KR102600094B1 - Loading control drone with proximity sensors and operation system of the same - Google Patents

Abstract

According to various embodiments of the present invention, the accuracy of detonation toward a target can be improved by using a plurality of proximity sensors by applying a drone equipped with a proximity sensor and its operation system.
In addition, according to various embodiments of the present invention, by applying a drone equipped with a proximity sensor and its operation system, the accuracy of detonation toward the target can be improved using an impact detection sensor.

Description

Loading control drone with proximity sensor and its operation system {LOADING CONTROL DRONE WITH PROXIMITY SENSORS AND OPERATION SYSTEM OF THE SAME}

The present invention relates to drones and their operating systems. More specifically, the present invention relates to a loading control drone equipped with a proximity sensor and its operation system.

The content described in this section simply provides background information for this embodiment and does not constitute prior art.

Drone (unmanned aerial vehicle) is a general term for an unmanned aerial vehicle in the shape of an airplane or helicopter that can be flown and controlled by the guidance of radio waves without a pilot.

The role of drones will become more important on the battlefield of the future. Drones can be used for a variety of missions, including surveillance, reconnaissance, transportation, and attack.

There are multi-copter type drones rather than fixed-wing type drones, such as drop-type drones that drop bombs and rifle-point-shooting drones.

Multicopter-type drones have a significantly lower maximum flight speed than fixed-wing drones to be used for directly hitting targets, and the method of dropping detonation bombs close to the target has a high possibility of exposure due to noise from the propeller, and the detonator device is highly likely to be exposed. There is a problem with lack of accuracy when dropping.

The purpose of the present invention is to provide a drone equipped with a proximity sensor and an operation system thereof that can improve the accuracy of detonation toward a target by using a plurality of proximity sensors.

The purpose of the present invention is to provide a drone equipped with a proximity sensor and its operating system that can improve the accuracy of detonation toward a target using an impact detection sensor.

Other unspecified objects of the present invention can be additionally considered within the scope that can be easily inferred from the following detailed description and its effects.

A drone equipped with a proximity sensor according to an embodiment of the present invention to achieve the above-described purpose includes an operation control unit that controls the flight speed and flight altitude of the drone, measures the distance between the drone and the target, and measures the distance between the drone and the target. It includes a sensing unit that outputs a first detonation signal when the distance between the targets corresponds to a predetermined reference distance range, and a detonator that detonates in response to the output first detonation signal.

Here, the operation control unit outputs a first instruction signal when the drone flies at a predetermined altitude and a predetermined speed, and the detonation unit outputs the output first instruction signal and the first detonation signal. It is characterized by detonation in response to sequential reception.

Here, when the drone captures the target, the operation control unit transmits information on the captured target through wireless communication, controls the operation of the drone in response to the tracking command received through wireless communication, and controls the second An instruction signal is output, and the detonator detonates in response to sequential reception of the first instruction signal, the second instruction signal, and the first detonation signal.

Here, the operation control unit outputs a third command signal in response to the detonation command received through wireless communication, and the detonator unit outputs the first command signal, the second command signal, and the output third command signal. and detonating in response to sequential reception of the first detonation signal.

Here, the sensing unit includes a plurality of proximity sensors, and the plurality of proximity sensors each calculate distance data by measuring the distance to the target at predetermined reference time intervals, and the sensing unit uses a pre-generated filter. The distance data excluding a predetermined reference distance range is filtered using and a first detonation signal is generated based on the filtered distance data.

Here, the sensing unit is characterized in that it does not generate the first detonation signal when the difference between the filtered distance data is greater than a predetermined reference value.

Here, the sensing unit includes a collision detection sensor that outputs a second detonation signal when the amount of impact applied to the drone is greater than a predetermined reference value, and the detonator detonates in response to the output second detonation signal. Do it as

A drone operating system equipped with a proximity sensor according to an embodiment of the present invention to achieve the above-described purpose includes a drone control device that controls the operation of the drone by performing wireless communication with the drone, and a distance between the drone and the target. It includes a drone that measures and outputs a first detonation signal when the distance between the drone and the target corresponds to a predetermined reference distance range, and detonates in response to the output first detonation signal.

Here, the drone outputs a first instruction signal when the drone flies at a predetermined altitude and at a predetermined speed, and in response to the case where the first instruction signal and the first detonation signal are output sequentially, It is characterized by detonation.

