KR102351747B1 - Drone surveying system according to terrain change - Google Patents

Abstract

According to the present invention, a drone survey system according to a terrain change comprises: a ground control device for transmitting a control command for terrestrial topography surveying and receiving and integrally managing the terrestrial topography surveying result; and a drone squadron which surveys the ground topography according to the control command received from the ground control device, and has a plurality of drones arranged in a line to fly over the ground to be surveyed. The drone squadron emits a plurality of laser beams having the same elevation above sea level between adjacent drones in order to maintain the alignment during flight in formation, and transmits reception information from a receiving side to the ground control device. The ground control device quickly surveys the topography of a wide area by controlling the drone squadron to continue flight only when the laser beam is received at a predetermined location. The plurality of drones can collect accurate information by flying in formation while maintaining the alignment.

Description

Drone survey system according to terrain change {DRONE SURVEYING SYSTEM ACCORDING TO TERRAIN CHANGE}

The present invention relates to a system for surveying terrain using a drone, and more specifically, to perform a survey on the height of the ground topography using a drone, but can be surveyed while comparing the past topography with the current topography change It is related to the drone survey system according to the change of the terrain.

In general, when measuring the height of the ground topography, the survey is performed using a surveying machine. In recent years, with the development of technology, many techniques for performing surveying without using a surveying machine have been developed.

As an example of such a surveying technique, Korean Patent Publication No. 10-1782039 (2017.09.26. Announcement) discloses a device for surveying rivers and river facilities using a drone and a method for measuring their location. According to the patent, the device for surveying rivers and river facilities using a drone includes a reference drone that provides information on the reference point of the survey, and a survey drone that moves to a survey point based on the reference point provided by the reference drone and performs the survey, The reference drone transmits a reference laser in a horizontal direction from a reference point to a survey point, and the survey drone is configured to perform more accurate surveying and shooting by adjusting its position in the air based on the reference laser.

However, in the conventional surveying apparatus described above, the distance between the reference drone and the surveying drone is limited, and thus there is a problem in that the topography of a wide area cannot be surveyed. In addition, there was a problem in that it was not possible to perform a survey while comparing the past topography with the current topography change in real time.

Korean Patent Registration No. 10-1782039

The present invention has been devised to solve the above problems, and a plurality of drones are arranged in a line and fly in formation over the ground to be surveyed, so that the topography of a wide area can be quickly surveyed. We want to provide a survey system.

In addition, the present invention fires a plurality of laser beams having the same elevation above sea level between adjacent drones among a plurality of drones flying in a formation, and continues flight in formation only when the laser beams are received at a promised position. It is intended to provide a drone survey system according to terrain changes that allows multiple drones to fly in formation while maintaining alignment.

In addition, the present invention is provided with a transparent LCD that crosses the central hole formed through the body of the drone, and at a predetermined position above the transparent LCD, the current topography seen through the transparent LCD is photographed, but on the transparent LCD An object of the present invention is to provide a drone surveying system according to changes in topography that displays historical topographic information and superimposes the past topographic information and current topography, thereby allowing the survey to be performed while comparing the past topography with the current topography changes in real time.

In order to achieve the above object, the drone survey system according to the terrain change provided by the present invention includes a ground control device that transmits a control command for ground topography survey, receives the ground topography survey result, and manages it in an integrated manner; and a drone squadron that surveys the ground terrain according to the control command received from the ground control device, a plurality of drones are aligned in a line, and flies in formation over the ground to be surveyed, wherein the drone squadron is flying in formation In order to maintain alignment, a plurality of laser beams having the same elevation above sea level are fired between adjacent drones, and then received information from the receiving side is transmitted to the ground control device, and the ground control device is located at a predetermined position where the laser beam is promised. It is characterized in that the drone squadron is controlled to continue the formation flight only when it is received.

Preferably, the drone includes: a first communication unit that provides a communication interface with the ground control device; a second communication unit providing the communication interface between the drones; a laser emitting unit for emitting the plurality of laser beams to a first drone, adjacent in any first direction; a laser receiving plate for receiving a plurality of laser beams emitted from a second drone adjacent to a second direction opposite to the first direction; and storing the reference coordinates in the laser reception plate set in advance to check the alignment state of the drone, and detecting the reception coordinates of the laser beam received on the laser reception plate, whether the reference coordinates and the reception coordinates match and a control unit for determining , and the first communication unit may transmit a result of the determination of the control unit to the ground control device.

