KR20160081839A - Control apparatus of unmanned aerial vehicle and method using the same - Google Patents

Control apparatus of unmanned aerial vehicle and method using the same Download PDF

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Publication number
KR20160081839A
KR20160081839A KR1020150189907A KR20150189907A KR20160081839A KR 20160081839 A KR20160081839 A KR 20160081839A KR 1020150189907 A KR1020150189907 A KR 1020150189907A KR 20150189907 A KR20150189907 A KR 20150189907A KR 20160081839 A KR20160081839 A KR 20160081839A
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South Korea
Prior art keywords
unmanned airplane
unmanned
current position
uav
airplane
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KR1020150189907A
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Korean (ko)
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KR101764507B1 (en
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성연식
성만규
공수현
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계명대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B64C2201/14—
    • B64C2700/6243—
    • B64C2700/6292—
    • B64C2700/6294—
    • B64D2700/6221—

Abstract

The present invention relates to a control apparatus for an unmanned airplane and a control method for the unmanned airplane using the same, the method comprising the steps of: detecting a previously installed marker to measure a current position of the unmanned airplane; Measuring the current attitude of the unmanned airplane through the attached sensor, determining whether the unmanned airplane has deviated from the predetermined path through the current position of the unmanned airplane or the current position of the unmanned airplane, Correcting the attitude angle of the unmanned airplane so that the unmanned airplane is directed to a target point when the unmanned airplane leaves the preset path or an error occurs in the attitude angle, Calculating a direction of an external force, A by using the attitude angle direction and the correction of the external force comprises the steps to set recalibrate the position of the UAV.
As described above, according to the present invention, the unattended airplane can be prevented from departing from the path by checking the current posture of the unmanned airplane. In addition, when the unmanned airplane deviates from the set path, the external force applied to the unmanned airplane is analyzed and reflected in the control process, so that the unmanned airplane can quickly control the airplane to fly to the target point.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for an unmanned airplane,

More particularly, the present invention relates to an unmanned airplane control device for controlling the flight of an unmanned airplane by correcting a control error of the unmanned airplane caused by environmental factors, and a method of controlling the unmanned airplane control device using the same To an unmanned aircraft control method.

Unmanned Aerial Vehicle (UAV) has been developed as a military reconnaissance aircraft and bomber, and recently it has been widely developed in various private fields. In particular, the application areas such as disaster relief, disaster prevention, and delivery service are rapidly expanding because they are easier to control than conventional air vehicles and operate at lower cost than manned aircraft.

However, most of the currently used UAVs are operated remotely within the scope of the operator's view, or using the remote control system using cameras, and the UAV control method by automatic control is largely used due to the stability problem I can not.

In particular, due to the characteristics of UAVs that are heavily influenced by the dynamic environment, it is difficult to accurately correct UAVs when they deviate from the set route.

The technology of the background of the present invention is disclosed in Korean Patent No. 10-0324581 (published on Mar. 16, 2002).

An object of the present invention is to provide an unmanned airplane control device for controlling a flight of an unmanned airplane by correcting a control error of an unmanned airplane caused by environmental factors and a method for controlling the unmanned airplane using the same.

According to another aspect of the present invention, there is provided a method for controlling an unmanned airplane using an unmanned airplane control device, the method comprising: detecting a previously installed marker to measure a current position of the unmanned airplane; Measuring a current attitude of the unmanned airplane through a sensor attached to an aircraft, moving the unmanned airplane away from a preset path through the current position of the unmanned airplane or the current position of the unmanned airplane, Determining whether or not the unmanned airplane has deviated from a predetermined path or correcting the attitude angle of the unmanned airplane so that the unmanned airplane is directed to a target point when an error occurs in the attitude angle; Calculating a direction of an external force to be applied, A by using the attitude angle direction and the correction of the external force comprises the steps to set recalibrate the position of the UAV.

The step of determining whether or not the error has occurred may include determining whether the predetermined position of the unmanned airplane is deviated from the predetermined range based on whether the current position of the unmanned airplane is included in a predetermined range of the predetermined path, It is possible to determine whether or not an error of the attitude angle is generated through whether or not the target point is directed.

