KR102482028B1 - Drone flight situation provision system using drone forensics - Google Patents

Abstract

The present invention relates to a system for providing drone flight conditions using drone forensics, wherein a sensing unit installed in a drone senses the flight status of a flying drone and analyzes the flight of the drone based on the sensing information provided by the sensing unit. and a flight analyzer for performing analysis, and an information providing unit for providing information about the flight state of the drone during flight analyzed by the flight analyzer to a manager.
The drone flight situation providing system using drone forensics according to the present invention analyzes the drone sensing log of the drone, reproduces the drone flight status, and provides the drone flight status to the manager, thereby providing information that can more accurately infer the cause of the accident in the event of a drone accident. It has the advantage of providing

Description

Drone flight situation provision system using drone forensics}

The present invention relates to a system for providing a drone flight situation using drone forensics, and more particularly, to provide a drone flight situation using drone forensics capable of reproducing the flight situation of a drone based on measurement values measured through a sensing unit installed in the drone. It's about the system.

In recent years, various problems have occurred as the fields to which drones are applied increase. As the demand for drones increases and the availability of drones increases, drones are being used for crimes or incidents and accidents related to drones are increasing.

For example, in South Korea, a drone filming over people protesting in front of a broadcasting station in Busan crashed after colliding with a street tree, almost causing a fatal accident. In Italy, indiscriminate filming at international landmarks became a problem as a drone piloted by a domestic film crew collided with the Duomo Cathedral in Milan. In the United States, a drone launched to celebrate Memorial Day in Massachusetts suddenly malfunctioned and crashed into a nearby building, injuring two people. In Japan, a drone that illegally invaded the Prime Minister's residence contained trace amounts of radioactive material. In the United States, a drone flew by a drunken intelligence agent crashed into the White House building and crashed.

As the drone application field increases, various problems as described above occur. As the demand for drones and their availability increase, drone accidents are also on the rise, so it is essential to investigate the causes of drone accidents (aircraft abnormalities, mishandling, collisions, hacking, etc.) and accurate accident investigations.

It takes a lot of time and money to investigate the cause of a drone accident. The causes of drone accidents are difficult to predict, and the investigation of drone accidents is very professional and complex, requiring a professional system engineer. Also, the expertise and manpower of drone accident investigation agencies are very lacking.

Publication No. 10-2019-0005533: Drone control system using web browser

An object of the present invention is to provide a system for providing a drone flight situation using drone forensics capable of reproducing the flight state of a drone by analyzing a drone acquisition log.

In order to achieve the above object, a drone flight situation providing system using drone forensic according to the present invention includes a sensing unit installed in a drone and sensing a flight status of a flying drone, and the drone based on the sensing information provided by the sensing unit. A flight analyzer for analyzing the flight of the drone and an information provider for providing information about the flight status of the drone during flight analyzed by the flight analyzer to a manager.

The sensing unit includes an inertial measurement sensor unit installed in the drone to detect the movement of the drone, a drive sensing unit to detect an operating state of the propulsion unit of the drone that generates propulsion force so that the drone can fly, and the propulsion unit. A battery sensing unit for detecting the operating state of the battery of the drone that supplies power to the propulsion unit so that the unit operates, and a position sensor installed in the drone to measure the latitude, longitude, or altitude of the drone. .

The inertial measurement sensor unit includes a geomagnetic sensor installed in the drone to detect geomagnetic information, an acceleration sensor provided in the drone to measure the acceleration of the drone, and a geomagnetic sensor installed in the drone to measure the drone. An angular velocity measuring sensor is provided to measure the angular velocity.

The flight analyzer may generate analysis data about a change in measured values of the inertial measurement sensor unit, the drive sensing unit, the battery sensing unit, and the position sensor according to the elapsed time after the initial point in time when the drone starts flying. .

The information providing unit provides the manager with an analysis image displaying the flight state of the drone based on the analysis information provided by the flight analysis unit, and displays the flight path of the drone on the map image provided from the map information providing server. and displays a drone object corresponding to the drone on the flight path, but the drone object moves along the flight path corresponding to the position of the drone according to the elapsed time after the initial point in time when the drone starts flying. The analysis image may be generated as much as possible.

