KR20160056665A - Unmanned Transportation System based on linetracing of Ceiling type and Unmanned transportation service method using the same - Google Patents

Abstract

Disclosed are a ceiling type line tracing-based unmanned transportation system and an unmanned transportation service method using the same. The ceiling type line tracing-based unmanned transportation system comprises: a tracking line (100) provided on the interior ceiling and consisting of a plurality of paths; an unmanned aerial vehicle (200) flying along the tracking line (100) and having a receiving unit provided on the bottom thereof to receive cargo; a mobile terminal (400) for providing a cargo delivery request signal including information about a receipt point desired by a user through a tracking interface; and a tracking server (300) for outputting path command information corresponding to the cargo delivery request signal provided from the mobile terminal (400) and providing the unmanned aerial vehicle (200) with the path command information. The ceiling type line tracing-based unmanned transportation system of the present invention can simply transport articles indoors by using the unmanned aerial vehicle.

Description

Technical Field [0001] The present invention relates to a ceiling-type line tracing-based unmanned transportation system and an unmanned transportation service method using the same,

The present invention relates to a system for delivering goods using an unmanned aerial vehicle, and more particularly, to a ceiling-type line tracing-based unmanned transportation system and an unmanned transportation service method using the same.

In the buildings such as department stores, apartments, laboratories and shopping malls where there are several compartments, document delivery and parcel delivery are delivered by purely manpower. For example, in a department store, when a customer orders something in a department store, if they do not have it, they have to go to the warehouse and bring the goods.

Considering that there are not many clerks per store, in fact, it would be most efficient to have staff dedicated to the delivery of the goods. However, depending on where the inventory is located, the store staff is dedicated to carrying the inventory. In the domestic and overseas markets where the unmanned system replaces the role of people in transporting goods, Amazon is planning a system for delivering goods to the surrounding area using unmanned vehicles, and Domino pizza is also used for pizza delivery using unmanned vehicles (See FIG. 1).

In addition, MIT is using the unmanned aerial vehicle to guide the campus, and Amazon acquired KIVA Systems, a company with automation solutions for logistics processing to automate the delivery of indoor logistics.

For Amazon, Domino, and MIT, GPS is used in outdoor environment. KIVA is a system that mainly uses lines drawn on the floor in indoor environment.

Accordingly, the present invention provides a ceiling-type line tracing-based unmanned transportation system and an unmanned transportation service method using the same.

Korean Patent Registration No. 10-793301 (title of invention: courier storage and reception system and method using RF ID)

The problem to be solved by the present invention is that, in the case of the conventional art, the delivery of goods is carried out mostly by personnel, the delivery is delayed when the number of articles to be delivered is large, There is a problem that human resources are consumed such as returning to and from a couple of places.

Accordingly, it is an object of the present invention to provide a ceiling-type line tracing-based unmanned transportation system capable of easily delivering articles in a room using a line tracing based unmanned aerial vehicle, and an unmanned transportation service method using the same.

According to an aspect of the present invention, there is provided a ceiling-type line tracing-based unmanned transportation system comprising: a tracking line 100 provided on a ceiling of a room and having a plurality of paths including at least one markers; An unmanned flying object 200 flying along the at least one markers and having a receiver capable of receiving a cargo at a lower portion thereof; And a portable terminal (400) for providing a cargo dispatch request signal including information of a receipt point desired by the user using a tracking interface; And a tracking server (300) for calculating path command information corresponding to the cargo delivery request signal provided by the portable terminal (400) and providing the path command information to the unmanned air vehicle, wherein the unmanned air vehicle (200) And moves the tracking line 100 according to the position of the tracking line.

The portable terminal 400 displays the tracking interface to a user, and the tracking interface is an interface including information related to cargo receipt and cargo transportation and position information of the unmanned aerial vehicle 200.

The tracking line (100) includes a taping line (110) detachably attached to the ceiling through an adhesive; A plurality of markers formed in the taping line 110 for discriminating a plurality of paths formed on the taping line 110 and each marking unit having a unique identification number ID for recognizing the unmanned aerial vehicle, And a tag module (120) having an embedded RFID tag, wherein the plurality of markers comprise at least one end point and at least one bifurcation point.

