KR102664428B1 - An unmanned aerial vehicle for delivery with dual-LiDAR sensors - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle for delivery equipped with a dual lidar sensor. More specifically, an unmanned aerial vehicle for delivery equipped with a dual LiDAR sensor that can sense the distance to the ground using a 2D LiDAR sensor and the slope of the ground using a 3D LiDAR sensor to lower an object. It's about.
For this purpose, the present invention includes a main body module; A first power module equipped with a power source including a motor and a propeller; Sensor module capable of sensing the condition of the ground; Camera module capable of taking pictures of the ground; and an unmanned aerial vehicle for delivery equipped with a dual lidar sensor including a control module capable of controlling the first power module.

Description

{An unmanned aerial vehicle for delivery with dual-LiDAR sensors}

The present invention relates to an unmanned aerial vehicle for delivery equipped with a dual lidar sensor. More specifically, an unmanned aerial vehicle for delivery equipped with a dual LiDAR sensor that can sense the distance to the ground using a 2D LiDAR sensor and the slope of the ground using a 3D LiDAR sensor to lower an object. It's about.

Recently, with the announcement of the government's basic plan for the development of the drone industry, which aims to actively foster it as a driving industry that will lead the next generation of growth, expectations are rising for the expansion potential and growth value of the drone industry, and attention is focused on businesses using drones.

Drones, which were developed for military purposes and used as reconnaissance and surveillance tools, have become popular for leisure activities, especially among RC toy (Radio Control) users, and have begun to be consumed by the private sector. Afterwards, devices for flight were equipped with payloads that could perform additional missions, and a commercial market was formed in earnest.

In its early days, the private drone industry stood out in the videography and aerial pest control sectors, proving its commercial value based on its outstanding efficiency. Just a few years ago, aerial photography was the exclusive domain of broadcasters that had their own dedicated aircraft. Since there were not many production companies that could afford the high cost of around 5 million won per hour, aerial footage was spotlighted as unfamiliar and amazing content in itself.

With the development of gimbal technology, it has become possible to stably mount DSLR cameras on drones, and as costs have decreased, the number of aerial photography cases has increased rapidly. As China's DJI launched a series of low-cost filming drones, it became possible to obtain full HD high-resolution aerial footage for the price of a laptop. In addition, with the development of sensor and control technology, drone operation has become increasingly easier, and now even non-experts can take on the challenge of aerial photography without difficulty.

Currently, drones are being used in various industrial fields such as monitoring activities such as forest fires, red tide, and earthquakes, logistics delivery, and construction process management, and the scope of their activities is gradually expanding. In the public sector, work efficiency is expected to be maximized thanks to drones in areas such as management of public facilities such as roads, bridges, and railways, and management of natural resources such as rivers, oceans, and forests.

The key to drone delivery is to dramatically reduce logistics costs and time by entering coordinates and performing the entire process of takeoff, flight, delivery, and return completely automatically.

Recently, with the commercialization of drones, they are being used in various fields such as camera photography. In particular, as e-commerce becomes more common, drones are being used to deliver goods and are receiving great response from related industries.

In the case of items that are heavy or bulky, it is inevitable to use conventional means of transportation, but in the case of small and small items, it is possible to increase work efficiency by using drones instead of using conventional transport equipment and manpower. You can.

Prior art literature: KR Registered Patent Publication No. 10-2265865 (announced on June 16, 2021)

The present invention was developed to solve the above problems. It senses the distance to the ground with a 2D lidar sensor, senses the slope of the ground with a 3D lidar sensor, and detects obstacles with a camera to place objects in a safe place. The purpose is to provide an unmanned aerial vehicle for delivery with a dual lidar sensor that can drop.

An unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to the present invention designed to achieve the above object includes a main body module; A first power module equipped with a power source including a motor and a propeller; Sensor module capable of sensing the condition of the ground; Camera module capable of taking pictures of the ground; and a control module capable of controlling the first power module.

In addition, a main body module equipped with a loading box for loading objects; A first power module equipped with a power source including a motor and a propeller; Sensor module capable of sensing the condition of the ground; Camera module capable of taking pictures of the ground; A control module capable of controlling the first power module; and a lifting module capable of lowering the object loaded in the loading box.

In addition, a main body module equipped with a loading box for loading objects; A first power module equipped with a power source including a motor and a propeller; Sensor module capable of sensing the condition of the ground; Camera module capable of taking pictures of the ground; A control module capable of controlling the first power module; An elevating module capable of lowering objects loaded in the loading box; And a user terminal including a display unit capable of visualizing image information captured by the camera module, and a remote control unit capable of controlling the operation of the first power module by sending a control signal to the control module.

In addition, a main body module equipped with a loading box for loading objects; A first power module equipped with a power source including a motor and a propeller; A sensor module including a 2D lidar sensor that can sense the distance to the ground and a 3D lidar sensor that can sense the slope of the ground; Camera module capable of taking pictures of the ground; A control module capable of controlling the first power module; An elevating module capable of lowering objects loaded in the loading box; And a user terminal including a display unit capable of visualizing image information captured by the camera module, and a remote control unit capable of controlling the operation of the first power module by sending a control signal to the control module.

