KR20160107788A - Apparatus for tangible control of unmanned aerial vehicle and Method for control thereof - Google Patents

Abstract

The present invention relates to an apparatus for tangibly controlling an unmanned aerial vehicle and a control method thereof. According to the present invention, the apparatus for tangibly controlling an unmanned aerial vehicle controls an unmanned aerial vehicle which provides a user wearing a head mount with a photographed image, and comprises: a sensing data collection unit to collect sensed information from a first sensor to sense a movement of the head of the user, a second sensor to sense a height, and a third sensor to sense at least one among a location, a moving distance, a moving speed, and a foot movement of the user; a control unit to use the sensed information to generate a control signal for controlling an operation of the unmanned aerial vehicle linked to the head mount; and a communication unit to transmit the control signal to the unmanned aerial vehicle. According to the present invention, since the user can freely control the unmanned aerial vehicle by a movement of the user based on an image and a video using a camera of the unmanned aerial vehicle, an effect of observing a real situation is provided. An operating method is simple to control the unmanned aerial vehicle without having a special operating ability. Also, the user can control an additional function of a different unmanned aerial vehicle or perform other work using a hand.

Description

Technical Field [0001] The present invention relates to a tactile-type unmanned aerial vehicle control apparatus and a control method thereof,

More particularly, the present invention relates to a tactile-type unmanned airplane control device capable of controlling an unmanned airplane by a user's movement through a bodily-sensible user interface and a control method thereof will be.

Unmanned aerial vehicles that can be adjusted by radio waves have been used for reconnaissance purposes for the initial military purposes, and have recently been used in various fields such as high shooting, air quality measurement, pesticide spraying, and delivery.

Especially, in case that emergency disaster personnel do not arrive quickly due to traffic congestion in the important part of emergency response such as fire or disaster, it is necessary to use the unmanned airplane to quickly observe and judge the scene before arrival Or if the inside of the building is filled with smoke and the visibility can not be secured, the unmanned aircraft can be used to suppress the fire and rescue people.

In other words, if unmanned aircraft are used, it is possible to enter and observe areas where firefighting manpower is not accessible, and it is anticipated to help innovatively in finding people who need help in a fire or disaster area.

In order to utilize effectively in case of fire or disaster, it is important to control the unmanned airplane in detail.

Conventional unmanned aerial vehicle control technology is controlled by watching the unmanned airplane directly by the controller or by watching the image taken by the unmanned airplane through the remote controller. In the case of making adjustments while observing the unmanned aerial vehicle directly, there is a limit in utilizing it in a building or a disaster scene. Therefore, the unmanned airplane used in the field is remotely controlled by the user based on the screen provided by the unmanned aerial vehicle.

Unmanned aerial vehicles can be sent quickly to a fire or disaster site on a GPS basis, but it is necessary for the user to navigate the unmanned aerial vehicle directly within the GPS range of the fire or disaster site or within the disaster area.

This technique of remotely controlling the unmanned airplane is very difficult, and it is necessary to train a professional unmanned aircraft. Therefore, it is difficult to utilize unmanned aircraft in the fire or disaster area because of the cost incurred for the training of professional manpower, the manpower required for the unmanned airplane,

The technology that is the background of the present invention is disclosed in Korean Patent No. 10-0990386 (published on Nov. 2, 2010).

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tactile-type unmanned airplane control device and a control method thereof, which can control an unmanned airplane by a user's movement through a bodily-sensible user interface.

According to another aspect of the present invention, there is provided a controller for a driverless unmanned aerial vehicle (ATC) for controlling an unmanned airplane that provides an image of a user wearing a head mount, A sensing data collecting unit for collecting sensed information from a third sensor that senses at least one of a first sensor for sensing the user's height, a second sensor for sensing the height of the user, and a movement, A controller for generating a control signal for controlling the operation of the unmanned aerial vehicle linked to the head mount using the sensed information, and a communication unit for transmitting the control signal to the unmanned air vehicle.

The third sensor may be attached to a beacon installed on a floor or a motion platform installed on the floor.

The controller may generate a control signal for raising or lowering the height of the UAV in proportion to a change in the height of the head of the user.

When the user presses the recognition stop button provided on the head mount, the controller can regard the height of the head of the user as being unchanged and maintain the height of the unmanned aerial vehicle constant.

The control unit may generate a control signal for controlling the traveling direction of the UAV according to the face direction of the user.

Wherein the control unit controls the generation of a control signal for controlling the traveling direction of the unmanned airplane in correspondence with the face direction of the user in the state where the unmanned airplane is hovering and controls the camera shooting direction of the unmanned airplane Signal can be generated.