The information providing unit includes a measurement value display window displaying a measurement value of the sensing unit for the flight state of the drone at an actual flight position corresponding to the location of the corresponding drone object while the drone object moves along the flight path. The analysis image may be generated as much as possible.

The flight analysis unit analyzes the attitude of the drone during flight based on the sensing information provided by the sensing unit, and the information providing unit performs actual flight corresponding to the position of the drone object while the drone object moves along the flight path. The analysis image may be generated to be deformed to correspond to the posture of the drone at the position.

On the other hand, the system for providing drone flight conditions using drone forensics according to the present invention further includes a manipulation detection unit installed in a controller manipulated by a pilot to collect a manipulation signal input from the pilot to the controller to control the flight of the drone. and the flight analyzer compares the control signal provided from the control detecting unit with the flight state provided to the sensing unit so that the flight state of the drone is out of a preset error range for the flight state corresponding to the control signal. In this case, it can be determined that an emergency situation has occurred in the drone.

The drone is provided with a main body, a flight body provided with a plurality of supports extending radially from the main body, a plurality of rotation motors installed at the ends of the supports to generate rotational force, and installed to be rotated by the rotation motors. A thruster is provided with a plurality of propellers, and the sensing unit further includes a sound input unit installed on the support to receive operating noise generated when the propeller rotates, and the flight analysis unit is provided by the sound input unit. The pattern of the operating noise may be analyzed and provided to the information providing unit.

The sound input unit includes a plurality of microphones slidably installed on the supports along the longitudinal direction so as to receive operating noise generated when the propeller rotates, and a moving unit for moving the microphones along the supports. , In order to reduce input of noise around the drone to the microphone when the drone takes off to fly based on the sensing information provided by the sensing unit, the microphone is moved adjacent to the rotating motor, and the drone takes off. After a predetermined reference time elapses from a point in time, a movement control module may be provided to control the moving unit so that the microphones are moved adjacent to the main body so that the microphones are moved toward the center of gravity of the drone.

The moving part includes a winding drum rotatably installed on the flight body, one end wound around the winding drum, and the other end attached to the microphone, and one end attached to the microphone and the other end attached to the end of the support. An elastic member provided to provide elastic force to the microphone in a direction in which the microphone is adjacent to the rotary motor, and a drum installed on the winding drum to rotate the winding drum so that the moving wire can be wound or unwound from the winding drum. A rotating part may be provided.

The system for providing drone flight conditions using drone forensics according to the present invention analyzes the sensing log of the drone and reproduces the flight status of the drone and provides the information to the administrator. There are advantages to being able to.

1 is a conceptual diagram of a drone flight situation providing system using drone forensics according to the present invention;
2 is a block diagram of a drone flight situation providing system using drone forensics of FIG. 1;
3 is an example of analysis data of the flight analysis unit of the drone flight situation providing system using drone forensics of FIG. 1;
4 is an example of an analysis image provided by the drone flight situation providing system using the drone forensic of FIG. 1;
5 is a block diagram of a drone flight situation providing system using drone forensics according to another embodiment of the present invention;
6 is a block diagram of a drone flight situation providing system using drone forensics according to another embodiment of the present invention;
FIG. 7 is a side view of a sound input unit of the drone flight situation providing system using drone forensics of FIG. 6 .

Hereinafter, a drone flight situation providing system using drone forensics according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Since the present invention can have various changes and various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numerals have been used for like elements throughout the description of each figure. In the accompanying drawings, the dimensions of the structures are shown enlarged than actual for clarity of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

1 and 2 show a drone flight situation providing system 100 using drone forensics according to the present invention.

Referring to the drawings, the drone flight situation providing system 100 using drone forensics includes a sensing unit 200 installed in a drone 10 and sensing a flight state of a flying drone 10, and a sensing unit 200 The flight analyzer 300 that analyzes the flight of the drone 10 based on the sensing information provided by ) and the information about the flight state of the drone 10 during flight analyzed by the flight analyzer 300 An information providing unit 400 provided to a manager is provided.