The calculating of the direction of the external force may calculate the direction of the external force using the actual flight path and the predetermined travel route of the UAV.

The step of repositioning the attitude of the unmanned airplane includes a step of extracting a re-correction angle for moving the unmanned airplane to the target point by using a vector for the direction of the external force and the corrected attitude angle, And repositioning the attitude of the UAV according to the angle.

The repositioning of the unmanned airplane may include controlling the unmanned airplane at a speed higher than a predetermined speed of the unmanned airplane.

The sensor may include at least one of a gyro sensor, an acceleration sensor, and a geomagnetic sensor.

A controller for controlling an unmanned airplane according to another embodiment of the present invention includes a measuring unit for measuring a current position of an unmanned airplane by detecting a previously installed marker and measuring a current position of the unmanned airplane through a sensor attached to the unmanned airplane, A determination unit for determining whether the unmanned airplane has deviated from a predetermined path or an error has occurred in the attitude angle through the current position of the unmanned airplane or the current position of the unmanned airplane, A first controller for correcting the posture angle of the unmanned airplane so that the unmanned airplane is directed to a target point when an error occurs in the attitude angle, an operation unit for calculating a direction of an external force applied to the unmanned airplane, The posture of the unmanned airplane is re-calculated using the direction of the external force and the corrected posture angle And a second control unit for.

As described above, according to the present invention, the unattended airplane can be prevented from departing from the path by checking the current posture of the unmanned airplane. In addition, when the unmanned airplane deviates from the set path, the external force applied to the unmanned airplane is analyzed and reflected in the control process, so that the unmanned airplane can quickly control the airplane to fly to the target point.

1 is a view for explaining a configuration of an unmanned airplane control device according to an embodiment of the present invention.
2 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 3 is a diagram for explaining a method for determining whether or not an error has occurred in step S230.
4 is a diagram for explaining step S240 according to an embodiment of the present invention.
5 is a view for explaining an attitude angle correction according to an embodiment of the present invention.
6 is a flow chart of step S260 according to an embodiment of the present invention.
7 is a diagram for explaining a method of extracting a re-correction angle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

First, a configuration of an unmanned airplane control device 100 according to an embodiment of the present invention will be described with reference to FIG. 1 is a view for explaining a configuration of an unmanned airplane control device according to an embodiment of the present invention.

1, the UAV controller 100 includes a measurement unit 110, a determination unit 120, a first control unit 130, an operation unit 140, and a second control unit 150.

First, the measuring unit 110 detects a marker installed and measures the current position of the UAV 200. Here, the pre-installed markers are markers previously installed in the space where the UAV 200 will fly, and each landmark contains information on the current location. Markers can be used with markers or devices that can hold location information such as QR codes (Quick Response Code) or beacons.

The measurement unit 110 measures the current attitude of the UAV 200 through a sensor attached to the UAV 200. At this time, the sensor may include at least one of a gyro sensor, an acceleration sensor, and a geomagnetic sensor.

Next, the determination unit 120 determines whether the unmanned airplane 200 has deviated from the preset path or an error has occurred in the attitude angle based on the current position of the UAV 200 or the current attitude of the UAV 200 .

Specifically, the determination unit 120 determines whether or not the predetermined position of the unmanned airplane 200 is deviated from the predetermined path, based on whether the current position of the unmanned airplane 200 is included in the predetermined range of the predetermined path, It is possible to judge whether or not an error of the attitude angle has occurred through whether or not it is pointing to a point.

When the unmanned airplane 200 leaves the predetermined path or an error occurs in the attitude angle, the first controller 130 controls the attitude angle of the unmanned airplane 200 so that the angle of the unmanned airplane 200 is directed to the target point .

The arithmetic unit 140 calculates the direction of the external force applied to the UAV 200. At this time, the operation unit 140 can calculate the direction of the external force using the actual flight path of the UAV 200 and the predetermined travel route.

Then, the second controller 150 recalculates the attitude of the UAV 200 using the calculated direction of the external force and the corrected attitude angle.

Specifically, the second controller 150 extracts a re-correction angle for moving the UAV 200 to the target point using the vector of the external force direction and the corrected attitude angle, It is possible to recalibrate the posture of the user.

