KR102540319B1 - Drone traffic light system based on flight path in downtown - Google Patents

Abstract

The flight direction of drones can be controlled through drone control signals using beam lights or wireless communication modules so that multiple drones flying within the city can safely and systematically fly along preset flight routes. In addition, straight ahead, left turn, right turn, and stop, which are the flight directions of the drone, can be expressed in the color of the beam light, and drone observers such as pedestrians on the ground can intuitively fly the drone through the color of the beam light. A drone traffic light system based on an airway in a city that can grasp the status is provided.

Description

Drone traffic light system based on flight routes in the city {DRONE TRAFFIC LIGHT SYSTEM BASED ON FLIGHT PATH IN DOWNTOWN}

The present invention relates to a drone traffic light system, and more specifically, through a drone control signal so that a plurality of drones flying in a downtown can systematically fly along a predetermined flight path. It is about a drone traffic light system based on an airway in a city that controls the flight direction of a drone.

A drone is an unmanned air vehicle that can move without a pilot on board, and is a powered air vehicle that flies automatically or remotely and is disposable or reusable. These drones can be classified into military and civilian use depending on their use, and in the early days, drones were mainly used for targeting and reconnaissance purposes in the military field.

Recently, drones are being used in various private fields based on the characteristics of aviation and information and communication convergence technologies. For example, drones for private businesses are mainly used for transportation, agriculture and fisheries, and infrastructure management, and are also used for personal entertainment and sports. As described above, drones are used for various purposes in military and civil purposes, and the market size thereof is also continuously growing.

In general, a drone consists of a main body, a control board, a propeller, an electric motor, a navigation sensor, an antenna, a battery, etc. Recently, research and development on each component of the drone is being actively conducted. R&D is also actively progressing. A device capable of performing a specific mission may be combined with such a drone, and the drone combined with a device capable of performing such a specific mission is used for various purposes in various fields.

Meanwhile, Urban Air Mobility (UAM) is attracting attention as a next-generation mobility that will enable sky commuting as an alternative to solving the problem of traffic congestion in metropolitan areas. Urban air traffic is a next-generation three-dimensional transportation service that can accommodate traffic demand without congestion at a speed of 30 to 50 km in the urban area by utilizing electric powered aircraft capable of vertical take-off and landing within the city. Therefore, a drone usually means an unmanned aerial vehicle, but recently, drone delivery and drone taxis in which an operator rides are being developed.

In addition, research and development on how to use drones and drone devices for this are being actively conducted in various industrial sites, but research and development on drone flight systems that can regulate and organize the movement of drones is insufficient. In particular, as the use of drones increases, the number of drones moving within the city is expected to increase. Therefore, there is a need to establish a drone flight system for forming a smooth movement flow of drones while preventing collisions of flying drones.

On the other hand, as prior art, Korean Patent Registration No. 10-1780479 discloses an invention titled "Drone Air Control System and Method", which will be described with reference to FIG. 1 .

1 is a block diagram showing the configuration of a drone air control system according to the prior art.

Referring to FIG. 1 , the drone air traffic control system according to the prior art includes servers 14a and 14b of the air traffic control center and a mobile communication terminal 21 . In addition, the drone air control system according to the prior art includes a drone control center 14 connected to the network 13 for air control of the drone 11, and the drone control center 14 is connected to the network 13 As a server connected to , an authentication server 14a and a control server 14b are provided.

The servers 14a and 14b of the air traffic control center are connected to the network, authenticate user information and drone information about the user's drone 11, receive flight plan information of the drone 11, and send the drone to the flight safety area. The flight of (11) is approved, and the air traffic control service related to the flight of the drone 11 is provided.

The mobile communication terminal 21 has a drone air control application connected to the servers 14a and 14b through a network after being authenticated by the servers 14a and 14b, and the drone 11 is remotely controlled before starting the drone 11. After being connected to the drone controller 12 for control, it is connected to the drone through Bluetooth communication, and after starting the drone 11, it receives flight approval and air control service of the drone 11 from the server through the drone air control application, Flight information of the drone 11 is transmitted to the servers 14a and 14b through the drone air control application.

Here, the servers 14a and 14b process the flight information of the drone 11, and when the drone 11 flies in a no-fly zone, the servers 14a and 14b force the drone to land, and the drone 11 It transmits the forced landing information to the drone air control application.

The drone air control system according to the prior art can systematically manage a series of air control such as user and drone authentication, flight approval and control at the drone control center. In the case of flying in the zone, the occurrence of safety accidents can be prevented in advance by forcibly landing the drone.

