KR102321351B1 - Integrated control system for drone - Google Patents

Abstract

Provided is an integrated control system for a drone. The integrated control system for the drone according to an embodiment of the present invention comprises: a flight control module comprising a first printed circuit board and a flight controller mounted on the first printed circuit board; and a function control module comprising a second printed circuit board and a function controller mounted on the second printed circuit board. Here, the flight controller controls a flight driving part so that the drone flies according to the location information by a GPS module; the function controller detects and alarms a state of the drone, adjusts a temperature of the drone, and controls an extension function part to photograph the front of the drone; the flight controller and the function controller are processed in parallel; and the function controller commands the flight controller to fly the drone according to an operation of the extension function part. Therefore, the present invention is capable of improving an efficiency and safety of flight.

Description

Integrated control system for drones

The present invention relates to an integrated control system for drones.

A drone is a type of unmanned aerial vehicle (RC) that is controlled by an airplane or helicopter. These drones were initially developed for military purposes, but as they became more common, personal products also appeared.

Recently, drones are being used for various purposes as their utility increases due to various advantages such as being able to increase accessibility by flying and shortening travel time. For example, drones are rapidly expanding the market to industrial and private sectors such as broadcast photography, telecommunication relay, agriculture, reconnaissance, delivery, and leisure.

On the other hand, drones will be equipped with additional functions to perform missions along with flight functions. At this time, the drone uses a semiconductor chip that provides additional functions such as flight function and simple communication and sensor function as a single controller.

However, since the conventional drone has a large amount of computation for the flight function and the amount of computation for the additional function is also large as needed, in the case of a single controller, the control of the additional function may not be normally performed according to the control that takes precedence over the flight function. In this case, an error in the additional function may rather adversely affect the flight function, resulting in accidents such as a fall.

In addition, in recent years, the extension of functions according to various missions is required for drones, but it is difficult to expand the functions due to the limited functions provided by a single controller and the design of additional circuits for implementing the functions.

US 10-2210083 B1

In order to solve the problems of the prior art as described above, an embodiment of the present invention is to provide an integrated control system for a drone that can enhance flight efficiency, safety, and scalability of functions by strengthening the flight assistance function.

According to an aspect of the present invention for solving the above problems, a first printed circuit board; and a flight control module including a flight controller mounted on the first printed circuit board; and a second printed circuit board; and a function control module including a function controller mounted on the second printed circuit board, wherein the flight controller controls the flight driving unit to fly the drone according to the location information by the GPS module, and the function controller is Detects and alarms the state of the drone, controls the temperature of the drone, controls the extended function unit to photograph the front of the drone, the flight controller and the function controller are processed in parallel, and the function controller is the extended function unit There is provided an integrated control system for a drone that instructs the flight controller to fly the drone according to an operation.

In one embodiment, the first printed circuit board is laminated on the second printed circuit board through a fastener, and the second printed circuit board has one end of a GPIO (General-Purpose Input/Output) port mounted, , The first printed circuit board has a hole formed at a position corresponding to the GPIO port, the other end of the GPIO port is inserted into the hole, and the other end of the GPIO port can be connected to the extension function unit.

In one embodiment, the extended function unit includes a sensing unit for detecting the state of the drone; LED that emits light to alarm the state of the drone; a heat dissipation fan for cooling the main body of the drone; a heating film for heating the drone's battery; a speaker outputting a voice to guide the flight of the drone; and a camera for photographing the front of the drone. may include at least one of

In one embodiment, the sensing unit is a lidar sensor for detecting an object in front of the drone; a temperature sensor for detecting the temperature of the drone; a humidity sensor for detecting the humidity of the drone; And it may include at least one of a wind speed sensor for detecting the wind speed around the drone.

In one embodiment, the function controller detects the current humidity and wind speed through the extended function unit, and if the humidity is greater than or equal to the critical humidity (TH1) or the wind speed is greater than or equal to the critical wind speed (TH2), the drone is a starting point or a nearest landing point may instruct a return command to the flight controller to move to

In one embodiment, when the drone starts landing, the function controller detects the current temperature through the extended function unit and, if the temperature is above the threshold temperature (TH3), moves the drone to the starting point or the next mission point A return command may be directed to the flight controller.

In an embodiment, when the function controller detects an obstacle through the extended function unit, the function controller detects the current altitude through the GPS module and, if the current altitude is less than the threshold altitude TH4 and does not hover, the obstacle Recognizes as the ground and instructs the flight controller to ignore the drone to fly while ignoring the ground, and when hovering, recognizes the obstacle as the obstacle and instructs the flight controller to avoid maneuvering so that the drone avoids the obstacle. have.

