KR102563259B1 - Method and system for providing landing guidance using variable marker - Google Patents

Abstract

A landing guidance method for an unmanned aerial vehicle and a system to which the method is applied are provided. One of the several embodiments according to the present disclosure includes the step of receiving first identification information by an unmanned aerial vehicle, photographing a landing guidance display by the unmanned aerial vehicle, and displaying the photographed image on the landing guidance display. identifying a variable marker, extracting second identification information from the variable marker by the unmanned aerial vehicle, and determining whether the first identification information corresponds to the second identification information by the unmanned aerial vehicle and performing, by the unmanned aerial vehicle, a landing maneuver based on the position of the variable marker, only when it is determined that the first identification information and the second identification information correspond to each other. landing guidance method is presented.

Description

Method and system for guiding landing of unmanned aerial vehicle using variable marker {METHOD AND SYSTEM FOR PROVIDING LANDING GUIDANCE USING VARIABLE MARKER}

The present disclosure relates to a landing guidance method and system for an unmanned aerial vehicle. More specifically, it relates to a landing guidance method and system using identification markers disposed on ground landing pads.

As shown in FIG. 1, a technology for guiding landing of an unmanned aerial vehicle using an identification marker disposed on a ground landing site is provided. According to this technology, a camera provided in an unmanned aerial vehicle identifies an accurate landing point using an identification marker disposed on a ground landing site. At this time, the unmanned aerial vehicle can simultaneously identify a plurality of markers and determine an accurate landing point using the simultaneously identified markers. In addition, the unmanned aerial vehicle performs a landing maneuver so that the alignment between the unmanned aerial vehicle and the identified landing point is matched using the identification marker continuously photographed through a camera provided in the unmanned aerial vehicle.

Identification markers placed on the landing pad are printed on the structure in the form of a fixed image.

According to the existing technology, various problems may occur as the identification markers disposed on the ground landing pad are duplicated. For example, if duplicate identification markers are placed on an adjacent landing pad, which is not the correct landing pad, the possibility that the unmanned aerial vehicle will land on an adjacent landing pad cannot be ruled out. In a logistics delivery situation using an unmanned aerial vehicle, it goes without saying that an erroneous delivery accident may be sent due to the above problem.

Chinese Patent Publication No. 115079719 Chinese Patent Publication No. 114460970 Japanese Laid-open Patent No. 2022-082189 US Patent No. 10977599 US Patent No. 10922984 Korean Patent Publication No. 2017-0013450

The technical problem to be solved in some embodiments of the present disclosure is to secure the variability of the marker by displaying the marker for inducing the landing of the unmanned aerial vehicle through a display device, and through this, the unmanned aerial vehicle arrives at the correct landing point. An object of the present invention is to provide a landing guidance method for landing and a system to which the method is applied.

Another technical problem to be solved in some embodiments of the present disclosure is to provide information to be provided to the unmanned aerial vehicle through a marker for inducing landing of the unmanned aerial vehicle through visual information, thereby providing the unmanned aerial vehicle and the unmanned aerial vehicle. It is an object of the present invention to provide a landing guidance method and a system to which the method is applied so that the landing site can transmit information to be provided to an unmanned aerial vehicle even when there is no wireless communication means between landing sites or there is a problem in wireless communication.

Another technical problem to be solved in some embodiments of the present disclosure is to increase the discrimination of the marker when the distance between the unmanned aerial vehicle and the landing pad is relatively large by changing the appearance of the marker according to the distance between the unmanned aerial vehicle and the landing pad. It is to provide a landing guidance method and a system to which the method is applied, prioritizing information transmission capability through a marker when the distance between the unmanned aerial vehicle and the landing site is relatively short.

Another technical problem to be solved by some embodiments of the present disclosure is that even in a situation where multiple UAVs land simultaneously or consecutively with a slight lag, such as a UAV landing site, each UAV can accurately land without confusion. It is to provide a landing guidance method and a system to which the method is applied, which supports identification of one's own marker.

The technical problems of the present disclosure are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

In order to solve the above technical problem, a landing guidance method of an unmanned aerial vehicle according to an embodiment of the present disclosure includes receiving first identification information by an unmanned aerial vehicle, and photographing a landing guidance display on the ground by the unmanned aerial vehicle. and identifying a variable marker displayed on a landing guidance display using the captured image, and only when the unmanned aerial vehicle determines that the shape of the variable marker corresponds to the first identification information, and performing a landing maneuver to the landing pad corresponding to the landing guidance display. In this case, the shape of the variable marker may be changed according to a change in a signal that the landing guidance display receives from an external device in relation to the landing of the unmanned aerial vehicle.

In one embodiment, the performing of the landing maneuver includes extracting second identification information from the variable marker, determining whether the first identification information corresponds to the second identification information, and determining whether the first identification information corresponds to the second identification information. Only when it is determined that the identification information and the second identification information correspond, performing the landing maneuver.

In one embodiment, the variable marker may have a shape corresponding to the first identification information and the landing site status indicator. At this time, in the landing guidance method of the unmanned aerial vehicle, between the receiving step and the identifying step, when the distance to the unmanned aerial vehicle exceeds a reference value, the landing guidance display changes the landing field status indicator cyclically. Accordingly, a step of displaying variable markers having circularly changed shapes may be further included. In addition, in the step of displaying the variable markers having a circularly changed shape, the first landing site status indicator corresponding to the state of the landing site and the first identification information when the distance to the unmanned aerial vehicle decreases to less than the reference value The step of continuously displaying variable markers having a shape, or performing a landing maneuver to a landing pad corresponding to the landing guidance display may include some of the variable markers having a shape that is cyclically changed in combination with the first identification information. Even if it is determined that they do not correspond, if the number of variable markers corresponding to the first identification information is greater than the number of variable markers that do not correspond to the first identification information among the variable markers having circularly changed shapes, the variable markers and determining that the shape corresponds to the first identification information.

In one embodiment, the landing guidance display may be disposed on the same landing field as an adjacent landing guidance display. At this time, the variable marker displayed on the landing guidance display has a shape corresponding to the first identification information and the landing site status indicator, and the variable marker displayed on the adjacent landing guidance display has a shape corresponding to the second identification information and the landing site. It has a shape corresponding to the status indicator, and the step of identifying the variable marker may include displaying, by the landing guidance display, variable markers having a shape that is cyclically changed as the landing guidance display cyclically changes the landing site status indicator, and the adjacent and displaying variable markers having a circularly changed shape as the landing guidance display cycles the landing site status indicator.

In one embodiment, the performing of the landing maneuver may include displaying a reduced size of the variable marker in response to the landing guidance display detecting that the distance to the unmanned aerial vehicle decreases to a reference distance or less. steps may be included. At this time, the step of displaying the variable marker while reducing the size includes determining whether the unmanned aerial vehicle and the variable marker are horizontally aligned through a sensing device provided in the landing guidance display, and the unmanned aerial vehicle and the variable marker. In response to determining that the alignment of the deformable markers in the horizontal direction is misaligned, the display position of the deformable marker may be moved to a position in the horizontal direction of the unmanned aerial vehicle and displayed. In addition, the step of moving the display position of the variable marker to the position in the horizontal direction of the unmanned aerial vehicle and displaying the display is to re-determine whether the unmanned aerial vehicle and the variable marker are aligned in the horizontal direction through a sensing device provided in the landing guidance display. and displaying while gradually moving the display position of the variable marker to the center of the landing guidance display in response to re-determination that the unmanned aerial vehicle and the variable marker are horizontally aligned. . In addition, in the step of displaying the variable marker while reducing the size, in response to receiving a marker loss message from the unmanned aerial vehicle that has failed to detect the variable marker, the display position of the variable marker is changed from the unmanned aerial vehicle. A step of displaying while moving until a marker redetect message is received may be included. At this time, the step of displaying the display position of the variable marker while moving until a marker redetect message is received from the unmanned aerial vehicle is in response to receiving a marker loss signal from the unmanned aerial vehicle, the marker from the unmanned aerial vehicle. and displaying while moving the display position of the variable marker in a horizontal direction according to a pre-specified pattern until a discovery signal is obtained, wherein the pre-specified pattern is a pattern that spirally rotates from the center to the periphery. Alternatively, it may be a pattern that cycles through the screen of the landing guidance display in a zigzag manner.

In one embodiment, in the landing guidance method of the unmanned aerial vehicle, between the receiving step and the identifying step, the landing guidance display includes a first type variable marker having a shape corresponding to the first identification information and the The method may further include selectively displaying any one of the first identification information and the second type variable marker having a shape corresponding to one or more pieces of information based on a distance to the unmanned aerial vehicle. In this case, the first type variable marker may have a first resolution and the second type variable marker may have a second resolution higher than the first resolution. In addition, the first type variable marker is displayed on the landing guidance display in a first size, and the second type variable marker has a second size equal to or smaller than the first size on the landing guidance display. It may be displayed as

In one embodiment, in the landing guidance method of the unmanned aerial vehicle, between the receiving step and the identifying step, the landing guidance display includes a first resolution variable marker and a second resolution higher than the first resolution. The method may further include selectively displaying one of the variable markers based on a distance to the unmanned aerial vehicle. In this case, the variable marker of the first resolution and the variable marker of the second resolution may be displayed in the same size on the landing guidance display.