Here, the drone 10 includes a flight body 20 and a propulsion unit 30 installed on the flight body 20 to provide propulsion so that the flight body 20 can fly.

The flight body 20 includes a main body 21 and a plurality of supports 22 radially extending from the center of the main body 21 and having propulsion units 30 installed at the ends thereof.

Inside the main body 21, an accommodation space is provided in which a battery and a flight control module for supplying power to the rotary motors 31 of the propulsion unit 30 to be described later can be accommodated. The support 22 extends in a direction away from the main body 21, and an inlet is formed at an end so that the rotary motor 31 can be installed.

On the other hand, landing legs are formed on the lower surfaces of the supports 22 so that the drone 10 can support the flight body 20 to be spaced upward from the ground when landing. It is preferable that the landing leg extends a predetermined length downward at the end of the support 22 .

Meanwhile, a camera 40 for photographing the front of the drone 10 based on the flight direction of the drone 10 is installed on one side of the main body 21 . At this time, it is preferable that a plurality of cameras 40 are installed on the corresponding main body 21 to be spaced apart from each other along the left and right directions.

The propulsion unit 30 includes a plurality of rotation motors 31 respectively installed at ends of the supports 22 and a plurality of propellers 32 rotatably installed by the rotation motors 31 . The rotary motor 31 is installed at the inlet of the support 22, and it is preferable that the drive shaft is installed toward the upper side. The rotary motor 31 is an electric motor that generates rotational force by power supplied from the outside. The propellers 32 are coupled to drive shafts of the rotation motors 31, rotated by the rotation motors 31, and forcefully blow air downward to provide propulsive force to the flight body 20.

The flight control module includes a communication module (not shown) so that the pilot can receive an operation signal input from the controller. The flight control module controls the operation of the rotary motors 31 of the propulsion unit 30 so that the drone 10 flies in correspondence with the control signal received through the communication module. At this time, the flight control module may transmit the image captured by the camera 40 to the manager's terminal or the pilot's terminal through the corresponding communication module.

Meanwhile, the drone 10 is not limited to the above-described example, and any unmanned aerial vehicle capable of flying according to a control signal input by a controller through a controller can be applied.

The sensing unit 200 includes an inertial measurement sensor unit 210 installed on the drone 10 to detect the motion of the drone 10 and the drone 10 generating propulsion so that the drone 10 can fly. The drive sensing unit 220 for detecting the operating state of the propulsion unit 30 and the operating state of the battery of the drone 10 supplying power to the propulsion unit 30 so that the propulsion unit 30 operates A battery sensing unit 230 and a position sensor 240 installed in the drone 10 to measure the position of the drone 10 are provided.

The inertial measurement sensor unit 210 includes a geomagnetic sensor 211 installed in the drone 10 to detect geomagnetic information and an acceleration sensor 212 installed in the drone 10 to detect acceleration information of the drone 10. ) and an angular velocity sensor 213 installed on the drone 10 to measure the angular velocity of the drone 10.

The geomagnetic sensor 211 is installed on the main body 21 of the drone 10 to detect geomagnetic information, which is direction information about the current location of the drone 10. The corresponding geomagnetic sensor 211 provides the detected geomagnetic information to the flight analyzer 300 .

The acceleration sensor 212 and the angular velocity sensor 213 are installed in the main body 21 of the drone 10 to detect the acceleration and angular velocity of the drone 10 and provide them to the flight analyzer 300 . Since the acceleration measuring sensor 213 and the angular velocity measuring sensor 213 are conventionally commonly used measuring means to measure the acceleration and angular velocity of a measurement target, detailed descriptions thereof will be omitted. Meanwhile, although not shown in the drawing, the inertial measurement sensor unit 210 may further include a gyro sensor installed on the main body 21 to measure the posture of the flight body 20 .

Although the above-described inertial measurement sensor unit 210 is applied to an IMU (Inertial Measurement Unit), it is not limited thereto, and any motion measurement means capable of measuring the motion of the drone 10 can be applied.