Here, when the drone captures the target, the drone transmits information about the captured target to the drone control device through wireless communication, and responds to the tracking command sent by the drone control device through wireless communication. It is characterized in that it controls the operation of the drone, outputs a second instruction signal, and detonates in response to the case where the first instruction signal, the second instruction signal, and the first detonation signal are sequentially output.

Here, the drone outputs a third instruction signal in response to the detonation command received through wireless communication, and the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal are It is characterized by detonation in response to sequential output.

Here, the drone calculates distance data by measuring the distance to the target at predetermined reference time intervals, filters the distance data excluding the predetermined reference distance range using a predetermined filter, and filters the distance data. It is characterized by generating a first detonation signal based on the distance data.

Here, the drone is characterized in that it does not generate a detonation signal when the difference between the filtered distance data is greater than a predetermined standard value.

As described above, according to an embodiment of the present invention, by applying a drone equipped with a proximity sensor and its operation system, the accuracy of detonation toward the target can be improved using a plurality of proximity sensors.

Additionally, according to an embodiment of the present invention, by applying a drone equipped with a proximity sensor and its operation system, the accuracy of detonation toward the target can be improved using an impact detection sensor.

Even if the effects are not explicitly mentioned here, the effects described in the following specification and their potential effects expected by the technical features of the present invention are treated as if described in the specification of the present invention.

Figure 1 is a block diagram schematically showing the configuration of a drone equipped with a proximity sensor and a drone control device according to an embodiment of the present invention.
Figure 2 is a diagram schematically showing the configuration of a drone operation system equipped with a proximity sensor according to an embodiment of the present invention.
Figure 3 is a diagram showing the configuration of an operation control unit, a sensing unit, and a detonator unit of a drone equipped with a proximity sensor according to an embodiment of the present invention.
Figure 4 is a block diagram schematically showing the configuration of a drone equipped with a proximity sensor and a drone control device according to an embodiment of the present invention.
Figure 5 is a diagram showing a configuration for inspecting the operation control unit, sensing unit, and detonation unit of a drone equipped with a proximity sensor according to an embodiment of the present invention and obtaining experimental data.
Figure 6 is a diagram illustrating a configuration for inspecting a sensing unit of a drone equipped with a proximity sensor and acquiring experimental data according to an embodiment of the present invention.
Figures 7 and 8 are experimental data of a drone equipped with a proximity sensor according to an embodiment of the present invention.
9 and 10 are diagrams showing distance data and a first detonation signal generated by a drone equipped with a proximity sensor according to an embodiment of the present invention.
Figure 11 is a flowchart for explaining a method of operating a drone equipped with a proximity sensor performed by a drone equipped with a proximity sensor according to an embodiment of the present invention.
Figure 12 is a flowchart for explaining a method of operating a drone equipped with a proximity sensor performed by a drone operating system equipped with a proximity sensor according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely intended to ensure that the disclosure of the present invention is complete and to provide common knowledge in the technical field to which the present invention pertains. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

In this specification, terms such as “first” and “second” are used to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

In this specification, identification codes (e.g., a, b, c, etc.) for each step are used for convenience of explanation. The identification codes do not describe the order of each step, and each step is clearly understood in the context. Unless a specific order is specified, events may occur differently from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the opposite order.

In this specification, expressions such as “have,” “may have,” “includes,” or “may include” indicate the presence of the corresponding feature (e.g., a numerical value, function, operation, or component such as a part). indicates, does not rule out the presence of additional features.

Additionally, the term '~unit' used in this specification refers to software or hardware components such as FPGA (field-programmable gate array) or ASIC, and the '~unit' performs certain roles. However, '~part' is not limited to software or hardware. The '~ part' may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Therefore, as an example, '~ part' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuits, data structures, and variables. The functions provided within the components and 'parts' may be combined into a smaller number of components and 'parts' or may be further separated into additional components and 'parts'.

Hereinafter, various embodiments of a drone equipped with a proximity sensor and its operation system according to the present invention will be described in detail with reference to the attached drawings.

A proximity sensor or proximity angle sensor preferably refers to a sensor that can detect the presence of surrounding objects without physical contact, but is not necessarily limited thereto.

Embodiments described herein can be applied to large, medium, and small drones performing strike missions.