In one embodiment, the variable marker has a shape corresponding to the first identification information and the landing site status indicator, and the performing of the landing maneuver comprises the first identification information and the first landing site status indicator and the variable type marker. Only when it is determined that the shapes of the markers correspond to each other, performing the landing maneuver may be included. The first landing site status indicator may represent that landing on the landing site is possible. At this time, in the step of performing the landing maneuver, a moving object is detected by a moving object detection sensor installed in the landing pad, and the location information of the user terminal of the cargo receiver registered in correspondence with the unmanned aerial vehicle is different from the location of the landing pad by more than a reference value. In response to this, the landing guidance display may include displaying a variable marker having a shape corresponding to the first identification information and the second landing site status indicator. In addition, when the cargo unloading mode of the unmanned aerial vehicle is any one of a cargo rope descent mode and an air drop mode, the second landing site status indicator may represent prohibition of cargo unloading. In addition, the step of performing the landing maneuver is only when a cargo delivery approval signal is received from the user terminal of the cargo receiver registered in correspondence with the unmanned aerial vehicle when a moving object is detected by a moving object detection sensor installed in the landing pad, The landing guidance display may include maintaining a display of a variable marker having a shape corresponding to the first identification information and the first landing site status indicator.

In one embodiment, the receiving of the first identification information may include: the unmanned aerial vehicle receiving the first identification information from a control center system; and the landing guidance display may include the first identification information from the control center system. It may include receiving identification information. At this time, the control center system controls one-to-one control cells including a plurality of landing guidance displays located within the divided geographical area, and the first identification information is the plurality of landing guidance displays included in the control cell. It may be different from identification information pre-allocated to any one of them. In addition, the step of receiving the first identification information from the control center system by the unmanned aerial vehicle includes the steps of determining whether the unmanned aerial vehicle has reached an identification information request check point notified from the control center when the flight starts; , transmitting, by the unmanned aerial vehicle, an identification information request signal to the control center system in response to a determination of arrival at the identification information request checkpoint, and the unmanned aerial vehicle, in response to the identification information request signal, It may include receiving the first identification information from a control center system. In addition, the step of receiving the first identification information from the control center system by the unmanned aerial vehicle is to determine whether the unmanned aerial vehicle has reached an identification information request check point randomly determined by the unmanned aerial vehicle at the time of flight start. and transmitting, by the unmanned aerial vehicle, an identification information request signal to the control center system in response to a determination of arrival at the identification information request checkpoint; , Receiving the first identification information from the control center system. In addition, the control center system controls a control cell including a plurality of landing guidance displays located within a divided geographical area one-to-one, and provides a first value to the landing guidance display included in the plurality of landing guidance displays. Allocates the first identification information having a second value and allocates second identification information having a second value to an adjacent landing guidance display disposed at the same landing site as the landing guidance display, wherein the first value and the second value are the same landing site It may be a value included in any one of simultaneous allocable identification information sets referred to when allocating a plurality of pieces of identification information within the set.

In order to solve the above technical problem, a landing guidance system for an unmanned aerial vehicle according to another embodiment of the present disclosure receives first identification information, photographs a landing guidance display on the ground, and guides landing using the photographed image. An unmanned aerial vehicle that identifies a variable marker displayed on a display and performs a landing maneuver to a landing site corresponding to the landing guidance display only when it is determined that the shape of the variable marker corresponds to the first identification information; The landing guidance display may include receiving the first identification information and displaying the variable marker having a shape corresponding to the first identification information.

After receiving the first identification information, the landing guidance display may display the variable marker in response to receiving a command to display the variable marker. Also, the command to display the variable marker may be received from a control center system that transmits the first identification information to the unmanned aerial vehicle and the landing guidance display. Also, the command to display the variable marker may be received from the unmanned aerial vehicle.

In one embodiment, the landing guidance system of the unmanned aerial vehicle may further include a motion detection sensor for detecting a motion of the landing site. The landing guidance display may display a landing site status indicator generated using a motion detection result of the motion detection sensor and a variable marker having a shape corresponding to the first identification information.

In order to solve the above technical problem, a landing guidance system for an unmanned aerial vehicle according to another embodiment of the present disclosure receives first identification information, photographs a landing guidance display on the ground, and lands using the photographed image. An unmanned aerial vehicle that identifies a variable marker displayed on a guidance display and performs a landing maneuver to a landing site corresponding to the landing guidance display only when it is determined that the shape of the variable marker corresponds to the first identification information; and , The landing guidance display for receiving the first identification information and displaying the variable marker having a shape corresponding to the first identification information and the unmanned aerial vehicle transmission information. At this time, the UAV transmission information is any one of a predetermined number of different indicators, and the shape of the landing guidance display is cyclically changed as indicators of the UAV transmission information are cyclically changed. of variable markers can be displayed.

The landing guidance system of the unmanned aerial vehicle further includes a motion detection sensor for detecting a motion of the landing site, and the information transmitted to the unmanned aerial vehicle is one of a landing site status indicator generated using a motion detection result of the motion detection sensor. can be one

In order to solve the above technical problem, a landing guidance system for an unmanned aerial vehicle according to another embodiment of the present disclosure receives first identification information, and a shape corresponding to the indicator of the first identification information and the unmanned aerial vehicle transmission information. A first landing guidance display for displaying a first variable marker of the first landing guidance display, receiving second identification information, and displaying a second variable marker having a shape corresponding to the indicator of the second identification information and the unmanned aerial vehicle transmission information. 2 May include a landing guidance display. At this time, the first landing guidance display and the second landing guidance display are disposed in the same landing field, and the shape of the first landing guidance display is cyclically changed as the indicator of the unmanned aerial vehicle transmission information is cyclically changed. While displaying the first variable markers of the first landing guidance display, in response to the distance to the first unmanned aerial vehicle to be landed at the landing station being less than a reference value, the first indicator of the unmanned aerial vehicle transmission information and the first The first variable marker corresponding to the identification information is continuously displayed, and the second landing guidance display displays the second variable markers having a shape that is cyclically changed as the indicator of the unmanned aerial vehicle transmission information is cyclically changed. A second variable marker corresponding to the first indicator of the unmanned aerial vehicle transmission information and the second identification information in response to a distance to the second unmanned aerial vehicle to be landed at the landing station of the second landing guidance display being less than a reference value. can be continuously displayed.

1 is a conceptual diagram for explaining an unmanned aerial vehicle landing guidance method according to the prior art.
2 is a configuration diagram of an unmanned aerial vehicle landing guidance system according to an embodiment of the present technology.
FIG. 3 is a diagram for explaining a method of operating a dedicated cell for each control system according to the unmanned aerial vehicle landing guidance system described with reference to FIG. 2 .
4 is a diagram for explaining the operation of the landing guidance display of each station when the unmanned aerial vehicle landing guidance system described with reference to FIG. 2 supports multiple stations in the same landing field.
5 is a diagram illustrating an exemplary appearance of a variable marker described in some embodiments of the present disclosure.
6 is a configuration diagram of a landing guidance display according to another embodiment of the present disclosure.
7 to 10 and 13 to 16 are signal flow diagrams of a landing guidance method according to another embodiment of the present disclosure.
11 is an exemplary situation diagram for explaining an operation when a moving object is detected in a landing pad according to some embodiments of the present disclosure.
12 is a conceptual diagram for explaining variable markers corresponding to identification information (ID) and status information (status), which may be used in some embodiments of the present disclosure.
17 to 18 are flowcharts for explaining in detail some operations of the method described with reference to FIG. 16 .
19 to 20 are views for explaining exemplary external appearances of variable markers for each resolution described with reference to FIG. 18 .
FIG. 21 is another flowchart for explaining in detail some operations of the method described with reference to FIG. 16 .
FIG. 22 is a diagram for explaining exemplary external appearances of each of the variable markers described with reference to FIG. 21 .
23 to 25 are other flowcharts for explaining in detail some operations of the method described with reference to FIG. 16 .
FIG. 26 is a conceptual diagram for helping understanding of some operations of the method described with reference to FIG. 25 .
27a to 27f are diagrams for explanation of modified embodiments of some operations of the method described with reference to FIG. 25 .

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the technical idea of the present invention is not limited to the following embodiments and can be implemented in various different forms, only the following embodiments complete the technical idea of the present invention, and in the technical field to which the present invention belongs It is provided to fully inform those skilled in the art of the scope of the present invention, and the technical spirit of the present invention is only defined by the scope of the claims. In describing the present disclosure, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, several embodiments of the present disclosure are described with reference to the drawings.

Some terms described in this disclosure may be interpreted as follows.

Unmanned Aerial Vehicle (UAV): Refers to an aircraft that operates under the direction of a control center system by remote control or its own logic without a human aboard. The size of the unmanned aerial vehicle of the present disclosure is not limited.