The drive sensing unit 220 is installed on each of the rotary motors 31 of the propulsion unit 30 and detects an operating state of the corresponding rotary motor 31 . Since the driving sensor part is applied to a motor sensor generally used in the related art to measure the number of revolutions per minute and output of the rotary shaft of the rotary motor 31, a detailed description thereof will be omitted. The drive sensing unit 220 transmits the measured measurement value to the flight analyzer 300 .

The battery sensing unit 230 is connected to the battery of the drone 10 installed in the main body 21 and measures the remaining power of the corresponding battery. Since the battery sensing unit 230 is a battery sensing means generally used in the prior art to measure the amount of charge of the battery, a detailed description thereof will be omitted. The battery sensing unit 230 transmits the measured value to the flight analysis unit 300 .

The position sensor 240 is installed on the main body 21 of the drone 10 and measures the latitude, longitude and altitude of the drone 10. The location sensor 240 is a positioning device using artificial satellites, and it is preferable that a Global Navigation Satellite System (GNSS) is applied. The position sensor 240 transmits the measured value to the flight analyzer 300 .

The flight analyzer 300 analyzes the measurement value provided from the corresponding sensing unit 200 from the initial point in time when the drone 10 starts flying. At this time, the flight analysis unit 300 measures the inertia measurement sensor unit 210, the drive sensing unit 220, the battery sensing unit 230, and the location according to the elapsed time after the initial point in time when the drone 10 starts flying. Analysis data for the amount of change in the measured value of the detection sensor 240 is generated. Here, the flight analysis unit 300 may generate corresponding analysis data by charting as shown in FIG. 3 .

In addition, although not shown in the drawing, the flight analyzer 300 may generate analysis data on a change in attitude of the drone 10 according to elapsed time after the initial point in time and provide the information to the information providing unit 400 .

The information provision unit 400 provides information about the flight state of the drone 10 during flight analyzed by the flight analysis unit 300, that is, analysis data, to a manager. At this time, the information providing unit 400 may transmit the analyzed data to a terminal of a pre-registered manager or display the analyzed data through an information display means such as a monitor.

Meanwhile, the information providing unit 400 may generate an analysis image displaying the flight state of the drone 10 based on the analysis information provided from the flight analysis unit 300 and provide it to a corresponding manager. 4 shows an example of the analysis image. Here, the information providing unit 400 receives information on the location of the drone 10 from the flight analysis unit 300, and the flight path 420 of the drone 10 on the map image provided from the map information providing server. ) can be displayed to provide the analysis image. At this time, the flight path 420 of the drone 10 may indicate a path from an initial flight point to a flight completion point as a dotted line.

Meanwhile, the information providing unit 400 displays the drone object 410 corresponding to the drone 10 on the corresponding flight path 420, but after the initial point in time when the drone 10 starts flying, the elapsed time Accordingly, it is preferable to generate an analysis image so that the drone object 410 moves along the flight path 420 corresponding to the position of the drone 10 . Here, an image similar to the exterior of the drone 10 is applied to the drone object 410 .

In addition, the information providing unit 400 determines the flight state of the drone 10 at the actual flight position corresponding to the position of the drone object 410 while the drone object 410 moves along the corresponding flight path 420. An analysis image may be generated to include a measurement value display window 430 for displaying measurement values of the sensing unit for the object. Here, the measured value provided by each sensing unit is displayed in a tabular form on the measured value display window 430 .

And, while the drone object 410 moves along the flight path 420, the information providing unit 400 corresponds to the posture of the drone 10 at the actual flight position corresponding to the position of the corresponding drone object 410. Create an analysis image to change. For example, if the drone 10 flies in a tilted posture to one side while passing a specific point, in the analysis image, the drone object 410 passes a point corresponding to the specific point among the flight paths 420, It is changed to be inclined to one side to correspond to the attitude of the drone 10 .

As described above, the drone flight situation providing system 100 using drone forensics according to the present invention senses the state of the drone 10, reproduces the flight state of the drone 10, and provides it to the manager, so that the drone 10 It has the advantage of being able to provide information that can more accurately infer the cause of an accident in the event of an accident.

Meanwhile, FIG. 5 shows a drone flight situation providing system 500 using drone forensics according to another embodiment of the present invention.