The unmanned aerial vehicle 200 is a multi-copter capable of vertical takeoff and landing.

The unmanned flight vehicle (200) includes a body portion (210) having a plurality of rotary actuators (201) and a direction control portion (202); An RFID reader 220 provided in the body 210 for tagging the RFID tag; A line tracing sensing unit 230 protruding in the height direction above the body 210 and recognizing the taping line using infrared rays; A tilt adjusting unit 240 for varying the tilt of the line tracing sensing unit 230 according to the inclination of the body 210 to adjust the line tracing sensing unit to be perpendicular to the ceiling; A tilt sensing module 250 that senses tilt information according to a tilt change of the body 210 in real time in accordance with a flight movement; An ultrasonic distance sensor module 260 for outputting an ultrasonic signal to the ceiling and receiving a carrier wave to maintain a constant distance between the tilt sensing module 250 and the ceiling; And an MCU (270) for receiving the route command information from the tracking server (300) and controlling the direction control unit (202) according to the route information.

The inclination sensing module 250 detects at least one of a 9-axis gyro sensor, an acceleration sensor, and a magnetic sensor to detect a change in inclination of the body 210 according to a flight movement.

The MCU 270 includes a memory 271 for storing path command information transmitted from the tracking server 300 and a unique ID of each of a plurality of markers formed on the tracking line 100; And controlling the driving of the directional control unit and the rotary actuator 201 according to the behavior command code recorded in the path command information when the path command information and the tag information tagged from the RFID reader 220 are the same A path control / processing unit 272; And an error signal generator 273 for providing an error signal to the tracking server 300 when the path command information and the tag information tagged from the RFID reader 220 do not coincide with each other .

The unmanned air vehicle 200 further includes a protection case 290 for preventing movement of the unmanned air vehicle 200 with an external device and the protection case 290 is formed in a hollow shape having a hollow for accommodating the unmanned air vehicle 200 And the material is any one of acrylic, carbon nanofiber, and carbon nano plastic.

The tracking server 300 generates the duel command information necessary for the unmanned object 200 to travel along the tracking line 100 until the reception point included in the cargo dispatch request signal, An administrator server 310 providing movement information of the unmanned air vehicle 200 from the unmanned air vehicle 200 in real time; And provides the cargo dispatch request signal to the manager server 310 in cooperation with the portable terminal 400 and the manager server 310 and transmits the cargo dispatch request signal to the manless server 200 provided from the manager server 310, And a client server (320) for providing the mobile terminal with movement information, movement estimation time, and movement interval information of the mobile terminal.

The manager server 310 includes a route search unit 311 for receiving the cargo dispatch request signal and then generating routes to the delivery point where the unmannurized vehicle provided with the cargo is recorded in the cargo dispatch request signal; A path extracting unit (312) for extracting a shortest path among the paths provided by the path searching unit; And a route command generator for generating route command information in which a behavior command code necessary for movement of the unmanned aerial vehicle is recorded between successive marker points located within the shortest distance, And the route search unit 311 searches for available routes to the delivery point when receiving the error signal transmitted from the unmanned aerial vehicle.

According to another aspect of the present invention, there is provided a method for providing an unmanned transportation service using a ceiling-type line tracing based unmanned transportation system, the method comprising the steps of: A cargo dispatch request signal (S110) for providing a cargo dispatch request signal including information of a receipt point desired by the user to a tracking server; Calculating a route command information corresponding to a cargo transportation request signal in the tracking server and transmitting the route command information to the unmanned air vehicle provided with the portable terminal and the cargo; A cargo transportation step (S130) in which the unmanned air vehicle carries the cargo along the tracking line to the reception point according to the route command information; A location information requesting step (S140) of requesting location information of the unmanned aerial vehicle using a tracking interface in a portable terminal; (S150) of receiving a position information request signal, the client server of the tracking server receiving location information of the unmanned aerial vehicle from the administrator server and providing the location information to the portable terminal; And a delivery completion step (S160) of providing an arrival signal to the tracking server in the unmanned aerial vehicle when the unmanned air vehicle arrives at the reception point and providing a delivery completion message from the tracking server to the portable terminal .