Marker: Refers to a visual marker having an appearance that can be identified by being photographed by a camera of an unmanned aerial vehicle. It may be printed on a flat surface, but it may also have a three-dimensional appearance, and it means all types of tangible objects that can be identified as unique markers as the appearance of the unique marker is photographed and the photographed result is analyzed.

Variable marker: It is not a fixed marker, but a marker whose appearance can be changed depending on the situation. Representatively, markers that can be displayed through the display may be changed based on identification information of each unmanned aerial vehicle or flight. As described above, since the marker is not limited to a 2D image, the 3D marker may be changed and displayed based on identification information of each unmanned aerial vehicle or flight, and the 3D marker may be a hologram or the like. It may be displayed according to the 3D image display method.

Landing Guidance Display: As a device for displaying the variable marker, it may be installed in a landing field. Of course, a plurality of landing guidance displays may be installed in one landing pad. At this time, in a situation where the unmanned aerial vehicle simultaneously lands on each landing guidance display, each landing guidance display will display a different variable type marker. The unmanned aerial vehicle may perform landing maneuvers using the variable marker displayed on the landing guidance display as a landing position. That is, the unmanned aerial vehicle may land on the landing guidance display. At this time, it will be understood that the landing guidance display is a landing station. In preparation for this, a transparent protective panel resistant to physical impact may be provided at the top of the landing guidance display. A position separated by a relatively predetermined distance from the marker, rather than the position of the marker displayed on the landing guidance display, may be the landing reference position. For example, a location 1 m east of the location of the marker displayed on the landing guidance display may be the location of the landing station. At this time, a fixed marker is displayed at the landing reference point of the landing station, and the unmanned aerial vehicle may perform a landing maneuver based on the fixed marker. That is, performing the landing maneuver to the landing field corresponding to the landing guidance display may mean performing the landing maneuver to the position of the variable marker displayed on the landing guidance display, or a predetermined distance from the position of the variable marker. It may also mean performing a landing maneuver to a location spaced apart by

1. Drone landing guidance system

An unmanned aerial vehicle landing guidance system according to an embodiment of the present disclosure will be described with reference to FIGS. 2 to 4 .

2, the unmanned aerial vehicle landing guidance system according to this embodiment may include a landing guidance display 400 and a control center system 200. The unmanned aerial vehicle 100, which is a subject of landing guidance, is according to the above definition, and is equipped with a camera for photographing the variable marker displayed on the landing guidance display 400.

5 is an example of a variable marker 500 displayed on the landing guidance display 400. As shown in FIG. 5, the variable marker 500 is not a linguistic character or semiotic expression that has any meaning in itself, but has an appearance matched with identification information in advance or is a marker in which identification information is encoded. should be understood as

Landing guidance display 400 may be installed in landing station 300 and, in some embodiments, may be completely embedded in the ground or may be installed protruding from the ground as shown in FIG. 2 . The landing guidance display 400 may transmit and receive signals with the control center system 200 through wired or wireless communication. A detailed configuration of the landing guidance display 400 will be described later with reference to FIG. 5 .

The landing guidance display 400 may transmit and receive signals to and from the unmanned aerial vehicle 100 wirelessly.

The landing guidance display 400 receives identification information and displays a variable marker having a shape corresponding to the identification information. The identification information may be, for example, a natural number greater than or equal to 0, or a hexadecimal string having a predetermined length.

In some embodiments, the landing guidance display 400 may receive the identification information from the control center system 200 . The landing guidance display 400 may display a variable marker having a shape corresponding to the identification information immediately upon receipt of the identification information or in response to receiving an additional marker display command after receiving the identification information. . The display command may be received from the control center system 200 or the unmanned aerial vehicle 100 . In addition, the landing guidance display 400 detects the landing completion of the unmanned aerial vehicle 100 by itself or displays a variable marker in response to receiving a landing completion signal from the unmanned aerial vehicle 100 or the control center system 200. can be terminated.

In some embodiments, the landing guidance display 400 searches for a variable marker having a shape corresponding to the identification information from a list of variable markers stored in a storage unit of the landing guidance display 400, and displays the searched variable marker. can That is, the landing guidance display 400 can select one variable marker having a shape corresponding to the identification information from among previously created variable markers having various shapes.

In terms of security enhancement, the landing guidance display 400 may additionally receive identification information of a variable marker list to be searched along with the identification information. That is, a plurality of variable marker lists are stored in the landing guidance display 400 and the unmanned aerial vehicle 100, and the variable marker list may be different each time. Different variable marker lists may have different identification information and corresponding markers. At this time, the variable marker list confirmed to have been leaked will not be used.

If a different one of the plurality of variable marker lists is used each time, the plurality of variable marker lists will also be stored in the unmanned aerial vehicle 100 . That is, the unmanned aerial vehicle 100 also receives the identification information of the variable marker list in addition to the identification information of the variable marker, and identifies the variable marker corresponding to the received two identification information.

In some other embodiments, the variable marker may be one obtained by encoding identification information of the variable marker, and may be generated by the landing guidance display 400 receiving the identification information. That is, the landing guidance display 400 may generate a variable marker to be displayed by receiving identification information of the variable marker and inputting the identification information of the variable marker to a marker generation algorithm.

The landing guidance display 400 may not immediately generate the variable marker even when the identification information of the variable marker is received, but may generate the variable marker only when a marker display command is received. This blocks the possibility of attempting to steal the unmanned aerial vehicle 100 or cargo unloaded from the unmanned aerial vehicle 100 through hacking of the landing guidance display 400 as much as possible.

That is, the landing guidance display 400 delays the time at which the variable marker is displayed and the time at which data indicating the shape of the variable marker is determined is delayed as much as possible, so that the unmanned aerial vehicle 100 or unloading from the unmanned aerial vehicle 100 is delayed. It can be equipped with security defense measures against attempts to steal cargo.

Meanwhile, the unmanned aerial vehicle 100 also receives identification information corresponding to the variable marker to be displayed on the landing guidance display 400 at the landing site where the unmanned aerial vehicle 100 is to land. The unmanned aerial vehicle 100 identifies the variable marker displayed on the landing guidance display using the captured image, and only when it is determined that the shape of the variable marker corresponds to the received identification information, it is displayed on the landing guidance display. Perform landing maneuvers to the corresponding landing pad.

In the landing maneuver, the unmanned aerial vehicle 100 completely lands at a position separated by a predetermined distance from the position of the variable marker or the position of the variable marker, or is separated by a predetermined distance from the position of the variable marker or the position of the variable marker. It refers to a maneuver to descend from a location to a pre-specified altitude.

As described above, in some embodiments, the variable marker may be pre-generated in response to identification information, and in this case, in the unmanned aerial vehicle 100, the shape of the marker included in the captured image corresponds to the identification information. will determine whether the matched marker matches the

As described above, in some other embodiments, the variable marker may be encoding identification information, and at this time, the unmanned aerial vehicle 100 determines whether the identification information decoded from the captured image is the same as the received identification information. will decide whether

In some embodiments, the unmanned aerial vehicle 100 may receive the identification information from a relatively reliable control center system 200 . For communication with the control center system 200, the unmanned aerial vehicle 100 may use a long-distance wireless communication means with increased communication distance through one or more repeaters such as a mobile communication network and a satellite communication network.

As shown in FIG. 3 , the control center system 200 may have a one-to-one correspondence with a control target cell. The cell may correspond to a specific geographical area on a one-to-one basis. Also, each landing guidance display 400 may belong to only one cell.

The control center system 200 assigns one of the remaining available identification information to the landing guidance display 400, excluding identification information that is not retrieved again after being assigned to any one of the landing guidance displays 400 included in the cell can do. That is, it can be guaranteed that different identification information is given to the landing guidance display 400 included in the cell at a specific time point. 3, different identification information is given to each of the three different landing guidance displays 400a, 400b, and 400c included in the same cell CELL1, and accordingly, each landing guidance display 400a, 400b, and 400c As a result of the different shapes of the variable markers displayed at the same time, the three unmanned aerial vehicles (100a, 100b, 100c) flying simultaneously in the cell (CELL1) do not get confused and accurately display their landing guidance displays (400a, 400b, 400c). An identifiable dot is shown.

If any one landing guidance display 400 can receive identification information from different control center systems 200 according to circumstances, the same identification information is given to geographically adjacent landing guidance displays 400 so that the unmanned aerial vehicle can Although it is difficult to deny the possibility of confusing the landing target, in this embodiment, since there is only one control center system 200 in charge of the landing guidance display 400, the same identification is applied to the geographically adjacent landing guidance display 400. It can be guaranteed that no information is given.

In some embodiments, so that the same identification information is not assigned to geographically adjacent landing guidance displays 400, so that a minimum blank area can be secured between different cells, so that the same identification information can be more clearly guaranteed, corresponding to each cell. Geographical areas may be demarcated.