Elements that perform the same functions as in the previously shown drawings are denoted by the same reference numerals.

Referring to the drawing, the drone flight situation providing system 500 using the drone forensic is installed in a controller manipulated by an operator to control the flight of the drone 10, and collects an operation signal input from the operator to the controller. A manipulation detection unit 501 is further provided. The manipulation detecting unit 501 organizes the manipulation signals input by the pilot in chronological order and provides them to the flight analyzer 300 .

here. The flight analyzer 300 compares the control signal provided from the control detecting unit 501 with the flight state provided to the sensing unit 200 so that the flight state of the drone 10 corresponds to the control signal. If the state is out of the preset error range, it is determined that an emergency situation has occurred in the drone 10.

Here, the flight analysis unit 300 further includes a database (not shown) in which flight situation information on the flight state of the drone 10 corresponding to the control signal of the controller is stored, and the operation detection unit is based on the information stored in the database. A reference flight state of the drone 10 corresponding to the control signal provided from may be calculated. In addition, the flight analysis unit 300 calculates the actual flight state of the drone 10 based on the information provided by the sensing unit 200, and compares the reference flight state and the actual flight state at the same time to determine the two flight states. If the error is out of the preset error range, it is determined that an emergency situation has occurred.

It is preferable that the operator or manager writes the corresponding error range in the flight analysis unit 300 according to the flight time of the drone 10, the weather at the flight location, and the model of the drone 10.

On the other hand, the information providing unit 400 may generate an analysis image by displaying the dangerous position of the drone 10 corresponding to the time point determined as an emergency situation by the flight analysis unit 300 on the flight path 420 . At this time, the dangerous position may be displayed as an image having a shape different from that of the drone object 410 .

As described above, the drone flight situation providing system 500 using the drone forensic of the present invention determines an emergency situation when there is a difference between the operation signal of the controller and the actual flight of the drone 10 by more than an error range, and the emergency situation Since the point of occurrence is provided in the analysis image, the manager can more easily identify the cause or point of the accident.

Meanwhile, FIGS. 6 and 7 show a sensing unit 600 according to another embodiment of the present invention.

Referring to the drawing, the sensing unit 600 further includes a sound input unit 610 installed on the support 22 to receive operating noise generated when the propeller 32 rotates.

The sound input unit 610 includes a plurality of microphones 611 slidably installed on the supports 22 along the longitudinal direction to receive operating noise generated when the propeller 32 rotates, A moving unit 612 for moving the microphone 611 along the support 22 and a movement control module (not shown) for controlling the operation of the moving unit 612 are provided.

At this time, a moving rail 625 is installed below the support 22 of the drone 10 so that the microphone 611 can be moved. The movable rails 625 extend along the extending direction of the supports 22 and are respectively installed on the lower surfaces of the supports 22 .

The microphone 611 is installed on the movable rail 625 to be movable along the longitudinal direction of the support 22 . Here, the microphone 611 is a sound input means generally used in the prior art to receive ambient sound, so a detailed description thereof will be omitted.

The moving part 612 includes a winding drum 621 rotatably installed in the flight body 20, one end wound around the winding drum 621, and the other end a moving wire 622 installed in the microphone 611. ), one end is installed on the microphone 611, and the other end is installed on the end of the support 22 so that the microphone 611 has an elastic force on the microphone 611 in a direction adjacent to the rotary motor 31. and an elastic member 623 providing an elastic member 623 and a drum rotation unit installed on the winding drum 621 to rotate the winding drum 621 so that the moving wire can be wound or unwound around the winding drum 621 .

The winding drum 621 is rotatably installed on the main body 21 adjacent to the support 22 and is formed in a cylindrical shape with a predetermined outer diameter. It is preferable that a plurality of the winding drums 621 are installed on the lower surface of the main body 21 adjacent to each support 22 .

One end of the moving wire 622 is installed to be wound around the outer circumferential surface of the winding drum 621, and the other end is installed to the microphone 611. The moving wire 622 is wound or unwound around the winding drum 621 according to the direction of rotation of the winding drum 621 .