The path command information providing step (S120) comprises: receiving (S121) a cargo transportation request signal from the client server (320); Providing the received information to the administrator server 310 (S122); A step S123 of extracting a shortest path through which the unmanned air vehicle from the point where the unmanned air vehicle 200 is located to the delivery point in the cargo transportation request signal through the tracking line in the manager server 310; Extracting marking points (reception points and branching points) included in the shortest path (S124); And generating route command information for moving the unmanned aerial vehicle according to a branch point or a reception point, and then providing the route command information to the portable terminal and the unmanned aerial vehicle (S125).

Therefore, the ceiling-type line tracing-based unmanned transportation system according to the embodiment of the present invention has an advantage that the unmanned transportation system that moves based on the line tracer can be used to easily deliver the goods indoors.

In addition, in the case of the unmanned aerial vehicle of the present invention, since a plurality of infrared ray sensors for line tracing and the tilt adjusting unit are provided, it is possible to prevent degradation of line recognition even if the ceiling of a room is bent or the width of a tracking line is narrow, The inclination of the line tracing sensing unit can be adjusted through the inclination adjusting unit so as to prevent the line recognition from being deteriorated according to the change, so that the line tracing sensing unit can maintain the vertical alignment with the ceiling at all times. In addition, by maintaining ultrasonic waves at a predetermined distance, collision with the ceiling can be prevented when the unmanned aerial vehicle moves.

In addition, when a plurality of unmanned aerial vehicles are driven in the tracking line, a spherical protective case is provided so as to prevent unexpected collision, and damage to the unmanned aerial vehicle due to collision can be suppressed.

1 is an exemplary view showing an example of a conventional unmanned delivery device.
FIG. 2 is an exemplary view illustrating a ceiling-type line tracing-based unmanned transportation system according to an embodiment of the present invention.
FIG. 3 is an exemplary view for explaining an example of the tracking line shown in FIG. 2. FIG.
4 is a block diagram for explaining the configuration of the unmanned aerial vehicle shown in FIG.
5 is a block diagram of the MCU shown in FIG.
6 is an exemplary view showing an example of the line tracing sensing unit shown in FIG.
7 is an exemplary view showing a state of a line tracing sensing unit moving along a tracking line.
8 is an exemplary view showing a protective case.
9 is a block diagram of the tracking server 300 shown in FIG.
10 is an exemplary view showing a portable terminal providing a tracking interface.
11 is a flowchart illustrating an unmanned shipping service method using a ceiling-type line tracing based unmanned transportation system according to an embodiment of the present invention.
12 is a flowchart of S120 shown in FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Embodiments in accordance with the concepts of the present invention can make various changes and have various forms, so that specific embodiments are illustrated in the drawings and described in detail in this specification or application. It is to be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms of disclosure, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ",or" having ", or the like, specify that there is a stated feature, number, step, operation, , Steps, operations, components, parts, or combinations thereof, as a matter of principle.

Hereinafter, a ceiling-line tracing-based unmanned transportation system according to an embodiment of the present invention and an unmanned transportation service method using the same will be described in detail with reference to the drawings.

FIG. 2 is an exemplary view illustrating a ceiling-type line tracing-based unmanned transportation system according to an embodiment of the present invention.

FIG. 3 is an exemplary view for explaining an example of the tracking line shown in FIG. 2. FIG.

4 is a block diagram for explaining the configuration of the unmanned aerial vehicle shown in FIG.

5 is a block diagram of the MCU shown in FIG.

6 is an exemplary view showing an example of the line tracing sensing unit shown in FIG.

7 is an exemplary view showing a state of a line tracing sensing unit moving along a tracking line.

8 is an exemplary view showing a protective case.

9 is a block diagram of the tracking server 300 shown in FIG.

10 is an exemplary view showing a portable terminal providing a tracking interface.

2, a ceiling-line tracing-based unmanned transportation system 1000 according to an embodiment of the present invention includes a tracking line 100, an unmanned aerial vehicle 200, a tracking server 300, (400).

