KR102656279B1 - System and method for surveying road facility using drone - Google Patents

Abstract

The road facility surveying system using a drone according to the present invention consists of a pair of first drones and a second drone, which are separated when it is necessary to measure road facilities, and each drone flies independently to measure the road facilities; An administrator terminal that allows the administrator to directly control the drone by receiving video information captured by the drone or switching from autonomous flight mode to manual mode; and is communicatively connected to a plurality of the above-mentioned drones to receive, store and manage image information and measurement information of road facilities captured while the drone is flying over the ground. In case of damage, etc., the damage information is delivered to a repair company or management department. A pair of drones, including a road facility management server that allows maintenance to be performed, can fly autonomously and automatically survey road facilities when they are discovered, resulting in the effect of quickly and safely measuring road facilities.

Description

Road facility surveying system and method using drones {SYSTEM AND METHOD FOR SURVEYING ROAD FACILITY USING DRONE}

The present invention relates to a road facility surveying system and method using a drone. More specifically, the present invention relates to a road facility surveying system and method using a drone, which is a guidance facility installed for the convenience of drivers and pedestrians to help them find their way while flying on the road. It relates to road facility surveying systems and methods.

As modern society becomes more complex and advanced, the importance of geospatial information among various knowledge information is increasing day by day for efficient use and management of national space.

The field of using spatial information is an industry of global interest, and Internet-based map services and 3D geographic information services are already provided by Google, Microsoft, etc.

In addition, the 3D geographic information software industry market has been developed by segmenting by function, and the diversity and expertise in the fields of utilization of geographic information have helped create application fields for geographic information system (GIS: Geographical Information System)-based technology. contributed.

Analysis techniques using aerial photography are increasing in order to generate more realistic and accurate geospatial information using more accurate analysis tools for aerial photography and aerial laser survey data, which are the basic data of geographic information.

In addition, aerial photography provides rich texture information about the earth's surface, but has disadvantages such as shadows and relief displacement, and aerial laser survey data provides highly accurate 3D topographic coordinates in the form of points, but does not provide rich texture information. .

Therefore, in order to provide more accurate and realistic spatial information, it is necessary to complement the shortcomings or combine the advantages of aerial photography or aerial laser survey data.

However, the prior art had the problem of not being able to provide a technology that could produce a higher quality digital map using aerial laser survey data and create a more accurate road model by reflecting the slope of the road data.

Republic of Korea Patent Publication No. 10-1839599 (2015.03.12) Republic of Korea Patent Publication No. 10-0862061 (2008.09.30)

In order to solve the above-mentioned problems, the present invention is a pair of drones that fly together and when a road facility is discovered while flying along a road path, the pair of drones is separated and surveys the discovered road facility. The purpose is to provide a road facility surveying system and method using drones that can save power used by drones and minimize collisions that may occur during movement by combining them when completed and moving again.

In order to achieve the above-mentioned purpose, the road facility surveying system using drones according to the present invention consists of a pair of first drones and second drones, which are separated when they need to measure road facilities and fly independently to measure the road facilities. Drone that does; An administrator terminal that allows the administrator to directly control the drone by receiving video information captured by the drone or switching from autonomous flight mode to manual mode; and is communicatively connected to a plurality of the above-mentioned drones to receive, store and manage image information and measurement information of road facilities captured while the drone is flying over the ground. In case of damage, etc., the damage information is delivered to a repair company or management department. It is characterized by including a road facility management server that allows maintenance to be performed.

As another embodiment, in order to achieve the above-described purpose, a road facility surveying method using a drone according to the present invention includes the steps of (a) the drone flying in an area set for road facility surveying; (b) when the drone discovers a road facility, the first drone and the second drone are separated so that they can fly independently; (c) the first drone and the second drone cooperate with each other to measure road facilities; (d) determining a landing drone by the main controller of the first or second drone by comparing the remaining power of the first or second drone; (e) receiving wind direction information measured by a wind direction sensor through a communication unit of the first or second drone; (f) the main control unit determining whether the wind direction information is greater than or equal to a standard value; (g) the main controller operating the lifting member when the wind direction is greater than the reference value as a result of determination in step (f); And (i) among the first drone and the second drone, the landing drone determined in step (d) is merged with the remaining hovering drone whose landing guidance member is raised as the lifting member operates in step (g); It is characterized by including.