A coil spring having a predetermined elasticity is applied to the elastic member 623, and when the microphone 611 moves toward the main body 21, it expands and provides elastic force to the corresponding microphone 611. Meanwhile, in the illustrated example, a coil spring is applied to the elastic member 623, but is not limited thereto, and any elastic member 623 capable of providing elastic force to the microphone 611 can be applied.

The drum rotation unit is provided with a driving motor installed on each winding drum 621 to rotate the corresponding winding drum 621 . On the other hand, the drum rotating unit is not limited thereto, and any driving means capable of rotating the winding drum 621 in a forward or reverse direction can be applied.

The movement control module determines the take-off time point at which the drone 10 takes off to fly based on the sensing information provided by the sensing unit 600, and at the take-off time point, the microphone 611 records the surroundings of the drone 10. The moving unit 612 is operated so that the microphone 611 is moved adjacent to the rotation motor 31 in order to reduce input of noise. At this time, the movement control module is the winding drum 621

In addition, the movement control module determines that the drone 10 has reached an altitude intended by the operator when a preset reference time elapses from the time the drone 10 takes off, and the microphone 611 is connected to the drone 10 In order to move toward the center of gravity of ), the moving unit 612 is controlled so that the microphone 611 is moved adjacent to the main body 21. As described above, when the drone 10 reaches a predetermined altitude, when the microphones 611 are separated from the center of the main body, the posture of the drone 10 may be more sensitively changed by an external force such as wind. The movement control module moves the microphone 611 toward the main body.

Meanwhile, the moving unit 612 may further include a foreign material removing unit (not shown) that interferes with the moving wire 622 so as to remove the foreign material adhered to the moving wire 622 . One side of the foreign matter removal unit may be installed on the support 22 so as to come into contact with the moving wire 622, and a vibrator for applying vibration to the moving wire 622 may be applied. The foreign matter removing unit operates at a predetermined time interval to prevent foreign matter from being adhered to the moving wire 622 .

On the other hand, the flight analysis unit 300 analyzes the pattern of the operation noise provided from the sound input unit 610 and provides it to the information providing unit 400 . At this time, the flight analysis unit 300 analyzes the pattern of sound characteristics, such as the frequency of operating noise.

Here, the flight analysis unit 300 sets the operating noise pattern provided to the sound input unit 610 as a reference noise pattern from the initial operating time of the drone 10 to the preset operating time, and after the operating time, the sound The operating noise pattern provided from the input unit 610 is compared with the reference noise pattern, and if the difference between the two noise patterns is out of a predetermined standard error, it is determined that the propeller 32 of the propulsion unit 30 is abnormally operated. do. Here, the standard error is preferably input into the flight analyzer 300 by the pilot or manager according to the type of drone 10 or the weather of the flying location.

On the other hand, the information providing unit 400 determines the location of the drone 10 corresponding to the abnormal operating time when it is determined that the propeller 32 of the propulsion unit 30 is abnormally operated by the flight analysis unit 300 as a flight path ( 420) to generate an analysis image.

As described above, the present invention receives and analyzes the operating noise of the propeller 32 to determine when the propeller 32 is abnormally operated, and on the flight path 420 of the analysis image, the propeller 32 is abnormal. Since the time of operation is displayed with , the manager can more easily identify the point where the accident is likely to occur.

The description of the presented embodiments is provided to enable any person skilled in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention is not to be limited to the embodiments presented herein, but is to be construed in the widest scope consistent with the principles and novel features presented herein.