The tracking line 100 is installed on the ceiling of the room, and comprises a plurality of paths.

More specifically, the tracking line 100 includes a taping line 110 and a tag module 120.

The taping line 110 may be a black tape bonded to the ceiling through an adhesive, and is not limited to a material. Therefore, it is possible to use a material which can be easily detached from the ceiling.

The tag module 120 is located in each of a plurality of markers formed in the taping line 110 to discriminate a plurality of paths formed on the taping line, And an RFID tag to which an identification number is assigned.

Here, the plurality of markers may include at least one bifurcation point and at least one or more endpoints, the bifurcation point means a point that can be passed through, and the end points means an arrival point of the unmanned air vehicle. A more detailed description will be given below.

Next, the UAV 200 travels along the tracking line 100 on the basis of a route command signal provided by the tracking server, and is provided with a receiver for receiving cargo.

In addition, the unmanned aerial vehicle further includes a protective case for preventing movement of the unmanned air vehicle with an external device, wherein the protective case is formed in the shape of a hollow having a hollow for accommodating the unmanned air vehicle, . ≪ / RTI >

The RFID reader 220, the line tracing sensing unit 230, the tilt adjusting unit 240, the tilt sensing unit 240, and the tilt sensing unit 240. [ A module 250, an ultrasonic distance sensor module 260 and an MCU 270. [

The body 210 has a plurality of rotary actuators 201 and a direction control unit 202.

The RFID reader 220 is provided in the body 210 and tagged RFID tags mounted in the tag modules provided in the plurality of markers located on the taping line to provide tagged information to the MCU .

The line tracing sensing unit 230 includes an infrared ray emitting unit for emitting infrared rays to a tracking line and an infrared ray sensor 231 for receiving infrared rays reflected from the tracking line, Are arranged in a pair.

 The reason for including the plurality of infrared sensors 231 is to improve the recognition rate of the tracking line and to realize robust line recognition using both cross sections rather than only one side of the tracking line.

Thus, when moving along a line read through a plurality of infrared sensors, the ceiling can move at a high speed naturally even if it meets a curve point or a curve point.

The tilt sensing module 250 may include a 9-axis gyro sensor, an acceleration sensor, and a magnetic sensor (not shown) so as to perform a function of detecting tilt information according to a tilt change of the body 210 in real time according to a flight movement. The MCU 270 senses a slope change of the body 210 according to the flight movement and then provides the slant information to the MCU 270. The MCU 270 then calculates slope information The tilt controller 240 controls the tilt of the line tracing sensing unit 230 so that the line tracing sensing unit 230 and the tracking line are always kept vertical.

The tilt adjusting unit 240 varies the tilt of the line tracing sensing unit 230 in a direction opposite to a tilt change of the body 210 according to a control signal provided from the MCU.

If the line tracing sensing unit 230 can not maintain a vertical position with respect to the ceiling in accordance with the movement of the unmanned air vehicle 200, the recognition rate of the tracking line may deteriorate, thereby detaching the tracking line. In order to solve such a problem, according to the present invention, the line-tracing sensing unit 230 can always maintain a vertical alignment with the ceiling through the tilt adjusting unit 240 and the tilt sensing module 250, have.

The ultrasound distance sensor module 260 may include an ultrasound sensor module 260 installed on the ceiling to maintain a constant vertical distance between the line tracing sensing part and the ceiling in order to prevent collision between the line tracing sensing part and the ceiling, For example, when the carrier wave is out of the range of the threshold value set in the MCU 270, the MCU 270 outputs a release signal suitable for the situation, The line tracing sensing unit 230 can maintain a predetermined distance from the ceiling by controlling the direction control unit according to the departure signal.

The MCU 270 receives the path command information from the tracking server 300 and controls the direction control unit according to the path information. The MCU 270 includes a memory 271, A path control / processing unit 272, an error signal generating unit 273, and a communication module 274.

The memory 271 stores path command information transmitted from the tracking server 300 and a unique ID of a plurality of bifurcated points formed on the tracking line.