Also, the second control unit 150 can control the UAV 200 at a speed higher than a predetermined speed of the UAV 200.

As shown in FIG. 1, the unmanned airplane 200 is connected to the unmanned airplane control device 100 in a wired or wireless manner, and is controlled by the unmanned airplane control device 100 to fly.

Unmanned Aerial Vehicle (UAV) is a flight that is designed to allow a pilot to perform a specified mission without boarding the aircraft, and is also known as a drone. Unmanned aerial vehicles can be classified according to the purpose, the flying radius, the flight altitude and the size. Among them, the unmanned airplane can be classified into the fixed airfoil, the rotor blade type and the hybrid type according to the driving type of the unmanned airplane.

1, the quadrotor-type UAV 200 having the first to fourth rotary vanes 200a to 200d is illustrated as an example. However, the UAV 200 according to the present invention is a quadrotor- And includes all air vehicles that can be defined as the unmanned air vehicle 200.

Meanwhile, in the present invention, for the sake of convenience of explanation, it is assumed that the unmanned airplane 200 is assumed to be the front of the unmanned airplane between the first rotary vane 200a and the fourth rotary vane 200d .

Hereinafter, a method for controlling an unmanned airplane using the unmanned airplane control device 100 according to an embodiment of the present invention will be described with reference to FIG. 2 through FIG. 2 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.

First, the unmanned airplane control device 100 detects the installed marker and measures the current position of the UAV 200 (S210).

For example, assume that a previously installed marker uses a QR code. In this case, the unmanned airplane control apparatus 100 scans a QR code installed in an airplane flight space using a camera attached to the unmanned airplane 200. At this time, the QR code contains position information in the flight space, and the current position of the UAV 200 is measured using the position information obtained through the scan.

If the space of the UAV 200 is assumed to be an indoor space, each marker may be installed at a floor, ceiling, or wall of the building, and the current location may be a two-dimensional or three-dimensional Can be measured in terms of coordinates.

The controller 100 measures the current attitude of the UAV 200 through a sensor attached to the UAV 200 in operation S220.

At this time, the sensor may include an acceleration sensor, a gyro sensor, and a terrestrial magnetism sensor, as well as devices capable of measuring the attitude of the UAV 200.

Next, the UAV controller 100 determines whether the unmanned airplane 200 has departed from the predetermined path through the current position of the UAV 200 or the current position of the UAV 200, (S230). The predetermined path is a path from the starting point to the arrival point of the UAV 200, and means a target path for the UAV 200 to fly.

FIG. 3 is a diagram for explaining a method for determining whether or not an error has occurred in step S230. FIG. 3 (a) illustrates a process for determining whether or not a predetermined path has been deviated by using the current position of the UAV 200 Fig.

Specifically, the UAV 100 may determine whether a predetermined path has been deviated by determining whether the current position of the UAV 200 is included in a predetermined range of the predetermined path. As described above, the current position of the UAV 200 can be obtained by scanning a pre-installed marker such as a QR code.

For example, as shown in FIG. 3A, it is assumed that a predetermined distance from a predetermined target path from a start point to a target point is a predetermined threshold range (hatched portion). At this time, when the current position of the UAV 200 is within a predetermined threshold range, that is, within a distance a from the predetermined target route, the UAV controller 100 determines that the UAV 200 does not leave the predetermined route It can be judged that it is not.

If the deviation of the path is determined by simply using the matching with the target path without setting the critical range, it is determined that the predetermined target path is deviated even within a small error range. Therefore, the control process of the unmanned air vehicle 200 Operation overloading may occur.

3B is a diagram for explaining a process of determining whether or not an error has occurred in the attitude angle using the current attitude of the UAV 200. FIG.

Specifically, the UAV controller 100 determines whether an error of the attitude angle occurs through whether the current attitude of the UAV 200 faces the target point. As described above, the current attitude of the UAV 200 can be measured through a sensor attached to the UAV 200, such as a geomagnetic sensor.