Figure 1 is a block diagram schematically showing the configuration of a drone equipped with a proximity sensor according to an embodiment of the present invention, and Figure 2 shows the configuration of a drone operation system equipped with a proximity sensor according to an embodiment of the present invention. This is a schematic drawing.

Referring to FIG. 1, a drone 100 equipped with a proximity sensor may include an operation control unit 110, a sensing unit 120, and a detonator 130. Not all blocks shown in FIG. 1 are essential components, and in other embodiments, some blocks connected to the drone operating system 10 equipped with a proximity sensor may be added, changed, or deleted.

Referring to FIG. 2, the drone operation system 10 equipped with a proximity sensor may include a drone 100 equipped with a proximity sensor and a drone control device 200. The drone 100 can be detached from or separated from the drone control device 200 while connected or coupled to the drone control device 200 and fly toward the target 300.

Drone (unmanned aerial vehicle) 100 preferably refers to a general term for an unmanned aerial vehicle in the shape of an airplane or helicopter that can be flown and controlled by guidance of radio waves without a pilot, but is not necessarily limited thereto, and the present invention In this case, the drone 100 is preferably formed as a fixed wing type or a hybrid type drone of fixed and rotary wings.

The drone 100 can perform various operations such as rising, rotating, moving forward and backward, and can be configured to have a camera (not shown) installed to enable filming. The camera may include electro-optical and infrared sensors and be configured to continuously photograph the target 300 after the drone 100 starts flying.

The operation control unit 110 can control the operation of the drone 100. The operation control unit 110 can control the flight speed and flight altitude of the drone 100. The operation control unit 110 operates when the drone 100 flies at a predetermined altitude (e.g., 1,500 meters to 2,000 meters) and flies at a predetermined speed (e.g., 80 km/h to 100 km/h). 1 An instruction signal can be output to the detonator 130.

When the drone 100 captures the target 300, the operation control unit 110 transmits information on the captured target 300 to the drone control device 200 through wireless communication, and the drone control device (200) through wireless communication. In response to the tracking command received from 200), the operation of the drone 100 is controlled and a second instruction signal can be output to the detonator 130. The user can check target information transmitted by the drone 100 (for example, footage taken with a camera installed on the drone 100) through the drone control device 200 and transmit a tracking command.

The operation control unit 110 may output a third instruction signal to the detonation unit 130 in response to the detonation command received through wireless communication with the drone control device 200. The user can transmit a detonation command to the drone 100 through the drone control device 200.

The sensing unit 120 measures the distance between the drone 100 and the target 300, and the distance between the drone 100 and the target 300 is within a predetermined reference distance range (for example, 300 centimeters to 500 centimeters). In this case, the first detonation signal can be output to the detonator 130. The sensing unit 120 may include a plurality of proximity sensors. The sensing unit 120 preferably includes two proximity sensors 121 and 122. The sensing unit 120 may include a first proximity sensor 121, a second proximity sensor 122, and a collision detection sensor 123.

The plurality of proximity sensors included in the sensing unit 120 may each calculate distance data by measuring the distance to the target 300 at predetermined reference time intervals (for example, 4 ms).

The sensing unit 120 may filter distance data excluding a predetermined reference distance range using a pre-generated filter.

The sensing unit 120 may not generate the first detonation signal when the difference between the filtered distance data is greater than a predetermined reference value. More specifically, the difference between the first distance data generated by the first proximity sensor 121 and the second distance data generated by the second proximity sensor 122 is a predetermined reference value (for example, 3 centimeters). ) or more, the first detonation signal may not be generated.

According to one embodiment of the present invention, the drone 100 equipped with a proximity sensor may further include a loading control unit (not shown). The sensing unit 120 may transmit the first detonation signal to the charging control unit (not shown), and the charging control unit (not shown) may transmit the received first detonation signal to the detonating unit 130.

The detonator 130 may detonate in response to the output first detonation signal. According to one embodiment of the present invention, the detonator 130 can detonate when it sequentially receives the output first instruction signal and the output first detonation signal.

According to another embodiment of the present invention, the detonator 130 may receive an output first instruction signal, receive an output second instruction signal, and detonate upon receiving the output first detonation signal. . That is, when the first instruction signal, the second instruction signal, and the first detonation signal are received sequentially, detonation can be performed.