Here, the memory 271 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory, etc.) ), A random access memory (SRAM), a read only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) At least one type of storage medium.

The path control / processing unit 272 determines whether the path control / processing unit 272 determines that the path control / processing unit 272 has received the path command information from the tracking server 300, The ultrasonic distance sensor module 260 receives the departure signal outputted from the ultrasonic distance sensor module 260 and controls the direction control unit or controls the line tracing sensing unit and the tracking line according to the tilt information of the unmanned aerial vehicle And controls the tilt adjusting unit to always maintain the vertical position.

The error signal generator 273 provides an error signal to the tracking server 300 when the path command information and the tag information tagged from the RFID reader 220 do not match.

The communication module 274 is applied to any one of WLAN (Wireless Local Area Network), WiFi (Wireless Fidelity), and WiMAX (Worldwide Interoperability for Microwave Access).

Next, the portable terminal 400 performs a function of providing a cargo delivery request signal including information of a reception point desired by the user by using a tracking interface.

The tracking interface may be an interface for providing information related to cargo receipt and cargo transportation (for example, a delivery request, receipt confirmation) and location information of the unmanned air vehicle 200 in real time.

The portable terminal 400 may be a personal digital cellular (PDC) phone, a personal communication service (PCS) phone, a personal handyphone system (PHS) phone, a CDMA-2000 (1X or 3X) phone, a WCDMA Communication functions such as a dual band / dual mode phone, a global standard for mobile (GSM) phone, a mobile broadband system (MBS) phone, a digital multimedia broadcasting (DMB) phone, a smart phone, Portable terminals such as a PDA (Personal Digital Assistant), a hand-held PC, a notebook computer, a laptop computer, a WiBro terminal, an MP3 player, an MD player, (International Mobile Telecommunication-2000) terminal that provides a mobile communication service and an IMT-2000 (International Mobile Telecommunication-2000) terminal that provides an extended mobile communication service. The portable electronic device includes a CDMA Multiplexing Access In order to enable position tracking through a Bluetooth module, an Infrared Data Association, a wired and wireless LAN card, and a GPS (Global Positioning System), a predetermined communication module such as a wireless communication device equipped with a GPS chip And can be interpreted as a concept collectively referred to as a terminal capable of performing a certain calculation operation by mounting a microprocessor.

Next, the tracking server 300 calculates path command information corresponding to the cargo delivery request signal provided from the portable terminal 400, and provides the path command information to the unmanned aerial vehicle.

More specifically, the tracking server 300 may include an administrator server 310 and a client server 320. The manager server 310 generates via command information necessary for the unmanned object 200 to move along the tracking line to the reception point included in the cargo dispatch request signal provided by the portable terminal, And a function of providing the movement information of the unmanned air vehicle 200 to the client server 320 in a real time from the unmanned air vehicle 200 and receiving the error signal generated from the unmanned air vehicle 200 And then provides the path command information to which the path search is reset.

More specifically, the administrator server 310 includes a path search unit 311, a path extraction unit 312, and a path command generation unit 313.

After receiving the cargo dispatch request signal, the route searching unit 311 performs a function of generating routes that can pass through to the delivery point where the unmanned air vehicle provided with the cargo is recorded in the cargo dispatch request signal. When the error signal transmitted from the unmanned aerial vehicle 200 is received, the path searching unit 311 searches for routes that can be passed to the delivery point.

The path extracting unit 312 extracts the shortest path among the paths provided by the path searching unit 311. At this time, the branch point information obtained by sequentially arranging the branch points located in the shortest path, .

The path command generation unit 313 records a behavior command code necessary for movement of the unmanned air vehicle from the first branch point to the second branch point, which is continuous within the branch point information, and finally provides path command information do. Here, the path command information will be described in more detail with reference to Table 1 described below.

[Table 1]

For example, referring to Table 1, when the unmanned aerial vehicle moves from point A to point G, the tracking server extracts bifurcation points (B, F) from point A to point G, Generates at least one path command information in which behavior command codes to be acted at each branch point are recorded.

At this time, the path command information provided to the unmanned aerial vehicle may be provided for each branch point.