The road facility surveying system and method using a drone according to the present invention allows a pair of drones to fly autonomously and automatically measure road facilities when they are discovered, thereby providing the effect of quickly and safely measuring road facilities.

In addition, the road facility surveying system and method using a drone according to the present invention starts flying independently only when a road facility is discovered after flying with the propulsion power of one of the drones in a combined state, so that it can be used independently when moving. It has the effect of preventing unnecessary battery consumption due to flight.

Figure 1 is a diagram showing the configuration of a road facility surveying system using a drone according to the present invention.
Figure 2 is a diagram showing a pair of separate and combined drones used in the road facility surveying system using drones according to the present invention.
Figure 3 is a diagram showing the detailed configuration of a drone used in a road facility surveying system using a drone according to the present invention.
Figure 4 is a diagram for explaining the operating mechanism of the lifting member for securing a safe distance between a pair of drones used in the road facility surveying system using drones according to the present invention.
Figures 5 and 6 are diagrams for explaining the road facility surveying process by the road facility surveying system using a drone according to the present invention.
Figure 7 is a flow chart of a road facility surveying method using a drone according to the present invention.

Terms or words used in this specification and claims should not be construed as limited to their common or dictionary meanings, and the inventor may appropriately define the concept of terms in order to explain his or her invention in the best way. Based on the principle that there is, it must be interpreted with a meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only one of the most preferred embodiments of the present invention and do not represent the entire technical idea of the present invention, so they can be replaced at the time of filing the present application. It should be understood that various equivalents and variations may exist.

Hereinafter, a road facility surveying system and method using a drone according to the present invention will be described with reference to the attached drawings.

First, the road facility surveying system using a drone according to the present invention includes a drone 100, an administrator terminal 200, and a road facility management server 300, as shown in FIG. 1.

The drone 100 consists of a pair of a first drone 110 and a second drone 120, and when it is necessary to measure road facilities, they are separated and fly independently, but the first drone 110 and the second drone 120 are separated and fly independently. It is characterized by drones 120 flying in formation to measure road facilities.

For reference, one of the first drone 110 and the second drone 120 may be a main or master drone, and the other drone may be a sub or slave drone.

The manager terminal 200 has a configuration equivalent to a cell phone, tablet PC, or laptop and receives image information captured by the drone 100, or switches from autonomous flight mode to manual mode so that the manager can directly remind the user. This is a configuration that can control the drone 100.

The road facility management server 300 is communicatively connected to a plurality of drones 100, and receives and stores image information and measurement information of road facilities captured by the drones 100 while flying over the ground, while managing damage, etc. If this occurs, the damage information should be delivered to the repair company or management department so that maintenance can be carried out.

In addition, the road facility management server 300 stores and manages road information and provides the drone 100 with road route information on which road facilities to be measured while the drone 100 flies.

The drone will be described in more detail with reference to FIG. 2.

As shown in FIG. 2, the drone consists of the first drone 110 and the second drone 120. As shown in FIG. 2A, the second drone 120 is positioned above the first drone 110. When surveying road facilities is required in a coupled state, the second drone 120 is separated from the first drone 110 and flies independently, as shown in FIG. 2B.

For reference, the drone 100 may fly with the second drone 120 coupled to the top of the first drone 110, but on the contrary, the first drone 110 is connected to the top of the second drone 120. It can also be flown while connected to .

That is, depending on the administrator's settings, the first drone 110 can be the main drone, and the second drone can be a sub-drone. Conversely, the first drone 110 can be a sub-drone, and the second drone can be It can be the main drone.

Since the first drone 110 and the second drone 120 are almost identical and similar drones, only the first drone 110 will be described in detail, and a detailed description of the second drone 120 will be provided in the 1 Replace with the description of the drone 110.

First, the first drone 110 includes a main body 111, a landing member 112, a landing guidance member 113, a blade 114, a solar panel 115, and a lift member 116.

In addition, the main body 111 includes a communication unit 111a, a main control unit 111b, a flight algorithm DB 111c, a power unit 111d, a GPS module 111e, and a wind direction sensor 111f.

The communication unit 111a is composed of the short-range communication module and the long-distance communication module, and transmits and receives data with the second drone 120, which is another drone flying at a short distance, through the short-range communication module.

In addition, the communication unit 111b can receive control signals from the manager terminal 200 while communicating with the manager terminal 200 and the road facility management server 300 through a long-distance communication module, and conversely, the captured video can be transmitted to the manager terminal 200, and measurement information about the measured road facilities can be transmitted to the road facility management server 300.