Preferably, the drone includes a GPS receiver for receiving the location of the drone; a central hole formed through the upper / lower portion of the drone body; a transparent LCD crossing the central hall; Storing the past topographic information on the terrain to be surveyed, the past topography of the area corresponding to the reference point for each unit area including the terrain within a preset radius distance centered on an arbitrary reference point included in the terrain to be surveyed a memory unit for matching and storing information; When an imaginary line extending vertically from the center of the transparent LCD toward the ground meets the reference point, an image display unit for deriving the corresponding past geographic information from the memory and displaying it on the transparent LCD; a camera for photographing the current terrain shown through the transparent LCD at a predetermined position above the transparent LCD, and superimposing the current terrain information and the past terrain information displayed on the transparent LCD; and supporting means for supporting the camera, but supporting the camera to move up and down according to the altitude of the drone from a predetermined position above the LCD.

Preferably, the transparent LCD is provided with an LED that displays at least one color, and an outer circumferential part is hingeably installed on one inner circumferential side of the central hole by a hinge shaft rotated by a motor, and the control unit operates the motor Control to rotate the transparent LCD in the vertical direction to the drone body, and control the LED to display the light of the at least one color, but based on the information agreed in advance with the ground control device, the flight of the drone The LED may be controlled to inform the outside of the status, the flight status of the drone squadron including the corresponding drone, or emergency information occurring in the area to be surveyed.

As described above, the drone surveying system according to the change of the topography of the present invention has the advantage of being able to quickly survey the topography of a wide area by arranging a plurality of drones in a line and flying in formation over the ground to be surveyed.

In addition, the present invention fires a plurality of laser beams having the same elevation above sea level between adjacent drones among a plurality of drones flying in a formation, and continues flight in formation only when the laser beams are received at a promised position. Multiple drones can fly in formation while maintaining alignment, which has the advantage of collecting accurate information.

In addition, the present invention is provided with a transparent LCD that crosses the central hole formed through the body of the drone, and at a predetermined position above the transparent LCD, the current topography seen through the transparent LCD is photographed, but on the transparent LCD By displaying the past topographic information and superimposing the past topographic information and the current topography, it is possible to survey while comparing the past topographical information and the current topographical change in real time. It has the advantage of being recognizable.

1 is a diagram illustrating a system configuration of a drone surveying system according to a terrain change according to an embodiment of the present invention.
2 is a perspective view of a drone included in a drone survey system according to an embodiment of the present invention.
3 is a schematic block diagram of a drone included in a drone surveying system according to an embodiment of the present invention.
4 is a view for explaining an operating state of a camera unit included in a drone according to an embodiment of the present invention.
5 is a view for explaining an operating state of a transparent LCD included in a drone according to an embodiment of the present invention.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings, but it will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily practice the present invention. However, the present invention may be implemented in several different forms and is not limited to the embodiments described herein. On the other hand, in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification. In addition, even if the detailed description is omitted, descriptions of parts that can be easily understood by those skilled in the art are omitted.

Throughout the specification and claims, when a part includes a certain element, it means that other elements may be further included, rather than excluding other elements, unless specifically stated to the contrary.

1 is a diagram illustrating a system configuration of a drone surveying system according to a terrain change according to an embodiment of the present invention, and FIG. 2 is a perspective view of a drone included in the drone surveying system according to an embodiment of the present invention, 3 is a schematic block diagram of a drone included in a drone surveying system according to an embodiment of the present invention, and FIG. 4 is a view for explaining an operating state of a camera unit included in the drone according to an embodiment of the present invention , and FIG. 5 is a view for explaining an operating state of a transparent LCD included in a drone according to an embodiment of the present invention.

A drone surveying system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5 .

First, the drone surveying system according to an embodiment of the present invention is a ground control system ( 10) is included.

The ground control system 10 transmits a control command for ground topography survey to the drone squadron 20 , and receives a ground topography survey result from the drone squadron 20 . To this end, the ground control system 10 communicates with each of a plurality of drones 200 constituting the drone squadron 20 , or with any one of the plurality of drones 200 (eg, a leader drone). can communicate.

In the former case, each of the plurality of drones 200 includes a ground system communication unit 215 for communicating with the ground control system 10 , and may receive a control command directly from the ground control system 10 . In addition, the measurement results of each of the plurality of drones 200 may be directly transmitted to the ground control system 10 .