For example, when provided for each branch point, it may be provided as first path command information AB001F, second path command information BF002L, and third path command information FG003R as follows.

The first path command information AB001F is information for moving the unmanned aerial vehicle to the point B, where A is a starting point, B is a destination, 001 is a cover numbering, and F is front.

The second path command information (BF002L) is information for moving the unmanned aerial vehicle moving to the point B to the point F, where B denotes a starting point, F denotes an arrival point, 002 denotes a cover part numbering, and L denotes a left .

The third route command information (FG003R) is information for moving the unmanned aerial vehicle moving to point F to the point G, where F denotes a starting point, G denotes a drawing point, 003 denotes a cover numbering, and R denotes a right do.

If the unmanned air vehicle 200 moves from point A to point D, the tracking server extracts the points B and C from points A to G. If the extracted points are located on the same line, Can generate path command information in which a behavior command code based on the motion command code is recorded.

For example, the tracking server 300 may provide path command information such as AD001F.

In this way, the tracking server 300 can generate the shortest path to the reception point included in the cargo dispatch request signal requested by the portable terminal 400, so that the unmanned aerial vehicle can be actively moved to the reception point.

Next, the client server 320 interlocks with the portable terminal and the manager server through a wireless interface, receives the cargo dispatch request signal and provides the cargo dispatch request signal to the manager server, And provides the mobile terminal 400 with information (estimated travel time, moving interval information). The client server also provides a tracking interface to the mobile terminal 400.

Hereinafter, an unmanned transportation service method using the ceiling-type line tracing based unmanned transportation system according to an embodiment of the present invention will be described in more detail.

FIG. 11 is a flowchart illustrating an unmanned shipping service method using a ceiling-type line tracing based unmanned transportation system according to an embodiment of the present invention, and FIG. 12 is a flowchart of S120 shown in FIG.

Referring to FIGS. 11 and 12, an unmanned transportation service method (S100) using a ceiling-based line tracing based unmanned transportation system according to an exemplary embodiment of the present invention includes a cargo request step S110, a route command providing step S120, A transportation step S130, a position information providing step S140, and a delivery completion step S150.

The cargo request step S110 may be a step of providing the cargo delivery request signal including the information of the reception point that the user desires to the tracking server by using the tracking interface in the mobile terminal of the user.

The path command information providing step (S120) of calculating the route command information corresponding to the cargo transportation request signal in the tracking server and transmitting the information to the unmanned air vehicle provided with the portable terminal and the cargo, (S121), and provides the received information to the administrator server (S121).

The manager server extracts a route through which the unmanned aerial vehicle from the point where the unmanned air vehicle is located to the delivery point in the cargo transportation request signal through the tracking line (S122), and then displays the marker points (reception point and branch point) (S123).

Thereafter, the route command information for moving the unmanned aerial vehicle is generated according to the turning point or the receiving point, and then provided to the portable terminal and the unmanned aerial vehicle (S124).

The cargo transportation step (S130) may be a step of transporting the cargo to the reception point along the tracking line by the unmanned aerial vehicle according to the route command information.

The location information request step (S140) may be a step of requesting location information of the unmanned aerial vehicle using a tracking interface in the portable terminal.

The location information providing step (S150) receives the location information request signal, and the client server of the tracking server receives the location information of the unmanned aerial vehicle from the administrator server and provides the information to the portable terminal.

When the unmanned aerial vehicle arrives at the reception point, the unmanned aerial vehicle provides an arrival signal to the tracking server, and the tracking server provides a delivery completion message to the portable terminal in the delivery completion step S160.

Therefore, the ceiling-type line tracing-based unmanned transportation system according to the embodiment of the present invention has an advantage that the unmanned transportation system that moves based on the line tracer can be used to easily deliver the goods indoors.

In addition, in the case of the unmanned aerial vehicle of the present invention, since a plurality of infrared ray sensors for line tracing and the tilt adjusting unit are provided, it is possible to prevent degradation of line recognition even if the ceiling of a room is bent or the width of a tracking line is narrow, The inclination of the line tracing sensing unit can be adjusted through the inclination adjusting unit so as to prevent the line recognition from being deteriorated according to the change, so that the line tracing sensing unit can maintain the vertical alignment with the ceiling at all times. In addition, by maintaining ultrasonic waves at a predetermined distance, collision with the ceiling can be prevented when the unmanned aerial vehicle moves.

