movement speed and direction.

That is, the unmanned drone flies in the set moving direction at the set moving speed.

On the other hand, if the guidance signal is an automatic position guidance signal, the unmanned drone sets an automatic position based on the automatic flight guidance signal.

This is explained as follows.

The unmanned drone detects a three-way guidance signal from the received automatic flight guidance signal.

That is, the unmanned drone detects an X-direction (X-axis) signal, a Y-direction (Y-axis) signal, and a Z-direction (Z-axis) signal from the automatic position guidance signal.

The unmanned drone senses the signal strength of the detected three-way guidance signal.

That is, the unmanned drone detects the signal strength (ie, X-direction RSSI, Y-direction RSSI, Z-direction RSSI) for each detected direction guidance signal.

And, the unmanned drone detects the output signal strength from the received automatic flight guidance signal.

That is, the unmanned drone detects the output signal strength of the guidance signal from the automatic position guidance signal.

The unmanned drone calculates the 3-way distance based on the signal strength of the 3-way guidance signal and the output signal strength.

That is, the unmanned drone calculates the three-way distance based on the ratio of the signal strength of the guidance signal in each direction to the output signal strength.

In this case, the unmanned drone is a three-way distance, which means the X-direction distance, the Y-direction distance, and the Z-direction distance, between the guidance device installed on the moving object and the current location of the unmanned drone, or a position that maintains a predetermined distance between the guidance device and the moving object and the unmanned drone Calculate the three-way distance, which means the X-direction distance, the Y-direction distance, and the Z-direction distance between the current locations of .

The unmanned drone sets an automatic positioning value including the calculated three-way distance.

That is, the unmanned drone sets an automatic positioning value including the calculated three-way distance.

The unmanned drone flies to the set automatic position. That is, the unmanned drone flies based on the three-way distance included in the automatic positioning value and moves to a set moving object or a position maintaining a predetermined distance from the moving object.

As described above, the automatic flight control system and method of an unmanned drone transmits a guide signal from a guide device installed on a moving object and automatically flies based on the guide signal from the unmanned drone, so that the unmanned drone maintains a certain distance from the moving object while maintaining a certain distance. It has the effect of being able to fly.

100: camera device 200: central control center
110: camera module 120: DSP unit
130: sensor unit 140: PLC

Claims (2)

A camera module for photographing a monitoring target during flight;
DSP unit for digital signal processing the result photographed by the camera module;
When the flight, a first sensor unit for detecting air pollutants;
a second sensor unit including at least one sensor for detecting a flight state when the flight is performed;
a sensor fusion device for estimating a flight state by combining the flight state results sensed by the second sensor unit;
Based on the result captured by the camera module and the result detected by the first sensor unit, air pollutants are monitored and provided to a pre-registered Ground Control System (GCS), and the flight state estimated by the sensor fusion device PLC that controls the flight operation according to; and
a driving unit for driving the flight operation under the control of the PLC; contains,
The PLC includes an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants; contains,
The PLC is
a power module for supplying power to the PLC itself;
a serial communication module for communicating with a control unit other than the PLC;
an A/D module for digitally converting analog information including an analog air pollutant detection result by the first sensor unit and an analog flight state detection result by the sensor fusion device;
D/A module for converting digital information by digital unit to analog;
a D/I module for receiving digital information including a digital air pollutant detection result by the first sensor unit and a digital flight state detection result by the sensor fusion device;
a D/O module for outputting digital information including a detection result of digital air pollutants by the first sensor unit;
an IOT module that communicates with the GCS as IOT data for the monitoring result of the air pollutants; and
CPU module for controlling each module; including,
The CPU module is
a) When the image signal by the camera module and the detection signal by the first sensor unit are input, the database is directly stored in its own memory so that the graph-type data trend is displayed together when it is displayed as an image on the monitor, ,
b) When the data trend is expressed, analog or digital data including fine dust processed together with the collected images of the monitoring area or the monitoring area are stored as a database in SD and displayed as a data trend in text or graph format. do,
c) When the database containing the fine dust is displayed as text along with the image, the text, unit, and color of the image are displayed in the database according to the administrator setting, and the text of the text and the text value are displayed in the corresponding image. It is expressed by setting the unit, the position of the text on the screen, the font, the color, etc.
The IOT module is
Equipped with its own TTS engine, different voice alarms are made according to the voice information based on the air pollutant detection result of the first sensor unit,
It receives external voices related to monitoring and removal of air pollutants, performs noise cancellation, and outputs audio.

The CPU module is
The drive unit is calibrated according to the mission and control specifications of the small UAV in use by a motor map table that defines the conversion relationship between the required operation value and the target output value corresponding to each mission and control specification of a number of different small UAVs. control the flight motion driving motion,
The IOT module is
A communication module is provided for each communication type corresponding to a number of different GCS devices and surrounding environments,
The CPU module is
Among the communication modules, any one is set and applied differently depending on the communication type corresponding to the GCS device in use and the surrounding environment,
mapping RSSI characteristics from a unique GCS corresponding to a plurality of different surrounding environments to detect the current surrounding environment; Special purpose small unmanned aerial vehicle for monitoring and removing air pollutants characterized by delete

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