However, the drone air control system according to the prior art requires the flight of the drone to be regulated through a separate air control application, and the problem is that pedestrians and the like cannot check the flight status of the drone flying on a complex flight path such as a city center. there is

On the other hand, as another prior art, Republic of Korea Patent Registration No. 10-2029173 discloses an invention titled "Airborne transportation system for drone flight and drone autonomous flight system and method under the air transportation system", FIGS. This will be described with reference to FIG. 2B.

2A is a diagram illustrating communication between drones and communication between control centers according to the prior art, and FIG. 2B is a configuration diagram illustrating an autonomous drone flight system.

As shown in FIG. 2A, the drone 30 communicates with the control center 40 (D2C communication) in the take-off and landing section passing through the pad route area in the take-off and landing pad under the air transportation system, and according to the control of the control center 40 can take off and land. Alternatively, take-off and landing flights may be performed under the control of the control center 40 until the area entering the airspace dedicated to drones in the pad route area (up to the area less than 250 feet from the ground).

In addition, the drone 30 performs autonomous flight until the drone 30 descends below the airspace after entering the dedicated airspace, or until the drone 30 descends below the route region after entering the route region.

Specifically, referring to FIG. 2B, the drone autonomous flight system according to the prior art is a drone autonomous flight system for autonomously flying a drone in a drone airspace in which a drone exclusively flies. It includes a unit 33b, a node information extraction unit 33c, a node information transmitting and receiving unit 33d, a node passing speed calculation unit 33e and a control unit 31, and includes a wireless communication unit 32a, a GPS module 32b, It includes a sensing unit 32c, an interface 32d and a memory 32e.

The flight driving unit 33a controls the flight of the drone 30 by operating components related to the flight of the drone 30, and the flight path setting unit 33b sets an autonomous flight path of the drone 30 in the drone airspace.

The node information extraction unit 33c extracts node information related to a node that is previously set at predetermined intervals on the flight path set by the flight path setting unit 33b or corresponds to a point where the flight path joins.

The node information transmitting and receiving unit 33d transmits and receives node information with other nearby drones through wireless communication, and the node information includes at least the location information of the node through which the drone 30 immediately passed, the passage time, and the passage speed. Transmits and receives node information including node information and at least the location information of the node to be passed immediately after the drone 30, the expected transit time, and the expected transit node information including the expected transit speed.

The node passing speed calculation unit 33e compares information on the previous passing node of the preceding drone with information on its own scheduled passage node, calculates a separation distance from the preceding drone, and plans to pass if the distance between the preceding drone and the preceding drone is less than a predetermined set value. Decreases the speed of passage through nodes.

The control unit 31 adjusts the node passage speed of the drone 30 by controlling the flight driving unit 33a based on the node information of other drones received by the node information transceiver 33d, and the node passage speed calculation unit At the passing speed calculated by (33e), the flight drive unit 33a is controlled to the next node.

Here, the node passing speed calculation unit 33e compares the information of the expected passing node of other nearby drones with the information of the expected passing node of its own to determine whether the predicted passing node overlaps, and if the predicted passing node overlaps, the node is passed. Priority is determined for the drone to pass through, and if it is determined to pass first, the passing speed for the expected passage node is maintained, and when it is not determined to pass first, the passage speed for the expected passage node is lowered.

In addition, the control unit 31 controls the flight drive unit 33a to the expected passage node at the passing speed calculated by the node passing speed calculation unit 33e.

In a drone autonomous flight system according to the prior art, nodes are installed on a drone flight path at predetermined intervals, and when a drone approaches a node, the node receives information about the location, time, and speed of the drone, and receives Based on the received information, the flight of the drone can be adjusted.

However, the drone autonomous flight system according to the prior art can guarantee collision avoidance by communication between drones when drones perform autonomous flight on the air transportation system, but the flight of the drone flying on a complicated flight path such as a city center. There is a problem that a pedestrian or the like cannot check the state.

On the other hand, as another prior art, Korean Patent Publication No. 2020-52171 discloses an invention titled "Drone control method and apparatus therefor", which will be described with reference to FIGS. 3a and 3b.

3A is a configuration diagram showing a drone control system according to the prior art, and FIG. 3B is a configuration diagram of the drone control device shown in FIG. 3A.

Referring to FIG. 3A, the drone control system according to the prior art includes a drone 50 and a drone control device 70, and the drone 50 and the drone control device 70 communicate with each other through a mobile communication network 60. can communicate At this time, the mobile communication network 60 includes a Long Term Evolution (LTE) communication network, and may relay communication between the drone 50 and the drone control device 70.

