KR20160105552A - Appratus and method for controlling unmanned aerial vehicle - Google Patents

Appratus and method for controlling unmanned aerial vehicle Download PDF

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Publication number
KR20160105552A
KR20160105552A KR1020150027722A KR20150027722A KR20160105552A KR 20160105552 A KR20160105552 A KR 20160105552A KR 1020150027722 A KR1020150027722 A KR 1020150027722A KR 20150027722 A KR20150027722 A KR 20150027722A KR 20160105552 A KR20160105552 A KR 20160105552A
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KR
South Korea
Prior art keywords
unit
position information
state data
angular velocity
control unit
Prior art date
Application number
KR1020150027722A
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Korean (ko)
Inventor
신상호
최민석
설원재
이정한
현성환
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신상호
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Priority to KR1020150027722A priority Critical patent/KR20160105552A/en
Publication of KR20160105552A publication Critical patent/KR20160105552A/en

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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
    • 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
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/50—Aeroplanes, Helicopters
    • 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
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D2045/0085—Devices for aircraft health monitoring, e.g. monitoring flutter or vibration

Abstract

The present invention relates to an unmanned aerial vehicle control device, which prevents an accident of an unmmaned aerial vehicle as a user checks an operation state of the unmanned aerial vehicle. According to an aspect of the present invention, the unmanned aerial vehicle control device includes: an angular speed detecting unit outputting an angular speed detecting signal of a predetermined state by sensing an angular speed of an unmanned aerial vehicle; a position information obtaining unit obtaining and outputting position information of the unmanned aerial vehicle; a communication unit communicating with a user terminal; a motion control unit connected to the angular speed sensing unit, the position information obtaining unit, and the communication unit; and a motor driving unit connected to the control unit and individually controlling a motion of multiple motors. The motion control unit collects state data of the unmanned aerial vehicle every setting time by using the signal outputted from the angular speed detecting unit and the position information obtaining unit and transmits the collected state data to the user terminal via the communication unit.

Description

[0001] APPARATUS AND METHOD FOR CONTROLLING UNMANNED AERIAL VEHICLE [0002]

The present invention relates to an unmanned aerial vehicle control apparatus and a method thereof.

In recent years, there has been an increase in the number of unmanned aircraft, such as a multipurpose copter such as a quad-copter, for situations where industrial accidents or natural disasters occur, that is, ) Is carrying out tasks such as transferring desired equipment to a target point on behalf of a person.

When the UAV is operated, the user or the manager does not know the operation state of the UAV that is currently operating and can not prevent the occurrence of the failure, thereby preventing the fall accident.

In addition, there is a problem that the unmanned airplane is damaged due to the impact generated during takeoff and landing for unmanned flight.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems occurring in the prior art.

An apparatus for controlling an unmanned airplane according to an embodiment of the present invention includes an angular velocity sensing unit for sensing an angular velocity of an unmanned airplane and outputting an angular velocity sensing signal in a corresponding state, a position information acquiring unit for acquiring and outputting position information of the unmanned air vehicle, And a motor driving unit connected to the control unit and controlling the motions of the plurality of motors, respectively. The motor driving unit may include a communication unit for communicating with the angular velocity sensor, the position information obtaining unit, , The operation control unit collects state data of the unmanned airplane for each setting by using the signals output from the angular velocity sensing unit and the position information acquiring unit and transmits the state data to the user terminal through the communication unit.

The communication unit may be a 3DR radio transceiver.

The state data may include a gradient direction and an inclination degree determined by the angular velocity sensing signal output from the angular velocity sensing unit, and position information of the UAV acquired by the position information acquisition unit.

The state data may further include operation state data of the motor determined according to a control signal output to the motor driving unit.

According to another aspect of the present invention, there is provided a control method for an unmanned aerial vehicle including the steps of: determining whether a set time has elapsed; determining an inclination direction and an inclination degree based on an angular rate sensing signal output from the angular velocity sensing unit, Storing the position information acquired by the position information acquiring unit in the state data and storing the position information in the state data when the preset time elapses; Storing state data of the motor in addition to the state data, and transmitting state data including the inclination direction and the degree of inclination, the position information, and the operation state data of the motor to the user terminal through the communication unit .

According to this aspect, the state data of the UAV is transmitted to the user terminal apart from the UAV, such as the ground, at every set period, and the operation state of the UAV is outputted through the user terminal.

Therefore, the user of the user terminal accurately grasps the current operation state of the UAV by using the state data output through the user terminal, and thereby accurately grasps the flight state and the flight path of the UAV.