In the latter case, the drone squadron 20 communicates with the ground control system 10 and receives a control command directly from the ground control system 10 , and a plurality of members receive a control command through the leader drone. It may include drones. At this time, the leader drone includes a ground system communication unit 215 and an inter-drone communication unit 225 , and each of the plurality of member drones includes only an inter-drone communication unit 225 , so that the leader drone is operated by a ground control system ( The control command received from 10) may be transmitted to a plurality of member drones, and the measurement results of each of the member drones may be collected and transmitted to the ground control system 10 .

Alternatively, each of the drones 200 includes both the ground system communication unit 215 and the inter-drone communication unit 225 , and all drones 200 are implemented to communicate with the ground control system 10 and other drones. may be In the example of the present invention, a case in which each of the drones 200 includes both the ground system communication unit 215 and the inter-drone communication unit 225 will be described as an example.

The drone squadron 20 surveys the ground topography according to a control command received from the ground control system 10 . In this case, the control command may include a ground terrain survey range, flight speed and height of the flight drones, a survey period of each of the flight drones, and the like. In addition, the control command may further include various types of information required for surveying using a drone.

On the other hand, each of the plurality of drones 200 constituting the drone squadron 20 is initially controlled to the same flight speed and height by the control command, but local climate change (eg, rain, wind) etc.), the flight conditions may change from time to time.

Therefore, the drone squadron 20 fires a plurality of laser beams A having the same elevation between adjacent drones so that the drones 200 can maintain alignment during flight in the squadron, and then receives information from the receiving side (that is, reception information for informing whether the location is correct) to the ground control system 10, and the ground control system 10 continues flight in formation only when the laser beam A is received at the promised predetermined location B It is possible to control the drone squadron 20 to do so. At this time, the reason for emitting a plurality of the laser beams A is to detect not only the moving distance of the drone 200 but also the change of the inclination.

That is, when the ground control system 10 receives information indicating that the laser beam A has been normally received at the promised predetermined location B from all the drones 200, the drone squadron 20 so as to continue flying the formation. ), but if any one of the drones 200 does not, the formation flight may be continued after aligning the position and inclination of the corresponding drone 200 . For example, the ground control system 10 identifies a drone with a long or short moving distance, or a drone that is not horizontal, compared to other drones, based on the laser beam A reception information, and the laser beam ( According to the degree to which A) deviates from the predetermined position B, the position and inclination of the corresponding drone may be aligned.

In addition, the drone 200 of the present invention may superimpose past topography information and current topography in order to survey while comparing the past topography and the current topography change in real time.

2 and 3 , a drone 200 according to an embodiment of the present invention includes a GPS receiver 205 , a memory 210 , a ground system communication unit 215 , a laser receiving plate 220 , and a drone communication unit. 225 , a measurement device 230 , a laser emitter 235 , an image display unit 240 , a camera unit 245 , a control unit 250 , a central hole 255 , and a transparent LCD 260 may be included. have.

The GPS receiver 205 receives the location of the drone 200 .

The memory 210 may temporarily store information required for operation control of the drone 200 and measurement information. In addition, the memory 210 may store past topographic information for the topography to be surveyed. In this case, the past terrain information may be provided from the ground control system 10 or a separate terrain information management server through a communication network, or may be stored offline using a separate storage means (eg, a removable hard disk, etc.). In addition, the past topographical information may be an image taken at a past point in time for the terrain to be surveyed, or text for providing general information about the terrain to be surveyed.

The memory 210 may match and store the past topographic information of the area corresponding to the reference point for each unit area including the terrain within a preset radius distance around an arbitrary reference point included in the survey target terrain. have. This is to set a reference point for the image display unit 240 to be described later to display past terrain information on the transparent LCD 260 . That is, when an imaginary line extending vertically from the center of the transparent LCD 260 toward the ground meets the reference point, the corresponding historical topographic information is derived and a reference for controlling the display to be displayed on the transparent LCD 260 is determined. it is for In other words, the reference point is information for identifying the corresponding past topographic information.

The ground system communication unit 215 provides a communication interface with the ground control system 10 . For example, the ground system communication unit 215 receives the control command transmitted from the ground control system 10 and transmits it to the control unit 250 , and transmits the result value measured by the surveying device 230 to the ground control system 10 . can be transmitted as Also, the ground system communication unit 215 may transmit the reception result of the laser reception plate 220 to be described later to the ground control system 10 . That is, the ground system communication unit 215 determines whether a plurality of laser beams A emitted from other adjacent drones have been accurately received at a predetermined location B, and transmits the result to the ground control system 10 . can transmit In this case, as a communication method with the ground system communication unit 215 , various known communication technologies between a normal drone and a ground control system may be used.