Specifically, referring to FIG. 3B, in the drone control system according to the prior art, the drone control device 70 includes a communication unit 71, a drone control unit 72, a data collection unit 73, and a data pre-processing unit 74 , a learning unit 75 and a database 76.

The communication unit 71 performs a function of communicating with the drone 50 using a communication network such as the mobile communication network 60 or a wired communication network.

The database 76 is a storage device such as a storage device, a disk device, or a tape device, and accumulates and stores a plurality of flight data. In addition, the database 76 may store state data received from each drone and may store image data received from the drone 50 . In addition, the database 76 stores one or more flight path planning information, and the flight path planning information is grouped with a plurality of flight data and stored in the database 76.

The data collecting unit 73 performs a function of collecting data from each drone 50 . The data collection unit 73 receives image data from the drone 50 and stores it in the database 76 . In particular, the data collection unit 73 collects flight data from the plurality of drones 50 and stores them in the database 76 . In addition, the database 76 stores flight path planning information according to each drone operation, and a plurality of flight data collected according to the flight path planning information is set as the same group and stored in the database 76.

Here, the flight path planning information includes sequential coordinates that must be passed at regular intervals from the flight start position to the target position. The flight path planning information may be generated by the drone control unit 72 and stored in the database 76 and transmitted to the drone 50 together.

The data pre-processing unit 74 performs a function of pre-processing the flight data stored in the database 76 when machine learning for optimizing the path prediction function is performed. Specifically, the data pre-processing unit 74 extracts flight route planning information and a plurality of flight data stored in the same group from the database 76, and includes them in the location information and flight data included in the flight route planning information based on the same period. Calculate the difference in location information as much as the number of flight data.

According to the drone control system according to the prior art, it is possible to learn a path prediction function using a large amount of flight data, predict a moving path of a drone through an optimized path prediction function, and also use a pre-planned path prediction function in the path prediction function. A modeling function capable of accurately predicting the position of the drone may be derived by learning the path prediction function by substituting the difference between the moving path and the actual position where the drone is moved as an input value. In addition, the drone predicts the future position through a route prediction function with optimized weights applied, and if the predicted position corresponds to the danger zone, it performs avoidance flight to get out of the danger zone, thereby preventing the drone from entering the danger zone. can be prevented in advance.

However, in the drone control system according to the prior art, the drone control system receives, accumulates, and stores drone flight data, and then compares and analyzes the stored flight data and the positional relationship of the drone through a path prediction function to determine the drone's path. By controlling, it is difficult to apply to complex flight routes such as downtown, and there is a problem that pedestrians and the like cannot check the flight status of drones flying on these flight routes.

Republic of Korea Patent Registration No. 10-2029173 (registration date: September 30, 2019), title of invention: "Airborne transportation system for drone flight and drone autonomous flight system and method under the air transportation system" Republic of Korea Patent Registration No. 10-1780479 (registration date: September 15, 2017), title of invention: "Drone air control system and method" Japanese Patent Registration No. 6,272,637 (Registration Date: January 12, 2018), Title of Invention: "Air Traffic Space Maintenance System" Republic of Korea Patent Publication No. 2020-52171 (published date: May 14, 2020), title of invention: "Drone control method and device therefor" Republic of Korea Patent Publication No. 2020-48627 (published date: May 8, 2020), title of invention: "Method and system for controlling cluster flight of drones, and traffic control server for the same" Republic of Korea Patent Publication No. 2020-35692 (published date: April 6, 2020), title of invention: "Drone control method and system and device therefor"

The technical problem to be achieved by the present invention for solving the above problems is to use a beam light or wireless communication module so that a plurality of drones flying in the city can safely and systematically fly along a predetermined flight path. It is to provide a drone traffic light system based on flight routes in the city that controls the flight direction of drones through drone control signals using

Another technical problem to be achieved by the present invention is that straight ahead, left turn, right turn and stop, which are the flight directions of the drone, can be expressed in the color of the beam light, and the drone observer such as a pedestrian on the ground can express the color of the beam light. It is to provide a drone traffic light system based on flight routes in the city, which can intuitively grasp the flight status of the drone through