Wherein the control unit causes the unmanned airplane to move the unmanned airplane after matching the camera shooting direction of the unmanned airplane with the traveling direction of the unmanned airplane when the operation corresponding to the move command is detected in the hovering state of the unmanned airplane A control signal can be generated.

The control unit may control the movement distance of the UAV according to at least one of the position, the movement distance, and the foot width of the user, and may include a control signal for controlling the movement speed of the UAV according to the movement speed of the user Can be generated.

According to another embodiment of the present invention, there is provided a method of controlling an unmanned airplane using an apparatus for controlling an unmanned aerial vehicle that provides a captured image to a user wearing a head mount, the method comprising: Collecting information sensed from a second sensor for sensing a height and a third sensor for sensing at least one of a position, a movement distance, and foot motion of the user, and interlocking with the head mount using the sensed information, Generating a control signal for controlling the operation of the unmanned aerial vehicle, and transmitting the control signal to the unmanned air vehicle.

As described above, according to the present invention, since the user can freely control the UAV through the movement of the user based on the image and the image through the camera of the UAV, This is simple, so you can control an unmanned airplane without special handling capability.

Further, since the user can control the UAV by the movement of the user's head or leg, it is possible to control the additional function of another UAV by hand or perform other tasks.

FIG. 1 is a view showing a haptic unmanned aerial vehicle control system according to an embodiment of the present invention.
2 is a configuration diagram of a haptic drone control device according to an embodiment of the present invention.
3 is a flowchart of a control method of the haptic unmanned aerial vehicle control apparatus according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. 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.

FIG. 1 is a view showing a haptic unmanned aerial vehicle control system according to an embodiment of the present invention.

The haptic unmanned aerial vehicle control system includes the haptic unmanned aerial vehicle control device 100, the unmanned airplane 200, the head mount 300, and the motion platform 400.

The sensible UAV controller 100 senses the face direction of the head mount 300 with the first sensor and senses the head height of the user through the mounted second sensor, And generates a control signal for controlling the operation of the UAV 200 using at least one of distance,

At this time, when generating the control signal, the haptic assisted unmanned airplane control device 100 receives the position information and the flight information from the UAV 200 and refers to the received information.

The haptic-type unmanned aerial vehicle control device 100 transmits a control signal generated to control the operation of the UAV 200 to the UAV 200.

The unmanned airplane 200 is a flight capable of flying and steered by a radio wave induction without a pilot, and may be referred to as a Dron or Unmanned Aerial Vehicles (UAV). In the domestic aviation law, the unmanned airplane 200 has a self weight of 150 kg or less except fuel, and an unmanned airplane exceeding 150 kg is defined as an unmanned airplane. However, the unmanned airplane 200 according to the embodiment of the present invention does not use.

The unmanned airplane 200 is basically the same as a manned aircraft, and a camera, a GPS, a sensor, a communication system, and the like can be equipped with the technology necessary for firefighting and disaster prevention by the user.

The unmanned airplane 200 also has a helicopter or small aircraft model with a propeller, but with a propeller guard suitable for moving in or out of the building, or a circular cage enclosing the propeller and the body, It is not limited.

Can also be transmitted to UAV 200 360 ^o rotation is possible and, at least one camera attached to a photographed image tangible drone control device 100 or the head mount (300).

The head mount 300 is mounted on a user's head to display a three-dimensional screen, and detects movement of the head in real time.

Each of the right and left lenses of the head mount 300 provides a stereoscopic image to the user by providing a concave and curved panoramic display image at a wide viewing angle and the head mount 300 is provided with an image received from the unmanned airplane 200 The image is displayed on the stereoscopic screen.

The head mount 300 can utilize the stereoscopic screen display and the motion detection in a range of 360 ^{o, so} that the head mount 300 can interlock with the UAV 200 according to the setting of the deceleration type UAV controller 100.

Also, the head mount 300 includes a recognition stop button or various control buttons, and can detect only the direction of the face without sensing the height of the user's head through the recognition stop button.

The motion platform 400, together with the head mount 300, detects a user's body motion or movement and provides the user with a realistic experience. When the user moves on the motion platform 400 with the sensor mounted thereon, And sends the data to the haptic-type unmanned airplane control device 100. [

The motion platform 400 is capable of various movements such as walking or running in a 360-degree forward direction.

In addition, the motion platform 400 can also communicate directly with a mobile device or PC by including Bluetooth.

Although the present invention has been described as including the motion platform 400 as the haptic unmanned aerial vehicle control system according to the embodiment of the present invention, it is not limited thereto, and the sensor and the sensor may be installed in a specific space to detect the position, the moving distance, It is available if it can detect the movement of the user by installing a communication device. For example, a beacon can measure a user's position.