In one embodiment, when the drone starts landing, the function controller acquires an image through the extended function unit to recognize an object, and if the recognized object is an obstacle, the flight controller so that the drone avoids the obstacle You can instruct an evasive maneuver command with

The integrated control system for drones according to an embodiment of the present invention enhances flight assistance functions by adding a separate function controller, thereby reducing the computational burden of the flight controller and enabling normal control of additional functions, so flight efficiency and safety can improve

In addition, the integrated control system for a drone according to an embodiment of the present invention can process the flight controller and the function controller in parallel, so that the flight function and the additional function can be distributed and the flight efficiency and safety can be further improved.

In addition, the integrated control system for drones according to an embodiment of the present invention applies the HAT structure and stacks the flight controller module and the function controller module, so that the reliability of the hardware connection between the flight controller and the function controller can be secured. An integrated control system can be built stably.

In addition, the integrated control system for a drone according to an embodiment of the present invention can improve the scalability of additional functions other than flight by adding additional functions to the function controller module, so that various tasks by the drone can be provided.

In addition, the integrated control system for a drone according to an embodiment of the present invention instructs the return command to the flight controller when the function controller detects the surrounding environment and determines that it is a risk factor to the flight of the drone, thereby preventing damage to the drone by the surrounding environment. By preventing it, the service life can be extended, so that economic efficiency can be improved.

In addition, the integrated control system for a drone according to an embodiment of the present invention can prevent errors such as evasive maneuvers on the ground by accurately recognizing the ground according to the current altitude or whether it is hovering, so that flight reliability can be improved.

In addition, the integrated control system for a drone according to an embodiment of the present invention recognizes an obstacle from an image acquired at the time of landing and instructs an avoidance maneuver command, thereby ensuring safety at the time of landing. damage to the equipment can be prevented.

1 is a perspective view of a drone according to an embodiment of the present invention.
2 is a block diagram of an integrated control system for a drone according to an embodiment of the present invention.
FIG. 3 is a detailed block diagram of the extended function unit of FIG. 2 .
4 is an exploded perspective view of an integrated control system for a drone according to an embodiment of the present invention.
5 is a plan view of the flight controller module of FIG. 4 .
6 is a view for explaining obstacle recognition according to the flight state of the drone in the integrated control system for a drone according to an embodiment of the present invention.
7 is a flowchart of a first example of a return procedure of an integrated control system for a drone according to an embodiment of the present invention.
8 is a flowchart of a second example of a return procedure of an integrated control system for a drone according to an embodiment of the present invention.
9 is a flowchart of a ground recognition procedure of an integrated control system for a drone according to an embodiment of the present invention.
10 is a flowchart of an obstacle recognition procedure upon landing of an integrated control system for a drone 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 many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

Hereinafter, an integrated control system for a drone according to an embodiment of the present invention will be described in more detail with reference to the drawings. 1 is a perspective view of a drone according to an embodiment of the present invention.

Referring to FIG. 1 , a drone 10 according to an embodiment of the present invention may include a body 11 , a motor 12 , a propeller 13 , and a leg 14 .

Such a drone 10 may be a delivery drone. Here, the drone 10 may fly to a specific destination designated for delivery. Also, the drone 10 may fly to a plurality of destinations. In addition, a plurality of points for emergency landing of the drone 10 may be set.

The main body 11 has built-in main components for the flight of the drone 10 and may be formed in various shapes suitable for flight. That is, the main body 11 may have components for flight functions and additional functions built-in. Here, the additional function may be a function other than flight as described later with reference to FIG. 3 , and may be a function for performing a mission of the drone 10 or an auxiliary function of flight.

The motor 12 is connected from the body 11 through an arm and may be provided under the propeller 13 . This motor 12 provides power for rotating the propeller 13 , and may be provided in pairs with the propeller 13 .

The propeller 13 may be connected through arms in all directions of the body 11 . The propeller 13 is to form lift by rotation so that the drone 10 can fly, and may be provided symmetrically with respect to the center of the main body 11 . In the drawings, the propeller 13 is illustrated and described as being provided in four, but is not limited thereto and may be provided in plurality in all directions with respect to the main body 11 .