According to another embodiment of the present invention, the detonator 130 receives the output first instruction signal, receives the output second instruction signal, receives the output third instruction signal, and outputs the first instruction signal. It can be detonated when a detonation signal is received. That is, when the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal are received sequentially, detonation can be performed.

According to one embodiment of the present invention, the detonator 130 may be a fuse. A fuse preferably refers to a detonator that ignites a charge such as a bullet, bomb, or mine and explodes it according to necessary conditions, but is not necessarily limited to this.

The drone control device 200 can control the operation of the drone 100 by performing wireless communication with the drone 100. The drone control device 100 can inspect the drone 100 equipped with a proximity sensor before it flies.

The operation control unit 110, the sensing unit 120, and the detonator 130 may be connected by a communication bus. A communication bus may interconnect various other components of drone 100, including processors and computer-readable storage media. A communication bus may interconnect various other components of drone 100, including processors and computer-readable storage media.

Components included in the drone 100 and the drone control device 200 equipped with a proximity sensor are shown separately in FIGS. 1 and 2, but a plurality of components can be combined with each other and implemented as at least one module. there is. Components are connected to a communication path that connects software modules or hardware modules within the device and operate organically with each other. These components communicate using one or more communication buses or signal lines.

The drone 100 and the drone control device 200 equipped with a proximity sensor may be implemented in a logic circuit using hardware, firmware, software, or a combination thereof, and may also be implemented using a general-purpose or special-purpose computer. The device may be implemented using hardwired devices, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), etc. Additionally, the device may be implemented as a System on Chip (SoC) including one or more processors and a controller.

The drone 100 and the drone control device 200 equipped with a proximity sensor may be mounted on a computing device equipped with hardware elements in the form of software, hardware, or a combination thereof. Computing devices are various devices that include all or part of communication devices such as communication modems for communicating with various devices or communication networks, memory for storing data to execute programs, and microprocessors for executing programs and performing operations and commands. It can mean.

Figure 3 is a diagram showing the configuration of an operation control unit, a sensing unit, and a detonator unit of a drone equipped with a proximity sensor according to an embodiment of the present invention.

Referring to FIG. 3, the detonator 130 may operate by being connected to the load resistor 131.

The load resistance 131 can prevent the detonator 130 from being damaged by a signal output to the detonator 130.

The operation control unit 110 may output a first instruction signal, a second instruction signal, and a third instruction signal to the detonator 130. The first instruction signal may be output through the first signal line shown in FIG. 3. The second instruction signal may be output through the second signal line shown in FIG. 3. The third instruction signal may be output through the third signal line shown in FIG. 3.

According to one embodiment of the present invention, the sensing unit 120 may further include a collision detection sensor 123. The collision detection sensor 123 detects when the amount of impact applied to the drone 100 (e.g., the flight acceleration of the drone 100 just before collision) is greater than or equal to a predetermined standard value (e.g., 30 m/s ² ). 2 A detonation signal can be output. The detonator 130 receives the output first instruction signal, receives the output second instruction signal, receives the output third instruction signal, and, upon receiving the output second detonation signal, generates the first detonation signal. It can be detonated regardless of whether it has been received. According to another embodiment of the present invention, the detonator 130 can detonate when receiving the second detonation signal, regardless of the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal. there is.

Figure 4 is a block diagram schematically showing the configuration of a drone equipped with a proximity sensor and a drone control device according to an embodiment of the present invention.

According to one embodiment of the present invention, the drone 100 equipped with a proximity sensor can be wired to the drone control device 100 and perform inspection before starting flight.

The drone control device 200 may include signal inspection equipment 210 and proximity sensor inspection equipment 220.

Referring to FIG. 4, the signal inspection equipment 210 and the proximity sensor inspection equipment 220 are shown as being located inside the drone control device 200, but the present invention is not limited thereto and includes a drone equipped with a proximity sensor. (100) can perform inspection by being connected to a separate signal inspection equipment (210) and proximity sensor inspection equipment (220) located outside the drone control device (200).

The signal inspection equipment 210 and the proximity sensor inspection equipment 220 will be described in more detail in FIGS. 5 and 6.

Figure 5 is a diagram showing a configuration for inspecting the operation control unit, sensing unit, and detonation unit of a drone equipped with a proximity sensor according to an embodiment of the present invention and obtaining experimental data.