2 is a configuration diagram of a haptic drone control device according to an embodiment of the present invention.

A controller 130 and a communication unit 130 and transmits information sensed by the sensing data collecting unit 110 to the sensing unit 110. The control unit 120 includes a sensing unit 130, The first sensor 140, the second sensor 150, and the third sensor 160. The first sensor 140, the second sensor 150,

The sensing data collection unit 110 includes a first sensor 140 for sensing the head movement of the user wearing the head mount 300, a second sensor 150 for sensing the height, And collects the sensed information from the third sensor 160 that senses the stride or travel speed.

The sensing data collection unit 110 collects at least one of the moving distance, the foot stride, and the moving speed through the third sensor located on the floor mounted motion platform 400.

The control unit 120 controls the operation of the UAV 200 interlocked with the head mount 300 using at least one of the height, face direction, foot stride, movement distance, Signal.

The communication unit 130 transmits the control signal generated by the haptic unmanned aerial vehicle control device 100 to the unmanned airplane 200.

The communication unit 130 may receive location information and flight information of the UAV 200. The positional information includes altitude information and can be known by GPS mounted on the UAV 200. The flight information is information on the speed information, navigation information, attitude information, engine feedback data, and sensor feedback data of the UAV 200 One or more are included.

The communication unit 130 may transmit the image using Wi-Fi using the short-range wireless communication method with the UAV 200 or transmit and receive the control signal and the image using the long-distance wireless communication method through the LTE (fourth generation mobile communication) network .

The communication unit 130 includes a head mount 300 and a motion platform 400. The head mount 300 and the motion platform 400 include wired and wireless networks based on IP (Internet Protocol), and various networks capable of transmitting and receiving data using a specific protocol, Lt; / RTI >

The first sensor 140 is a motion sensing sensor, and is mounted on the head mount 300 to sense movement of the user's head.

The second sensor 150 is a sensor mounted on the head mount 300 or a front camera sensor or a part of the user's body, and may be an infrared sensor or the like, and senses the height of the user's head.

The third sensor 160 is a motion sensor installed on the motion platform 400 or a beacon installed in the space, and detects the position, the moving distance, the moving speed or the motion of the user.

3 is a flowchart of a control method of the haptic unmanned aerial vehicle control apparatus according to the embodiment of the present invention.

First, the user wearing the head mount 300 can view an image photographed from the UAV 200, and the haptic UAV controller 100 includes a first sensor 140 A second sensor 150 sensing the height, and a third sensor 160 sensing at least one of the position, movement distance, and movement speed of the user (S310).

The first sensor 140 is attached to the head mount 300 worn by the user and senses the direction of the head movement of the user and the second sensor 150 is mounted on the head mount 300, The third sensor 160 detects at least one of the position, the moving distance, the foot width, and the moving speed of the user, and the first sensor 140, the second sensor 150, The third sensor 160 transmits the sensed data to the haptic assisted unmanned airplane control device 100.

At this time, the second sensor 150 sensing the height of the user's head can be mounted on the head mount 300 to detect movement of the user. However, the second sensor 150 can be attached to the thigh of the user rather than on the head mount 300, You can measure the height of your head or you can measure the height of your head with a camera-based sensor from the front of the user.

The third sensor 160 for sensing the movement of the user's foot may be mounted on the motion platform 400 to sense movement of the user on the motion platform 400, To detect at least one of the position, the moving distance, the foot stride, or the moving speed of the user.

Next, the declination-free unmanned airplane control device (100) controls the unmanned airplane (200) linked to the head mount by using at least one of the height, face direction, foot stride, A control signal for controlling the operation is generated (S320).

The sensible-type UAV controller 100 measures the head height of a user standing on a floor or a sitting posture through the first sensor 140, and calculates the height of the user's head height in accordance with the difference between the reference height and the head height of the user. Thereby generating a control signal for raising or lowering the height of the substrate 200.

That is, the declination control type UAV controller 100 sets the height set at the lowest such as the floor or the sitting position as the reference height, matches the reference height with the position where the UAV 200 landed on the floor, Matching the highest position and the height at which the UAV 200 can rise to the highest altitude.

For example, suppose that the height of the head of the user in the sitting position is 100 cm, the height of the head of the user is correctly 170 cm, and the height at which the UAV 200 can rise to the maximum height is 500 m. When the height of the user's head sensed by the first sensor 140 is 100 cm, the haptic controller 10 does not control the height of the UAV 200 placed on the floor. If the head height of the user is changed to 170 cm, the deceleration type UAV controller 100 generates a control signal for elevating the UAV 200 to the highest altitude.

