KR102597932B1 - Drone - Google Patents

Abstract

The present invention relates to a drone that can easily discharge heat generated by a battery to the outside, can remove fine dust during flight, and can perform pest control and fertilizer spraying. The drone according to the present invention includes a drone body and a plurality of driving parts that are coupled to the outside of the drone body and are driven to fly the drone body, and inside the drone body, ground control equipment and wireless It includes a wireless communication unit capable of communication, and is equipped with a control unit that operates the drive unit based on information transmitted by the ground control equipment and a battery that supplies power to the drive unit and the control unit, and the control unit provides power from the battery. It includes a circuit board including one or more circuit elements driven using.

Description

Drone {DRONE}

The present invention relates to a drone that can easily discharge heat generated by a battery to the outside, can remove fine dust during flight, and can perform pest control and fertilizer spraying.

Drones, which are remotely controlled through wireless communication, are unmanned aerial vehicles (UAV) and were initially developed for military purposes and used for simple shooting practice. However, with the continued development of electronic communication technology, they are used not only for military purposes but also for filming or transportation. It is being expanded and distributed to various fields.

In general, a drone may be composed of a plurality of driving units that output lift, a battery that supplies power to the driving units, a wireless communication unit that exchanges data with a remote controller on the ground, and a control unit that controls the driving units according to the received data. Here, the driving unit includes a motor that provides rotational force by power supplied from a battery, and a propeller connected to the driving shaft of the motor.

As the batteries used in drones require high output, they generate high temperature heat, and the heat generated by the batteries can affect the circuit board included in the drone, making it necessary to create pores in the drone body when manufacturing the drone. A design of a structure capable of dissipating heat is required. Therefore, it is difficult to manufacture a waterproof drone that is designed to dissipate heat from the battery.

Meanwhile, agricultural technology has been steadily developing. Automation has been greatly developed for crop cultivation, but as the rural workforce ages, the importance of automation is increasingly emphasized. In particular, in the case of pest control and fertilizer spraying work, which accounts for a large portion of agriculture, not only is the work difficult, but there are also factors that pose a threat to the health of workers, so research and development on automation is urgently needed. Typically, pest control and fertilizer spraying work is required more than 10 times a year depending on the crop, placing a great burden on workers. In particular, it is difficult to reduce production costs in the labor-intensive pest control and fertilizer spraying work using power sprayers by workers, and there are concerns about loss due to scattering of fine particles generated from high-pressure nozzles, as well as poisoning of nearby workers, and uneven Spraying may reduce the effectiveness of control and fertilizer spraying. In this way, the avoidance of pest control and fertilizer spraying work due to the various problems mentioned above, along with excessive labor commitment, is becoming more severe, and it is necessary to introduce a new work system. To solve this problem, technology to spray pesticides and fertilizers while remotely controlling a drone is being researched. Farmland pest control and fertilizer work using drones involves setting the drone's movement path or manually controlling it depending on the work area.

In addition, although agricultural drones are being developed, as mentioned above, it is difficult to develop a drone with a waterproof function for a heat dissipation structure, so when pest control and fertilizer are sprayed using a drone, the pest control and fertilizer penetrate into the drone, causing maintenance and maintenance of the drone. Management is difficult.

Republic of Korea Patent Publication No. 10-2235998 (announced on April 5, 2021) Republic of Korea Patent Publication No. 10-2151147 (announced on September 2, 2020) Republic of Korea Patent Publication No. 10-2021-0033104 (published on March 26, 2021)

The purpose of the present invention to solve the above-described problems is to provide a drone that can easily discharge heat generated by a battery to the outside, remove fine dust during flight, and perform pest control and fertilizer spraying.

In order to achieve the above-described object, the drone according to an embodiment of the present invention is a drone capable of flying, and the drone is coupled to the drone body and the outside of the drone body, and is driven. It includes a plurality of driving units that fly the drone body, and inside the drone body, it includes a wireless communication unit capable of wireless communication with ground control equipment, and operates the driving units based on information transmitted by the ground control equipment. A control unit, the driver unit, and a battery that supplies power to the control unit are mounted, and the control unit includes a circuit board including one or more circuit elements driven using power from the battery.

Inside the drone body, a first area where the battery is mounted and a second area where the circuit board is mounted are formed, and the first area and the second area are each formed by the battery and the circuit board. and a heat sink for transferring heat out of the first region and the second region, wherein one end of the heat sink included in the first region is formed at a position in contact with the battery, and one end of the heat sink included in the second region is formed at a position in contact with the battery. One end is formed at a position in contact with the circuit board, and the other end of the heat sink included in the first region and the second region is formed to penetrate the side wall of the drone body portion and be exposed to the outside, and the heat sink is, It is made of a material having a first thermal conductance for heat transfer, and a slit is formed at the boundary between the first area and the second area to reduce heat transfer between the battery and the circuit board, The slit is made of a material having a second thermal conductivity to reduce the transfer of heat.

The drone is coupled to a side of the drone body so as to be positioned between the driving units, and further includes a purifying unit that removes dust contained in the air, wherein the purifying unit includes a purifying support having one end coupled to one side of the drone body, It is coupled to the other end of the purification support, and includes a purification propeller unit that rotates to generate an air flow, and a purification filter installed spaced apart from the upper and lower parts of the purification propeller unit, and the other end of the heat sink is located between the driving units. The other end of the heat sink is formed to be positioned below the purification unit.