Hereinafter, even when a plurality of different landing guidance displays 400 are disposed at geographically close distances so that they can be simultaneously captured in images taken by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 does not confuse itself and An embodiment for accurately identifying the landing guidance display of the will be described with reference to FIG. 4 . As an example in which a plurality of different landing guidance displays 400 are disposed at a distance geographically close enough to be simultaneously photographed in an image taken by an unmanned aerial vehicle 100, a plurality of landing guidance displays 400 in the same landing field will be able to consider the situation in which it is placed.

The landing site may refer to a geographical area partitioned by physical separation means such as a fence for safety. One or more sensors, such as motion detection sensors, may be installed on the landing pad to detect unauthorized entry into the landing pad.

As described above, since the plurality of landing guidance displays 400 belonging to one cell will not be given the same identification information at the same time, the unmanned aerial vehicle 100 displays adjacent landing guidance displays 400d, 400e, and 400f, respectively. By identifying a variable marker having a shape corresponding to the identification information received by the unmanned aerial vehicle 100 among the variable markers, it is possible to accurately identify one landing guidance display on which the unmanned aerial vehicle 100 should land.

In addition, due to various problems such as problems in securing visibility or when it is difficult to accurately capture an image due to a long distance, the unmanned aerial vehicle 100 displays a variable marker displayed on an adjacent landing guidance display instead of the correct landing guidance display, the unmanned aerial vehicle 100 ) may be provided with a method for minimizing the possibility of misidentification as corresponding to the received identification information.

To this end, the identification information and the variable marker may correspond 1:N (N is a natural number of 2 or more), and when a plurality of different landing guidance displays 400 are disposed at geographically adjacent distances, each landing guidance display ( 400) may display a plurality of variable markers corresponding to the identification information assigned to the landing guidance display 400 in a circular manner. In this case, the unmanned aerial vehicle 100 correctly interprets the next variable marker displayed by the landing guidance display 400 and the next variable marker even if the corresponding identification information of the specific variable marker displayed by the landing guidance display 400 is misinterpreted. By doing so, it will eventually be possible to accurately identify the identification information indicated by the variable markers that the landing guidance display 400 repeatedly displays.

That is, in the unmanned aerial vehicle 100, even if all identification information corresponding to each variable marker included in the captured image does not match, the identification information statistically occupying a majority is the variable marker displayed on the landing guidance display 400. It is possible to execute camera-photographed image analysis software that includes a logic that determines that the correct identification information is.

However, the unmanned aerial vehicle 100 has a plurality of identification information corresponding to each variable marker included in the captured image, and although one of them occupies a majority, there is a difference between the identification information that occupies the majority and the rest. If it is not large, it may be treated as failure to identify identification information corresponding to the variable marker.

4, the identification information and the variable marker correspond 1:4, and different identification information (ID: 0, ID: 1, ID: 2) is given to each of the adjacent landing guidance displays 400d, 400e, and 400f. , It is shown that each of the displays 400d, 400e, and 400f cyclically and repeatedly displays four variable markers corresponding to the identification information assigned thereto.

Even when a plurality of different landing guidance displays 400 are disposed at geographically adjacent distances so that they can be simultaneously captured in images captured by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 does not confuse and lands on its own As another embodiment for accurately identifying the guidance display, when the control center system 200 assigns identification information to the first landing guidance display in which the adjacent landing guidance display is registered, the identification already assigned to the adjacent landing guidance display. If there is information, identification information corresponding to the already assigned identification information may be assigned to the first landing guidance display.

To this end, the control center system 200 may refer to a simultaneously assignable identification information set that is referred to when allocating a plurality of identification information within the same landing pad. The simultaneously allocable identification information set may consist of a plurality of identification information that can be simultaneously assigned to adjacent landing guidance display devices. It will be understood that the shapes of the variable markers of each piece of identification information included in the simultaneous allocable identification information set have contrasting shapes so as to reduce the possibility of confusion. That is, the simultaneously allocable identification information set includes a plurality of pieces of identification information corresponding to variable markers having contrasting appearances.

So far, even when a plurality of different landing guidance displays 400 are disposed at an adjacent distance, embodiments for the unmanned aerial vehicle 100 to accurately identify its own landing guidance display without being confused have been described.

Next, other methods for the unmanned aerial vehicle 100 to receive identification information will be described.

In some other embodiments, the unmanned aerial vehicle 100 may receive the identification information from the landing guidance display 400. The unmanned aerial vehicle 100 may use a short-range wireless communication means such as radio frequency (RF) communication for communication with the control center system 200. The unmanned aerial vehicle 100 uses the device identification information of the landing guidance display 400 to determine whether the landing guidance display 400 transmitting the identification information is the device received from the control center system 200. If it is not the identification information received from the landing guidance display 400 that precedes authentication and has passed such device authentication, it can be ignored.

Also, in some other embodiments, the unmanned aerial vehicle 100 may first receive the identification information from the control center system 200 and then secondarily receive it again from the landing guidance display 400. Even at this time, the unmanned aerial vehicle 100 uses the device identification information of the landing guidance display 400 to confirm whether the landing guidance display 400 transmitting the identification information is the device received from the control center system 200. Through this, device authentication can be preceded. Even though the identification information received from the landing guidance display 400 is different from the identification information received from the control center system 200, if there is no problem in device authentication for the landing guidance display 400, the unmanned aerial vehicle 100 ) may transmit information about the situation to the control center system 200 and wait for its response. Information received from the unmanned aerial vehicle 100 is displayed as an abnormal situation on the control room screen of the control center system 200, so that manual response by control personnel may be induced.

With reference to the foregoing embodiments, configurations of an exemplary unmanned aerial vehicle landing guidance system that may be considered are presented below.

The system according to the first embodiment receives first identification information, photographs a landing guidance display on the ground, identifies a variable marker displayed on the landing guidance display using the photographed image, and identifies a shape of the variable marker. And only when it is determined that the first identification information corresponds to the unmanned aerial vehicle performing a landing maneuver to the landing field corresponding to the landing guidance display, receiving the first identification information, and in the first identification information It may include the landing guidance display displaying the variable marker having a corresponding shape.

The system according to the second embodiment receives first identification information, photographs a landing guidance display on the ground, identifies a variable marker displayed on the landing guidance display using the photographed image, and identifies a shape of the variable marker. And only when it is determined that the first identification information corresponds to the unmanned aerial vehicle performing a landing maneuver to the landing field corresponding to the landing guidance display, receiving the first identification information, and the first identification information and and the landing guidance display displaying the variable marker having a shape corresponding to the information transmitted to the unmanned aerial vehicle. At this time, the UAV transmission information is any one of a predetermined number of different indicators, and the shape of the landing guidance display is cyclically changed as indicators of the UAV transmission information are cyclically changed. of variable markers can be displayed.

A system according to a third embodiment includes: a first landing guidance display for receiving first identification information and displaying a first variable marker having a shape corresponding to an indicator of the first identification information and unmanned aerial vehicle transmission information; 2 may include a second landing guidance display for receiving identification information and displaying a second variable marker having a shape corresponding to the indicator of the second identification information and the unmanned aerial vehicle delivery information. At this time, the first landing guidance display and the second landing guidance display may be disposed in the same landing field. The first landing guidance display displays first variable markers having a circular shape as the indicators of the unmanned aerial vehicle transmission information are cyclically changed, and a first unmanned aerial vehicle to land at a landing station of the first landing guidance display is displayed. In response to the distance from the unmanned aerial vehicle being less than the reference value, a first indicator of the unmanned aerial vehicle transmission information and a first variable marker corresponding to the first identification information are continuously displayed, and the second landing guidance display is configured to display the unmanned aerial vehicle. Responding to the fact that the distance to the second unmanned aerial vehicle to land at the landing station of the second landing guidance display becomes less than a reference value while displaying the second variable markers having a circularly changing shape as the indicator of the aircraft transmission information is cyclically changed. Thus, the second variable marker corresponding to the first indicator of the unmanned aerial vehicle transmission information and the second identification information may be continuously displayed.

So far, the configuration and operation of the UAV landing guidance system have been described. In the analysis of the configuration or operation of the above-described unmanned aerial vehicle landing guidance system, it goes without saying that the technical ideas of various embodiments described later may be reflected.

2. Landing Guidance Display

The configuration and operation of the above-described landing guidance display will be briefly described with reference to FIG. 6 . As shown in Figure 6, the landing guidance display 400 according to this embodiment may include a display unit 410, a control unit 420, a wired communication interface 430 and a wireless communication interface 440 .

6, the display unit 410, the control unit 420, the wired communication interface 430 and the wireless communication interface 440 are shown as integrally configured, but in some embodiments, the display unit 410, Of course, the other units 420, 430, and 440 may be configured to be physically separated from each other through the first housing and the second housing.

The display unit 410 may include a Liquid Crystal Display (LCD), a Light-Emitting Diode (LED), or a hologram display. The control unit 420 may apply an automatic brightness adjustment signal to the display unit 410 so that the display unit 410 can provide a constant level of visibility regardless of ambient brightness.

The control unit 420 receives identification information of the variable marker from at least one of the wired communication interface 430 and the wireless communication interface 440, and the display unit 410 displays the variable marker having a shape corresponding to the received identification information. ) can be controlled. At this time, the control unit 420 controls the display unit 410 to immediately display the variable marker in response to reception of the identification information, or displays the variable marker to be displayed only when the identification information is received and a marker display command is received. The unit 410 can be controlled.