According to an embodiment of the present invention, the drone control device 200 may include a signal inspection equipment 210 and a signal inspection equipment control PC 211.

The signal inspection equipment 210 and the signal inspection equipment control PC 211 can communicate through USB communication. The signal inspection equipment 210 and the signal inspection equipment control PC 211 can initialize the first signal, second signal, and third signal and the In/Out PIN before the drone 100 equipped with a proximity sensor flies. . The signal inspection equipment 210 and the signal inspection equipment control PC 211 can initialize the I2C communication port before the drone 100 equipped with a proximity sensor flies. The user uses the signal inspection equipment 210 and the signal inspection equipment control PC 211 to determine a predetermined altitude (for example, 1,500 meters to 2,000 meters), which is the standard for outputting the first instruction signal by the operation control unit 110. A predetermined speed (for example, 80 km/h to 100 km/h) can be determined. The user sets a predetermined reference distance between the drone 100 and the target 300, which is the standard for outputting the first detonation signal by the sensing unit 120, through the signal inspection equipment 210 and the signal inspection equipment control PC 211. A range (e.g., 300 centimeters to 500 centimeters) can be determined. The user uses a predetermined reference time interval (for example, For example, 4ms) can be determined. The user uses the signal inspection equipment 210 and the signal inspection equipment control PC 211 to set a predetermined reference value (e.g. , 2 centimeters) can be determined.

According to an embodiment of the present invention, the plurality of proximity sensors included in the sensing unit 110 may be a plurality of Lidar sensors. The signal inspection equipment 210 and the signal inspection equipment control PC 211 initialize the Out PIN of the first proximity sensor 121 and the second proximity sensor 122 before the drone 100 equipped with a proximity sensor flies. You can.

Experimental data generated through the configuration diagram of FIG. 5 may be in the form shown in FIGS. 7 and 8.

Figure 6 is a diagram illustrating a configuration for inspecting a sensing unit of a drone equipped with a proximity sensor and acquiring experimental data according to an embodiment of the present invention.

The sensing unit 120 may include a first proximity sensor 121 and a second proximity sensor 122. According to an embodiment of the present invention, the first proximity sensor 121 and the second proximity sensor 122 may be Lidar sensors. The first proximity sensor 121 and the second proximity sensor 122 can be inspected by the proximity sensor inspection equipment 220 and the proximity sensor inspection equipment control PC 221. The proximity sensor inspection equipment 220 and the proximity sensor inspection equipment control PC 221 can communicate through USB communication. The proximity sensor inspection equipment 220 and the proximity sensor inspection equipment control PC 221 set the Out PIN of the first proximity sensor 121 and the second proximity sensor 122 before the drone 100 equipped with a proximity sensor flies. It can be initialized.

According to one embodiment of the present invention, the proximity sensor inspection equipment 220 may be a LiDAR sensor inspection board. The proximity sensor inspection equipment control PC 221 may be a LiDAR sensor inspection board control PC.

Figures 7 and 8 are experimental data of a drone equipped with a proximity sensor according to an embodiment of the present invention.

Figure 7 (a) shows that the angle between the flight direction of the target 300 and the drone 100 is maintained at 90 degrees, and the distance between the target 300 and the drone 100 is 250 centimeters away from the drone ( After 100) approaches the target 300 at a speed of 1 m/s and stops at a point where the distance between the target 300 and the drone 100 is 50 centimeters away, the first proximity sensor 121 and This is a graph showing distance data between the target 300 and the drone 100 measured by the second proximity sensor 122.

Through (a) of FIG. 7, it can be seen that the first proximity sensor 121 and the second proximity sensor 122 generate almost the same distance data.

(b) in Figure 7 shows that the angle between the flight direction of the target 300 and the drone 100 is maintained at 45 degrees, and the distance between the target 300 and the drone 100 is 250 centimeters away from the drone ( After 100) approaches the target 300 at a speed of 1 m/s and stops at a point where the distance between the target 300 and the drone 100 is 50 centimeters away, the first proximity sensor 121 and This is a graph showing distance data between the target 300 and the drone 100 measured by the second proximity sensor 122.

Through (a) of FIG. 7, it can be seen that the distance data generated by the first proximity sensor 121 and the second proximity sensor 122 have a difference of about 2 to 3 centimeters.