The lower portion of the drone body includes a liquid receiving portion, and the liquid receiving portion includes a tank portion containing the liquid, a cylinder portion pressurizing the liquid, a pressurizing container portion storing the pressurized liquid, and discharge of the pressurized liquid. It includes a discharge unit including a valve unit for controlling and a plurality of nozzles through which liquid pressurized by the valve unit is discharged, and a weight is included at one end of the nozzle to expand the discharge range of the pressurized liquid.

The liquid receiving unit includes a weight sensor that detects the weight of the liquid contained in the tank unit, and the control unit controls the driving unit to control the liquid when the weight of the liquid detected by the weight sensor is less than a preset weight. The drone is flown over the location where the liquid is stored.

According to the present inventor's drone, it is easy to discharge heat generated by the battery to the outside, remove fine dust during flight, and enable pest control and fertilizer spraying.

1 is a perspective view of a drone according to the present invention.
Figure 2 is a plan view of a drone according to the present invention.
Figure 3 is a side view of the drone according to the present invention.
Figure 4 is a block diagram showing the configuration of the liquid container according to the present invention.
Figure 5 is a block diagram showing the configuration of the cylinder part according to the present invention.
Figure 6 is a diagram showing a discharge unit according to the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference signs to components in each drawing, it should be noted that the same components are given the same reference numerals as much as possible even if they are shown in different drawings.

Also, in describing embodiments of the present invention, if detailed descriptions of related known configurations or functions are judged to impede understanding of the embodiments of the present invention, the detailed descriptions will be omitted.

Additionally, when describing the components of an embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term.

In this specification, singular forms also include plural forms unless specifically stated in the phrase. As used in the specification, “comprises” and/or “including” does not exclude the presence or addition of one or more other components in addition to the mentioned components.

The drone 1000 according to the present invention can fly by receiving driving information from ground control equipment through wireless communication. Ground control equipment includes user terminals including controllers or smart phones, or includes separate servers and separate devices in the ground control center.

The drone 1000 according to the present invention may be a rotary-wing multicopter drone, and generates lift by rotating the propeller of the driving unit 200. Drones (1000) are generally divided into Twin (2), Tri (3), Quad (4), Hexa (6), Octa (8), Dodeca (12) depending on the number of propellers. The drone 1000 according to the present invention is described as a quad-type drone (quadcopter or quadrotor) with a driving unit 200, but is not limited thereto.

Hereinafter, the present invention will be described in more detail with reference to the attached drawings.

Figure 1 is a perspective view of a drone 1000 according to the present invention.

Referring to FIG. 1, the drone 1000 according to the present invention is coupled to the drone body 100 and the outside of the drone body 100, and is driven to fly the drone body 100. It includes two driving units 200.

The plurality of driving units 200 are each radially coupled to the outside of the drone body 100. The driving unit 200 includes a driving support 201, one end of which is coupled to the outside of the drone body 100. The other end of the drive support 201 is coupled to the drive propeller portion. The driving propeller part includes a driving propeller 203 and a driving motor.

The driving propeller 203 is driven to generate lift or thrust to make the drone body 100 fly. The drive motor is connected to the drive shaft of the drive propeller 203, and receives power from the battery 102 mounted inside the drone body 100 to provide rotational force to the drive propeller 203. The drive motor may include a drive transmission (ESC). The drive motor may be driven by a control unit, which will be described later, to provide rotational force to the drive propeller 203. Alternatively, the drive transmission that receives a signal from the control unit may drive the drive motor.

A control unit and a battery 102 are mounted inside the drone body 100 according to the present invention.

The control unit includes a wireless communication unit (not shown) capable of wireless communication with ground control equipment. The wireless communication department can communicate with ground control equipment via Wi-Fi, satellite communication, or cellular. Cellular communications include LTE and 5G communications.

The control unit further includes a circuit board 104 that includes one or more circuit elements driven using power from the battery 102, an operation module such as a CPU for calculating data, and a memory in which data is stored. The circuit board 104 is electrically connected to the wireless communication unit, like the conventional drone 1000, and the circuit element calculates the information received from the ground control equipment, and operates the driver 200 based on the calculated information in detail. operates the drive motor or drive transmission.

The control unit includes various sensors such as flight controllers and sensor fusion devices to enable basic attitude control, and is equipped with a GPS module to exchange location data. The flight controller compares the received remote flight command with the state estimate sent from the sensor fusion device, calculates the rotation speed using the difference, converts the calculated results into a PWM signal, and transmits it to the driving unit 200. Rotational movement uses a 3-axis gyro sensor, 3-axis acceleration sensor, and 3-axis geomagnetic sensor, and translational movement uses a GPS receiver and barometric pressure sensor. The barometric pressure sensor enables stable altitude control, and the geomagnetic sensor controls the direction of the drone (1000) by recording data about the direction. Additionally, the control unit further includes a weight sensor, which will be described later.

The battery 102 supplies power to the driving unit 200 (more precisely, the driving propeller unit) and the control unit. The control unit and battery 102 are mounted inside the drone body 100. Because the space inside the drone body 100 is limited, it is difficult to install a battery 102 with a large capacity. Accordingly, the size of the battery 102 mounted on the drone 1000 is limited, which shortens the operating time of the drone 1000. Additionally, in order to mount the battery 102 with a large capacity in the limited internal space of the drone body 100, the battery 102 and the circuit board 104 must be adjacent to each other.

The battery 102 used in the drone 1000 generates heat as it exerts high output, and the heat generated at this time may affect the control unit, specifically the circuit board 104. As the heat generated by the battery 102 affects the circuit board 104, it may also affect circuit elements included in the circuit board 104, which may also affect the flight of the drone 1000.

Figure 2 is a top view of the drone according to the present invention, and Figure 3 is a side view of the drone according to the present invention.