The flight algorithm DB (111c) is set to a mode in which the drone (100) saves power by avoiding obstacles and minimizing the moving distance, or overlaps at a predetermined interval according to the initial initial setting or control of the main controller (111b). Algorithms for various types of autonomous flight are stored, such as an accurate road facility survey mode without missing road facilities while flying.

The power unit 111d applies power necessary for the blade 114 to rotate under the control of the main control unit 111b.

Meanwhile, the power unit 111d is charged by direct current power generated from the solar panel 115 formed on the surface of the drone 100.

As mentioned above, the first drone 110 has a solar panel 115 formed on its surface to generate direct current power to charge the power supply unit 111d, thereby preventing discharge from occurring in the power supply unit 111d. You can.

The GPS module 111e collects location coordinates from satellites as location information for the drone in flight.

The wind direction sensor 111f operates the lift member 116 to ensure a safe landing when a drone with low residual power lands on a large number of drones among the first drone 110 and the second drone 120. It becomes a standard for

That is, if the wind direction measured by the wind direction sensor 111f is above the standard value, the main control unit 111b operates the lift member 116 to ensure a safe distance between drones, and if it is below the standard value, the lift member 116 Allows the drone to land without the operation of the drone.

The landing member 112 is formed in the lower part of the main body 111 and has a CONE structure.

In particular, the landing member 112 has a hollow interior and is inserted into the same structure so that the drone 100 can easily land.

Likewise, the landing guidance member 113 is made of a CONE structure, but is different in that it is formed on the upper part of the main body 111.

As described above, the first drone 110 and the second drone 120 have a landing member 112 at the bottom and a landing guidance member 113 at the top, and as shown in FIG. 2, the second drone 110 In the hovering state of the drone 120, the landing member 112 of the second drone 120 is inserted into the landing guidance member 113 of the first drone 110, thereby enabling coupling between the drones.

As described above, the landing member 112 and the landing guidance member 113 have a cone-shaped structure to facilitate landing.

Meanwhile, a lift member 116 is interposed between the landing guidance member 113 and the main body 111, and the lift member 116 is used to control the drone 100 attempting to land with the landing guidance member 113. If present, it operates to lift the landing guidance member 113 to prevent collision by maintaining a safe distance between the drone 100 attempting to land with the landing guidance member 113 and the landing drone 100.

In particular, the lift member 116 includes a lift housing 116a, a lift motor 116b, a male lift bar 116c, and a female lift bar 116d, as shown in the schematic diagram of FIG. 4.

The lift housing 116a coupled to the upper end of the main body 111 has a cylindrical structure and is cased to hide the internal components of the lift member 116 from view, thereby improving the aesthetics.

The lift motor 116b is formed at the bottom of the lift housing 116a with its rotation axis facing upward.

One end of the male lift bar 116c is coupled to the rotation axis of the lift motor 116b, the other end is coupled to the landing guidance member 113, and a thread is formed on the outer peripheral surface.

The female lift bar (116d) is cylindrical and hollow on the inside, and a thread is formed on the inner circumferential surface, and is screwed together with the male lift bar (116c) inserted into the hollow interior, thereby forming a male lift coupled to the rotation axis of the lift motor (116b). As the bar 116c rotates, it moves upward or downward, thereby changing the height of the landing guidance member 113, allowing the drone to safely land on the drone in a hovering state.

The blade 114 includes a motor 114a, a wing 114b, and a protective housing 114c, as shown in FIG. 3.

The motor 114a receives power from the power supply unit 111d and generates rotational force as it rotates, and the blade 114b is coupled to the rotation axis of the motor 114a and rotates by receiving the rotational force. Generates driving force.

The protective housing 114c is a cylindrical shape with a low height and is formed on the side edge of the wing 114b to protect the wing 114b and at the same time prevent injury to people or damage to other objects by the wing 114b. It can be prevented.

When the drone 100 having the above-described structure discovers a road facility as shown in FIG. 4 while flying according to an algorithm stored in the flight algorithm DB 111c, the first drone 110 that was coupled thereto and the second drone 120 are separated as shown in FIG. 5.

Thereafter, the first drone 110 and the second drone 120 each fly independently and fly at one coordinate among the three-dimensional coordinates (x, y, z).

In one example of the present invention, as shown in FIG. 5, the first drone 110 and the second drone 120 are described as having the same altitude z coordinate.