The laser receiving plate 220 receives a plurality of laser beams emitted from another drone N_D1 adjacent in a first direction (eg, a left direction based on the drawing) among a plurality of drones arranged in a line.

The inter-drone communication unit 225 provides a communication interface between the plurality of drones arranged in a line. As mentioned in the above example, when a leader drone, which is a representative among a plurality of drones constituting the drone squadron 20, communicates with the ground control system 10 and exchanges the information between member drones, the inter-drone communication unit (225) can be used. Alternatively, when it is necessary to exchange any other information between the plurality of drones, the inter-drone communication unit 225 may be used. In this case, the communication method of the inter-drone communication unit 225 may use various known communication methods (eg, Bluetooth, Zigbee, wireless LAN, etc.).

The surveying device 230 surveys the topographic information by calculating the distance to the lower surface of the drone. For example, the surveying device 230 irradiates a laser from the lower part of the drone to the ground, and calculates the distance from the height of the drone to the ground according to the arrival time of the reflected laser, thereby measuring the topographic information.

The laser emitter 235 sends the plurality of laser beams (that is, above sea level) to the other drones N_D2 adjacent in a second direction different from the first direction (eg, a right direction based on the drawing) among a plurality of drones arranged in a line. multiple laser beams with the same altitude). In this case, it is preferable that the plurality of laser beams be emitted at a predetermined interval. This is to detect not only a difference in movement distance with the other drone N_D2 but also a difference in inclination.

The image display unit 240 derives past geographic information from the memory 210 and displays it on the transparent LCD, but a virtual line extending vertically from the center of the transparent LCD 260 toward the ground (eg, a line formed by a laser, etc.) ) meets an arbitrary reference point, which is reference information matched with the past geographic information to identify the past geographic information stored in the memory 210, derive the corresponding past geographic information from the memory 210 to obtain a transparent LCD ( 260) is indicated. In this case, the past topographic information displayed on the transparent LCD 260 may be an image or text information, and it is preferable to display it semi-transparently so as not to cover the current topographic information below.

The camera unit 245 captures the current topography seen through the transparent LCD 260 at a predetermined position above the transparent LCD 260 , but overlaps the current topography with the past topographic information displayed on the transparent LCD 260 . and a supporting means for supporting the camera 31 and the camera 31 to be positioned at a predetermined position on the transparent LCD 260 .

At this time, the support means includes a rack gear 32 that moves up and down through the drone, and a pinion 33 that transmits the rotational force of the motor to the rack gear 32 so that the rack gear 32 moves up and down, The camera 31 is supported to move up and down according to the altitude of the drone at a predetermined position above the transparent LCD 260 .

That is, as illustrated in (a) of FIG. 4 , the drone 200 flew at a first height H1 from the ground to a second height H2 from the ground as illustrated in FIG. When flying by descending, in order to equalize the area of the ground viewed through the transparent LCD 260 (ie, to equalize the area photographed through the camera 31), the height of the camera 31 should be changed That is, as illustrated in (b) of FIG. 4 , when the flight altitude of the drone is lowered, the height of the camera 31 is also lowered to make the photographing area the same. This is to effectively compare the past geographic information with the current terrain by photographing the ground having the same area as that of the past geographic information stored in the memory 210 .

The controller 250 controls the operation of the drone 200 based on a preset control algorithm or a control command received from the ground control system 10 . In particular, the control unit 250 stores, as reference coordinates, the coordinates for a predetermined position (B) in the laser receiving plate 220 set in advance to check the alignment state of the drones aligned in a line in the flight drone, and receives the laser The reception coordinate, which is the position of the laser beam received on the plate 220, is sensed, and it is determined whether the reference coordinate and the reception coordinate match. Then, the result is transmitted to the ground control system 10 through the ground system communication unit 215 .

The central hole 255 is a hole formed through the upper and lower parts of the body of the drone 200, and the transparent LCD 260 is a display device installed to cross the central hole 225, and the camera 31 is installed in the central hole ( 225) to allow the current topography to be photographed.

At this time, the transparent LCD 260 is provided with an LED (not shown) that expresses at least one color, and by a hinge shaft rotated by a motor, a part of the outer circumferential surface is hingedly installed on one side of the inner circumferential side of the central hole, Under the control of the controller 250 , as illustrated in FIG. 5 , it is rotated toward the ground to express light of at least one color.