A plurality of legs 14 may be provided on the lower side of the main body 11 . These legs 14 are for supporting the ground when the drone 10 lands. Accordingly, the legs 14 may be provided symmetrically with respect to the center of the main body 11 so as to maintain the balance of the drone 10 . In the drawings, the legs 14 are illustrated and described as being provided on both sides of the main body 11 , but the present invention is not limited thereto and may be provided in plurality in all directions with respect to the main body 11 .

In addition, although not shown in the drawing, a device for the mission of the drone 10 may be provided on the lower side of the main body 11 between the legs 14 . For example, a device for loading and discharging cargo for a delivery mission of the drone 10 may be provided.

2 is a block diagram of an integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 2 , the integrated control system 100 for a drone is a controller of the drone 10 , and is communicatively connected to main components of the drone 10 to control them. In this case, the integrated control system 100 for a drone may include a flight controller module 110 and a function controller module 120 . Here, the flight controller module 110 and the function controller module 120 may be connected to a GPIO (General-Purpose Input/Output) connector.

In this way, the integrated control system 100 for a drone according to an embodiment of the present invention can enhance the flight assistance function by adding a separate function controller module 120 . Therefore, the integrated control system 100 for a drone reduces the computational burden of the flight controller module 110 and at the same time enables normal control of additional functions other than flight, so that flight efficiency and safety can be improved.

The flight controller module 110 may receive a supply from the battery 15 and provide it to the function controller module 120 . Here, the battery 15 may be mounted on the upper or lower portion of the main body 11 . The battery 15 may be detachably provided from the main body 11 as a rechargeable battery.

In addition, the flight controller module 110 may control to communicate with the remote controller through the RC communication unit 16a for flight settings or direct adjustment. Here, the remote controller may instruct the drone 10 to control and control overall mission performance of the drone 10 .

In addition, the flight controller module 110 may receive location information through the GPS module 112 to control the flight of the drone 10 . Here, the GPS module 112 may be a built-in module embedded in the flight controller module 110 . In addition, the GPS module may be an external module attached to the upper plate of the main body 11 .

In addition, the flight controller module 110 may control the flight driving unit 18 according to the flight calculation based on the location information of the GPS module 112 including the altitude and coordinates. Here, the flight driving unit 18 may include a motor 12 and a propeller 13 . In addition, the flight driving unit 18 may include a gyroscope or a 3-axis accelerometer for maintaining the posture of the drone 10 .

The function controller module 120 may control the drone 10 to communicate with a ground control system (GCS) through the wireless communication unit 16b to perform a mission. Here, the ground control system (GCS) may instruct the drone 10 to control and control overall mission performance of the drone 10 . For example, the wireless communication unit 16b may communicate using a communication method such as satellite communication, Bluetooth, Wi-Fi, and a cellular system.

In addition, the function controller module 120 is equipped with a storage unit 17 can be shared with the flight controller module (110). Here, the storage unit 17 may store flight-related information and information related to additional extended functions. For example, the storage unit 17 may be an SD memory card.

In addition, the function controller module 120 may control the extended function unit 19 to perform a function added according to the mission of the drone 10 or an auxiliary function of the flight in addition to flight. For example, the extended function unit 19 may perform a state detection function, an alarm function, a temperature control function, and a photographing function of the drone 10 .

FIG. 3 is a detailed block diagram of the extended function unit of FIG. 2 .

Referring to FIG. 3 , the extended function unit 19 includes at least one of a sensing unit 19a, an LED 19b, a cooling fan 19c, a heating film 19d, a speaker 19e, and a camera 19f. can do.

The sensing unit 19a may detect various states of the drone 10 . The sensing unit 19a may include at least one of a lidar sensor 191 , a temperature sensor 192 , a humidity sensor 193 , and a wind speed sensor 194 .

The lidar sensor 191 may detect an object in front of the drone 10 . The lidar sensor 191 may detect the distance, direction, and speed of the object by irradiating ultrasonic waves to the object and receiving a reflected wave.

The temperature sensor 192 may detect the temperature of the drone 10 . The temperature sensor 192 may detect the temperature of the battery 15 , the temperature of the body 11 , and the temperature of the vicinity of the body 11 . For example, the temperature sensor 192 may be provided separately for each function. A fire according to the critical temperature TH3 may be predicted using the temperature sensor 192 .

The humidity sensor 193 may detect the humidity of the drone 10 . The humidity sensor 193 may detect humidity inside or outside the body 11 . Rain or precipitation according to the critical humidity TH1 may be predicted using the humidity sensor 193 .