In addition, since the current operation state of the UAV is accurately determined, it is possible to prevent the accident from occurring because the emergency emergency can be quickly taken when the abnormal flight is performed, and the fall position can be inferred even if a fall accident occurs. You can quickly and accurately correct your probation.

1 is a block diagram of an unmanned aerial vehicle control apparatus according to an embodiment of the present invention.
2 to 5 are operational flowcharts of a controller for an unmanned aerial vehicle 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.

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, but it should be understood that there may be other elements in between do. 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.

Hereinafter, an apparatus and a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.

First, referring to FIG. 1, an unmanned aerial vehicle control system for controlling the operation of the UAV according to an embodiment of the present invention will be described in detail.

1, the UAV control system includes a user terminal 100, a user terminal 100, an unmanned airplane control device 200 for wireless communication, and a remote controller (300).

The user terminal 100 is a personal terminal capable of wireless communication such as a smart phone, a smart tablet, a personal computer, etc., and is connected to an input unit, a control unit connected to the input unit, A display unit connected to the control unit, and a communication unit connected to the control unit.

The input unit is a device for inputting data and commands desired by the user of the user terminal 100.

The control unit controls the operation of the user terminal 100 and transmits the coordinates of the flight to the unmanned airplane control device 200 through wireless communication with the unmanned airplane control device 200.

Also, the control unit 200 receives the status data transmitted from the unmanned airplane control device 200 and periodically outputs the received status data to the display unit.

 The storage unit is a memory, which stores data and information necessary for the control operation of the control unit, and status data periodically transmitted from the unmanned air navigation control device 200. [

The communication unit is a device for wireless communication with the unmanned airplane control device 200, and may be a 3DR wireless transceiver.

 The display unit is a display device that outputs data output from the control unit or state data transmitted from the unmanned airplane control device 200 according to the control operation of the control unit.

The display unit may be a liquid crystal display (LCD), an organic light emitting display (OLED), or the like.

The UAV controller 200 includes an angular velocity sensor 11 for detecting an angular velocity of an unmanned airplane and outputting an angular velocity detection signal in a corresponding state, a position information acquiring unit 20 for determining a position of the UAV and outputting position information of the UAV, A remote control signal receiver 13 for receiving a remote control signal transmitted from the remote controller 300 and an operation control unit 12 connected to the remote signal receiver 13, A storage unit 21 connected to the operation control unit 20, a communication unit 30 connected to the operation control unit 20, a state transceiver unit 40 connected to the operation control unit 20, and an operation control unit 20 connected to the operation control unit 20 A motor driving unit 50 and a plurality of motors 61-64 connected to the motor control unit 50. [

The angular velocity sensing unit 11 may be a gyro sensor.

The position information obtaining unit 12 obtains the position information of the corresponding unmanned airplane equipped with the unmanned airplane control device 200 through a Global Navigation Satellite System (GNSS) and outputs the acquired position information to the operation control unit 20.

GNSS means a navigation system capable of calculating the position of an unmanned airplane using a radio wave signal received from a satellite (not shown).

A specific example of GNSS is a GPS (Global Positioning System), a Galileo, a GLONASS (Global Orbiting Navigational Satellite System), a COMPASS, an Indian Regional Navigational Satellite System (IRNSS), a Quasi-Zenith Satellite System .

The position information obtaining unit 12 of the UAV according to the embodiment of the present invention can obtain the position information (e.g., the longitude value and the latitude value) of the UAV by receiving the GNSS signal serviced in the area where the UAV is located have.

The remote signal receiving unit 13 is a receiving unit for receiving the remote control signal outputted from the remote controller 300 as described above and the remote control signal received by the remote signal receiving unit 13 is inputted to the operation control unit 20 .

 The operation control unit 20 controls the operation of the plurality of motors 61-64 so as to maintain the horizontal position of the unmanned airplane using the angular velocity detection signal output from the angular velocity detection unit 11, And controls the operation of the motors 61-64 so that the UAV can fly to the final destination using the current position of the UAV and the stored current coordinates.

The operation control unit 30 collects data on the operation state of the angular velocity sensing unit 11, the position information obtaining unit 12 and the motor for each set time and transmits the data to the user terminal 10 as state data of the unmanned air vehicle using the communication unit 30. [ (100).

The storage unit 21 stores data necessary for operation of the UAV, data generated during operation, and the like.

The communication unit 30 is a communication module for performing wireless communication with the user terminal 100, and may be a 3DR wireless transceiver.

The status display unit 40 is a display unit for displaying the operation status of the position information obtaining unit 12 and may be a light emitting diode (LED).

The motor driving unit 50 includes four motors involved in the flight of the UAV, a left motor located on the left side of the UAV, a right motor located on the right side of the UAV, The front motor located in the front portion of the UAV, and the rear motor located in the upper portion of the UAV.