100: Drone flight situation provision system using drone forensics
200: sensing unit
210: inertial measurement sensor unit
211: geomagnetic sensor
212: acceleration measurement sensor
220: drive sensing unit
230: battery sensing unit
240: position sensor
300: flight analysis unit
400: information provision unit
410: drone object
420: flight path
430: measured value display window

Claims (11)

A sensing unit installed on the drone and sensing the flight state of the flying drone;
a flight analysis unit analyzing the flight of the drone based on the sensing information provided by the sensing unit; and
An information providing unit providing information about the flight status of the drone during flight analyzed by the flight analysis unit to a manager;
The sensing unit
an inertial measurement sensor unit installed on the drone to detect motion of the drone;
a drive sensing unit detecting an operating state of a propulsion unit of the drone that generates propulsion force so that the drone can fly;
a battery sensing unit that detects an operating state of a battery of the drone that supplies power to the corresponding propulsion unit so that the propulsion unit operates; and
A position sensor installed on the drone to measure the latitude, longitude, or altitude of the drone;
the drone
A flight body provided with a main body and a plurality of supports radially extending from the main body; and
A plurality of rotation motors installed at the ends of the supports to generate rotational force, and a propelling unit provided with a plurality of propellers installed to be rotated by the rotation motors;
The sensing unit further includes a sound input unit installed on the support to receive operation noise generated when the propeller rotates,
The flight analyzer analyzes the pattern of the operating noise provided from the sound input unit and provides it to the information providing unit;
the sound input unit
a plurality of microphones slidably installed on the supports along the longitudinal direction to receive operating noise generated when the propeller rotates;
a moving unit for moving the microphone along the support;
Based on the sensing information provided by the sensing unit, when the drone takes off to fly, the microphone is moved adjacent to the rotating motor to reduce input of noise around the drone to the microphone, and the drone takes off. After a predetermined reference time has elapsed from the point of view, a movement control module for controlling the moving unit so that the microphones are moved adjacent to the main body so that the microphones are moved toward the center of gravity of the drone;
A drone flight situation provision system using drone forensics.
delete According to claim 1,
The inertial measurement sensor unit
a geomagnetic sensor installed in the drone to detect geomagnetic information;
an acceleration sensor provided in the drone to measure the acceleration of the drone; and
An angular velocity measurement sensor installed in the drone to measure the angular velocity of the drone;
A drone flight situation provision system using drone forensics.
According to claim 1,
The flight analysis unit generates analysis data for the amount of change in measured values of the inertial measurement sensor unit, the drive sensing unit, the battery sensing unit, and the position sensor according to the elapsed time after the initial point in time when the drone starts flying,
A drone flight situation provision system using drone forensics.
According to claim 1,
The information providing unit provides the manager with an analysis image displaying the flight state of the drone based on the analysis information provided by the flight analysis unit, and displays the flight path of the drone on the map image provided from the map information providing server. and displays a drone object corresponding to the drone on the flight path, but the drone object moves along the flight path corresponding to the position of the drone according to the elapsed time after the initial point in time when the drone starts flying. To generate the analysis image as much as possible,
A drone flight situation provision system using drone forensics.
According to claim 5,
The information providing unit includes a measurement value display window displaying a measurement value of the sensing unit for the flight state of the drone at an actual flight position corresponding to the location of the corresponding drone object while the drone object moves along the flight path. To generate the analysis image as much as possible,
A drone flight situation provision system using drone forensics.
According to claim 5,
The flight analysis unit analyzes the attitude of the drone during flight based on the sensing information provided by the sensing unit,
The information providing unit generates the analysis image so that the drone object is deformed to correspond to the posture of the drone at the actual flight position corresponding to the position of the drone object while moving along the flight path,
A drone flight situation provision system using drone forensics.
According to claim 1,
A manipulation detection unit installed in a controller manipulated by an operator to control flight of the drone and collecting manipulation signals input to the controller from the operator;
The flight analyzer compares the control signal provided from the manipulation detection unit with the flight state provided to the sensing unit, and when the flight state of the drone is out of a predetermined error range for the flight state corresponding to the control signal, It is judged that an emergency has occurred in the drone,
A drone flight situation provision system using drone forensics.
delete delete According to claim 1,
the moving part
a winding drum rotatably installed in the flight body;
a moving wire having one end wound around the winding drum and the other end installed in the microphone;
an elastic member having one end installed on the microphone and the other end installed on an end of the support to provide elastic force to the microphone in a direction in which the microphone is adjacent to the rotary motor;
A drum rotation unit installed on the winding drum to rotate the winding drum so that the moving wire can be wound or unwound on the winding drum;
A drone flight situation provision system using drone forensics.

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