The wind speed sensor 194 may detect a wind speed around the drone 10 . The wind speed sensor 194 may sense the wind speed as well as the air volume. A typhoon according to the critical wind speed TH2 may be predicted using the wind speed sensor 194 .

The LED 19b may emit light to alarm the state of the drone 10 . For example, the LED 19b may alarm at a designated period to alarm the take-off, landing, or emergency situation or state of the drone 10 . These LEDs 19b may be provided on the outer surface of the body 11 .

The cooling fan 19c may cool the main body 11 of the drone 10 . Here, the cooling fan 19c may be operated by the function controller module 120 when the temperature of the main body 11 sensed by the temperature sensor 192 is equal to or greater than the heat detection temperature. For example, the temperature for detecting heat may be 40°C. Such a cooling fan 19c may be provided above or below the integrated control system 100 for drones.

The heating film 19d may heat the battery 15 of the drone 10 . Here, the heating film 19d may be operated by the function controller module 120 when the temperature of the battery 15 sensed by the temperature sensor 192 is below the cooling detection temperature. For example, the cooling sensing temperature may be -15°C. The heating film 19d may be attached to the upper or lower side of the battery 15 .

The speaker 19e may output a voice to guide the flight of the drone 10 . Here, the guide voice may be stored in advance in the storage unit 17 . As an example, the speaker 19e may output a flight-related message of the drone 10 and an ambient warning or alarm message by voice. Such a speaker 19e may be provided on the outer surface of the main body 11 .

The camera 19f may photograph the front of the drone 10 . Here, the front may be defined based on the flight direction. Such a camera 19f may be provided under the main body 11 of the drone 10 . In addition, a plurality of cameras 19f may be provided in all directions of the drone 10 .

4 is an exploded perspective view of an integrated control system for a drone according to an embodiment of the present invention, and FIG. 5 is a plan view of the flight controller module of FIG. 4 .

Referring to FIG. 4 , the integrated control system 100 for a drone may include a flight controller module 110 and a function controller module 120 .

The flight controller module 110 may include a first printed circuit board 110a and a flight controller 111 . At this time, the flight controller 111 may be mounted on the first printed circuit board (110a). Here, the flight controller 111 may control the flight driving unit 18 to fly the drone 10 according to location information by the GPS module 112 or an external GPS module (not shown). That is, the flight controller 111 may be a flight-only controller.

The function controller module 120 may include a second printed circuit board 120a and a function controller 121 . In this case, the function controller 121 may be mounted on the second printed circuit board 120a. Here, the function controller 121 may control the extended function unit 19 to detect and alarm the state of the drone 10 , adjust the temperature of the drone 10 , and photograph the front of the drone 10 . . That is, the function controller 121 may be a dedicated controller for peripheral devices of the drone 10 provided to perform functions other than flight.

Accordingly, since the integrated control system 100 for a drone according to an embodiment of the present invention can easily expand additional functions using the function controller module 120 regardless of the flight controller 111, additional functions other than flight Function scalability can be improved. Therefore, the integrated control system 100 for a drone may provide various tasks by the drone 10 .

In this case, the first printed circuit board 110a may be laminated to the second printed circuit board 120a in a HAT structure. That is, the first printed circuit board 110a may be laminated to the second printed circuit board 120a through the fastening part 130 .

Here, the fastening part 130 may include a bolt-type support 131 and a bolt 132 . The bolt-type support 131 may be disposed between the first printed circuit board 110a and the second printed circuit board 120a to be coupled to the second printed circuit board 120a. The bolt 132 may be coupled to the bolt-type support 131 on the first printed circuit board 110a.

In addition, the first printed circuit board 110a may be connected to the second printed circuit board 120a through the GPIO port 125 . That is, one end of the GPIO port 125 may be mounted on the second printed circuit board 120a. At this time, as shown in FIG. 5 , the first printed circuit board 110a may have a first hole 118 formed at a position corresponding to the GPIO port 125 . The other end of the GPIO port 125 , that is, the GPIO pin 125a may be inserted into the first hole 118 . In this case, the GPIO pin 125a may be electrically connected to the first printed circuit board 110a by soldering.

Here, a portion of the GPIO pin 125a may protrude upward of the first hole 118 of the first printed circuit board 110a. In this case, the GPIO pin 125a may be connected to the extension function unit 19 . That is, the extended function unit 19 may be connected to the GPIO pin 125a through a cable or connector.