As a means for achieving the above-described technical problem, a drone traffic light system based on an intra-city flight path according to the present invention includes at least one drone equipped with a camera and flying along an intra-city flight path; and when the drone enters the drone waiting radius at a predetermined point on a flight route in the city, a drone control signal for controlling the flight direction of the drone is generated, and a beam light corresponding to the drone control signal is generated to control the drone. Including a drone traffic light system that is expressed upward so that it can be photographed with a camera mounted thereon, wherein the drone photographs the beam light generated by the drone traffic light system, reads the color, recognizes whether it is going straight, turning right, turning left or stopping, The drone traffic light system includes a drone control server that communicates with the drone and controls a drone flying on an air route in the city; A drone traffic light controller that is connected to the drone control server by wire or wirelessly and generates a drone control signal for a drone that has entered a drone standby radius to control a drone at a predetermined point on a flight route in the city; a drone traffic light displaying a color signal according to a drone control signal of the drone traffic light controller so that a pedestrian can visually check control of the drone; and a beam light generator installed on top of the drone signal light to emit a beam light upward so as to be photographed by a camera mounted on the drone.

delete

Here, the drone control signal may be a beam light signal of a predetermined color indicating straight ahead, right turn, left turn, and stop of the drone.

Here, the drone traffic light of the drone traffic light system may be mounted on a traffic light cradle connected to a post installed at a predetermined point on an air route in the city.

Here, the drone includes a wireless communication module communicating with a drone control server of the drone traffic light system; A control unit implemented as an MCU and controlling a flight unit according to a preset flight path; a memory for storing a preset flight path; a flight unit driven under the control of the control unit so that the drone can fly along a preset flight path; A camera mounted on the lower part of the drone body to photograph the beam light; and a beam light color reading unit that reads the color of the beam light captured by the camera and determines whether the drone goes straight, turns right, turns left, or stops.

On the other hand, as another means for achieving the above-described technical problem, the drone traffic light system based on the intra-city flight route according to the present invention is an aircraft equipped with a wireless communication module without a camera, and at least one or more drones; and when the drone enters the drone waiting radius at a predetermined point on a flight route in the city, generates a drone control signal to control the flight direction of the drone, and transmits the drone control signal by communicating with a wireless communication module of the drone. Including a drone traffic light system, wherein the drone has a drone control signal reader for reading the drone control signal generated by the drone traffic light system, and reads whether to go straight, turn right, turn left or stop, and the drone traffic light system, a wireless communication module that communicates with the wireless communication module of the drone and receives the location and flight direction of the drone flying on an air route in the city; A drone traffic light controller that generates a drone control signal for a drone that has entered a drone waiting radius to control a drone at a predetermined point on an air route in the city; a drone traffic light displaying a color signal according to a drone control signal of the drone traffic light controller so that a pedestrian can visually check control of the drone; and a drone control server that is connected to the drone traffic light controller by wire or wirelessly and controls drones flying on flight routes within the city.

delete

Here, the drone control signal may be a frequency signal having a predetermined frequency indicating straight ahead, right turn, left turn, and stop of the drone.

Here, the drone may include: the wireless communication module communicating with the wireless communication module of the drone traffic light system to transmit the drone's current location and flight direction and to receive a drone control signal; A control unit implemented as an MCU and controlling a flight unit according to a predetermined flight path; a memory for storing a preset flight path; a flight unit driven under the control of the control unit so that the drone can fly along a preset flight path; and a drone control signal reader that reads the drone control signal received through the wireless communication module and determines whether the drone goes straight, turns right, turns left, or stops.

According to the present invention, the drone's flight direction is provided through a drone control signal using beam lights or a wireless communication module so that a plurality of drones flying in the city center can safely and systematically fly along a predetermined flight path. can control.

According to the present invention, straight ahead, left turn, right turn, and stop, which are the flight directions of the drone, can be expressed in the color of the beam light, and drone observers such as pedestrians on the ground intuitively view the drone through the color of the beam light. flight status can be obtained.

1 is a block diagram showing the configuration of a drone air control system according to the prior art.
2A is a diagram illustrating communication between drones and communication between control centers according to the prior art, and FIG. 2B is a configuration diagram illustrating an autonomous drone flight system.
3A is a configuration diagram showing a drone control system according to the prior art, and FIG. 3B is a configuration diagram of the drone control device shown in FIG. 3A.
4 is a block diagram of a drone traffic light system based on an airway in a city center according to a first embodiment of the present invention.
5 is a detailed configuration diagram of a drone applied to a drone traffic light system based on an airway in a city according to a first embodiment of the present invention.
6A and 6B are diagrams each illustrating an operation of a drone traffic light system based on an airway in a city center according to a first embodiment of the present invention.
7 is a diagram illustrating the operation of a drone traffic light system based on an airway in a city according to a first embodiment of the present invention along a flight path preset in the city.
8 is a configuration diagram of a drone traffic light system based on an airway in a city center according to a second embodiment of the present invention.
9 is a detailed configuration diagram of a drone applied to a drone traffic light system based on an airway in a city according to a second embodiment of the present invention.
10A and 10B are views each illustrating an operation of a drone traffic light system based on an airway in a city center according to a second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And 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.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated. Also, terms such as “… unit” described in the specification refer to a unit that processes at least one function or operation, and may be implemented by hardware, software, or a combination of hardware and software.