To this end, the controller 250 may control the motor to rotate the transparent LCD 260 in a direction perpendicular to the body of the drone 200 and control the LED to display the at least one color.

In particular, the control unit 260, based on the information promised in advance with the ground control system 10, the flight status of the drone, the flight status of the drone squadron including the drone, or emergency information generated in the survey target area The LED can be controlled to notify the outside. For example, by controlling the transparent LCD installed in each of a plurality of drones arranged in a line differently (that is, to express different colors) according to predetermined information, the ground control system 10 manager, or the survey target Pedestrians located in the vicinity of the area may be able to grasp the condition.

As such, in the present invention, a plurality of drones are arranged in a line, and by flying in formation over the ground to be measured, the topography of a wide area can be quickly surveyed, and between adjacent drones among a plurality of drones flying in formation, By emitting a plurality of laser beams having the same altitude above sea level and allowing the formation to continue only when the laser beams are received at a promised position, there is an effect that the plurality of drones can fly in formation while maintaining alignment.

In the above description, preferred embodiments of the present invention have been presented and described, but the present invention is not necessarily limited thereto, and those of ordinary skill in the art to which the present invention pertains within the scope not departing from the technical spirit of the present invention. It will be readily appreciated that many substitutions, modifications, and alterations are possible.

10: ground control system 20: squadron drones
200: drone 205: GPS receiver
210: memory 215: ground system communication unit
220: laser receiving plate 225: drone communication unit
230: survey device 235: laser emitter
240: video display unit 245: camera unit
250: control unit 255: central hall
260: transparent LCD

Claims (4)

In the drone survey system according to the terrain change,
a ground control device for transmitting a control command for terrestrial topography surveying and receiving and integrated management of the terrestrial topographical survey result; and
Including a drone squadron that surveys the ground topography according to the control command received from the ground control device, a plurality of drones are aligned in a line, and flies in formation over the ground to be surveyed,
The drone squadron
In order to maintain alignment during flight in formation, a plurality of laser beams having the same elevation above sea level are fired between adjacent drones, and then the reception information from the receiving side is transmitted to the ground control device,
The ground control device is
Drone surveying system according to terrain change, characterized in that the drone squadron is controlled to continue the formation flight only when the laser beam is received at a promised predetermined location. According to claim 1, wherein the drone
a first communication unit providing a communication interface with the ground control device;
a second communication unit providing the communication interface between the drones;
a laser emitting unit for emitting the plurality of laser beams to a first drone, adjacent in any first direction;
a laser receiving plate for receiving a plurality of laser beams emitted from a second drone adjacent to a second direction opposite to the first direction; and
Storing the reference coordinates in the laser receiving plate set in advance to check the alignment state of the drone, detecting the receiving coordinates of the laser beam received on the laser receiving plate, whether the reference coordinates and the receiving coordinates match comprising a control unit to determine
The first communication unit
Drone surveying system according to terrain change, characterized in that transmitting the determination result of the control unit to the ground control device. According to claim 1 or 2, wherein the drone
a central hole formed through the upper / lower portion of the drone body;
a transparent LCD crossing the central hall;
Storing the past topographic information on the terrain to be surveyed, the past topography of the area corresponding to the reference point for each unit area including the terrain within a preset radius distance centered on an arbitrary reference point included in the terrain to be surveyed a memory unit for matching and storing information;
When an imaginary line extending vertically from the center of the transparent LCD toward the ground meets the reference point, an image display unit for deriving the corresponding past geographic information from the memory and displaying it on the transparent LCD;
a camera for photographing the current topography seen through the transparent LCD at a predetermined position above the transparent LCD, and superimposing the past topographic information displayed on the transparent LCD and the current topography; and
But supporting the camera, the drone survey system according to terrain change, characterized in that it further comprises supporting means for supporting the camera to move up and down according to the elevation of the drone at a predetermined position above the transparent LCD. The method of claim 3, wherein the transparent LCD
Equipped with an LED that displays at least one color, and by a hinge shaft rotated by a motor, a part of the outer circumferential surface is hingedly installed on one side of the inner circumferential surface of the central hole,
the control unit
Control the motor to rotate the transparent LCD in a vertical direction to the drone body, and control the LED to display the light of the at least one color, but based on information agreed in advance with the ground control device, the corresponding A drone surveying system according to a terrain change, characterized in that the LED is controlled to inform the outside of the flight status of the drone, the flight status of the drone squadron including the drone, or emergency information occurring in the area to be surveyed.

Images