Accordingly, the integrated control system 100 for a drone according to an embodiment of the present invention can secure the reliability of hardware fastening between the flight controller 111 and the function controller 121, so that the integrated integrated control system can be stably performed. can be built

In addition, as shown in FIG. 5 , the first printed circuit board 110a includes a GPS module 112 , a can port 113 , a GPS port 114 , a work port 115 , a teleport 116 and a power supply. A port 117 may be additionally mounted.

The GPS module 112 is a built-in module and provides location information to the flight controller 111 together with an external GPS module (not shown), and is converted to the main GSP in case of emergency.

The CAN port 113 may be connected to various sensors for use in the flight controller 111 . For example, the sensor class may include a gyroscope or a three-axis accelerometer.

The GPS port 114 may be connected to an external GPS module (not shown) mounted on the upper surface of the main body 11 .

The work port 115 is a USB port, and a work device for uploading or downloading the firmware of the flight controller 111 or the function controller 121 may be connected.

The teleport 116 may be connected to a radio communication unit (not shown). The radio communication unit may be a communication module that performs communication in a radio frequency band as a spare function of the wireless communication unit 16b.

The power port 117 may be connected to the battery 15 .

In addition, the first printed circuit board 110a may be provided with a second hole 119 to mount an output port (not shown). Here, the output port (not shown) may include a motor output terminal output from the flight controller 111 to drive the motor 12 . Also, the output port (not shown) may be connected to the RC communication unit 16a.

As shown in FIG. 4 , the second printed circuit board 120a may additionally mount a communication port 122 , a LAN port 124 , an expansion port 124 and an SD card socket 126 .

The communication port 122 may be connected to the wireless communication unit 16b as a USB port.

The LAN port 124 may be connected to a wireless communication unit such as an LTE router through a LAN line.

The expansion port 124 is for mounting a module for performing an additional expansion function for the function controller 121 .

The SD card socket 126 is a storage unit 17 , and an SD memory card may be mounted thereon. That is, the SD card socket 126 may be connected to the storage unit 17 .

On the other hand, the flight controller 111 and the function controller 121 may be processed in parallel. That is, the flight controller 111 and the function controller 121 may be processed independently of each other. In this case, the function controller 121 may instruct the flight controller 111 to assist the flight of the drone 10 according to the operation of the extended function unit 19 .

Accordingly, the integrated control system 100 for a drone according to an embodiment of the present invention can independently and simultaneously perform distributed processing of the flight function and the additional function, so that the operation result of the additional function can be efficiently utilized for the flight function. Therefore, the integrated control system 100 for drones can further improve flight efficiency and safety.

More specifically, the function controller 121 may detect the humidity and wind speed through the humidity sensor 193 and the wind speed sensor 194 of the extended function unit 19 to determine the surrounding environment state of the drone 10 . In this case, if the surrounding environment is determined to be a risk factor for the flight of the drone 10 , the function controller 121 may instruct the flight controller 111 to return the drone 10 to protect the drone 10 .

For example, if the current humidity is greater than or equal to the critical humidity TH1 or the current wind speed is greater than or equal to the critical wind speed TH2, the function controller 121 may determine that the drone 10 is a risk factor for flying. Here, the critical humidity TH1 may be rainfall or humidity expected due to precipitation. In addition, the critical wind speed TH2 may be a wind speed or wind volume expected as a typhoon.

In this case, the function controller 121 may instruct a return command to the flight controller 111 so that the drone 10 moves to a starting point or a nearest landing point. Here, the landing point may be a plurality of places preset for the purpose of recovering the drone 10 or emergency landing of the drone 10 .

Also, when the drone 10 starts landing, the function controller 121 may detect a temperature through the temperature sensor 192 of the extended function unit 19 to determine the surrounding environment state of the drone 10 . . At this time, if the surrounding environment is determined as a risk factor for flight, the function controller 121 may instruct the flight controller 111 to return the drone 10 to protect the drone 10 .

For example, if the current temperature at the time of landing of the drone 10 is greater than or equal to the critical temperature TH3, the function controller 121 may determine that the drone 10 is a risk factor for flight. Here, the critical temperature TH3 may be a temperature expected to be a fire.

In this case, the function controller 121 may instruct a return command to the flight controller 111 so that the drone 10 moves to a starting point or a next mission point. Here, the next mission point may be a destination of the next order when the drone 10 delivers a plurality of cargo days.

Accordingly, the integrated control system 100 for a drone according to an embodiment of the present invention can prevent damage to the drone 10 due to the surrounding environment, thereby extending the service life of the drone 10, thereby improving economic efficiency. have.