In general, the flight of a drone consists of going straight, backward, turning left, turning right, rising, descending, and stopping. It is a system for controlling left turn, right turn and stop. At this time, in order for the drone to fly stably within the city, the flight direction of the drone must be controlled by a central system such as a drone control server, and the drone can be individually or centrally controlled.

According to an embodiment of the present invention, a drone traffic light system based on an airway in a city center intuitively recognizes and controls the flight direction of a drone through a beam light and a method of controlling the flight direction by wirelessly communicating with the drone. are distinguished by

Hereinafter, with reference to FIGS. 4 to 7, a drone traffic light system based on an airway in a city according to a first embodiment of the present invention in which a camera is mounted on a drone will be described, and FIGS. Referring to, a drone traffic light system based on an airway in a city center according to a second embodiment of the present invention will be described.

[Embodiment 1: Drone Traffic Light System Based on Flight Routes in the City]

4 is a block diagram of a drone traffic light system based on an airway in a city according to a first embodiment of the present invention, and FIG. This is a detailed configuration diagram.

Referring to FIG. 4, the drone traffic light system based on an airway in the city center according to the first embodiment of the present invention largely includes a drone 100 and a drone traffic light system 200, and the drone traffic light system 200, It includes a drone control server 210, a drone traffic light controller 220, a drone traffic light 230, and a beam light generator 240. In addition, referring to FIG. 5, the drone 100 includes a wireless communication module 110, a controller 120, a memory 130, a flight unit 140, a battery 150, a camera 160, and a beam light color. A reading unit 170 is included.

The drone 100 is at least one unmanned aerial vehicle that flies along an air route in a city center, and is equipped with a camera 160, respectively. In this case, when the drone 300 is applied to a drone taxi, an operator may board. Here, the drone 100 is provided with a camera or a sensor to distinguish the color of the beam light generated by the drone traffic light system 200, and reads and recognizes the beam light signal.

Specifically, the drone 100 includes a drone body having propellers driven by a plurality of propeller motors and a camera 160 mounted on a lower portion of the drone body. Here, as will be described later, the drone 100 can photograph the beam light generated by the drone traffic light system 200, read the color, and recognize whether it is going straight, turning right, turning left, or stopping.

The drone traffic light system 200 generates a drone control signal to control the flight direction of the drone 100 when the drone 100 enters the drone standby radius at a predetermined point on a flight route in the city, and controls the drone 100. A beam light corresponding to the signal is generated and expressed upward so that it can be photographed with a camera mounted on the drone 100. Here, the drone control signal may be a beam light signal of a predetermined color indicating straight ahead, right turn, left turn, and stop of the drone.

For example, a beam light signal is generated by distinguishing signals corresponding to straight ahead, backward, left turn, right turn, and stop of the drone 100, and the drone 100 recognizes the beam light signal. And, according to the beam light signal, drone flight such as going straight, backward, turning left, turning right, and stopping proceeds.

In addition, the drone traffic light system 200 can utilize an existing traffic light system that controls the movement of vehicles, and generates a beam light that can be recognized by drones by improving the existing traffic light system that controls the movement of vehicles. can make it

Specifically, the drone control server 210 of the drone traffic light system 200 communicates with the drone 100 to control drones flying on flight routes within the city.

The drone traffic light controller 220 of the drone traffic light system 200 is connected to the drone control server 210 by wire or wirelessly, and the drone entered the drone standby radius for drone control at a predetermined point on the flight route in the city ( 100) generates a drone control signal.

The drone traffic light 230 of the drone traffic light system 200 expresses a color signal according to the drone control signal of the drone traffic light controller 220 so that a pedestrian can visually check the control of the drone 100. That is, since the drone 100 flies at a low altitude in the city center and at a close distance to the drone observer, the drone observer needs to intuitively grasp the flight state of the drone. Accordingly, the drone signal light 230 marks the flight direction of the drone so that the drone observer can visually recognize the flight direction of the drone, so that the drone observer can visually recognize the flight direction of the drone from the ground. Meanwhile, the drone traffic light 230 of the drone traffic light system 200 may be mounted on a traffic light holder 260 connected to a post 250 installed at a predetermined point on an air route in the city.

The beam light generator 240 of the drone traffic light system 200 is installed on top of the drone traffic light 230 to emit a beam light upward so that a camera mounted on the drone 100 can take pictures. For example, the color of the beam light may be red and green, and various colors may be used depending on the required flight motion of the drone (straight, backward, left turn, right turn, and stop), but is not limited thereto, The beam light signal may be a variety of signals as long as the drone 100 can recognize them.