Referring to FIG. 2, inside the drone body 100 according to the present invention, a first area 101 on which the battery 102 is mounted and a second area 103 on which the circuit board 104 is mounted are formed. do. The first area 101 and the second area 103 have a heat sink 110 for transferring heat generated by the battery 102 and the circuit board 104 out of the first area 101 and the second area 103, respectively. ) includes.

Referring to FIG. 3, each of the heat sinks 110 according to the present invention has one end located in the first area 101 or the second area 103, and the other end penetrating the side wall of the drone body 100 and extending into the drone body 100. It is formed to be exposed to the outside of the unit 100. At this time, the other end of the heat sink 110 is located between the two driving propeller parts so as not to interfere with the flight of the drone 1000 due to the driving of the driving propeller part.

The heat sink 110, one end of which is located in the first area 101, discharges heat generated from the battery 102 to the outside of the drone 1000, not to the circuit board 104, so that the heat generated by the battery 102 is transferred to the circuit board ( 104) does not affect it. In addition, the heat sink 110 located in the second area 103 also discharges heat generated from the circuit board 104 to the outside of the drone 1000, not the battery 102, so that the heat generated by the circuit board 104 is transferred to the battery 102. ) so as not to affect it.

The heat sink 110 according to the present invention is made of a material with high thermal conductivity. The heat sink 110 is made of a material having a first thermal conductivity for transferring heat generated by the battery 102 and the circuit board 104. The first thermal conductivity of the heat sink 110 is preferably higher than the second thermal conductivity of the slit 120, which will be described later.

At the boundary between the first area 101 and the second area 103 formed inside the drone body 100 according to the present invention, there is a device for preventing or reducing heat transfer between the battery 102 and the circuit board 104. A slit 120 is formed. The slit 120 is made of a material having a second thermal conductivity to reduce heat transfer. For example, if the heat sink 110 is made of copper, aluminum, iron, or an alloy thereof, the slit 120 may be made of glass, asbestos, or wood.

Meanwhile, the thermal conductivity according to the material is graphene 4800~5300W/mK, diamond 900~2300W/mK, silver 429W/mK, copper 400W/mK, gold 318W/mK, aluminum 237W/mK, iron 80W/mK, lead 35W/mK, stainless steel 12~45W/mK, concrete 1.7W/mK, glass 1.1W/mK, asbestos 0.16W/mK, wood 0.04~0.4W/mK, air 0.025W/mK, airgel 0.004~0.04W/ mK, etc.

The drone 1000 according to the present invention further includes a purifying unit 300 that removes dust contained in the air. The purification unit 300 includes a purification support unit 301 and a purification propeller unit. One end of the purification support 301 is coupled to one side of the drone body 100. A purification propeller unit is coupled to the other end of the purification support 301. Meanwhile, for convenience of illustration, the purifier 300 according to the present invention is not shown in FIGS. 1 and 2.

The purification propeller unit includes a purification propeller 303, a purification motor coupled to the central axis of the purification propeller 303 to operate the purification propeller 303, and a purification transmission (ESC) that changes the driving speed of the purification motor. The purification motor or purification transmission receives power from the battery 102 and is driven by the control unit.

The purification unit 300 further includes a purification pipe 310 including a purification propeller unit therein. The purification pipe 310 may be in the form of a cylinder with a space inside, a cone, or a cylinder with different upper and lower areas so that the vertical cross-section has a trapezoidal shape.

A purification propeller unit is located at the center of the purification pipe 310, and purification filters 311, which are installed spaced apart from each other, are coupled to the upper and lower parts of the purification propeller unit, that is, the upper and lower sides of the purification pipe 310. The purification filter 311 includes a known HEPA filter or carbon filter for air purifiers.

The purification support 301 is coupled to the side of the drone body 100 so that the purification propeller part is positioned between the driving parts 200 radially coupled. At this time, the purification support 301 is coupled so that the purification propeller portion is located on the same line as the other end of the heat sink 110, and is preferably coupled so that the purification propeller portion is located above the other end of the heat sink 110.

As described above, the heat sink 110 is formed so that the other end is positioned between both driving units 200 so as not to interfere with the flight of the drone 1000 by the driving propeller unit. Therefore, the purification unit 300 is also formed to be located between both driving units 200 so as not to interfere with the flight of the drone 1000 by the driving propeller unit.

The purification propeller 303 is driven to rotate by the operation of the purification motor. The driven purification propeller 303 rotates to generate air flow. Preferably, the purification propeller 303 moves air from the upper side to the lower side. The purification filter 311 is installed spaced apart from the upper and lower parts of the purification propeller 303, and therefore the purification filter 311 can remove fine dust from the air moving by the purification propeller 303. In addition, the air moving from the upper side to the lower side by the purifying propeller 303 finally contacts the other end of the heat sink 110 located at the lower part of the purifying propeller unit. Therefore, fine dust is removed from the air moving by the purification propeller 303 by the purification filter 311, and the air from which the fine dust is removed moves to the other end of the heat sink 110, generated inside the drone body 100. Since the other end of the heat sink 110 to which heat is transferred can be cooled, the other end of the heat sink 110 can be cooled faster than the other end of the heat sink 110 is cooled as the drone 1000 flies.

On the other hand, if the purification pipe 310 is in the form of a cylinder with different areas of the upper and lower surfaces, the upper surface may be formed to be larger than the area of the lower surface, and thus air flows from the upper to the lower part of the purification pipe 310. It is easier to inhale air when moving.