In addition, a main body module equipped with a loading box for loading objects; A first power module equipped with a power source including a motor and a propeller; A sensor module including a 2D lidar sensor that can sense the distance to the ground and a 3D lidar sensor that can sense the slope of the ground; Camera module capable of taking pictures of the ground; An elevating module capable of lowering objects loaded in the loading box; A sensor information extraction unit that receives information sensed from the sensor module and extracts information about the distance and slope to the ground, a calculation unit that calculates the sensing information received from the sensor information receiver, and a first power module that can control the first power module. A control module including a power module control unit; And a user terminal including a display unit capable of visualizing image information captured by the camera module, and a remote control unit capable of controlling the operation of the first power module by sending a control signal to the control module.

In addition, a main body module equipped with a loading box for loading objects; A first power module equipped with a power source including a motor and a propeller; A sensor module including a 2D lidar sensor that can sense the distance to the ground and a 3D lidar sensor that can sense the slope of the ground; Camera module capable of taking pictures of the ground; An elevating module including a pulley unit having a plurality of gears and a second power unit capable of transmitting power to the pulley unit; A sensor information extraction unit that receives information sensed from the sensor module and extracts information about the distance and slope to the ground, a calculation unit that calculates the sensing information received from the sensor information receiver, and a first power module that can control the first power module. A control module including a power module control unit and a lifting module control unit capable of controlling the lifting module; And a user terminal including a display unit capable of visualizing image information captured by the camera module, and a remote control unit capable of controlling the operation of the first power module by sending a control signal to the control module.

According to the present invention, the distance to the ground and the slope of the ground are sensed, and obstacles are sensed. If the ground has a slope or is unstable due to an obstacle, the object is not lowered. Instead, the object is lowered only when the ground is stable, thereby lowering the transported object. It is effective in ensuring safety and preventing accidents.

1 is a flowchart showing the operation sequence of an unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to a preferred embodiment of the present invention;
Figure 2 is a diagram showing the front of an unmanned aerial vehicle for delivery equipped with a dual lidar sensor;
Figure 3 is a diagram showing one side of an unmanned aerial vehicle for delivery equipped with a dual lidar sensor.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. First, when adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. In addition, in describing the present invention, related notices

If it is determined that a detailed description of the structure or function may obscure the gist of the present invention, the detailed description will be omitted. In addition, preferred embodiments of the present invention will be described below, but the technical idea of the present invention is not limited or restricted thereto, and of course, it can be modified and implemented in various ways by those skilled in the art.

Figure 1 is a flow chart showing the operation sequence of the unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to a preferred embodiment of the present invention, and Figure 2 is a diagram showing the front of the unmanned aerial vehicle for delivery equipped with a dual lidar sensor. , Figure 3 is a diagram showing one side of an unmanned aerial vehicle for delivery equipped with a dual lidar sensor.

The unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to a preferred embodiment of the present invention includes a main body module, a first power module, a sensor module, a camera module, an elevation module, a control module, and a user terminal.

Hereinafter, the components of the unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to a preferred embodiment of the present invention will be described in detail with reference to FIGS. 1 to 3.

The main body module 100 corresponds to the body of a drone (unmanned aerial vehicle) and is equipped with a loading box for loading objects.

The first power module is coupled to the main body module and has a power source including a motor and a propeller, so it can generate power for the unmanned aerial vehicle to fly.

The sensor module 200 can sense the state of the ground and includes a 2D LiDAR sensor and a 3D LiDAR sensor.

The 2D LiDAR sensor can sense the distance to the ground, and the 3D LiDAR sensor can sense the slope of the ground.

The camera module 300 can photograph the ground and identify obstacles and dangerous substances on the ground.

The lifting module 400 is capable of lowering and raising the loading box provided in the main body, and is composed of a pulley unit equipped with a plurality of gears and a second power unit capable of transmitting power to the pulley unit.

The control module 500 is capable of receiving sensing information from a sensor module and includes a sensor information extraction unit, a calculation unit, a first power module control unit, and a lifting module control unit.

The sensor information extraction unit can receive information sensed from the sensor module and extract information about the distance to the ground sensed by the 2D LiDAR sensor and the slope of the ground sensed by the 3D LiDAR sensor.

The calculation unit calculates the gear rotation speed of the lifting module pulley unit based on the distance to the ground sensed by the 2D LiDAR sensor extracted from the sensor information extraction unit, and calculates the slope based on the slope of the ground sensed by the 3D LiDAR sensor. If is greater than a predetermined angle, the gear rotation of the lifting module pulley part can be stopped, and if it is less than a predetermined angle, the calculation can be performed to rotate the gear of the lifting module pulley part.

The first power module control unit receives control signals for the operation of the unmanned aircraft from the user terminal and controls the first power module to control the flight of the unmanned aircraft. The elevation module control unit controls the lift module including the second power unit. can do.

The user terminal can be carried by the user, can control the operation of the unmanned aircraft remotely, and includes a display unit and a remote control unit.

The display unit can visualize image information captured by the camera module, and can visualize and display the operation status and information of the unmanned aerial vehicle.