As shown in FIG. 5, the first drone 110 and the second drone 120 match their altitudes and fly in a hovering state while tracking their own location coordinates (x ₁ , y ₁ ) through the GPS module 111e. , z) and (x ₂ , y ₂ , z) are received respectively.

As described above, with the altitudes of the first drone 110 and the second drone 120 being matched, it can be expressed on the xy coordinate plane as shown in FIG. 6, considering only the x and y coordinates.

The first drone 110 receives coordinate information (x ₂ , y ₂ ) from the second drone 120 through the communication unit 111a, and controls the control of the first drone 110 through the main control unit 111b. Using the coordinate information (x ₁ , y ₁ ) and the coordinate information (x ₂ , y ₂ ) of the and second drones 120, the distance (a) between the first and second drones is calculated.

In addition, the main control unit 111b calculates the distance (a) and the observation angle (α) between the road facilities centered on the first drone 110, and calculates the distance (a) centered on the second drone 120. Calculate the observation angle (β) between and road facilities.

For reference, the angle may be calculated in each main control unit 111b of the first drone 110 and the second drone 120.

The distance between B and C where the first drone 110 and the second drone 120 are located in a triangle consisting of three points A, B, and C where the road facility, the first drone 110, and the second drone 120 are located ( a) is calculated, and the observation angle (α) of point A, where the road facility is located, from point B, where the first drone 110 is located, and point A, where the road facility is located, between point C, where the second drone 120 is located, With the observation angle (β) calculated, the main controller 111b determines the distance c from the first drone 110 to the road facility and the distance from the second drone 120 to the road facility using the law of sine. After calculating the distance (b), the measurement of the road facility is completed by finally calculating the location coordinates of the road facility.

As described above, when the survey of road facilities by the first drone 110 and the second drone 120 is completed, the two drones share the status of the power supply unit 111d, so that the main control unit 111b determines which drone's power source is Compare whether there is much left.

As a result of comparing the residual power of the first drone 110 and the second drone 120, the drone with high residual power starts hovering flight, and the drone with low residual power moves to the drone in hovering flight and stops the landing guidance member of the drone. You will land at (113).

That is, as a result of comparing the residual power of the first drone 110 and the second drone 120, if the first drone 110 has a lot of residual power, the first drone 110 is operated by the main controller 111b. It flies in a hovering state under the control of the blade 114.

And the first drone 110 sends a landing signal to the second drone 120 through the communication unit 111a so that the second drone 120 lands on the landing guidance member 113 of the first drone 110. transmit.

At this time, the first drone 110 receives the wind direction information measured by the wind direction sensor 111f and operates the lifting member 116 according to the wind direction to secure a safe distance and use the second drone 120. Allow landing to occur.

A surveying method using a road facility surveying system using a drone having the above-described configuration will be described with reference to FIG. 7.

The drone 100, which consists of the first drone 110 and the second drone 120, performs the step of flying in an area set for road facility surveying (S100).

Afterwards, when a road facility is discovered, the first drone 110 and the second drone 120, which constitute the drone 100, are separated so that they can fly independently (S200).

Thereafter, the first drone 110 and the second drone 120 cooperate with each other to measure road facilities (S300).

The first drone 110 and the second drone 120 each receive three-dimensional position coordinates (x, y, z) through the GPS module 111e (S310).

The first drone 110 and the second drone 120 share position coordinates (x ₁ , y ₁ , z) and (x ₂ , y ₂ , z) while flying in a hovering state after matching their altitudes. Perform (S320).

The first drone 110 or the second drone 120 calculates the distance from the second drone 120 using position coordinates (x ₁ , y ₁ , z) and (x ₂ , y ₂ , z). Perform the steps (S330).

The main control unit 111b of the first drone 110 or the second drone 120 determines the observation angle α between the second drone 120 and the road facility with the first drone 110 as the center, and the second drone 110 as the center. 2 A step is performed to calculate the observation angle (β) between the first drone 110 and the road facility, focusing on the drone 120 (S340).

The main controller 111b controls the first drone 110 and the second drone 120 using the sine law using the observation angle and the distance between the first drone 110 and the second drone 120 as parameters. After calculating the distance between the road facilities in ), a step of measuring the road facilities is performed by calculating the location coordinates of the road facilities (S350).

When S300 is completed, the first drone 110 compares the residual power with the second drone 120 and determines the landing drone (S400).