Meanwhile, as heat generated in the drone body 100 is transferred to the heat sink 110 and cooled at the other end of the heat sink 110, liquid such as water may be generated on the surface of the heat sink 110. Alternatively, the liquid discharged from the liquid container 400, which will be described later, may adhere to the heat sink 110. Therefore, in order to allow the liquid generated as the heat sink 110 to cool or the liquid deposited when the liquid receiving part 400 is discharged to flow, the heat sink 110 is formed to have a certain angle from the outside of the drone body 100 to the other end. You can. Additionally, a plurality of grooves may be formed on the upper surface of the heat sink 110 to allow the generated liquid to flow.

The drone 1000 according to the present invention further includes a liquid container 400. The liquid container 400 is coupled to the lower part of the drone body 100. A known gimbal 401 for the drone 1000 may be further included between the drone body 100 and the liquid container 400 to prevent shaking of the liquid container 400. Accordingly, the upper part of the gimbal 401 may be coupled to the lower part of the drone body 100, and the lower part of the gimbal 401 may be coupled to the upper part of the liquid receiving part 400.

The liquid container 400 accommodates liquid, and can discharge the liquid toward the ground when the drone 1000 flies. The control unit controls each component of the liquid container 400, and the battery 102 applies power to each component of the liquid container 400. The liquid accommodated by the liquid container 400 may be a pest control liquid or a fertilizer liquid used in agriculture.

Figure 4 is a block diagram showing the configuration of the liquid container according to the present invention.

Referring to FIG. 4, the liquid receiving part 400 according to the present invention includes a tank part 410, a cylinder part 420, a pressurized container part 430, a valve part 440, and a discharge part 450. do.

The tank unit 410 includes a tank containing liquid for pest control or fertilizer. Between the tank unit 410 and the cylinder unit 420, there is a liquid pipe 411 through which the liquid contained in the tank unit 410 moves to the cylinder unit 420. The liquid contained in the tank unit 410 moves to the cylinder unit 420, and the cylinder unit 420 pressurizes the moved liquid.

Figure 5 is a block diagram showing the configuration of the cylinder unit 420 according to the present invention.

Referring to FIG. 5 , the cylinder unit 420 further includes an air pipe 413 through which air flows in from the outside of the drone 1000. The cylinder unit 420 can pressurize the mixture of liquid and air introduced from the air pipe 413 and the liquid pipe 411. As the liquid and air are mixed and pressurized together, the pressure of the liquid can become higher. Meanwhile, one end of the air pipe 413 may be coupled to the cylinder portion 420, and the other end of the air pipe 413 may be formed to be located at the other end of the purification propeller portion and the heat sink 110 described above. Therefore, the air flowing into the cylinder unit 420 through the air pipe 413 has a high proportion of air from which fine particles have been removed.

The cylinder unit 420 includes a cylinder 423 that pressurizes the sucked air and water, and a power unit 421 that operates the cylinder 423. The power unit 421 may be a known motor. The power unit 421 operates the cylinder rod within the cylinder 423 in a reciprocating motion.

The interior of the cylinder 423 according to the present invention is connected to an air pipe 413 through which air flows and a liquid pipe 411 through which liquid flows in to suck air and liquid. The air pipe 413 and the liquid pipe 411 meet within the cylinder portion 420 as shown in FIG. 5, and air and liquid can be sucked into the interior of the cylinder 423 together, but the air pipe (411) is not limited to this. 413) and the liquid pipe 411 may each be connected to the inside of the cylinder 423.

Meanwhile, the connection between the air pipe 413 and the liquid pipe 411 and the cylinder 423 is combined with a known check valve (415), so that air and liquid can only enter the interior of the cylinder 423 in one direction. and prevents the air and liquid sucked into the cylinder 423 from flowing back into the air pipe 413 and the liquid pipe 411.

The air and liquid sucked into the cylinder 423 according to the present invention are pressurized by the cylinder 423 in reciprocating motion (piston movement), thereby increasing the pressure of the liquid.

The cylinder unit 420 according to the present invention further includes a cylinder tube 427 that discharges the pressurized liquid toward the pressurized container unit 430. One end of the cylinder 423 and the cylinder tube 427 is coupled with a known check valve 425 to prevent the pressurized liquid from entering the inside of the cylinder 423 again, so that the pressurized liquid within the cylinder 423 is It moves only toward the pressurized container unit 430. The liquid pressurized in the cylinder unit 420 moves to the pressurized container unit 430 and is stored. A cylinder tube 427 through which pressurized liquid moves is included between the cylinder unit 420 and the pressurized container unit 430.

Discharge of the liquid stored in the pressurized container unit 430 may be controlled by the valve unit 440. A pressure tube 431 through which pressurized liquid moves by the operation of the valve part 440 is included between the pressure container part 430 and the valve part 440.

Figure 6 is a diagram showing a discharge unit according to the present invention.

The pressurized liquid moved by the operation of the valve unit 440 is discharged through the discharge unit 450. The discharge unit 450 extends downward and includes a plurality of soft nozzles 451. The valve unit 440 and the discharge unit 450 are connected by a valve pipe 441, and the valve pipe 441 is connected to a plurality of nozzles 451. Each of the plurality of nozzles 451 is formed to be exposed to the outside. Each of the plurality of nozzles 451 includes a weight 453 having a certain weight at one end. The pressurized liquid discharged to the outside through the plurality of nozzles 451 moves freely due to the weight 453 included in the nozzle 451, so that when the pressurized liquid is discharged, the range of discharge is changed. can be expanded.

Meanwhile, the liquid receiving part 400 includes a weight sensor (not shown) that can detect the weight of the liquid contained in the tank part 410. The weight sensor is electrically connected to the control unit. When the weight of the liquid contained in the tank unit 410 decreases below a preset certain weight (for example, 1/5 of the total liquid weight that can be accommodated in the tank unit 410), the weight sensor transmits the information to the control unit. do.