Figure 8 (a) shows that the angle between the target 300 and the flight direction of the drone 100 is maintained at 90 degrees, and the target 300 is driven at a speed of 80 km/h in an environment where the drone 100 is exposed to sunlight. This is a graph showing distance data between the target 300 and the drone 100 measured by the first proximity sensor 121 and the second proximity sensor 122 during the process of approaching.

Through (a) of Figure 8, the distance data between the target 300 and the drone 100 measured by sunlight by the first proximity sensor 121 and the second proximity sensor 122 has abnormal values several times. You can check that.

(b) in Figure 8 shows that the angle between the target 300 and the flight direction of the drone 100 is maintained at 90 degrees, and the target 300 is driven at a speed of 100 km/h in an environment where the drone 100 is exposed to sunlight. This is a graph showing distance data between the target 300 and the drone 100 measured by the first proximity sensor 121 and the second proximity sensor 122 during the process of approaching.

Through (b) of FIG. 8, the distance data between the target 300 and the drone 100 measured by sunlight by the first proximity sensor 121 and the second proximity sensor 122 has abnormal values several times. You can check that.

9 and 10 are diagrams showing distance data and a first detonation signal generated by a drone equipped with a proximity sensor according to an embodiment of the present invention.

Figures 9 (a) and (b) are tables showing distance data generated by the first proximity sensor 121 and the second proximity sensor 122. The Index in Figures 9 (a) and (b) represents the sampling number, the first distance data represents the distance data generated by the first proximity sensor 121, and the second distance data represents the second proximity sensor 122. ) represents the distance data generated by .

In order to increase the accuracy of detonation, the sensing unit 120 may filter distance data excluding a predetermined reference distance range using a pre-generated filter. According to an embodiment of the present invention, the predetermined reference distance range may be 450cm to 500cm. When the predetermined reference distance range is 450cm to 500cm, referring to (a) and (b) of FIG. 8, the sensing unit 120 measures all distances except the first distance data of Index 203 in (a) of FIG. 9. Data can be filtered.

Referring to Figures 9 (a) and (b), since the first proximity sensor 121 and the second proximity sensor 122 were exposed to sunlight and generated abnormal distance data values, the sensing unit 120 1 The detonation signal is not output, and the detonator 130 does not perform detonation.

10 (a) and (b) are tables showing distance data generated by the first proximity sensor 121 and the second proximity sensor 122. The Index in Figures 10 (a) and (b) represents the sampling number, the first distance data represents the distance data generated by the first proximity sensor 121, and the second distance data represents the second proximity sensor 122. ) represents the distance data generated by .

In order to increase the accuracy of detonation, the sensing unit 120 may filter distance data excluding a predetermined reference distance range using a pre-generated filter. The sensing unit 120 may not generate the first detonation signal when the difference between the filtered distance data is greater than a predetermined reference value. More specifically, the difference between the first distance data generated by the first proximity sensor 121 and the second distance data generated by the second proximity sensor 122 is a predetermined reference value (for example, 1 centimeter). ) or more, the first detonation signal may not be generated.

Referring to (a) of FIG. 10, the sensing unit 120 filters reference data having a value outside the predetermined reference distance range (410 cm to 415 cm) and generates the first proximity sensor 121. If the difference between the distance data and the second distance data generated by the second proximity sensor 122 is more than a predetermined reference value (2 centimeters), the first detonation signal may not be generated. Therefore, in the case of Index 1278, the first distance data and the second distance data satisfy the predetermined standard distance range, and the difference between the first distance data and the second distance data satisfies the predetermined standard value, so the sensing unit 120 A first detonation signal can be generated. When the sensing unit 120 generates the first detonation signal, ON may be displayed in Trig on the distance data table.

Referring to (b) of FIG. 10, the sensing unit 120 filters reference data having a value outside the predetermined reference distance range (495 cm to 499 cm) and generates the first proximity sensor 121. If the difference between the distance data and the second distance data generated by the second proximity sensor 122 is more than a predetermined reference value (3 centimeters), the first detonation signal may not be generated. Therefore, in the case of Index 3058, the first distance data and the second distance data satisfy the predetermined standard distance range, and the difference between the first distance data and the second distance data satisfies the predetermined standard value, so the sensing unit 120 A first detonation signal can be generated. When the sensing unit 120 generates the first detonation signal, ON may be displayed in Trig on the distance data table.