In addition, when a plurality of unmanned aerial vehicles are driven in the tracking line, a spherical protective case is provided so as to prevent unexpected collision, and damage to the unmanned aerial vehicle due to collision can be suppressed.

The foregoing detailed description is illustrative of the present invention. It is also to be understood that the foregoing is illustrative and explanatory of preferred embodiments of the invention only, and that the invention may be used in various other combinations, modifications and environments. It is to be understood that changes and variations may be made without departing from the scope of the inventive concept disclosed herein, the disclosure of which is equally applicable to the disclosure, and / or the skill or knowledge of the art.

The foregoing embodiments are intended to illustrate the best mode contemplated for carrying out the invention and are not intended to limit the scope of the invention to those skilled in the art that are intended to encompass other embodiments of the invention, Various changes are possible. Accordingly, the foregoing description of the invention is not intended to limit the invention to the precise embodiments disclosed. It is also to be understood that the appended claims are intended to cover such other embodiments.

100: tracking line 110: taping line
120: tag module 200: unmanned vehicle
201: rotary drive body 202:
210: Body part 220: RFID reader
230: line tracing sensing unit 240: tilt adjusting unit
250: tilt sensing module 260: ultrasonic distance sensor module
270: MCU 271: Memory
272: Path control / processor 273: Error signal generator
274: Communication module 290: Protective case
300: tracking server 310: manager server
311: Path searching unit 312: Path extracting unit
313: Path command generation unit 320:
311: Path searching unit 312: Path extracting unit
313: Path command generation unit 400:
A to H: Marking point

Claims (12)