When the control unit receives information from the weight sensor that the weight of the liquid has decreased below a certain weight, it controls the driving unit 200 so that the drone 1000 flies to the location where the liquid is stored. As described above, the control unit includes a GPS module and can generate location data of the flying drone 1000 and transmit and receive it with ground control equipment. In addition, the location where the liquid according to the present invention is stored also includes a location data generating device including a GPS module. At this time, this location may be the initial flight start location of the drone 1000. The control unit compares the location data of the currently flying drone 1000 with the location data of the location where the liquid is stored and controls the drive unit 200 to return the flying drone 1000 to the location where the liquid is stored.

As described above, farmland pest control and fertilizer work using a conventional agricultural drone (1000) can manually manipulate the flight path through ground control equipment, or the flight path of the drone (1000) can be preset according to the work area. . If the movement path of the drone (1000) is preset, the ground control equipment is not used until the drone (1000) takes off from the location where the drone (1000) takes off (i.e., the drone station) and flies a certain distance from the drone (1000) station. The flight of the drone (1000) is controlled through the control panel, and when the drone (1000) moves away from a certain distance, the flight path of the drone (1000) follows a preset flight path. Additionally, the control unit can transmit information that the weight of the received liquid has decreased below a certain weight to the ground control equipment. The ground control equipment may manipulate the flight path of the drone 1000 when the distance to the drone 1000 is less than a certain distance.

When the area on which pest control and fertilizer work by the drone 1000 according to the present invention is performed is large, a plurality of drones 1000 according to the present invention may be operated simultaneously. In this case, when the working area is large, a plurality of drones (1000) each perform pest control and fertilizer work in different areas. The plurality of drones 1000 each fly along a preset flight path and perform pest control and fertilizer work. On the other hand, when the weight of the liquid contained in the liquid container 400 decreases below a certain weight by the weight sensor provided, each drone 1000 transmits the information to the ground control equipment to detect other nearby drones 1000. The information can be transmitted together. Another drone 1000 that receives the information can modify its flight path. That is, the other drone 1000 that received the information modifies the flight path of the other drone 1000 by adding the flight path of the drone 1000 that transmitted the information. Accordingly, the work area of the drone 1000 that has returned to the drone 1000 station because the weight of the liquid has decreased below a certain weight can be taken over by another drone 1000 with sufficient liquid and can continue to work.

The wireless communication unit according to the present invention may further include a V2X communication module capable of transmitting and receiving data according to the V2X communication method. The drone 1000 according to the present invention can test V2X communication performance by performing V2X communication with a roadside base station (RSU) or a vehicle (OBU).

Generally, in a system for testing V2X communication performance, the measured device transmits and receives data according to the V2X communication standard, and the measured device transmits and receives data according to the V2X communication standard, and measures and analyzes the transmitted and received data to determine V2X communication. Includes measuring equipment to test performance. The measuring device and the measured device are each equipped with a V2X module, enabling wireless communication using the V2X communication standard. Depending on the test conditions, the measuring device and the measured device are connected wirelessly indoors to test the data transmission and reception performance of the test device and the tested device, or a measuring device including a V2X module is mounted on an actual vehicle and the vehicle is driven on the road. Communication performance has been tested by driving.

The drone 1000 according to the present invention is equipped with a V2X communication module that was conventionally mounted indoors or in a vehicle, enabling V2X communication with a roadside base station or other vehicles, transmitting the communication data to ground control equipment, and transmitting the communication data to the ground control equipment. A program to test communication performance is installed in the received ground control equipment, and the communication data can be analyzed to test the V2X communication performance of the roadside base station or vehicle.

A roadside base station or a measured device (not shown) including a vehicle according to the present invention collects data on the road, and is capable of transmitting and receiving the collected data on the road according to the V2X (Vehicle to Everything) communication standard.

The drone 1000 according to the present invention is capable of transmitting and receiving data on the road with a measured device according to V2X communication standards. The ground control equipment according to the present invention receives road data from the drone 1000 and analyzes the road data to test V2X communication performance. The measured device according to the present invention uses RTCM (Radio Technical Commission for Maritime Services) information to measure the location of the measured device and an RTK module that measures the location of the measured device and data on the road according to the V2X communication standard. Includes a V2X module that transmits and receives to the drone (1000).

The drone 1000 and the measured device communicate with each other according to the V2X communication standard and transmit and receive data. The drone 1000 transmits the data transmitted and received with the measured device to the ground control equipment. Data transmitted and received through communication between the drone 1000 and the measured device may be included in a Basic Safety Message (BSM) message. In addition, data transmitted and received through communication between the drone 1000 and the measured device may be included in messages generated and transmitted and received by other V2X communication methods in addition to BSM messages.

Ground control equipment analyzes data received from the drone (1000) and tests V2X communication performance. Ground control equipment includes a display module that can analyze data and display the results of testing V2X communication performance. The ground control equipment analyzes the data transmitted and received between the drone 1000 and the measured device and displays the results of the V2X communication performance test on the display module so that the user can check them. The data analyzed by the ground control equipment includes road data collected by the measured device and the drone 1000, such as a sensor module, a position measurement module, and a CAN module that collects driving information. Data on the road includes, for example, data related to vehicle driving information, vehicle collision warning, vehicle breakdown warning, work zone notification, real-time traffic information, falling object information, and road surface weather information.

The measured device according to the present invention collects data on the road. The measured device is capable of communicating with the drone 1000 according to V2X communication standards. The measured device transmits and receives the collected road data to the drone 1000 according to V2X communication standards.