According to another embodiment of the present invention, the sensing unit 120 only detects distance data generated by the first proximity sensor 121 and the second proximity sensor 122 when the distance data is maintained at the same value for a certain period of time or more. A first detonation signal can be generated. For example, the sensing unit 120 may generate the first detonation signal only when the first distance data and the second distance data at Index 7731 have the same value continuously up to Index 7734. For another example, the sensing unit 120 determines the first distance data and the second distance data generated by the first proximity sensor 121 and the second proximity sensor 122 at a predetermined reference time (e.g., The first detonation signal can be generated only if it is maintained for more than 20ms).

Figure 11 is a flowchart for explaining a method of operating a drone equipped with a proximity sensor performed by a drone equipped with a proximity sensor according to an embodiment of the present invention.

In step S101, the drone 100 equipped with a proximity sensor may output a first instruction signal when the drone 100 equipped with a proximity sensor flies at a predetermined altitude and flies at a predetermined speed.

In step S102, the drone 100 equipped with a proximity sensor can capture the target 300, which is the object of detonation.

In step S103, the drone 100 equipped with a proximity sensor may transmit target 300 information and receive a target 300 tracking command through wireless communication.

In step S104, the drone 100 equipped with a proximity sensor may output a second instruction signal in response to the target 300 tracking command.

In step S105, the drone 100 equipped with a proximity sensor may output a third instruction signal in response to the detonation command received through wireless communication.

In step S106, the drone 100 equipped with a proximity sensor may output a first detonation signal when the distance between the drone 100 and the target 300 corresponds to a predetermined reference distance range.

In step S107, the drone 100 equipped with a proximity sensor can perform detonation when the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal are sequentially output.

Figure 12 is a flowchart for explaining a method of operating a drone equipped with a proximity sensor performed by a drone operating system equipped with a proximity sensor according to an embodiment of the present invention.

In step S201, the drone control device 100 may perform an inspection before the drone 100 equipped with a proximity sensor flies.

In step S202, the drone 100 equipped with a proximity sensor may output a first instruction signal when flying at a predetermined altitude and at a predetermined speed.

In step S203, the drone 100 equipped with a proximity sensor can capture the target.

In step S204, the drone 100 equipped with a proximity sensor may transmit target information to the drone control device 100.

In step S205, the drone control device 100 may transmit a target tracking command to the drone 100 equipped with a proximity sensor.

In step S206, the drone 100 equipped with a proximity sensor may output a second instruction signal in response to the target tracking command transmitted by the drone control device 100.

In step S207, the drone control device 100 may transmit a detonation command to the drone 100 equipped with a proximity sensor.

In step S208, the drone 100 equipped with a proximity sensor may output a third instruction signal in response to the detonation command transmitted by the drone control device 100.

In step S209, the drone 100 equipped with a proximity sensor may generate a first detonation signal based on the distance data generated by the proximity sensor.

In step S210, the drone 100 equipped with a proximity sensor may perform detonation in response to the generated first detonation signal.

In FIGS. 11 and 12, each process is described as being sequentially executed, but this is merely an illustrative explanation, and those skilled in the art may refer to FIGS. 11 and 12 without departing from the essential characteristics of the embodiments of the present invention. It can be applied through various modifications and modifications, such as executing by changing the described order, executing one or more processes in parallel, or adding other processes.

Even though all the components constituting the embodiments of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to these embodiments. That is, as long as it is within the scope of the purpose of the present invention, all of the components may be operated by selectively combining one or more of them. In addition, although all of the components may be implemented as a single independent hardware, a program module in which some or all of the components are selectively combined to perform some or all of the combined functions in one or more pieces of hardware. It may also be implemented as a computer program having. In addition, such a computer program can be stored in a computer readable media such as USB memory, CD disk, flash memory, etc. and read and executed by a computer, thereby implementing embodiments of the present invention. Recording media for computer programs may include magnetic recording media and optical recording media.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. . The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10: Drone operation system with proximity sensor
100: Drone with proximity sensor
110: Operation control unit
120: Sensing unit
121: First proximity sensor
122: Second proximity sensor
123: Collision detection sensor
130: Detonator
131: Load resistance
200: Drone control device
210: Signal inspection equipment
220: Proximity sensor inspection equipment