In this example, these four motors 61-64 may each be a DC motor.

The UAV controller 200 according to the present embodiment may include a timer that is located inside or outside the operation control unit 20 and counts the current time and time.

The operation of the unmanned aerial vehicle control system having such a structure will be described.

First, when power required for operation of the UAV is supplied through a power unit (not shown), the operation control unit 20 starts operation (S10).

Accordingly, the operation control unit 20 determines whether a flight signal is input by operation of a remote control unit 300 or a flight switch (not shown) mounted on the unmanned airplane (S11).

When the flight signal is inputted, the operation control unit 20 reads the initial flight drive data stored in the storage unit 21 (S1), and controls the operation of the motor drive unit 500 according to the read initial flight drive data The initial flight is performed to control the take-off operation of the unmanned aerial vehicle (S13).

However, when the flight signal is not input, the operation control unit 20 determines whether the flight signal is continuously input.

After the initial flight is controlled and the take-off operation of the unmanned airplane is performed, the operation control unit 20 determines whether the flight coordinates are transmitted from the user terminal 100 (S14).

The flight coordinates are input by the user of the user terminal 100 through the input unit and then transmitted to the UAV 200 using the communication unit.

Accordingly, the flight coordinates transmitted to the unmanned airplane control device 200 are received by the communication unit 30 and input to the operation control unit 20.

After the initial flight is completed, if the flight coordinates are not transmitted from the user terminal 100, the operation control unit 20 determines whether a flight stop signal is input due to the switch operation mounted on the remote controller 300 or the unmanned airplane (S150 .

If the flight stop signal is not input during the set time, the operation control unit 20 proceeds to step S13 to maintain the initial flight state.

However, if the flight stop signal is not input until the set time has elapsed, the operation control unit 20 determines that the current final destination has not been changed at the previous final destination.

Accordingly, the operation control unit 2 reads the previous flight coordinates stored in the storage unit 21 (S16), and stores the read previous flight coordinates in the storage unit 21 as the current flight coordinates.

Accordingly, the flight operation of the UAV can be controlled according to the newly stored current flight coordinates.

However, when the flight stop signal is input in step S15, the operation control unit 20 reads the landing driving data from the storage unit 21 (S19), and outputs the landing driving data to the motor driving unit 50 (S110) so that the unmanned airplane landed on the ground.

In this example, the initial flight driving data and the landing driving data define the type of the motor 61-64 to be driven according to the time change, the number of revolutions of the corresponding motor according to the time change, and the like.

The operation control unit 20 stores the transmitted flight coordinates as the current flight coordinates in the storage unit 21 (S111).

Current flight coordinates have flight coordinates to be moved in chronological order.

Next, the operation control unit 20 controls the flight of the unmanned airplane to the final destination using the current flight coordinates, the angular velocity sensing unit 11, and the signals output from the position information acquisition unit 12 (S112).

When the unmanned airplane arrives at the final destination by the flight control of the operation control unit 20, the operation control unit 20 reads the landing driving data from the storage unit 21 and outputs the landing driving data to the motor driving unit 50 according to the landing driving data. So that a plurality of motors 61-64 can be operated in accordance with landing.

By this operation, the unmanned airplane performs the flight to the final destination according to the flight coordinates transmitted from the user terminal 100.

Next, a subroutine of the operation control unit 20 for flight control will be described with reference to FIGS. 3 to 5. FIG.

As shown in Figs. 3 to 5, the subroutine of the operation control section 20 for flight control includes a tilt control routine, a travel control routine, and a state data transmission routine.

First, the operation of the tilt control routine S20 performed by the operation control unit 20 will be described with reference to Fig.

The operation control unit 20 reads the angular velocity sensing signal output from the angular velocity sensing unit 11 (S21), and determines the inclination direction and degree of tilt of the current unmanned aerial vehicle (S22).

Next, the operation control unit 20 selects a motor to change the current driving state among the four motors 61-62 using the determined inclination direction, and determines the number of rotations of the corresponding motor according to the determined degree of inclination.

If the determined inclination direction is tilted to the left according to the direction of the tilt, the operation control unit 20 controls the left motor 61 to rotate at a rotational speed higher than the current rotational speed, for example, .

In this way, the operation control unit 20 controls the operation state of at least one of the motors 61-64 according to the tilting state, according to the tilting state, and if the unmanned airplane stably maintains the horizontal position, .

Next, with reference to Fig. 4, the operation of the operation control unit 20 that carries out the travel control routine is controlled.

When the running control routine S30 is executed, the operation control unit 20 determines the current position information using the signal output from the position information obtaining unit 12 (S31, S32).