The measured device according to the present invention is installed in a roadside unit (RSU) and/or a test vehicle. Roadside base stations are ITS infrastructure devices installed on the roadside, which collect data on the road and transmit and receive the collected data with vehicles equipped with V2X communication modules according to V2X communication standards.

The drone 1000 according to the present invention transmits and receives data with a measured device installed in a roadside base station and/or a test vehicle according to the V2X communication standard. Information about the data transmitted and received by the drone (1000) is transmitted to the ground control equipment wirelessly connected to the drone (1000), the ground control equipment analyzes the information and tests V2X communication performance, and the test results are provided to the ground control equipment. It is displayed on the display module so users can check the results of the V2X communication performance test.

The measured device includes a sensor module that collects data on the road, an RTK module that measures the location of the measured device using RTCM (Radio Technical Commission for Maritime Services) information, and on-road data and measurements collected according to V2X communication standards. It includes a V2X module that transmits and receives the location of the measured device to the drone 1000. The measured device installed in the test vehicle further includes a CAN module that collects driving information of the test vehicle using the CAN protocol.

The sensor module included in the measured device may further include a configuration for collecting data on the road. For example, a sensor module may include a video surveillance device, radar, lidar, signal controller, and meteorological sensor.

RTK (Real Time Kinematic) is a real-time moving precision measurement technology that is mainly used in satellite navigation systems to maintain an error of several centimeters.

The RTK module included in the measured device can measure the location of the measured device using RTCM (Radio Technical Commission for Maritime Services) information. The RTK module measures the changing position of the measured device and generates location information of the measured device, and the generated location information is transmitted to the drone 1000 by the V2X module as road data. The RTK module includes an RF unit that receives RTCM information for position correction, an RTK unit that measures the position with 1cm and 1ppm accuracy using the received RTCM information, and a V2X control unit that controls the RF unit and the RTK unit, and the RTK unit uses GPS , can support GNSS, GLONASS, QZSS and Beidou.

The V2X module included in the measured device transmits and receives on-road data generated or received by the drone 1000 and the measured device according to the V2X communication standard. The V2X module receives an RF (Radio Frequency) signal according to the V2X communication standard and converts the received RF signal into an analog I/Q signal. The V2X module converts the converted analog I/Q signal into a digital I/Q signal. A data conversion unit, a modem unit that decodes the converted digital I/Q signal according to V2X communication standards and measures the V2X communication performance of the decoded signal, and controls the operations of the RF unit, the data conversion unit, and the modem unit. It may include a V2X control unit.

When the measured device is installed in the test vehicle, the CAN module included collects the vehicle's driving information. Driving information includes information such as acceleration, deceleration, and braking of the vehicle. Driving information is included in the road data transmitted from the measured device to the drone 1000. The CAN module can collect vehicle driving information using the CAN protocol. The CAN module may include a WIFI module that transmits and receives data through WIFI (Wireless Fidelity) and a BT module that transmits and receives data through BT (Bluetooth).

The road information collected by the measured device is transmitted to the drone 1000 by the V2X module. The drone 1000 measures the transmission and reception performance of the measured device according to the V2X communication standard.

The ground control equipment includes a calculation unit that tests V2X communication performance by analyzing data transmitted and received by the V2X module of the drone 1000. Ground control equipment includes software and display modules to test V2X communication performance. The calculation unit executes software to evaluate V2X communication performance. The ground control equipment displays the test results of V2X communication performance through the display module through the user interface. When the user executes the user interface, the ground control equipment displays the received road data, location information of the measured device, driving information, V2X communication performance, location information of the measuring device, and driving information of the measuring device in real time through the display module. It can be expressed.

Meanwhile, when analyzing data using software, the calculation unit analyzes the data according to evaluation items. Evaluation items at this time include Packet Error Rate (PER), Latency, Maximum Communication Distance (MCD), Received Signal Strength (RSSI), Heading Error, Jitter, and Distance.

The ground control equipment includes a driving screen display unit, a performance item display unit, a driving information display unit, a map display unit, and a graph display unit. The driving screen display unit streams the driving screen of the measurement device in real time, and the performance item display unit displays the measured V2X communication performance in real time. The driving information display unit displays the driving information of the measuring device in real time, the map display unit displays the locations of the drone (1000) and the measured device on the map in real time, and the graph display unit shows the measured V2X communication performance. It can be displayed as a graph.

The map display unit displays the positions measured by the drone 1000 and the measured device on a map and displays them on the display module. The map at this time can use Google Maps, allowing real-time tracking on the map. The map display unit displays the locations of the drone 1000 and the measured device on a road-based map, a satellite photo-based map, a terrain-based map, or a map combining roads, satellites, and terrain, depending on the user's selection. The map display unit can distinguish between successful and failed sections of V2V communication between the measured device installed in the test vehicle and the drone (1000) or V2I communication between the measured device installed in the roadside base station and display them on the map in real time. You can.

The graph display unit displays V2X communication performance as a graph and displays it on the display module. The graph display unit generates in real time the results of the V2X communication performance test by the calculation unit according to the evaluation items, graphs them, and displays them on the display module. The graph display unit can generate and display a graph in real time according to the set input and output information.

The ground control equipment further includes a log display unit and an error comparison unit.

The log display unit collects a communication log from the drone 1000 through wireless communication. The communication log collected by the log display unit includes data transmission/reception logs of the drone 1000 and the measured device. In other words, the communication log collected by the log display unit is the data log received by the drone 1000 from the measured device, the data log transmitted by the drone 1000 to the measured device, and the data transmitted by the measured device to the drone 1000. The log and the measured device collect data logs received from the drone 1000. The log display unit can collect data transmission and reception logs according to V2X communication and display them on the display module. The log display unit can calculate the communication log of the measured device and the drone 1000 and display it on the display module.