6 is a view for explaining obstacle recognition according to the flight state of the drone in the integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 6 , the drone 10 normalizes the obstacle 2 that exists in the front because the camera looks at the front in the flight direction parallel to the ground 1 during hovering or normal flight as shown in (a). can detect

However, as shown in (b), when the drone 10 is flying in a tilted state, such as during landing, the camera's viewing angle is also tilted, and the ground 1 may be mistaken for an obstacle. In this case, the drone 10 may cause a malfunction of moving away from the ground 1 rather than maneuvering to avoid the ground 1 mistaken as an obstacle.

In order to solve this problem, the integrated control system 100 for a drone according to an embodiment of the present invention is to prevent malfunction due to mistaking the ground as an obstacle depending on the altitude and whether it is hovering.

More specifically, when detecting an obstacle through the camera 19f of the extended function unit 19 , the function controller 121 may determine whether the obstacle is not on the ground according to the altitude and whether or not it is hovering. At this time, if the function controller 121 determines that the detected obstacle is the ground, it may instruct the flight controller 111 to ignore the command for reliability of flight.

For example, if the function controller 121 does not hover while the current altitude is less than the threshold altitude TH4 after detecting the obstacle, it may be determined that the obstacle is misidentified. Here, the critical altitude TH4 may be an altitude expected for low-altitude flight.

In this case, the function controller 121 may recognize the detected obstacle as the ground and instruct the flight controller 111 to ignore the drone 10 so as to ignore the ground and fly.

In addition, when the current altitude is greater than the critical altitude TH4 or the drone 10 is in a hovering state, the function controller 121 may recognize the recognized obstacle as a normal obstacle. In this case, the function controller 121 may instruct the flight controller 111 to avoid maneuvering commands so that the drone 10 avoids the obstacle.

Accordingly, the integrated control system 100 for a drone according to an embodiment of the present invention can prevent errors such as evasive maneuvers on the ground due to misrecognition, and thus can improve flight reliability.

Also, when the drone 10 starts landing, the function controller 121 may acquire an image through the camera 19f of the extended function unit 19 and recognize an obstacle from the image. In this case, when a collision with an obstacle is expected, the function controller 121 may instruct an avoidance maneuver command to the flight controller 111 to prevent the collision.

As an example, the function controller 121 may acquire an image through the camera 19f upon landing of the drone 10 and recognize an object from the acquired image. At this time, if the recognized object is an obstacle, the function controller 121 may instruct the flight controller 111 to instruct the flight controller 111 to avoid the obstacle so that the drone 10 avoids the obstacle.

Accordingly, the integrated control system 100 for a drone according to an embodiment of the present invention can ensure safety of landing by preventing collision with obstacles during landing of the drone 10, so that the drone itself is damaged or exists near the landing. damage to the equipment can be prevented.

Hereinafter, an operation of the integrated control system 100 for a drone according to an embodiment of the present invention will be described with reference to FIGS. 7 to 10 .

7 is a flowchart of a first example of a return procedure of an integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 7 , the integrated control system 100 for a drone according to an embodiment of the present invention is a first example 200 of a return procedure. First, according to a setting by a remote controller or a ground control system (GCS) The flight is started (step S210). In this case, the integrated control system 100 for the drone may start the flight of the drone 10 by the flight controller 111 .

Next, the function controller 121 determines whether the current humidity is less than the threshold humidity TH1 through the humidity sensor 193 (step S220). Here, the function controller 121 may predict rain or precipitation according to the humidity.

As a result of the determination in step S220, if the current humidity is greater than or equal to the critical humidity (TH1), the function controller 121 determines that rain or precipitation is highly probable, so that the drone 10 is used as a starting point or recently to protect the drone 10. Instructs the return command to the flight controller 111 to move to the landing point (step S240). In this case, as the flight controller 111 controls the drone 10 according to the command of the function controller 121 , the drone 10 may move to a starting point or a nearest landing point.

If it is determined in step S220 that the current humidity is less than the critical humidity TH1, the function controller 121 determines whether the current wind speed is less than the critical wind speed TH2 through the wind speed sensor 194 (Step S220). S230). Here, the function controller 121 may predict a typhoon according to the wind speed.

As a result of the determination in step S230, if the current wind speed is greater than or equal to the critical wind speed TH2, the function controller 121 determines that the possibility of a typhoon is high and proceeds to step S240 to protect the drone 10, A return command may be instructed to the flight controller 111 to move to the starting point or the nearest landing point.