In addition, as shown in FIG. 5, the wireless communication module 110 of the drone 100 communicates with the drone control server 210 of the drone traffic light system 200.

The controller 120 of the drone 100 is implemented as a Micro Controller Unit (MCU), and controls the flight unit 140 according to a predetermined flight path, that is, coordinates input to the drone in advance. In addition, the control unit 120 controls the flight unit 140 according to the drone control signal read by the beam light color reading unit 170.

The memory 130 of the drone 100 stores a preset flight path during automatic flight (or autonomous flight).

The flight unit 140 of the drone 100 is driven under the control of the controller 120 so that the drone 100 can fly along a preset flight path.

The battery 150 of the drone 100 supplies power to the wireless communication module 110, the controller 120, the memory 130, and the flight unit 140, and the battery 150 also supplies power to the camera ( 160) and the beam light color reading unit 170 are supplied with power.

The camera 160 of the drone 100 is mounted on the lower part of the drone body to photograph the beam light.

The beam light color reading unit 170 of the drone 100 reads the color of the beam light photographed by the camera 160 and determines whether the drone 100 goes straight, turns right, turns left, or stops.

Meanwhile, FIGS. 6A and 6B are diagrams each illustrating an operation of a drone traffic light system based on an airway in a city center according to the first embodiment of the present invention.

As shown in FIG. 6A, in the drone traffic light system based on an airway within the city center according to the first embodiment of the present invention, when the drone 100 enters the drone standby radius in which the drone traffic light 230 is installed, the beam light generator By photographing the red beam light, which is the stationary beam light generated in step 240, and recognizing the color, the drone 100 maintains a stationary state.

In addition, as shown in FIG. 6B, in a state where the drone 100 enters the drone waiting radius where the drone traffic light 230 is installed, the green beam light, which is a straight beam light generated from the beam light generator 240, is photographed and By recognizing the color, the drone 100 may switch to straight flight. At this time, the pedestrian may visually recognize a color signal expressed through the drone traffic light 230 or may recognize the color of a beam light. Here, the reason why the drone signal light 230 expresses a color signal separately from the beam light is that it is difficult to easily recognize the beam light because the beam light is expressed in an upward direction.

Meanwhile, FIG. 7 is a diagram illustrating operation of a drone traffic light system based on a flight route in a city center according to a first embodiment of the present invention along a preset flight route in the city center.

As shown in FIG. 7, in the drone traffic light system based on an airway in the city center according to the first embodiment of the present invention, a drone traffic light is installed at a predetermined point in the city center, and a plurality of drones 100a, 100b, 100c, and 100d When flying along the preset flight path and entering within a predetermined drone standby radius, the drone control server 210 receives flight path and location information from the plurality of drones 100a, 100b, 100c, and 100d in real time, The flight path and location of the drones 100a, 100b, 100c, and 100d are analyzed, and whether the drone is controlled corresponding to the current location is transmitted to the drone traffic light controller 220. Accordingly, while the drone control signal is expressed through the drone traffic light 230 under the control of the drone traffic light controller 220, the beam light is expressed through the beam light generator 240.

In response to this, the camera mounted on the drones (100a, 100b, 100c, 100d) stopped or flying in the sky where the drone traffic lights are installed takes pictures of beam lights at each location, reads each control signal, and reads the read drone control signal. According to this, the flight of each drone 100a, 100b, 100c, 100d is controlled.

After all, according to the first embodiment of the present invention, a drone control signal using a beam light or a wireless communication module is used so that a plurality of drones flying in the city center can safely and systematically fly along a predetermined flight path. direction of flight can be controlled. In addition, the flight direction of the drone, such as straight ahead, left turn, right turn, and stop, can be expressed in the color of the beam light, and drone observers such as pedestrians on the ground can intuitively grasp the flight status of the drone through the color of the beam light. .

[Second Embodiment: Flight Route-based Drone Traffic Light System in the City]

8 is a block diagram of a drone traffic light system based on an airway in a city center according to a second embodiment of the present invention, and FIG. This is a detailed configuration diagram.

Referring to FIG. 8, the drone traffic light system based on an airway in the city according to the first embodiment of the present invention includes a drone 300 and a drone traffic light system 400, and the drone traffic light system 400 is a wireless communication module. 410, a drone traffic light controller 420, a drone traffic light 430, and a drone control server 440. In addition, referring to FIG. 9, it includes a wireless communication module 310, a controller 320, a memory 330, a flight unit 340, a battery 350, and a drone control signal reader 360. At this time, the above The drone 100 includes a drone body having propellers driven by a plurality of propeller motors.