The error comparison unit compares the transmission log sent by the drone 1000 and the reception log received by the measured device. The error comparison unit compares the transmission log and the reception log, and when the measured device receives the data without error, it sends an ACK (ACKnowledge) response to the display module to convey the message that the data was received without error.

The ground control equipment can classify the data received from the measured device and/or the drone 1000 into a unique hardware address (MAC Address) and store a DB (Data Base) file.

The measured device and drone 1000 can support V2X communication standards of WAVE and C-V2X. WAVE and C-V2X have different protocol stacks and different data modulation methods. If C-V2X and WAVE have different usage frequencies, there is no mutual influence even if they are used simultaneously. Therefore, the V2X module and the second V2X module included in the measured device and the drone 1000 according to the present invention include a C-V2X module and a WAVE module, and C-V2X and WAVE simultaneously use different usage frequencies. As the measured device and the drone 1000 communicate, both C-V2X and WAVE V2X communications are possible.

The user interface for evaluating V2X communication performance may include a function menu, driving screen streaming, 2D error evaluation results, performance evaluation result graphs, real-time information for each item, web-based map analysis window, and/or real-time DUT information. Here, each component of the user interface may be named in order as a driving screen display unit, a 2D error evaluation result display unit, a graph display unit, (performance item display unit and location accuracy display unit), a map display unit, and/or a driving information display unit.

The function menu of the user interface may include a load database item, a save database item, a save log item, an affinity setting item, a simulation start item, an evaluation test information item, an evaluation start item, a report output item, and/or a program information item. . The load database item or simulation start item can load and run a simulation video (evaluation result) stored in the database. At this time, the V2X performance evaluation system can analyze evaluation tests conducted in the past using the stored database. And when the simulation starts, the location of the equipment (vehicle terminal and/or base station) and/or measuring device used in the test is displayed as a marker in the map display section, and the test data values for the set evaluation items are displayed in a graph in the evaluation result graph display section. In addition, values corresponding to each configuration may be displayed on the driving information display unit, performance item display unit, and/or location accuracy display unit. The save database item can save the data currently being evaluated to the database. The save log item can store logs that occurred during performance evaluation. Preference setting items can set the configuration of the user interface, etc., and may include general setting items, streaming setting items, map setting items, graph setting items, monitor setting items, and/or evaluation requirement setting items, and detailed information about them. The explanation is provided later. The simulation start item can run a simulation video loaded from the database. The evaluation test information item can be stored in a database by inputting information about the corresponding evaluation test, and a detailed description of this will be provided later. The evaluation start item can start the evaluation. Report output items can output evaluation results as a report. The program information item can output information about this evaluation program.

The driving screen display unit can receive streaming video input through the camera of a vehicle equipped with a vehicle terminal and output it.

The 2D error evaluation result display unit can display the accuracy of the location information of the drone 1000 or the measured device in a 2D graph.

The performance item display unit can display performance items (test items). Test items may include PER, maximum effective communication distance, latency, and/or data transfer rate (Throughput).

The driving information display unit can display GPS information from a vehicle terminal or base station. GPS information may include information such as latitude, longitude, altitude, speed, direction, and yaw rate value.

The position accuracy display unit may display the accuracy of position information measured by the measuring device or the device under test.

The map display unit may display the location of the vehicle terminal, measurement device, and/or base station on the map. The map display can use Google Maps and can display hybrid, road, satellite, and/or topographic maps supported by Google Maps.

The graph display unit can generate and display a graph in real time according to the set input and output information. At this time, the information to be displayed can be determined by entering the X-axis value, Y1-axis value, and/or Y2-axis value on the right side of the graph.

*The video surveillance device according to the present invention may be a closed circuit television (CCTV) or a camera that generates video data by photographing the road. The video surveillance device may be a plurality of CCTVs with different purposes, and each CCTV may collect data on the road including images of different predetermined areas. Meanwhile, in this specification, on the road includes the roadside.

Radar is an abbreviation for Radio Detecting and Ranging. It emits electromagnetic waves of the order of microwaves (10cm~100cm wavelength) to an object and receives the electromagnetic waves reflected from the object to determine the distance, direction, and altitude from the object. It is a wireless surveillance device that measures the direction and distance of an object by measuring the time until the time the reflected wave is received using the straight-line nature of radio waves.

Lidar is a device that precisely depicts the surroundings by firing a laser pulse, receiving the light reflected from surrounding objects, and measuring the distance to the object. Lidar is similar to traditional radar in its principles. It is the same, but the wavelength of electromagnetic waves used is different. LIDAR can measure not only the distance to the target object, but also the speed and direction of movement. LiDAR is used as a sensor to acquire the information necessary to create 3D images.

A signal controller refers to a device that controls traffic signals, and can not only control traffic signals but also collect information about traffic signals.

A weather sensor is a sensor that detects the weather and can collect and generate weather information provided to autonomous vehicles on the road.

GNSS (Global Navigation Satellite System) is a system that provides information about the location, altitude, speed, etc. of ground objects using artificial satellites.

GLONASS is a Russian space agency radio navigation system that distributes 3-axis position, speed determination, and time stamps to base stations around the world. GLONASS is similar to the US GPS in many ways, but the difference is that 24 satellites are placed 8 in 3 orbits. It just happened.