A tracking line (100) provided on the ceiling of the vehicle and having a plurality of paths provided with at least one markers;
An unmanned flying object 200 flying along the at least one markers and having a receiver capable of receiving a cargo at a lower portion thereof; And
A portable terminal (400) for providing a cargo dispatch request signal including information of a receipt point desired by the user using a tracking interface; And
And a tracking server (300) for calculating route command information corresponding to the cargo delivery request signal provided from the portable terminal (400) and providing the route command information to the unmanned air vehicle,
The unmanned air vehicle (200)
And moves the tracking line (100) in accordance with the path command information.
The method according to claim 1,
The mobile terminal (400)
Wherein the tracking interface displays the tracking interface to a user and the tracking interface is an interface including information related to cargo receipt and cargo transportation and location information of the unmanned aerial vehicle.
The method according to claim 1,
The tracking line (100)
A taping line (110) detachable from the ceiling through an adhesive;
A plurality of markers formed in the taping line 110 for discriminating a plurality of paths formed on the taping line 110 and each marking unit having a unique identification number ID for recognizing the unmanned aerial vehicle, And a tag module (120) having an embedded RFID tag,
The plurality of markers include:
At least one or more endpoints and at least one bifurcation point.
The method according to claim 1,
The unmanned air vehicle (200)
Wherein the multi-copter is a multi-copter capable of vertical landing and landing.
5. The method of claim 4,
The unmanned air vehicle (200)
A body portion 210 having a plurality of rotary actuators 201 and a direction control portion 202;
An RFID reader 220 provided in the body 210 for tagging the RFID tag;
A line tracing sensing unit 230 protruding in the height direction above the body 210 and recognizing the taping line using infrared rays;
A tilt adjusting unit 240 that varies the inclination of the line tracing sensing unit 230 according to the inclination of the body 210 and adjusts the line tracing sensing unit 230 to be vertical to 12 ceilings;
A tilt sensing module 250 that senses tilt information according to a tilt change of the body 210 in real time in accordance with a flight movement;
An ultrasonic distance sensor module 260 for outputting an ultrasonic signal to the ceiling and receiving a carrier wave to maintain a constant distance between the tilt sensing module 250 and the ceiling; And
And an MCU (270) for receiving the route command information from the tracking server (300) and controlling the direction control unit (202) according to the route information. .
6. The method of claim 5,
The tilt sensing module (250)
Wherein the tilting of the body part (210) is detected by at least one of a 9-axis gyro sensor, an acceleration sensor and a magnetic sensor.
6. The method of claim 5,
The MCU 270,
A memory (271) for storing path command information transmitted from the tracking server (300) and a unique ID of each of a plurality of markers formed on the tracking line (100); And
A path for controlling the driving of the direction control unit and the rotary actuator 201 according to the behavior command code recorded in the path command information when the path command information is identical to the tag information tagged from the RFID reader 220 A control / processing unit 272; And
And an error signal generator 273 for providing an error signal to the tracking server 300 when the path command information and the tag information tagged from the RFID reader 220 are inconsistent. Based line tracing based unmanned transportation system.
6. The method of claim 5,
The unmanned air vehicle (200)
The protection case 290 is formed in the shape of a hollow having a hollow for accommodating the unmanned air vehicle 200, and the material of the protection case 290 is acrylic, carbon Nano fiber, and carbon nano plastic.
The method according to claim 1,
The tracking server (300)
The control unit 200 generates the cruise command information required for the unmanned object 200 to travel along the tracking line 100 until the point of receipt included in the cargo dispatch request signal and provides the same to the unmanned air vehicle 200, An administrator server 310 receiving movement information of the unmanned air vehicle 200 from the unmanned air vehicle 200; And
The management server 310 receives the cargo dispatch request signal and provides the cargo dispatch request signal to the manager server 310 and transmits the cargo dispatch request signal to the manager server 310, And a client server (320) for providing the mobile information (movement estimated time, moving interval information) to the mobile terminal.
10. The method of claim 9,
The manager server 310,
A route search unit (311) for receiving the cargo dispatch request signal and generating routes that can be passed to the delivery point where the unmannurized vehicle provided with the cargo is recorded in the cargo dispatch request signal;
A path extracting unit (312) for extracting a shortest path among the paths provided by the path searching unit; And
And a route command generator for generating route command information in which a behavior command code necessary for movement of the unmanned air vehicle is recorded between successive marker points located within the shortest distance,
The shortest path includes branch point information in which the branch points are sequentially arranged in the order of passing through. When the error signal transmitted from the unmanned air vehicle is provided, the path searching unit 311 searches for routes The line-tracing-based unattended transportation system.
A method for unattended transportation service using the ceiling-line tracing based unmanned transportation system according to any one of claims 1 to 10,
A cargo request step (S110) of providing a cargo delivery request signal including information of a receipt point desired by the user to a tracking server using a tracking interface in a user's portable terminal;
Calculating a route command information corresponding to a cargo transportation request signal in the tracking server and transmitting the route command information to the unmanned air vehicle provided with the portable terminal and the cargo;
A cargo transportation step (S130) in which the unmanned air vehicle carries the cargo along the tracking line to the reception point according to the route command information;
A location information requesting step (S140) of requesting location information of the unmanned aerial vehicle using a tracking interface in a portable terminal;
(S150) of receiving a position information request signal, the client server of the tracking server receiving location information of the unmanned aerial vehicle from the administrator server and providing the location information to the portable terminal; And
And a delivery completion step (S160) of providing an arrival signal from the unmanned air vehicle to the tracking server when the unmanned air vehicle arrives at the reception point and providing a delivery completion message from the tracking server to the portable terminal, A method of unmanned transportation service using a line tracing based unmanned transportation system.
12. The method of claim 11,
The path command information providing step (S120)
In step S121, the client server 320 receives a cargo transportation request signal,
Providing the received information to the administrator server 310 (S122);
A step S123 of extracting a shortest path through which the unmanned air vehicle from the point where the unmanned air vehicle 200 is located to the delivery point in the cargo transportation request signal through the tracking line in the manager server 310;
Extracting marking points (reception points and branching points) included in the shortest path (S124); And
And providing the route command information to the mobile terminal and the unmanned aerial vehicle after moving the unmanned aerial vehicle at the fork point or at the receiving point (S125). Service method.

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