For example, as shown in FIG. 3 (b), a critical range corresponding to a predetermined angular range (leftward θ 1 and rightward θ 1 ) with respect to the frontal direction of the UAV 200 The controller of the UAV 200 may determine that the current position of the UAV 200 is facing the target point.

If it is determined in step S230 that the unmanned airplane 200 has not deviated from the predetermined target path or that no error has occurred in the attitude angle, the unmanned airplane control apparatus 100 determines that the unmanned airplane 200 So as to be operated according to the process.

On the other hand, if it is determined in step S230 that the unmanned airplane 200 deviates from the predetermined target path or an error occurs in the attitude angle, the unmanned airplane control apparatus 100 controls the unmanned airplane 200 to aim at the target point (S240).

4 is a diagram for explaining step S240 according to an embodiment of the present invention. As shown in FIG. 4, the current attitude of the UAV 200 is directed to the south direction, and the target point is located to the southwest. Since the target point is not located in the hatched critical range, it can be seen that an error has occurred in the attitude angle of the current unmanned aerial vehicle 200.

Therefore, in order to correct the error of the attitude angle, the current attitude of the UAV 200 must be rotated in the direction of the target point.

5 is a view for explaining an attitude angle correction according to an embodiment of the present invention.

It can be seen that the positions of the first to fourth rotary blades 200a to 200d of the UAV 200 shown in FIG. 5 have moved in the clockwise direction. That is, the UAV controller 100 rotates the UAV 200 so that the front of the UAV 200 is directed to the southwest, which is the direction of the target path, .

4 and 5 illustrate the attitude angle correction process in the case where the set path deviates from the set target path. However, even if the attitude angle of the unmanned airplane 200 fails to deviate from the target path, The angle of attitude of the body 200 is corrected. In step S240, it is preferable that the UAV 200 is controlled in a state of hovering, that is, hovering.

After correcting the attitude angle in step S240, the controller 100 calculates the direction of the external force applied to the unmanned airplane 200 (S250). As shown in FIG. 5, when the UAV 200 deviates from the predetermined path, the UAV 200 can be regarded as having an external force. Therefore, in order to fly the UAV 200 to the target point, Flight control becomes possible.

Specifically, the unmanned airplane control device 100 can calculate the direction of an external force using a predetermined travel route and an actual travel route (actual flight route). Although the direction of the external force is shown from east to west in FIG. 5, the direction of the external force may be different depending on the operation result of step S250, and may be calculated by vector operation.

Then, the UAV controller 100 recalculates the posture of the UAV 200 using the computed direction of the external force and the corrected attitude angle (S260). FIG. 6 is a flow chart of step S260 according to an exemplary embodiment of the present invention. Referring to FIG. 6, step S260 will be described in detail.

First, the unmanned airplane control device 100 extracts a recalibration angle for moving the UAV 200 to the target point using the direction of the external force and the corrected attitude angle (S262).

7 is a diagram for explaining a method of extracting a re-correction angle according to an embodiment of the present invention. As shown in FIG. 7, the controller 100 extracts the recalibration angle? 2 from the corrected attitude in step S240, taking into account the vector of the direction of the external force.

Then, the UAV controller 100 recalculates the attitude of the UAV 200 according to the recalibration angle (S264). 5 and 7, it can be seen that the positions of the first to fourth rotary blades 200a to 200d are changed according to the recalibration angle. That is, the UAV controller 100 recalculates the posture of the UAV 200 by rotating the UAV 200 by the recalibration angle? 2 in the corrected posture of step S240, Respectively.

In addition, the UAV 100 may control the UAV 200 at a speed higher than a predetermined speed of the UAV 200 (S266). The predetermined speed means the speed of the UAV 200 before reaching the current position.

The reason for controlling the UAV 200 at a speed higher than a predetermined speed is that it is necessary to overcome the resistance of the external force to move to the target path. In step S266, a speed higher than a predetermined speed may be set in consideration of the magnitude of the external force and the like.

The controller 100 may control the unmanned airplane 200 by repeating steps S210 through S260 at predetermined time intervals until the unmanned airplane 200 arrives at the target point.