Claims (13)

In a drone equipped with a proximity sensor,
An operation control unit that controls the flight speed and flight altitude of the drone;
A sensing unit that measures the distance between the drone and the target and outputs a first detonation signal when the distance between the drone and the target falls within a predetermined reference distance range; and
It includes a detonator that detonates in response to the output first detonation signal,
The sensing unit includes a collision detection sensor that outputs a second detonation signal when the amount of impact applied to the drone is greater than a predetermined reference value,
The operation control unit outputs a first instruction signal when the drone flies at a predetermined altitude and at a predetermined speed, and when the drone captures the target, information on the captured target is sent through wireless communication. It is transmitted to a drone control device located externally, controls the operation of the drone in response to a tracking command received through wireless communication from the drone control device, outputs a second instruction signal, and detonation command received through wireless communication. Outputs a third instruction signal in response,
The first instruction signal is output through a first signal line, the second instruction signal is output through a second signal line, and the third instruction signal is output through a third signal line,
When the detonator sequentially receives the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal, the first instruction signal is generated regardless of whether the first detonation signal is received. , when the second instruction signal, the third instruction signal, and the second detonation signal are received sequentially, or regardless of the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal. Detonates in response to any one of the cases in which the second detonation signal is received,
A drone equipped with a proximity sensor, characterized in that the drone detaches or separates from the drone control device while connected to or coupled to the drone control device and flies toward the target. delete delete delete According to paragraph 1,
The sensing unit,
Includes a plurality of proximity sensors,
The plurality of proximity sensors,
Calculate distance data by measuring the distance to the target at predetermined reference time intervals,
The sensing unit,
A drone equipped with a proximity sensor, characterized in that the distance data excluding a predetermined reference distance range is filtered using a pre-generated filter, and a first detonation signal is generated based on the filtered distance data. According to clause 5,
The sensing unit,
A drone equipped with a proximity sensor, characterized in that if the difference between the filtered distance data is greater than a predetermined standard value, the first detonation signal is not generated. delete In a drone operation system equipped with a proximity sensor,
A drone control device that controls operation of the drone by performing wireless communication with the drone; and
The distance between the drone and the target is measured, and if the distance between the drone and the target corresponds to a predetermined reference distance range, a first detonation signal is output, and the drone is detonated in response to the output first detonation signal. Includes a drone that flies toward the target by detaching or breaking away from the drone control device while connected to or coupled to the control device,
The drone is,
An operation control unit that controls the flight speed and flight altitude of the drone;
A sensing unit that measures the distance between the drone and the target and outputs a first detonation signal when the distance between the drone and the target falls within a predetermined reference distance range; and
It includes a detonator that detonates in response to the output first detonation signal,
The sensing unit includes a collision detection sensor that outputs a second detonation signal when the amount of impact applied to the drone is greater than a predetermined reference value,
The operation control unit outputs a first instruction signal when the drone flies at a predetermined altitude and at a predetermined speed, and when the drone captures the target, information on the captured target is sent through wireless communication. Transmitted to the drone control device, controls the operation of the drone in response to the tracking command transmitted by the drone control device through wireless communication, outputs a second instruction signal, and responds to the detonation command received through wireless communication. to output a third instruction signal,
The first instruction signal is output through a first signal line, the second instruction signal is output through a second signal line, and the third instruction signal is output through a third signal line,
When the detonator sequentially receives the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal, the first instruction signal is generated regardless of whether the first detonation signal is received. , when the second instruction signal, the third instruction signal, and the second detonation signal are received sequentially, or regardless of the first instruction signal, the second instruction signal, the third instruction signal, and the first detonation signal. A drone operating system equipped with a proximity sensor, characterized in that it detonates in response to any one of the cases where the second detonation signal is received. delete delete delete According to clause 8,
The drone is,
Distance data is calculated by measuring the distance to the target at predetermined reference time intervals, filtering the distance data excluding the predetermined reference distance range using a pre-generated filter, and based on the filtered distance data. A drone operating system equipped with a proximity sensor, characterized in that it generates a first detonation signal. According to clause 12,
The drone is,
A drone operating system with a proximity sensor, characterized in that not generating a detonation signal when the difference between the filtered distance data is greater than a predetermined standard value.

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