Next, the operation control unit 20 compares the current position with the current destination position, and controls the rotation speed of the corresponding motor among the motors 61-62 and the motors 61-64 to be operated, And the flight altitude can be changed by increasing or decreasing the number of rotations of the motors 61-64 (S33, S34).

Then, the operation control unit 20 determines whether there is a next destination to be moved, that is, the next flight coordinate to be moved (S34).

If there is a next destination, the operation control unit 20 stores the next destination to be moved to the current destination (S35). Then, the operation control unit 20 proceeds to step S31, ) To control the flight operation of the UAV.

However, if there is no next destination, the operation control unit 20 determines that the destination to be moved does not exist and reaches the final destination (S36).

Next, the state data transfer routine S40 performed by the operation control unit 20 will be described with reference to FIG.

As shown in Fig. 5, when the state data transmission routine S40 is reached, the operation control section 20 determines whether the set time has passed (S41).

When the set time stored in the storage unit 21 has elapsed, the operation control unit 20 determines the current tilt direction and tilt degree by the angular velocity detecting unit 11, and then, Information is stored in the storage unit 21 as current state data (S42, S43).

Next, the operation control unit 20 judges the current position information by using the signal output from the position information obtaining unit 12, and outputs the determined position information and the judgment time to the current state data stored in the storage unit 21 So that the state data further includes the position information.

The operation control unit 20 determines the state of the control signal applied to the current motor driving unit 50 and determines the operation state data of the present motor (for example, the type of the driven motor, the number of revolutions of each motor, etc.) From the storage unit 21 and further stores it in the current state data. As a result, the current state data includes the current tilt direction and the degree of inclination, the position information, and the operation state data of the motor and the time at which these data are generated.

When the current state data is generated, the operation control unit 20 transmits the generated state data to the user terminal 100 through the communication unit 30 (S47).

Accordingly, the control unit of the user terminal 100 outputs the status data transmitted through the communication unit to the display unit.

Since the state data of the UAV is generated and transmitted through the user terminal 100 at every set period by this operation, the user of the user terminal 100 determines the current state of the UAV and the current position, Is determined.

At this time, the collecting order of the state data collected for each set time (i.e., the tilt direction and the tilt degree, the position information, and the motor operation state data) may be changed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It belongs to the scope of right.

100: user terminal 200: unmanned airplane control device
11: angular velocity detecting unit 12: position information obtaining unit
13: Remote signal receiving unit 20: Operation control unit
21: storage unit 30: communication unit
40: status display section 50: motor driving section
61-64: Motor

Claims (5)

An angular velocity sensing unit for sensing an angular velocity of the UAV and outputting an angular velocity sensing signal in a corresponding state,
A position information acquisition unit for acquiring and outputting the position information of the unmanned air vehicle,
A communication unit for communicating with the user terminal,
The angular velocity sensing unit, the position information acquiring unit, an operation control unit connected to the communication unit,
A motor driving unit connected to the control unit and controlling the motions of the motors,
Lt; / RTI >
The operation control unit collects state data of the unmanned airplane for each setting by using the signals output from the angular velocity sensing unit and the position information obtaining unit, and transmits the state data to the user terminal through the communication unit
Unmanned aircraft control system. The method of claim 1,
Wherein the communication unit is a 3DR radio transceiver. The method of claim 1,
Wherein the state data includes a gradient direction and an inclination degree determined by the angular velocity sensing signal output from the angular velocity sensing unit, and position information of the UAV acquired by the position information acquisition unit. 4. The method of claim 3,
Wherein the state data further includes operation state data of the motor determined according to a control signal output to the motor driving unit. Determining whether a set time has elapsed,
Determining an inclination direction and an inclination degree by using the angular velocity detection signal output from the angular velocity sensing unit and storing the state data when the set time has elapsed,
Adding the position information obtained by the position information obtaining unit to the state data and storing the position information when the set time has elapsed,
Adding the operation state data of the plurality of motors to the state data in accordance with a control signal output to the motor driving unit when the set time has elapsed,
Transmitting the state data including the inclination direction and inclination degree, the position information, and the operation state data of the motor to the user terminal through the communication unit
And a control unit for controlling the unmanned aircraft.
KR1020150027722A 2015-02-27 2015-02-27 Appratus and method for controlling unmanned aerial vehicle KR20160105552A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102388079B1 (en) * 2020-10-27 2022-04-19 주식회사 베이리스 Operation system for unmanned aerial vehicle and operation method therefor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102388079B1 (en) * 2020-10-27 2022-04-19 주식회사 베이리스 Operation system for unmanned aerial vehicle and operation method therefor

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