The drone 300 is at least one unmanned aerial vehicle that flies along an air route in a city center, and includes a wireless communication module 310 without a camera. In this case, when the drone 300 is applied to a drone taxi, an operator may board. In addition, the drone 300 has a drone control signal reader 360 that reads the drone control signal generated by the drone traffic light system 400, and can read whether it is going straight, turning right, turning left, or stopping. Here, the drone control signal may be a frequency signal having a predetermined frequency indicating straight ahead, right turn, left turn, and stop of the drone.

The drone traffic light system 400 generates a drone control signal for controlling the flight direction of the drone 300 when the drone 300 enters the drone standby radius at a predetermined point on a flight route in the city, and the drone ( 300) communicates with the wireless communication module 310 to transmit the drone control signal. For example, the drone control signal may be a signal that the drone 300 can recognize wirelessly and may be a signal utilizing a frequency. When such a drone control signal is composed of frequencies, various frequency bands can be used according to the flight motions (straight ahead, backward, left turn, right turn, and stop) of the drone 300 .

Specifically, the drone traffic light system 400 includes a wireless communication module 410 that communicates with the wireless communication module 310 of the drone 300 to receive the location and flight direction of a drone flying on an air route in the city; A drone traffic light controller 420 generating a drone control signal for a drone 300 that has entered a drone standby radius for drone control at a predetermined point on an air route in the city; a drone traffic light 430 that expresses a color signal according to a drone control signal of the drone traffic light controller 420 so that a pedestrian can visually check the control of the drone 300; and a drone control server 440 that is connected to the drone traffic light controller 420 by wire or wirelessly and controls drones flying on flight routes within the city.

Here, the drone traffic light 430 of the drone traffic light system 400 may be mounted on a traffic light cradle connected to a post installed at a predetermined point on an air route in the city.

In addition, referring to FIG. 9, the drone 300 communicates with the wireless communication module 410 of the drone traffic light system 400 to transmit the drone's current location and flight direction, and to receive a drone control signal. wireless communication module 310; A control unit 320 implemented as a micro controller unit (MCU) and controlling the flight unit 340 according to a predetermined flight path; A memory 330 for storing a preset flight path; a flight unit 340 driven under the control of the control unit 320 so that the drone 300 can fly along a preset flight path; a battery 350 supplying power to the wireless communication module 310, the controller 320, the memory 330 and the flight unit 340; and a drone control signal reader 360 that reads the drone control signal received through the wireless communication module 310 and determines whether the drone 300 goes straight, turns right, turns left, or stops.

Meanwhile, FIGS. 10A and 10B are diagrams each illustrating an operation of a drone traffic light system based on an airway in a city center according to a second embodiment of the present invention.

As shown in FIG. 10A , in the drone traffic light system based on an airway within the city center according to the second embodiment of the present invention, when the drone 300 without a camera enters the drone standby radius where the drone traffic light 430 is installed. , By receiving and reading a drone control signal having a predetermined frequency generated by the wireless communication module 110, the drone 300 maintains a stopped state.

In addition, as shown in FIG. 10B, in a state where the drone 300 without a camera enters the drone waiting radius where the drone traffic light 430 is installed, the drone control with a predetermined frequency generated by the wireless communication module 110 By receiving and reading the signal, the drone 300 can switch to straight flight. At this time, the pedestrian can recognize the color signal expressed through the drone traffic light 430 with the naked eye.

In addition, although not shown, in the case of a drone traffic light system based on an airway in the city center according to an embodiment of the present invention, a beam light generator is additionally installed in addition to the wireless communication module 410 so that the drone may or may not mount a camera. Drone control signals can also be generated and displayed for all cases that do not.

After all, according to an embodiment of the present invention, the flight direction of drones is controlled through a drone control signal using a wireless communication module so that a plurality of drones flying in the city can safely and systematically fly along a predetermined flight path. In addition, drone control signals can be read for the drone's flight direction, such as straight ahead, left turn, right turn, and stop, and drone observers such as pedestrians on the ground can grasp the drone's flight status through the color of the drone signal light. there is.

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included in the scope of the present invention. do.