As a result of the determination in step S230, if the current wind speed is less than the critical wind speed TH2, the function controller 121 may return to step S220 to continuously detect humidity or wind speed.

8 is a flowchart of a second example of a return procedure of an integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 8 , the integrated control system 100 for a drone according to an embodiment of the present invention is a second example 300 of a return procedure, and first, starts landing with an arbitrary landing according to flight settings (step S310). In this case, the integrated control system 100 for the drone may start the flight of the drone 10 by the flight controller 111 .

Next, the function controller 121 determines whether the current temperature is greater than the threshold temperature TH3 through the temperature sensor 192 (step S320). Here, the function controller 121 may predict a fire at the landing site according to the temperature.

As a result of the determination in step S320, if the current temperature is greater than the critical temperature TH3, the function controller 121 determines that the fire probability of the landing site is high and the drone 10 is the starting point or the next mission in order to protect the drone 10 Instructs the return command to the flight controller 111 to move to the point (step S330). In this case, as the flight controller 111 controls the drone 10 according to the command of the function controller 121 , the drone 10 may move to a starting point or a next mission point.

As a result of the determination in step S320, if the current temperature is below the threshold temperature TH3, the function controller 121 instructs the flight controller 111 to land the drone 10 normally (step S340). In this case, the flight controller 111 controls the drone 10 according to the command of the function controller 121 , so that the drone 10 can land normally.

9 is a flowchart of a ground recognition procedure of an integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 9 , the integrated control system 100 for a drone according to an embodiment of the present invention is a ground recognition procedure 400 , and first recognizes an image acquired through a camera 19f to detect an obstacle ( step S410). In this case, the integrated control system 100 for the drone may detect an obstacle in front of the drone 10 by the function controller 121 .

Next, the function controller 121 determines whether the current altitude is less than the threshold altitude TH4 through the GPS module (step S420). Here, the function controller 121 may determine whether the drone 10 will photograph the ground according to the altitude.

If it is determined in step S420 that the current altitude is less than the critical altitude TH4, the function controller 121 determines whether the drone 10 is hovering (step S430). Here, the function controller 121 may determine whether it is moving.

As a result of the determination of step S420, if the current altitude is less than the critical altitude TH4 or as a result of determination of step S430, the drone 10 is hovering, the function controller 121 recognizes the detected obstacle as a normal obstacle (step S430). S440). That is, the function controller 121 determines that the drone 10 maintains a horizontal upright posture because the drone 10 does not fly at a high altitude or move by hovering, and thus determines that the obstacle is normally recognized.

Next, the function controller 121 instructs an avoidance maneuver command to the flight controller 111 so that the drone 10 avoids the obstacle (step S450). In this case, the flight controller 111 controls the drone 10 according to the command of the function controller 121 , so that the drone 10 can move while avoiding the obstacle.

If it is determined in step S430 that the drone 10 is not hovering, the function controller 121 recognizes the detected obstacle as the ground (step S460). That is, the function controller 121 determines that the drone 10 has an inclined posture or that the ground is included in the photographed image because the drone 10 moves at a low altitude, and thus the ground is mistaken for an obstacle.

Next, the function controller 121 instructs the ignore command to the flight controller 111 so that the drone 10 ignores the ground and flies for the normal flight of the drone 10 (step S470). In this case, since the flight controller 111 controls the drone 10 according to the command of the function controller 121 , the drone 10 can continuously move while ignoring the ground.

10 is a flowchart of an obstacle recognition procedure upon landing of an integrated control system for a drone according to an embodiment of the present invention.

Referring to FIG. 10 , the integrated control system 100 for a drone according to an embodiment of the present invention is an obstacle recognition procedure 500 upon landing, and first, starts landing with an arbitrary landing according to flight settings (step S510). ). In this case, the integrated control system 100 for the drone may start the flight of the drone 10 by the flight controller 111 .

Next, the function controller 121 acquires an image with the camera 19f (step S520). In this case, the function controller 121 may control the camera 19f to photograph the vicinity of the landing of the drone 10 .

Next, the function controller 121 recognizes an object from the captured image (step S530). In this case, the function controller 121 may classify the object included in the image according to the prior learning.

Next, the function controller 121 determines whether the recognized object is an obstacle (step S540). In this case, the function controller 121 may determine an obstacle according to a previously learned classification.