The remote control unit can control the operation of the lifting module including the first power module and the second power unit by sending a control signal to the control module.

Hereinafter, a method of operating an unmanned aerial vehicle for delivery equipped with a dual lidar sensor according to a preferred embodiment of the present invention will be described in detail.

The present invention involves learning ground hazards using machine learning, detecting safe distances using a 2D LiDAR sensor, determining ground conditions using a 3D LiDAR sensor, controlling falling speed through the distance to the ground using a 2D LiDAR sensor, and safe location. It operates in the order of object falling.

First, multiple photos of obstacles, including puddles, taken at various angles, brightness, and types of obstacles are labeled and the labeled files are trained through a machine learning program.

The method of machine learning after labeling is generally well known and is not related to the scope of the present invention, so detailed description is omitted.

The unmanned aerial vehicle can fly by the first power module, and can be moved by loading a transfer object in the loading box and flying to the landing point.

When arriving at the landing point, it is checked whether the environment poses a risk of damaging objects, including puddles of water, as a result of Multi-Object-Detection through the camera. If an obstacle is not detected, the sensing information sensed through the 2D lidar sensor of the sensor module is transmitted to the sensor information extraction unit of the control module, and the distance information between the unmanned aerial vehicle and the ground is extracted.

Using this distance, the area of the falling point of the transported object is calculated from the height between the unmanned aerial vehicle and the current ground, and the sensing information sensed through the 3D lidar sensor of the area is transmitted to the sensor information extraction unit of the control module to determine the flatness of the ground. And information about the slope is extracted, and based on the extracted information, the calculation unit determines whether the transported object has fallen. If there are no obstacles and the slope is less than a certain angle, the transported object is attempted to fall, and an obstacle suddenly appears at the falling point. You can set the multi-faceted fall section to 'impossible' and then fall again when the obstacle is gone.

The lifting module can lower and raise the loading box provided in the main body module, and the lifting module is equipped with a pulley unit, so it can lower and raise heavy objects with a small amount of force.

The calculation unit of the control module uses the data sensed from the 2D lidar sensor to set the area of interest through the distance to the ground, and stops the object's descent if a sudden obstacle is sensed when measuring the distance from 50 cm or more. You can.

In addition, the slope and distribution of the area of interest set using the data sensed by the 3D lidar sensor are checked to determine whether the object is damaged and the possibility of loss when the object is dropped.

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 attached 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 shall be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope shall be construed as being included in the scope of rights of the present invention.

100 - Main body module 200 - Sensor module
300 - Camera module 400 - Elevating module
500 - Control module

Claims (4)

A main body module equipped with a loading box for loading objects;
A first power module equipped with a power source including a motor and a propeller;
2D lidar sensor that can sense the distance to the ground,
3D lidar sensor that can sense the slope of the ground
A sensor module including;
A camera module that can photograph the ground and identify obstacles and dangerous objects on the ground;
A control module capable of controlling the first power module;
An elevating module capable of lowering and raising the loading box provided in the main body; and
A display unit that can visualize image information captured by the camera module,
A remote control unit that can control the operation of the first power module by sending control signals to the control module.
User terminal including
Including,
The control module is capable of receiving sensing information from the sensor module and includes a sensor information extraction unit, a calculation unit, a first power module control unit, and an elevating module control unit;
The sensor information extraction unit is capable of receiving information sensed from the sensor module and extracting information about the distance to the ground sensed by the 2D LiDAR sensor and the slope of the ground sensed by the 3D LiDAR sensor.
The calculation unit calculates the gear rotation speed of the lifting module pulley unit based on the distance to the ground sensed by the 2D LiDAR sensor extracted from the sensor information extraction unit, and calculates the slope based on the slope of the ground sensed by the 3D LiDAR sensor. Calculations can be made to stop the rotation of the gear of the lifting module pulley when the angle is greater than a certain angle and to rotate the gear of the lifting module pulley when the angle is less than a certain angle.
The first power module control unit receives control signals for the operation of the unmanned aircraft from the user terminal and controls the first power module to control the flight of the unmanned aircraft. The elevation module control unit controls the lift module including the second power unit. What you can do
Including,
When arriving at the dropping point where the object is to be dropped, the camera module checks whether the environment contains obstacles that could damage the object, including puddles of water. If no obstacles are detected, the sensing information is sensed through the 2D lidar sensor of the sensor module. is transmitted to the sensor information extraction unit of the control module to extract distance information between the unmanned aerial vehicle and the ground;
Using the extracted distance information, the area of the falling point of the transported object is calculated from the current height with respect to the ground, and the sensing information sensed through the 3D lidar sensor of the area is transmitted to the sensor information extraction unit of the control module to determine the flatness and slope of the ground. Information is extracted, and based on the extracted information, the calculation unit determines whether the transported object has fallen. If there are no obstacles and the inclination is less than a certain angle, the transported object is attempted to fall, and the obstacle is suddenly detected at the falling point. If the falling part is set to 'impossible', you can fall again when the obstacle disappears.
An unmanned aerial vehicle for delivery with a dual lidar sensor, including
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