The control unit 420 queries a storage means (not shown) for a variable marker corresponding to the received identification information and provides a control signal for displaying the searched variable marker to the display unit 410 or transmits the received identification information to the display unit 420. A control signal input to the marker encoding algorithm and output from the marker encoding algorithm for display of the variable marker may be provided to the display unit 410 .

The wired communication interface 430 may be connected to a sensor at the landing site or a control center system to receive moving object sensing data or identification information.

The wireless communication interface 440 may be connected to the unmanned aerial vehicle 100 . In addition, the wireless communication interface 440 may be connected to the control center system.

The connection between the control center system and the landing guidance display 400 may vary depending on the communication infrastructure of the place where the landing guidance display 400 is installed. For example, in a place where wired Internet is not provided, the control center system and the landing guidance display 400 should be connected in a wireless communication method.

So far, the landing guidance display 400 has been described as being embedded in the landing pad ground, or at least installed in a fixed location on the landing pad, but in some embodiments, the landing guidance display 400 is a manned transport moving inside a cell. It should be noted that it may be provided on top of means or unmanned transportation means.

For example, the landing guidance display 400 may be installed in an unmanned transport robot, an autonomous truck, or an autonomous vessel so that logistics-linked delivery between an unmanned aerial vehicle and a ground vehicle can be implemented.

The configuration and operation of the landing guidance display 400 have been described so far. In the interpretation of the landing guidance display described above, it goes without saying that the technical ideas of various embodiments described later may be reflected.

3. How to guide drone landing

Hereinafter, methods for inducing landing of an unmanned aerial vehicle according to still other embodiments of the present disclosure will be described with reference to FIGS. 7 to 27f. The unmanned aerial vehicle landing guidance method according to the present embodiment may be performed by a plurality of devices. Among the plurality of devices, a computing device having a computing means may be included, and an operation described as being performed by a first computing device among the computing devices is obviously changed in design to be performed by a second computing device. It can be.

In addition, the technical idea that can be recognized by referring to the description of the above-described unmanned aerial vehicle landing guidance system or landing guidance display can also be applied to the unmanned aerial vehicle landing guidance method according to this embodiment, even if not separately specified in this embodiment. .

First, it will be described with reference to FIG. 7 .

When the unmanned aerial vehicle (referred to as UAV in FIG. 7 and the like) 100 completes flight preparation (S100), it transmits a flight approval request to the control center system 200 (S101). The flight approval request may include identification information of the unmanned aerial vehicle.

The control center system 200 generates identification information corresponding one-to-one to the flight of the unmanned aerial vehicle 100 (S102), transmits the generated identification information to the unmanned aerial vehicle 100 (S103), and The generated identification information and identification information of the unmanned aerial vehicle 100 may also be transmitted to the landing guidance display 400 as a landing target (S104).

The landing guidance display 400 matches and stores the generated identification information received from the control center system 200 and the identification information of the unmanned aerial vehicle 100 (S106).

The unmanned aerial vehicle 100 stores the identification information received from the control center system 200 (S105) and starts flying. In the process of flight, the unmanned aerial vehicle 100 continuously monitors whether it has entered the destination geofence where the landing field of the landing guidance display 400 is located according to the current location (S107). If it is determined that the destination geofence has entered, the unmanned aerial vehicle 100 transmits a destination entry report to the control center system 200 (S108). The destination entry report may include identification information of the unmanned aerial vehicle 100 .

In response to receiving the destination entry report, the control center system 200 searches a landing guidance display using the identification information of the unmanned aerial vehicle 100 included in the destination entry report (S109), and searches for landing guidance. A marker display command is transmitted to the display 400 (S110). Identification information of the unmanned aerial vehicle 100 may also be included in the marker display command.

In response to receiving the marker display command, the landing guidance display 400 searches for identification information of the variable marker corresponding to the identification information of the unmanned aerial vehicle included in the marker display command from information stored in step S106 (S111 ), and displays a variable marker corresponding to the searched identification information (S112).

Meanwhile, as the drone 100 continues to fly after entering the destination geofence, it will reach the coordinates of the destination and enter the marker discovery target altitude. When the unmanned aerial vehicle 100 determines that it has reached the destination coordinates and entered the marker discovery target altitude (S113), it will start identifying the variable marker through image capture (S114). The unmanned aerial vehicle 100 will decode the variable marker identified in the photographed image to extract identification information (S115), and determine whether the decoded identification information and the identification information received from the control center system 200 match. It can (S116).

It has already been described that identification information corresponding to the external shape of the identified variable marker may be retrieved from information stored in the unmanned aerial vehicle 100 instead of decoding the variable marker identified by the unmanned aerial vehicle 100 and extracting identification information. there is.

The unmanned aerial vehicle 100 performs a landing maneuver when the decoded identification information and the identification information received from the control center system 200 match (S118), and the decoded identification information and the identification information received from the control center system 200 If do not match, after performing the horizontal movement maneuver (S117), identification of the variable marker through video recording (S114) and decoding of the identified variable marker to extract identification information (S115) can be performed again. . The identification of the variable marker (S114) and the decoding of the identified variable marker to extract the identification information (S115) are performed again, while performing the horizontal movement maneuver (S117), the decoded identification information and the control center system (200 ) may be repeated until the identification information received from matches.

Next, modified embodiments will be described with reference to FIGS. 8 to 27F. In order to help the convenience of understanding, the description will focus on modified items compared to those described with reference to FIG. 7 .

A first modified embodiment will be described with reference to FIG. 8 . In this modified embodiment, an embodiment in which identification information is received from the control center system 200 is shown only when the unmanned aerial vehicle 100 enters the destination geofence (S107).

The unmanned aerial vehicle 100 receives a flight approval signal as a response to the flight approval request (S101) (S101-1). The flight approval signal does not include the identification information of the variable marker. Instead, when the unmanned aerial vehicle 100 enters the destination geofence and transmits a destination entry report (S108) to the control center system 200, the control center system 200 sends the unmanned aerial vehicle 100 included in the destination entry report Using the identification information of the UAV 100, the identification information of the landing guidance display and the variable marker to be landed is inquired (S109-1), and the identification information of the queried variable marker is transmitted to the UAV 100. (S109-2).

According to this embodiment, since the point at which the unmanned aerial vehicle 100 receives the identification information of the variable marker is delayed, the period in which the unmanned aerial vehicle 100, which is relatively vulnerable to security, retains the identification information of the variable marker is shortened, It will be possible to obtain the effect of making it difficult to attempt to steal the identification information of the variable marker.

A second modified embodiment will be described with reference to FIG. 9 . In this modified embodiment, it is modified that the identification information is received from the control center system 200 only when the unmanned aerial vehicle 100 described with reference to FIG. 8 enters the destination geofence, and the unmanned aerial vehicle 100 shows that it can randomly determine the timing of receiving identification information from the control center system 200 by itself. As shown in FIG. 9, the unmanned aerial vehicle 100 transmits an identification information request signal to the control center system 200 when the identification information transmission time randomly determined from the flight start time exceeds (S107-1). And (S108-1), the control center system 200 uses the identification information of the unmanned aerial vehicle 100 included in the destination entry report to determine the identification information of the landing guidance display and the variable marker on which the unmanned aerial vehicle 100 should land. It is inquired (S109-1), and the identification information of the inquired variable marker is transmitted to the unmanned aerial vehicle 100 (S109-2).

According to this embodiment, the control center system 200 as well as an attacker such as a hacker cannot know when the unmanned aerial vehicle 100 receives the identification information of the variable marker. Therefore, it will be difficult for an attacker who wants to steal the identification information of the variable marker by intercepting the communication packet between the unmanned aerial vehicle 100 and the control center system 200 to know the transmission time of the marker identification information, and as a result, the variable marker It will be possible to obtain the effect of making it difficult to steal the identification information of.

A third modified embodiment will be described with reference to FIG. 10 . In this modified embodiment, the landing guidance display 400 may check the landing site condition using the measured values of one or more sensing devices provided at the landing site (S111-1) and determine a landing site status indicator.

As shown in FIG. 12 , the exemplary landing site status indicator may have a value of any of 'landing available (0)', 'waiting (1)', and 'returning (2)'. As described with reference to FIG. 4, a plurality of variable markers may correspond to one identification information, and in FIG. 12, four variable markers (same as the number of landing site status indicators) are corresponded to one identification information, respectively. It shows that the variable marker of can correspond one-to-one with the combination of the identification information and the landing site status indicator.

Referring back to FIG. 10 , the landing guidance display 400 may display a variable marker corresponding to the identification information of the landing site status indicator and the variable marker determined in step S111-1 (S112).

Through this modified embodiment, the landing guidance display 400 can transmit state information of the landing field to the unmanned aerial vehicle 100 as visual information, and in this process, wireless communication between the unmanned aerial vehicle 100 and the landing guidance display 400 Since this is not involved, the transmission of the status information is possible even in a situation where wireless communication between the unmanned aerial vehicle 100 and the landing guidance display 400 is not supported or inoperable.