If the height of the user's head is between 100 cm and 170 cm, the tactile feedback control system 100 matches the height of the unmanned airplane 200 between 0 and 500 m, Signal.

At this time, when the user presses the recognition stop button provided on the head mount 300, the declination control type UAV controller 100 fixes the detected head height of the user at the time of pressing the button, presses the button, The height of the UAV 200 is maintained.

If the user desires to release the head height of the fixed user, the user can press the recognition stop button provided on the head mount 300 again or release the separately installed recognition button, but this can be easily changed and set by the user .

In addition, the sensible-feeling type UAV controller 100 may generate a control signal for controlling the traveling direction of the UAV 200 corresponding to the face direction of the user recognized through the first sensor 140. [

For example, when the face of the user faces the right direction, the haptic-assisted unmanned airplane control device 100 can generate a signal for controlling the traveling direction of the UAV 200 to the right. In the same way, the sensible-type UAV controller 100 can generate a control signal for the traveling direction of the UAV 200.

That is, the tactile-type UAV controller 100 can generate a control signal that changes the angle of the advancing direction of the UAV 200 by a corresponding angle at which the user moves.

In the meantime, only when the unmanned airplane hovering in place, the declination control type UAV controller 100 controls the traveling direction of the UAV 200 in correspondence with the face direction of the user recognized through the first sensor 140 And the control signal for controlling the shooting direction of the camera included in the UAV 200 can be generated.

For example, when the user's face direction is directed to the right, the haptic drone control device 100 can generate a signal for controlling the camera shooting direction of the UAV 200 to the right. In the same way, the deceleration type unmanned airplane control device 100 can generate a control signal for the camera shooting direction of the unmanned airplane 200.

That is, when the unmanned airplane is in the hovering state, the haptic-assisted unmanned airplane control device 100 can generate a control signal for changing the angle of the camera-capturing direction of the unmanned airplane 200 by a corresponding angle at which the user moves.

When the unmanned aircraft has finished hovering, the camera must be turned in the front direction again to capture the front.

That is, the haptic-type unmanned aerial vehicle control apparatus 100 can generate a control signal for turning the angle of the camera shooting direction of the UAV 200 to the original state.

Here, the hovering state refers to a state in which the UAV 200 does not move while maintaining a certain altitude. When the user stops moving for a predetermined time or longer during the adjustment of the UAV 200, The aircraft control apparatus 100 transmits a control signal for switching the state to the hovering state to the unmanned airplane 200.

When the user senses the movement of the user through the second sensor 150 or the third sensor 160 in such a hovering state, the haptic assisted unmanned airplane control device 100 transmits a control signal for canceling the hovering state of the unmanned airplane 200 And transmits it to the UAV 200. The controller 100 adjusts the camera direction to coincide with the traveling direction of the UAV 200 and generates a control signal to control the traveling direction of the UAV 200 according to the traveling direction of the user.

Next, the sensible-type UAV controller 100 controls the movement distance of the UAV 200 in accordance with at least one of the position, the movement distance, and the foot motion distance of the user, and controls the movement distance of the UAV 200, It is possible to generate a control signal for controlling the moving speed of the motor.

That is, if the stride of the foot of the user is divided into N steps according to the width and the travel distance of the UAV 200 is set according to the N, the sensible UAV controller 100 can detect the foot sensed through the third sensor 160 The movement control signal can be generated so that the UAV 200 moves in response to the stride step.

In addition, the sensible-type UAV controller 100 measures the speed at which the user is stopped and the fastest speed with respect to the user's moving speed, thereby matching with the stop and maximum speed of the UAV 200. When the movement speed of the user is sensed through the third sensor 160, the control signal of the UAV 200 can be generated.

The sensible-type UAV controller 100 transmits the generated control signal to the UAV 200 (S330).

In response to the control signal, the unmanned airplane 200 receives the control signal, changes the left and right direction of rotation, and transmits the captured image to the head mount 300 in real time.

The sensible-type UAV controller 100 receives the position information and the flight information of the UAV 200 in real time, refers to the received position information and the flight information, and determines whether the UAV 200 is operating normally . ≪ / RTI >

Also, the user can confirm the current state and the normal operation state of the UAV through the head mount, through the image captured by the UAV 200.

As described above, according to the embodiment of the present invention, since the user can freely control the UAV through the movement of the user based on the image and the image through the camera of the UAV, , The maneuvering method is simple, and it is possible to control the unmanned airplane without special steering ability.