QZSS or Juntencho is a regional GNSS system developed by Japan. While America's GPS is for use around the world, QZSS is for Japan only. It covers 24 hours with four Michibiki satellites that hover over Japan for 8 hours.

Beidou also refers to a satellite for the Global Positioning System (GPS) developed by China or to China's GPS system itself.

The Galileo system is the world's first civilian global positioning system (GPS) that is being jointly promoted by the European Union (EU) and the European Space Agency (ESA) to counter the US GPS monopoly.

Ground control equipment includes smartphones, tablet personal computers, mobile phones, video phones, desktop personal computers, and laptop personal computers equipped with software capable of analyzing data. computer), netbook computer, personal digital assistant (PDA), portable multimedia player (PMP), wearable device (e.g. smart glasses, head-mounted-device (HMD), etc. ) or a smart watch).

Display modules include liquid crystal display (LCD), thin film transistor-liquid crystal display (TFT LCD), organic light-emitting diode (OLED), and flexible display. , and may include at least one of a 3D display.

The user terminal according to the present invention is a terminal such as a desktop PC, laptop PC, tablet PC, or smartphone equipped with an input means such as a keyboard, mouse, touchpad, or touch screen, and a display screen, and is not limited thereto, but is a communication network terminal. You can access the drone (1000) or a separate server at the ground control center through any configuration that can process digital information, allowing input of search information and selection information, and installation of an application program that can display search result information. may be included. The user terminal according to the present invention is a component that connects to a server through a communication network and transmits and receives information, for example, a smartphone, a tablet personal computer, a mobile phone, a video phone, and a desktop PC. (desktoppersonal computer), laptop PC (laptop personal computer), netbook computer, personal digital assistant (PDA), portable multimedia player (PMP), wearable device (e.g. smart glasses, head-worn device) It may include at least one of (head-mounted-device (HMD), etc.), unmanned terminal (kiosk), or smart watch).

The user terminal according to the present invention and a separate server of the ground control center can communicate through each communication unit and communication network. A communication network refers to a connection structure that allows information exchange between nodes such as terminals and servers. Examples of such communication networks include the 3rd Generation Partnership Project (3GPP) network, Long Term Evolution (LTE) network, and 5G. Network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide Area Network), PAN (Personal Area Network), wifi network, It includes, but is not limited to, a Bluetooth network, satellite broadcasting network, analog broadcasting network, and DMB (Digital Multimedia Broadcasting) network. The communication units provided by the user terminal and the server, respectively, may include electronic components provided for the communication network to enable wired and wireless data communication through the above-described communication network.

In this specification, the control units may be processors that execute sequential execution processes stored in memory. Alternatively, they may operate as software modules driven and controlled by a processor. Furthermore, a processor may be a hardware device.

In this specification, 'part' includes a unit realized by hardware, a unit realized by software, and a unit realized using both. Additionally, one unit may be realized using two or more pieces of hardware, and two or more units may be realized using one piece of hardware.

The scope of protection of the present invention is not limited to the description and expression of the embodiments explicitly described above. In addition, it is to be added once again that the scope of protection of the present invention may not be limited due to changes or substitutions that are obvious in the technical field to which the present invention pertains.

100: Drone body 101: First area
102: Battery 103: Second area
104: circuit board 110: heat sink
120: slit 200: driving unit
201: Drive support 203: Drive propeller
300: Purification unit 301: Purification support
303: Purification propeller 310: Purification pipe
311: Purification filter 400: Liquid receiving part
401: Gimbal 410: Tank unit
411: liquid pipe 413: air pipe
415: check valve 420: cylinder part
421: Power unit 423: Cylinder
425: check valve 427: cylinder tube
430: Pressurized container part 431: Pressurized pipe
440: valve part 441: valve pipe
450: discharge unit 451: nozzle
453: Weight 1000: Drone

Claims (1)

In a drone that can fly, the drone:
Drone body part; and
A plurality of driving units coupled to the outside of the drone body and driven to fly the drone body;
Including,
Inside the drone body,
A control unit including a wireless communication unit capable of wireless communication with ground control equipment, and operating the driving unit based on information transmitted by the ground control equipment; and
A battery that supplies power to the driving unit and the control unit is mounted,
The control unit,
A circuit board including one or more circuit elements driven using power from the battery,
Inside the drone body, a first area where the battery is mounted and a second area where the circuit board is mounted are formed,
The first area and the second area each include a heat sink for transferring heat generated by the battery and the circuit board out of the first area and the second area,
One end of the heat sink included in the first region is formed at a position in contact with the battery,
One end of the heat sink included in the second region is formed at a position in contact with the circuit board,
The other end of the heat sink included in the first region and the second region is formed to penetrate the side wall of the drone body portion and be exposed to the outside,
The heat sink is made of a material having a first thermal conductivity for transferring the heat,
A slit is formed at a boundary between the first area and the second area to reduce heat transfer between the battery and the circuit board,
The slit is made of a material having a second thermal conductivity to reduce the transfer of heat,
The drone is,
A purifying unit coupled to a side of the drone body so as to be positioned between the driving units and removing dust contained in the air;
It further includes,
The purification department,
A purification support, one end of which is coupled to one side of the drone body;
A purification propeller unit coupled to the other end of the purification support and rotating to generate an air flow; and
Purification filters installed separately from the upper and lower portions of the purification propeller unit;
Including,
The other end of the heat sink is formed to be located between the driving units,
The other end of the heat sink is formed to be located below the purification unit,
The lower part of the drone body includes a liquid container, and the liquid container includes a weight sensor that detects the weight of the contained liquid,
The control unit, when the weight of the liquid detected by the weight sensor is less than a preset weight, flies the drone to a location where the liquid is stored.