Through this modified embodiment, in a situation where it is dangerous for the unmanned aerial vehicle 100 to land, the unmanned aerial vehicle 100 may be indirectly controlled so that the unmanned aerial vehicle 100 does not forcefully land.

This will be described with reference to FIG. 11 . Assume a situation in which the moving object detection sensor 600 provided at the landing pad detects a moving object. If the unmanned aerial vehicle 100 is delivering goods to be delivered to the recipient 700, it may be an excessive measure to wait in the air or turn around without unconditionally landing even if a moving object is detected at the landing site. Therefore, in some embodiments, when the motion detection sensor 600 provided in the landing pad detects a moving object, the landing guidance display or the control center system queries the location information of the user terminal of the recipient, and through this, the detected It can be roughly ascertained whether the body is the recipient. At this time, the landing guidance display may determine the landing site status indicator as 'landing possible (0)' even if the moving object detected at the landing site is the receiver. On the other hand, the landing guidance display determines the landing site status indicator as 'standby (1)' or 'returning (2)' if the moving object detected at the landing site is not the recipient, so that the unmanned aerial vehicle 100 waits in the air, The landing site situation may be reported to the control center system 200 .

In short, a moving object is detected by a moving object sensor installed at the landing site, and in response to a difference between the position of the landing site and the reference value or more between the location information of the user terminal of the cargo receiver registered in correspondence with the unmanned aerial vehicle, the landing guidance display displays the above information. By displaying the variable marker having a shape corresponding to the identification information of the variable marker and the landing site status indicator, the possibility that the cargo delivered by the unmanned aerial vehicle 100 may be stolen by someone other than the legitimate cargo recipient can be minimized. It can.

In addition, in some other embodiments, when a moving object is detected by a moving object sensor installed in a landing pad, only when a cargo delivery approval signal is received from a user terminal of a cargo receiver registered in correspondence with the unmanned aerial vehicle 100, landing guidance The display 100 may maintain display of a variable marker having a shape corresponding to the identification information of the variable marker and the landing site status indicator of 'landing available (0)'. That is, when a moving object is detected at the landing site, the cargo is unloaded or landed under the confirmation of the cargo receiver, so that the problem of responsibility in the event of a later problem can be clarified.

In addition, in some embodiments, when the cargo unloading mode of the unmanned aerial vehicle is any one of a cargo rope descent mode and an air release mode, the second landing site status indicator may indicate that cargo unloading is prohibited. The landing site status indicator of 'cargo unloading prohibited' may have a value of '3', which is reserved for future use shown in FIG. 12 .

A fourth modified embodiment will be described with reference to FIG. 13 . In this modified embodiment, the control center system 200 may share control information such as current location information of the unmanned aerial vehicle on the landing guidance display 400 in real time (S111-2). The landing guidance display 400 may calculate the distance between the landing guidance display 400 and the unmanned aerial vehicle by using information shared in real time from the control center system 200 . The landing guidance display 400 may display a variable marker in a manner corresponding to the calculated distance (S112-1). A method for the landing guidance display 400 to display the variable marker in a manner corresponding to the distance to the unmanned aerial vehicle 100 will be described later in detail.

A fifth modified embodiment will be described with reference to FIG. 14 . In this modified embodiment, through direct communication between the unmanned aerial vehicle 100 and the landing guidance display 400, the unmanned aerial vehicle 100 transmits a wake-up signal accompanied with identification information of the unmanned aerial vehicle (S108-1 ), and transmit the current location of the unmanned aerial vehicle (S111-3). That is, in this modified embodiment, the landing guidance display 400 calculates the distance between the landing guidance display 400 and the unmanned aerial vehicle, such as location information of the unmanned aerial vehicle, directly from the unmanned aerial vehicle 100 instead of the control center system 200. information to be received.

A sixth modified embodiment will be described with reference to FIG. 15 . In this modified embodiment, the landing guidance display 400 receives information on the expected arrival time of the unmanned aerial vehicle 100 according to the flight route information together with the identification information S102 of the variable marker generated from the control center system 200. Yes (S104-1). The landing guidance display 400 may match and store the identification information of the generated variable marker and the expected arrival time (S106-1).

When the estimated time of arrival approaches (S106-2), the landing guidance display 400 searches for identification information of the variable marker stored matched to the estimated time of arrival (S111-4), and retrieves the variable marker corresponding to the searched identification information. It can be displayed (S112).

In this modified embodiment, the landing guidance display 400 uses the estimated time of arrival information received from the control center system 200, and thereafter without receiving any signal, the variable marker at the time when the display of the variable marker is required by itself. that can be displayed.

A seventh modified embodiment will be described with reference to FIG. 16 . In this modified embodiment, compared to the sixth modified embodiment, when the expected arrival time is imminent (S106-2), the landing guidance display 400 does not directly display the variable marker, and the visual information provided in the landing guidance display 400 The unmanned aerial vehicle 100 may be identified using a sensor, and a distance to the identified unmanned aerial vehicle may be measured (S111-5). The visual information sensor may be, for example, a camera, and the camera may be mounted in an angle adjusting device for adjusting a photographing angle in correspondence to a flight path of the unmanned aerial vehicle 100 .

The landing guidance display 400 may display a variable marker in a manner corresponding to the calculated distance (S112-1).

In this modified embodiment, the landing guidance display 400 does not immediately display a variable marker even if the expected arrival time received from the control center system 200 is reached, but only when the unmanned aerial vehicle to land appears in the camera image. By displaying the variable marker, an exposure time of the variable marker can be minimized and unnecessary exposure of the variable marker can be prevented.

Hereinafter, an operation (S112-1) of the landing guidance display 400 displaying a variable marker in a manner corresponding to the distance between the landing guidance display and the unmanned aerial vehicle 100 will be described with reference to FIGS. 17 to 27F. do. First, the landing guidance display 400 displays a variable marker in a manner corresponding to the distance between the landing guidance display and the unmanned aerial vehicle 100 (S112-1) in a manner corresponding to the altitude of the unmanned aerial vehicle 100. It should be noted that the same method can be applied to the operation of displaying the variable marker as well.

Hereinafter, 'distance between the landing guidance display and the unmanned aerial vehicle' will be abbreviated as 'remaining flight distance'.

This will be described with reference to FIG. 17 . In some embodiments, displaying the flexible marker in a manner corresponding to the remaining flight distance (S112-1) is, when the remaining flight distance exceeds the reference value (S1120), the identification information of the flexible marker and the landing site status indicator The variable marker corresponding to is displayed while cyclically changing the landing site status indicator (S1121), and if the remaining flight distance decreases to less than the reference value, the landing site status check (S1121) and the landing site status indicator determined according to the landing site status (S1123) and continuously displaying the variable marker corresponding to the landing site status indicator having the variable marker identification information and the determined value (S1123).

The reference value is a value designated for each landing guidance display, and may be a value set by the control center system in consideration of weather conditions at a location where the landing guidance display is disposed.

For example, when the remaining flight distance exceeds the reference value, four variable markers created by cyclically changing values from 0 to 3 as the values of the identification information and the landing site status indicator may be displayed while cyclically changing.

As described above, a plurality of variable markers corresponding to the same identification information are displayed while being cyclically changed, so that an unmanned aerial vehicle photographing the variable markers displayed on a distant landing guidance display misinterprets the identification information corresponding to some of the variable markers. can be statistically cured.

Next, it will be described with reference to FIG. 18 . In some other embodiments, displaying the variable marker in a manner corresponding to the remaining flight distance (S112-1) includes displaying a low-resolution variable marker when the remaining flight distance exceeds a reference value (S1120), and displaying the variable marker in the remaining flight distance (S112-1). If the flight distance decreases below the reference value (S1120), it may mean displaying a high-resolution variable marker. For example, as shown in FIG. 19 , the resolution of the variable marker changes from a variable marker 500a of low resolution (4 X 4) to a variable marker 500c of high resolution (6 X 6) as the remaining flight distance decreases. is changed, or as the remaining flight distance decreases as shown in FIG. With the 6 X 6) variable marker 500c, the resolution of the variable marker may be changed.

At this time, regardless of the resolution, the size of the variable marker displayed on the landing guidance display is the same. Accordingly, the landing guidance display may display the low-resolution variable marker 500a when the remaining flight distance exceeds the reference value, thereby inducing the unmanned aerial vehicle to better identify the variable marker.

As the resolution of the variable marker decreases, the size of information that can be transmitted by the variable marker will decrease, but this can be solved by hierarchically simplifying the transmitted information. For example, when the identification information is a three-digit natural number, the unmanned aerial vehicle identifies up to the hundreds digit of the identification information through the low-resolution variable marker 500a, and the hundreds digit and the hundreds digit of the identification information through the medium-resolution variable marker 500a. Up to the tens digit can be grasped, and the entire identification information can be grasped through the low-resolution variable marker 500a.