Further, since the user can control the UAV by the movement of the user's head or leg, it is possible to control the additional function of another UAV by hand or perform other tasks.

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: a sensible-type unmanned airplane control device 110: a sensing data collecting unit
120: control unit 130:
140: first sensor 150: second sensor
160: Third sensor 200: Unmanned aerial vehicle
300: Head mount 400: Motion platform

Claims (16)

A tactile-type unmanned aerial vehicle control apparatus for controlling an unmanned aerial vehicle that provides a photographed image to a user wearing a head mount,
A second sensor for sensing a height of the user, and a third sensor for sensing at least one of a position, a moving distance, a moving speed, and a foot motion of the user, A sensing data collecting unit collecting the sensing data;
A control unit for generating a control signal for controlling an operation of the unmanned aerial vehicle linked to the head mount using the sensed information; And
And a communication unit for transmitting the control signal to the unmanned air vehicle. The method according to claim 1,
Wherein the third sensor is attached to a beacon installed on a motion platform or a space installed on the floor. The method according to claim 1,
Wherein,
Wherein the control unit generates a control signal for raising or lowering the height of the UAV in proportion to a change in the height of the head of the user. The method of claim 3,
When the user presses the recognition stop button provided on the head mount,
Wherein,
Wherein the height of the unmanned airplane is maintained constant by considering that there is no change in the height of the head of the user. The method according to claim 1,
Wherein,
And generates a control signal for controlling a traveling direction of the UAV according to a face direction of the user. 6. The method of claim 5,
Wherein,
The controller controls generation of a control signal for controlling the traveling direction of the unmanned airplane and generates a control signal for controlling the camera shooting direction of the unmanned airplane in correspondence with the face direction of the user in the state where the unmanned airplane is hovering [Withdrawn] CONTROLLED EQUIPMENT CONTROLLER. The method according to claim 6,
Wherein,
Generating a control signal for moving the unmanned airplane after moving the camera shooting direction of the unmanned airplane to the moving direction of the unmanned airplane when the unmanned airplane is in the hovering state and an operation corresponding to the move command is detected by the user A control unit for controlling the unmanned airplane. The method according to claim 1,
Wherein,
Wherein the control unit controls the moving distance of the UAV according to at least one of the position, the moving distance, and the foot stride of the user, and generates a control signal for controlling the moving speed of the UAV according to the moving speed of the user Aircraft control device. A method for controlling an unmanned airplane using an apparatus for controlling an unmanned air vehicle providing a photographed image to a user wearing a head mount,
Collecting information sensed by a first sensor that senses movement of the user's head, a second sensor that senses the height, and a third sensor that senses at least one of the user's position, movement distance, or foot motion;
Generating a control signal for controlling an operation of an unmanned air vehicle interlocked with the head mount using the sensed information; And
And transmitting the control signal to the unmanned airplane. 10. The method of claim 9,
Wherein the third sensor measures a position or a moving speed of a user attached to a beacon installed on a floor or a motion platform mounted on the floor. 10. The method of claim 9,
The step of generating the control signal of the unmanned aerial vehicle includes:
Wherein the controller generates a control signal for raising or lowering the height of the UAV in proportion to a change in the height of the head of the user. 12. The method of claim 11,
When the user presses the recognition stop button provided on the head mount,
The step of generating the control signal of the unmanned aerial vehicle includes:
The height of the unmanned airplane is kept constant by considering that there is no change in the height of the head of the user. 10. The method of claim 9,
The step of generating the control signal of the unmanned aerial vehicle includes:
And generating a control signal for controlling a traveling direction of the UAV according to a face direction of the user. 14. The method of claim 13,
The step of generating the control signal of the unmanned aerial vehicle includes:
The controller controls generation of a control signal for controlling the traveling direction of the unmanned airplane and generates a control signal for controlling the camera shooting direction of the unmanned airplane in correspondence with the face direction of the user in the state where the unmanned airplane is hovering [Withdrawn] CONTROLLING METHODS OF UTILIZING UAV. 15. The method of claim 14,
The step of generating the control signal of the unmanned aerial vehicle includes:
Generating a control signal for moving the unmanned airplane after moving the camera shooting direction of the unmanned airplane to the moving direction of the unmanned airplane when the unmanned airplane is in the hovering state and an operation corresponding to the move command is detected by the user A method for controlling a tactile type unmanned airplane. 10. The method of claim 9,
The step of generating the control signal of the unmanned aerial vehicle includes:
Wherein the control unit controls the movement distance of the UAV according to at least one of the position, the movement distance, and the footstep of the user, and generates a control signal for controlling the movement speed of the UAV according to the movement speed of the user Aircraft control method.

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