100: drone (equipped with camera)
200: drone traffic light system (first embodiment)
110: wireless communication module 120: control unit (MCU)
130: memory 140: flight unit
150: battery 160: camera
170: beam light color reading unit
210: drone control server 220: drone traffic light controller
230: drone traffic light 240: beam light generator
250: holding 260: traffic light holder
300: drone (without camera)
400: drone traffic light system (second embodiment)
310: wireless communication module 320: control unit (MCU)
330: memory 340: flight unit
350: battery 360: drone control signal reader
410: wireless communication module 420: drone traffic light controller
430: drone traffic light 440: drone control server

Claims (10)

at least one drone 100 equipped with a camera 160 and flying along a flight path within the city; and
When the drone 100 enters the drone standby radius of a predetermined point on a flight route in the city, a drone control signal for controlling the flight direction of the drone 100 is generated, and a beam light corresponding to the drone control signal ( It includes a drone traffic light system 200 that generates a beam light and expresses it upward so that it can be photographed with a camera mounted on the drone 100,
The drone 100 photographs the beam light generated by the drone traffic light system 200, reads the color, recognizes whether it is going straight, turning right, turning left or stopping,
The drone traffic light system 200 includes a drone control server 210 that communicates with the drone 100 and controls a drone flying on an air route in the city; A drone traffic light controller 220 that is connected to the drone control server 210 by wire or wirelessly and generates a drone control signal for the drone 100 that has entered the drone waiting radius for drone control at a predetermined point on the flight route in the city. ); A drone traffic light 230 that expresses a color signal according to a drone control signal of the drone traffic light controller 220 so that a pedestrian can visually check the control of the drone 100; and a beam light generator 240 installed on top of the drone traffic light 230 to emit a beam light upward so that a camera mounted on the drone 100 can shoot the signal. delete According to claim 1,
Wherein the drone control signal is a beam light signal of a predetermined color indicating straight ahead, right turn, left turn and stop of the drone. According to claim 1,
The drone traffic light 230 of the drone traffic light system 200 is mounted on a traffic light holder 260 connected to a support 250 installed at a predetermined point on a flight route in the city center. system. The method of claim 1, wherein the drone 100,
A wireless communication module 110 communicating with the drone control server 210 of the drone traffic light system 200;
A control unit 120 implemented as a micro controller unit (MCU) and controlling the flight unit 140 according to a preset flight path;
A memory 130 for storing a preset flight path;
a flight unit 140 driven under the control of the control unit 120 so that the drone 100 can fly along a preset flight path;
A camera 160 mounted on the lower part of the drone body to photograph the beam light; and
A city-based flight path-based drone including a beam light color reader 170 that reads the color of the beam light photographed by the camera 160 and determines whether the drone 100 goes straight, turns right, turns left, or stops. traffic light system. An air vehicle equipped with a wireless communication module 310 without a camera, comprising: at least one drone 300 flying along an air route in a city center; and
When the drone 300 enters the drone waiting radius at a predetermined point on a flight route in the city, a drone control signal for controlling the flight direction of the drone 300 is generated, and the wireless communication module of the drone 300 ( 310) and a drone traffic light system 400 for transmitting the drone control signal,
The drone 300 has a drone control signal reader 360 that reads the drone control signal generated by the drone traffic light system 400, and reads whether to go straight, turn right, turn left or stop,
The drone traffic light system 400 includes a wireless communication module 410 that communicates with the wireless communication module 310 of the drone 300 to receive the location and flight direction of a drone flying on a flight path in the city; A drone traffic light controller 420 generating a drone control signal for a drone 300 that has entered a drone standby radius for drone control at a predetermined point on an air route in the city; a drone traffic light 430 that expresses a color signal according to a drone control signal of the drone traffic light controller 420 so that a pedestrian can visually check the control of the drone 300; and a drone control server 440 that is connected to the drone traffic light controller 420 by wire or wirelessly and controls drones flying on the city flight route. delete According to claim 6,
The drone control signal is a frequency signal having a predetermined frequency indicating straight ahead, right turn, left turn, and stop of the drone, respectively. According to claim 6,
The drone traffic light 430 of the drone traffic light system 400 is mounted on a traffic light cradle connected to a support installed at a predetermined point on the flight route in the city center. The method of claim 6, wherein the drone 300,
The wireless communication module 310 communicating with the wireless communication module 410 of the drone traffic light system 400 to transmit the drone's current location and flight direction and to receive a drone control signal;
A control unit 320 implemented as a micro controller unit (MCU) and controlling the flight unit 340 according to a preset flight path;
a memory 330 for storing a preset flight path;
a flight unit 340 driven under the control of the control unit 320 so that the drone 300 can fly along a preset flight path; and
A drone based on flight routes in the city including a drone control signal reader 360 that reads the drone control signal received through the wireless communication module 310 and determines whether the drone 300 goes straight, turns right, turns left, or stops. traffic light system.

Images