Next, it will be described with reference to FIG. 21 . In some other embodiments, displaying the variable marker in a manner corresponding to the remaining flight distance (S112-1) is such that, when the remaining flight distance exceeds the reference value (S1120), the variable marker in which only identification information is encoded (S112-1) or a variable marker having a shape corresponding to the identification information) is displayed, and when the remaining flight distance decreases below the reference value (S1120), a variable marker in which identification information and one or more additional information are encoded (or identification information and one or more additional information) are displayed. It may mean displaying a variable marker having a shape corresponding to . The additional information may illustratively include a landing pad condition indicator.

As described above, as the resolution of the variable marker decreases, the size of information that can be transmitted by the variable marker decreases, and as the resolution of the variable marker increases, the size of information that can be transmitted by the variable marker increases. When the data size of the one or more pieces of additional information is large, resolutions of a variable marker in which only identification information is encoded and a variable marker in which identification information and one or more pieces of additional information are encoded may have different resolutions. As an example, FIG. 22 illustrates a low-resolution variable marker 500d in which only identification information is encoded and a variable marker 500e in which identification information and one or more pieces of additional information are encoded.

Next, it will be described with reference to FIG. 23 . In addition to what has been described with reference to FIG. 17, in FIG. 23, when the altitude of the unmanned aerial vehicle is lowered below the reference value (S1129), an operation of displaying the variable marker while reducing the size as the altitude of the unmanned aerial vehicle decreases (S1130) is added. can be understood as having been It should be understood that the reference value related to the altitude of the unmanned aerial vehicle mentioned in step S1129 has the same expression as the reference value related to the remaining flight distance mentioned in step S1120, but is a completely different value.

As the screen size of the landing guidance display increases, when the drone's altitude descends below the standard value (for example, less than 10m), the filming area of the camera of the drone covers all of the variable markers displayed on the entire screen of the landing guidance display. Since there is a high possibility that it cannot be included, in some embodiments, the operations of steps S1129 and S1130 may be performed only when the screen size of the landing guidance display exceeds the reference value.

That is, in the embodiment described with reference to FIG. 23, even if the altitude of the unmanned aerial vehicle descends below the reference value, the camera of the unmanned aerial vehicle can capture the entire variable marker to the end, so that the unmanned aerial vehicle is positioned horizontally with the variable marker. It provides an effect that allows alignment to be performed continuously until right before landing.

Meanwhile, as shown in FIG. 24 , operations of steps S1129 and S1130 may be performed in addition to the embodiment described with reference to FIG. 18 .

Meanwhile, as shown in FIG. 25 , operations of steps S1129 and S1130 may be performed in addition to the embodiment described with reference to FIG. 21 .

FIG. 26 shows a gradual decrease in the size of the variable marker according to the decrease in the altitude of the unmanned aerial vehicle according to the operations of steps S1129 and S1130. In some embodiments, the gradual reduction of the size of the variable marker may be performed based on a decrease in the 'remaining flight distance' rather than the altitude of the unmanned aerial vehicle.

On the other hand, since the unmanned aerial vehicle continuously aligns the horizontal position with the variable marker until right before landing according to the above-described embodiments, in most cases there is no problem with the unmanned aerial vehicle aligning the position in the horizontal direction with the variable marker. will be. However, if the unmanned aerial vehicle is pushed horizontally by an external force such as a strong crosswind, there is a concern that the variable marker may not be included in the image captured by the camera of the unmanned aerial vehicle. Embodiments for preparing for this situation will be described with reference to FIGS. 27A to 27F.

27a shows that the horizontal direction alignment of the unmanned aerial vehicle 100 was well achieved in the state where the variable marker 500f of the reduced size was displayed in the center of the landing guidance display 400, and as a result, the camera of the unmanned aerial vehicle 100 It is shown that the variable marker 500f is included in the imaging area 110 .

However, as shown in FIG. 27B, if the unmanned aerial vehicle 100 is pushed horizontally by an external force such as a strong crosswind, the variable marker 500f may not be included in the image 110 captured by the camera of the unmanned aerial vehicle. there is Therefore, in this embodiment, as shown in FIG. 27c, the landing guidance display 400 detects the horizontal position of the unmanned aerial vehicle 100 using a visual information sensor such as a camera, and adjusts the horizontal position to the detected horizontal position. After displaying the marker 500f, as shown in FIG. 27f, as the variable marker 500f is gradually moved to the center of the screen, the drone 100 lands at the center of the screen of the landing guidance display 400. can be induced to do so. At this time, the landing guidance display 400 re-determines whether the unmanned aerial vehicle and the variable marker 500f are horizontally aligned through a sensing device provided in the landing guidance display, and the unmanned aerial vehicle 100 and the variable marker 500f In response to re-determination that the horizontal direction is aligned, the display position of the variable marker 500f may be displayed while gradually moving to the center of the landing guidance display 400.

Meanwhile, even when the visual information sensor is not provided in the landing guidance display 400, it is possible to display the variable marker 500f at a position in the horizontal direction of the unmanned aerial vehicle 100.

At this time, the landing guidance display 400 may receive a marker loss message from the unmanned aerial vehicle 100 which has failed to detect the variable marker. In response to receiving the marker loss message, the landing guidance display 400 may move and display the display position of the variable marker 500f until a marker rediscovery message is received from the unmanned aerial vehicle 400. For example, in response to receiving a marker loss signal from the unmanned aerial vehicle, the landing guidance display 400 moves the display position of the variable marker horizontally according to a predetermined pattern until a marker discovery signal is obtained from the unmanned aerial vehicle. It can be displayed while moving in the direction.

As shown in FIG. 27D, the pattern may be a pattern in which the screen of the landing guidance display is traversed at a speed equal to or higher than a predetermined speed in a zigzag manner. This pattern provides an effect of minimizing the possibility of missing the unmanned aerial vehicle in the process of traversing the screen of the landing guidance display at high speed.

As shown in FIG. 27E, the pattern may be a pattern that spirally rotates from the center to the outside. This pattern provides an effect of discovering the horizontal position of the drone 400 at high speed when the drone 400 is located at a position not far from the center of the screen of the landing guidance display in a way .

Although actions are shown in a specific order in the drawings, it should not be understood that the actions must be performed in the specific order shown or in a sequential order, or that all depicted actions must be performed to obtain a desired result. In certain circumstances, multitasking and parallel processing may be advantageous. Although the embodiments of the present disclosure have been described with reference to the accompanying drawings, those of ordinary skill in the art to which the present disclosure pertains may implement the present invention in other specific forms without changing the technical spirit or essential features. can understand that there is Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the technical ideas defined by the present disclosure.

Claims (33)