The determination result of step S540. If the recognized object is an obstacle, the function controller 121 instructs an avoidance maneuver command to the flight controller 111 so that the drone 10 avoids the obstacle in order to prevent collision of the drone 10 (step S550). In this case, the flight controller 111 controls the drone 10 according to the command of the function controller 121 , so that the drone 10 avoids the obstacle and can land safely on the landing.

As a result of the determination in step S540, if the recognized object is not an obstacle, the function controller 121 may proceed to step S520 and continuously perform the obstacle determination in steps S520 to S540.

The above operations may be implemented by an integrated control system for a drone as shown in FIG. 2, and in particular, may be implemented as a software program for performing these steps, in this case, these programs are computer-readable recording media It may be stored on a computer or transmitted by a computer data signal combined with a carrier wave in a transmission medium or a communication network.

At this time, the computer-readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored, for example, ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, It may be a floppy disk, a hard disk, an optical data storage device, or the like.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention can add components within the scope of the same spirit. , changes, deletions, additions, etc. may easily suggest other embodiments, but this will also fall within the scope of the present invention.

10: drone 11: main body
12 ; Motor 13: Propeller
14: leg 15: battery
16a: RC communication unit 16b: wireless communication unit
17: storage unit 18: flight driving unit
19: extended function unit 100: integrated control system for drones
110: flight controller module 110a: first printed circuit board
111: flight controller 112: GPS module
113: can port 114: GPS port
115: work port 116: teleport
117: power port 118: first hole
119: second hall 120: function controller module
120a: second printed circuit board 121: function controller
122: communication port 123: LAN port
124: expansion port 125: GPIO port
125a: GPIO pin 126: SD card socket
130: fastening part 131: bolt-type support
132: bolt

Claims (8)

a first printed circuit board; and a flight control module including a flight controller mounted on the first printed circuit board; and
a second printed circuit board; and a function control module including a function controller mounted on the second printed circuit board,
The flight controller controls the flight driving unit so that the drone flies according to the location information by the GPS module,
The function controller detects and alarms the state of the drone, controls the temperature of the drone, and controls the extended function unit to photograph the front of the drone,
The flight controller and the function controller are processed in parallel, and the function controller instructs the flight controller to fly the drone according to the operation of the extended function unit,
The function controller is
When an obstacle is detected through the extended function unit, the current altitude is sensed through the GPS module, and if the current altitude is less than the threshold altitude (TH4) and does not hover, the obstacle is recognized as the ground and the drone touches the ground instructing the flight controller to override the flight controller,
When hovering, the integrated control system for drones recognizes the obstacle and instructs the flight controller to avoid maneuvering so that the drone avoids the obstacle. According to claim 1,
The first printed circuit board is laminated on the second printed circuit board through a fastener,
The second printed circuit board has one end of a GPIO (General-Purpose Input/Output) port mounted,
The first printed circuit board has a hole formed at a position corresponding to the GPIO port, and the other end of the GPIO port is inserted into the hole,
The other end of the GPIO port is an integrated control system for a drone to which the extended function unit is connected. According to claim 1,
The extension function unit,
a sensing unit for detecting the state of the drone;
LED that emits light to alarm the state of the drone;
a heat dissipation fan for cooling the main body of the drone;
a heating film for heating the drone's battery;
a speaker outputting a voice to guide the flight of the drone; and
a camera for photographing the front of the drone; An integrated control system for a drone comprising at least one of. 4. The method of claim 3,
The sensing unit,
a lidar sensor for detecting an object in front of the drone;
a temperature sensor for detecting the temperature of the drone;
a humidity sensor for detecting the humidity of the drone; and
An integrated control system for a drone comprising at least one of a wind speed sensor for detecting wind speed around the drone. According to claim 1,
The function controller detects the current humidity and wind speed through the extended function unit, and when the humidity is above the critical humidity (TH1) or the wind speed is above the critical wind speed (TH2), the drone moves to the starting point or the nearest landing point. An integrated control system for drones that instructs a return command to the controller. According to claim 1,
When the drone starts landing, the function controller detects the current temperature through the extended function unit and returns to the flight controller so that the drone moves to the starting point or the next mission point if the temperature is above the threshold temperature (TH3) An integrated control system for drones that give commands. delete According to claim 1,
The function controller is
When the drone starts landing, an image is acquired through the extended function unit to recognize an object,
If the recognized object is an obstacle, an integrated control system for a drone instructs an avoidance maneuver command to the flight controller so that the drone avoids the obstacle.

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