According to the embodiment of the present invention, the unmanned airplane 200 can be prevented from departing from the path by checking the current posture of the unmanned airplane. When the unmanned airplane 200 leaves the set path, the external force applied to the unmanned airplane 200 is analyzed and reflected in the control process so that the unmanned airplane 200 can quickly fly to the target point .

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Unmanned aerial vehicle control device 110:
120: determination unit 130: first control unit
140: Operation unit 150:
200: Unmanned aerial vehicle 200a: First rotary blade
200b: second rotary blade 200c: third rotary blade
200d: fourth rotary blade

Claims (12)

A method for controlling an unmanned airplane using an unmanned airplane control device,
Measuring a current position of the unmanned airplane by detecting a previously installed marker, measuring a current position of the unmanned airplane through a sensor attached to the unmanned airplane,
Determining whether the unmanned airplane deviates from a predetermined path or an error occurs in an attitude angle through the current position of the unmanned airplane or the current attitude of the unmanned airplane,
Correcting the posture angle of the UAV so that the UAV is directed to a target point when the UAV is departing from the predetermined path or an error occurs in the posture angle,
Calculating a direction of an external force applied to the unmanned air vehicle,
And repositioning the attitude of the unmanned airplane using the calculated direction of the external force and the corrected attitude angle. The method according to claim 1,
Wherein the step of determining whether the error has occurred comprises:
Determining whether or not the current position of the unmanned airplane is deviated from the predetermined path through whether the current position of the unmanned airplane is included in the critical range of the predetermined path or determining whether the current position of the unmanned airplane is facing the target point, A method for controlling an unmanned aircraft, the method comprising: The method according to claim 1,
The step of calculating the direction of the external force includes:
And calculating the direction of the external force using an actual flight path and a predetermined travel route of the unmanned airplane. The method according to claim 1,
The step of repositioning the attitude of the unmanned aerial vehicle includes:
Extracting a recalibration angle for moving the UAV to the target point using a vector for the direction of the external force and the corrected attitude angle, and
And repositioning the attitude of the UAV according to the recalibration angle. 5. The method of claim 4,
The step of repositioning the attitude of the unmanned aerial vehicle includes:
Controlling the unmanned airplane at a speed higher than a predetermined speed of the unmanned airplane. The method according to claim 1,
The sensor includes:
A gyro sensor, an acceleration sensor, and a geomagnetic sensor. A measuring unit for measuring a current position of the unmanned airplane by detecting the installed marker and measuring the current position of the unmanned airplane through a sensor attached to the unmanned airplane,
A determination unit for determining whether the unmanned airplane has deviated from a predetermined path or an error has occurred in the attitude angle through the current position of the unmanned airplane or the current position of the unmanned airplane,
A first controller for correcting the attitude angle of the unmanned airplane so that the unmanned airplane is directed to a target point when the unmanned airplane deviates from a predetermined path or an error occurs in the attitude angle,
An operation unit for calculating a direction of an external force applied to the unmanned airplane,
And a second controller for repositioning the attitude of the UAV by using the calculated direction of the external force and the corrected attitude angle. 8. The method of claim 7,
Wherein,
Determining whether or not the current position of the unmanned airplane is deviated from the predetermined path through whether the current position of the unmanned airplane is included in the critical range of the predetermined path or determining whether the current position of the unmanned airplane is facing the target point, A controller for an unmanned airplane that determines whether an error has occurred. 8. The method of claim 7,
The operation unit,
And calculates the direction of the external force by using an actual flight path and a predetermined travel route of the unmanned airplane. 8. The method of claim 7,
Wherein the second control unit comprises:
Wherein the unmanned airplane uses a vector for the direction of the external force and the corrected attitude angle to extract a re-correction angle for moving the unmanned airplane to the target point, and re-establishes the attitude of the unmanned airplane according to the re- controller. 11. The method of claim 10,
Wherein the second control unit comprises:
And controls the unmanned airplane at a speed higher than a predetermined speed of the unmanned airplane. 8. The method of claim 7,
The sensor includes:
A gyro sensor, an acceleration sensor, and a geomagnetic sensor.
KR1020150189907A 2014-12-30 2015-12-30 Control apparatus of unmanned aerial vehicle and method using the same KR101764507B1 (en)

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