Receiving first identification information corresponding to the flight of the unmanned aerial vehicle and the ground guidance display on a one-to-one basis;
photographing, by the unmanned aerial vehicle, the landing guidance display on the ground, and identifying a variable marker displayed on the landing guidance display using the photographed image;
Performing a landing maneuver to a landing field corresponding to the landing guidance display only when the unmanned aerial vehicle determines that the shape of the variable marker corresponds to the first identification information,
Characterized in that the shape of the variable marker is changed as the landing guidance display changes a signal received from an external device in relation to the landing of the unmanned aerial vehicle.
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
The step of performing the landing maneuver,
extracting second identification information from the variable marker;
determining whether the first identification information corresponds to the second identification information; and
Performing the landing maneuver only when it is determined that the first identification information and the second identification information correspond,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
The variable marker,
It has a shape corresponding to the first identification information and the landing site status indicator,
Between the receiving step and the identifying step, when the distance to the unmanned aerial vehicle exceeds the reference value, the landing guidance display displays variable markers having a circularly changed shape as the landing site status indicator is cyclically changed. further comprising the steps of
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 3,
The step of displaying the variable markers of the circularly changed shape,
When the distance to the unmanned aerial vehicle decreases to less than the reference value, continuously displaying a first landing site status indicator corresponding to the state of the landing site and a variable marker having a shape corresponding to the first identification information ,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 3,
The step of performing a landing maneuver to the landing field corresponding to the landing guidance display,
Even if it is determined that some of the variable markers of the circularly changed shape do not correspond to the first identification information, the number of variable markers corresponding to the first identification information among the variable markers of the circularly changed shape is determined to be the first identification information. If the number of variable markers that do not correspond to 1 identification information is greater than the number of variable markers, determining that the shape of the variable marker corresponds to the first identification information,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
The landing guidance display is disposed on the same landing field as the adjacent landing guidance display,
The variable marker displayed on the landing guidance display,
It has a shape corresponding to the first identification information and the landing site status indicator,
The variable marker displayed on the adjacent landing guidance display,
It has a shape corresponding to the second identification information and the landing site status indicator,
The step of identifying the variable marker,
displaying, by the landing guidance display, variable markers having a circularly changed shape as the landing site status indicator is cyclically changed; and
Displaying, by the adjacent landing guidance display, variable markers of a circularly changed shape as the landing site status indicator is circularly changed.
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
The step of performing the landing maneuver,
In response to the landing guidance display detecting that the distance to the unmanned aerial vehicle decreases to a reference distance or less, displaying the variable marker while reducing the size,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 7,
The step of displaying while reducing the size of the variable marker,
determining whether the unmanned aerial vehicle and the variable marker are aligned in a horizontal direction through a sensing device provided in the landing guidance display; and
In response to determining that the horizontal alignment of the unmanned aerial vehicle and the deformable marker is misaligned, moving the display position of the deformable marker to the horizontal position of the unmanned aerial vehicle and displaying the display position,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 8,
The step of moving the display position of the variable marker to the position in the horizontal direction of the unmanned aerial vehicle and displaying it,
re-determining whether the unmanned aerial vehicle and the variable marker are aligned in a horizontal direction through a sensing device provided in the landing guidance display; and
In response to re-determination that the unmanned aerial vehicle and the variable marker are horizontally aligned, displaying the display position of the variable marker while gradually moving to the center of the landing guidance display,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 7,
The step of displaying while reducing the size of the variable marker,
In response to receiving a marker loss message from the unmanned aerial vehicle that has failed to detect the variable marker, displaying the display position of the variable marker while moving until a marker redetect message is received from the unmanned aerial vehicle including,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 10,
The step of displaying the display position of the variable marker while moving it until receiving a marker re-detection message from the unmanned aerial vehicle,
In response to receiving a marker loss signal from the unmanned aerial vehicle, displaying while moving the display position of the variable marker in a horizontal direction according to a predetermined pattern until a marker discovery signal is obtained from the unmanned aerial vehicle. doing,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 11,
The predetermined pattern,
A pattern that rotates in a spiral from the center to the outside,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
Between the receiving step and the identifying step, the landing guidance display has a first type variable marker having a shape corresponding to the first identification information and a shape corresponding to the first identification information and one or more pieces of information. Further comprising the step of selectively displaying any one of the second type variable markers based on the distance to the unmanned aerial vehicle.
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 13,
The first type variable marker has a first resolution,
The second type variable marker has a second resolution higher than the first resolution,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 14,
The first type variable marker is displayed in a first size on the landing guidance display,
The second type variable marker is displayed on the landing guidance display in a second size equal to or smaller than the first size,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
Between the receiving step and the identifying step, the landing guidance display displays any one of a variable marker of a first resolution and a variable marker of a second resolution higher than the first resolution to determine a distance to the unmanned aerial vehicle. Further comprising the step of selectively displaying based on,
The variable marker of the first resolution and the variable marker of the second resolution are displayed in the same size on the landing guidance display,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
The variable marker,
It has a shape corresponding to the first identification information and the landing site status indicator,
The step of performing the landing maneuver,
Performing the landing maneuver only when it is determined that the first identification information and the first landing site status indicator correspond to the shape of the variable marker,
Wherein the first landing site status indicator indicates that landing at the landing site is possible;
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 17,
The step of performing the landing maneuver,
In response to a moving object being detected by a moving object detection sensor installed at the landing site and the location information of the user terminal of the cargo receiver registered corresponding to the unmanned aerial vehicle being different from the location of the landing site by more than a reference value, the landing guidance display, Displaying a variable marker having a shape corresponding to the first identification information and the second landing site status indicator,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 18,
When the cargo unloading mode of the unmanned aerial vehicle is either a cargo rope lowering mode or an overhead dropping mode, the second landing site status indicator expresses prohibition of cargo unloading,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 17,
The step of performing the landing maneuver,
When a moving object is detected by the moving object sensor installed in the landing pad, the landing guidance display displays the first identification only when a cargo delivery approval signal is received from the user terminal of the cargo receiver registered in correspondence with the unmanned aerial vehicle. maintaining a display of information and a variable marker having a shape corresponding to the first landing site status indicator;
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 1,
Receiving the first identification information,
receiving, by the unmanned aerial vehicle, the first identification information from a control center system; and
The landing guidance display comprising receiving the first identification information from the control center system,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 21,
The control center system,
One-to-one control of a control cell including a plurality of landing guidance displays located within a partitioned geographical area,
The first identification information is different from identification information pre-allocated to any one of the plurality of landing guidance displays included in the control cell.
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 21,
Receiving, by the unmanned aerial vehicle, the first identification information from a control center system,
determining whether the unmanned aerial vehicle has reached an identification information request check point notified from the control center when the flight starts;
transmitting, by the unmanned aerial vehicle, an identification information request signal to the control center system in response to determination of arrival at the identification information request check point; and
Receiving, by the unmanned aerial vehicle, the first identification information from the control center system in response to the identification information request signal,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 21,
Receiving, by the unmanned aerial vehicle, the first identification information from a control center system,
determining whether the unmanned aerial vehicle has reached an identification information request check point randomly determined by the unmanned aerial vehicle when the flight starts;
transmitting, by the unmanned aerial vehicle, an identification information request signal to the control center system in response to determination of arrival at the identification information request check point; and
Receiving, by the unmanned aerial vehicle, the first identification information from the control center system in response to the identification information request signal,
Landing Guidance Method for Unmanned Aerial Vehicles. According to claim 21,
The control center system,
One-to-one control of a control cell including a plurality of landing guidance displays located within a partitioned geographical area,
Allocating the first identification information having a first value to the landing guidance display included in the plurality of landing guidance displays, and having a second value to an adjacent landing guidance display disposed on the same landing field as the landing guidance display. 2 assign identification information;
The first value and the second value are values included together in any one of the simultaneously assignable identification information sets referred to when assigning multiple identification information within the same landing pad,
Landing Guidance Method for Unmanned Aerial Vehicles. Receiving first identification information corresponding to the flight of the unmanned aerial vehicle on a one-to-one basis, photographing a landing guidance display on the ground, identifying a variable marker displayed on the landing guidance display using the photographed image, and identifying the shape and shape of the variable marker an unmanned aerial vehicle performing a landing maneuver to a landing field corresponding to the landing guidance display only when it is determined that the first identification information corresponds; and
Including the landing guidance display for receiving the first identification information and displaying the variable marker having a shape corresponding to the first identification information,
Landing Guidance System for Unmanned Aerial Vehicles. 27. The method of claim 26,
The landing guidance display,
displaying the variable marker in response to receiving a command to display the variable marker after the time point at which the first identification information is received;
Landing Guidance System for Unmanned Aerial Vehicles. According to claim 27,
The display command of the variable marker is,
Received from the control center system that transmitted the first identification information to the unmanned aerial vehicle and the landing guidance display,
Landing Guidance System for Unmanned Aerial Vehicles. According to claim 27,
The display command of the variable marker is,
What is received from the unmanned aerial vehicle,
Landing Guidance System for Unmanned Aerial Vehicles. 27. The method of claim 26,
Further comprising a motion detection sensor for detecting the motion of the landing site,
The landing guidance display displays a landing site status indicator generated using a motion detection result of the motion detection sensor and a variable marker having a shape corresponding to the first identification information.
Landing Guidance System for Unmanned Aerial Vehicles. Receiving first identification information, photographing a landing guidance display on the ground, identifying a variable marker displayed on the landing guidance display using the photographed image, and matching the shape of the variable marker with the first identification information An unmanned aerial vehicle performing a landing maneuver to a landing field corresponding to the landing guidance display only when it is determined to be the case; and
The landing guidance display for receiving the first identification information and displaying the variable marker having a shape corresponding to the first identification information and the unmanned aerial vehicle transmission information,
The unmanned aerial vehicle transmission information is any one of a pre-specified number of different indicators,
The landing guidance display,
As the indicators of the unmanned aerial vehicle transmission information are cyclically changed, displaying variable markers having cyclically changed shapes,
Landing Guidance System for Unmanned Aerial Vehicles. According to claim 31,
Further comprising a motion detection sensor for detecting the motion of the landing site,
The unmanned aerial vehicle transmission information is any one of the landing site status indicators generated using the motion detection result of the motion detection sensor,
Landing Guidance System for Unmanned Aerial Vehicles. a first landing guidance display for receiving first identification information and displaying a first variable marker having a shape corresponding to the indicator of the first identification information and the unmanned aerial vehicle transmission information; and
A second landing guidance display for receiving second identification information and displaying a second variable marker having a shape corresponding to the indicator of the second identification information and the unmanned aerial vehicle transmission information,
The first landing guidance display and the second landing guidance display are disposed in the same landing field,
The first landing guidance display displays first variable markers having a circular shape as the indicators of the unmanned aerial vehicle transmission information are cyclically changed, and a first unmanned aerial vehicle to land at a landing station of the first landing guidance display is displayed. In response to the distance from the unmanned aerial vehicle becoming less than a reference value, continuously displaying a first indicator of unmanned aerial vehicle transmission information and a first variable marker corresponding to the first identification information;
The second landing guidance display displays second variable markers having a circular shape as the indicators of the drone delivery information are cyclically changed, and then the second unmanned aerial vehicle to land at the landing station of the second landing guidance display In response to the distance from being less than a reference value, continuously displaying a second variable marker corresponding to the first indicator of the unmanned aerial vehicle transmission information and the second identification information,
Landing Guidance System for Unmanned Aerial Vehicles.

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