That is, through step S400, it is determined that the drone with less residual power among the first drone 110 and the second drone 120 lands on the landing guidance member 113 of the drone with more residual power.

Afterwards, the communication unit 111a of the first drone 110 performs a step of receiving wind direction information measured by the wind direction sensor 111f (S500).

The main control unit 111b of the first drone 110 performs a step of determining whether the wind direction information measured by the wind direction sensor 111f is greater than or equal to a standard value (S600).

If, as a result of the determination of the main control unit 111b in S600, the current wind direction is stronger than the reference value, the main control unit 111b performs the step of operating the lifting member 116 (S700).

In step S700, when the landing guidance member 113 is raised as the lifting member 116 operates and a safe distance from the landing drone is secured, the first drone 110 and the second drone 120 are safely combined. Perform the steps (S800).

On the other hand, if the current wind direction is less than the standard value as a result of the determination of the main control unit 111b in S600, the main control unit 111b does not operate the lifting member 116 and immediately controls the first drone 110 and the second drone. (120) The step S800 is performed to combine (S800).

In the above, the technical idea of the present invention has been described along with the accompanying drawings, but this is an exemplary description of a preferred embodiment of the present invention and does not limit the present invention. In addition, it is clear that anyone skilled in the art of the present invention can make various modifications and imitations without departing from the scope of the technical idea of the present invention.

100: Drone
110: first drone 111: main body
111a: Communication unit 111b: Main control unit
111c: Flight algorithm DB 111d: Power supply unit
111e: GPS module 111f: Wind direction sensor
112: landing member 113: landing guidance member
114: blade 114a: motor
114b: wing 114c: protective housing
115: solar panel 116: lifting member
116a: lift housing 116b: lift motor
116c: male lift bar 116d: female lift bar
120: 2nd drone
200: Administrator terminal
300: Road facility management server

Claims (4)

When a first drone and a second drone are formed as a pair and need to measure road facilities, they are separated and each flies independently to measure the road facilities;
An administrator terminal that allows the administrator to directly control the drone by receiving video information captured by the drone or switching from autonomous flight mode to manual mode; and
It is communicatively connected to a plurality of the above-mentioned drones, and receives and stores image information and measurement information of road facilities taken by the drone while flying on the ground. In case of damage, etc., the damage information is transmitted and maintained to a repair company or management department. Includes a road facility management server that allows repairs to be made,
The first drone and the second drone are
main body;
A landing member formed in the lower part of the main body in a CONE structure of Hagwang Commercial Co., Ltd. with a hollow interior;
A landing guidance member formed in a CONE structure on the upper part of the main body to guide the landing of another drone in flight;
A blade formed symmetrically to the main body to generate propulsion force;
A solar panel that generates power necessary for the drone to fly; and
A road facility surveying system using a drone, comprising: a lift member formed between the landing guidance member and the main body to ensure a safe distance between the first drone and the second drone.
delete (a) A drone flying over an area set for road facility surveying;
(b) when the drone discovers a road facility, the first drone and the second drone are separated so that they can fly independently;
(c) the first drone and the second drone cooperate with each other to measure road facilities;
(d) determining a landing drone by the main controller of the first or second drone by comparing the remaining power of the first or second drone;
(e) receiving wind direction information measured by a wind direction sensor through a communication unit of the first or second drone;
(f) the main control unit determining whether the wind direction information is greater than or equal to a standard value;
(g) the main controller operating the lifting member when the wind direction is greater than the reference value as a result of determination in step (f); and
(i) Among the first drone and the second drone, the landing drone determined in step (d) is combined with the remaining hovering drone whose landing guidance member is raised as the lifting member operates in step (g); Included; A road facility surveying method using a drone, characterized in that:
According to clause 3,
Step (c) above is
(c-1) the first drone and the second drone receiving location coordinates through a GPS module;
(c-2) the first drone and the second drone share location coordinates while flying in a hovering state after matching their altitudes;
(c-3) calculating the distance from the second drone by the main controller of the first or second drone using the location coordinates shared in step (c-2);
(c-4) The main controller determines the observation angle (α) between the second drone and the road facility in the first drone and the observation angle (β) between the first drone and the road facility in the second drone. calculating step; and
(c-5) After the main controller calculates the distance between the road facilities from the first drone and the second drone using the sine law with the observation angle and the distance between the first drone and the second drone as parameters, A road facility surveying method using a drone, comprising the step of measuring the road facility by calculating the location coordinates of the road facility.