KR20160125249A - Plural of drone controlling system and method thereof - Google Patents
Plural of drone controlling system and method thereof Download PDFInfo
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- KR20160125249A KR20160125249A KR1020150056188A KR20150056188A KR20160125249A KR 20160125249 A KR20160125249 A KR 20160125249A KR 1020150056188 A KR1020150056188 A KR 1020150056188A KR 20150056188 A KR20150056188 A KR 20150056188A KR 20160125249 A KR20160125249 A KR 20160125249A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/02—Initiating means
- B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
- B64C13/20—Initiating means actuated automatically, e.g. responsive to gust detectors using radiated signals
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/02—Input arrangements using manually operated switches, e.g. using keyboards or dials
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- B64C2201/127—
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- B64C2201/146—
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- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
Description
The present invention relates to a plurality of drones control systems and a control method thereof, and more particularly, to a system and a method capable of integrally managing a plurality of drones remotely.
Description of the Related Art [0002] In recent years, mobile phones have been changed from a feature phone to a smart phone (Smasrt phone) due to rapid development of information processing and communication technologies. In addition to functioning as a telephone, smart phones perform functions of existing PCs, including Internet functions. Such smart phones are becoming an essential element in the economic and social development of a country. Accordingly, a variety of remote control and surveillance technologies have been developed through the development of various application programs (hereinafter abbreviated as "apps") using smart phones and a combination of electronic devices interlocked with the apps.
Currently, smartphone operating systems are largely represented by iOS for Apple iPhone and Google for Android. Unlike the iOS operating system, which is a closed operating system, the operating system is widely used by many mobile phone manufacturers and mobile communication companies.
In particular, the Android operating system allows anyone to develop an app through the Android ADK (Android Open Accessory Development Kit). Recently, Google released ADK and it is an Android compatible I / O peripheral board, W platform, Arduino is officially selected.
The Arduino is an open source based H / W platform that provides an easy development environment. It has easy development tools, USB-based connection interface, low cost of H / W, open all structures and can build applications without deep knowledge of hardware. . In particular, Arduino accepts values from many switches and sensors and provides interactivity with the surrounding environment by controlling electrical devices such as LEDs and motors.
One of the great advantages of this Arduino is that it makes it easy to operate the microcontroller. In general, AVR programming can be compiled and uploaded via USB, while AVR programming must be compiled with WinAVR and uploaded via an ISP device. In addition, Arduino is relatively inexpensive compared with other modules, and supports OS such as Windows, Mac OSX and Linux, and Arduino's circuit diagram is released according to CCL, so anyone can directly create and modify board .
There is a limitation in controlling one object to be controlled with respect to one object in controlling the object to be controlled by using the arduino.
Therefore, in the present invention, a smartphone application based on Android is developed and a smartphone application based on the developed Android is executed to control a plurality of objects to be controlled.
It is an object of the present invention, which is devised to solve the above-described problems, to provide an Android-based Android terminal, a management server, and a plurality of drones in order to control a plurality of drones to be controlled devices by executing an Android application installed in an Android terminal The present invention provides a plurality of drones control systems and methods capable of managing a plurality of drones connected to a plurality of android terminals through a single management server.
Technical Solution According to a first aspect of the present invention,
An Android terminal connected to the corresponding dron according to a drive request command of the corresponding dron supplied from the outside, for driving the corresponding dron and collecting and transmitting the image information, position information and attitude information of the corresponding dron in operation,
And a management server for receiving and processing at least one of image information, position information, and attitude information collected from the connected Android terminal according to an information request command received from the user terminal, and transmitting the processed information to the user terminal do.
Preferably, the Android terminal includes:
A short range communication module for receiving an information request command of the user terminal received through the management server and connecting the information request command to the corresponding dron according to a connection command of the corresponding dron provided from the management server;
A camera module for driving the corresponding drone through the local communication module and collecting image information of the driven drone;
A sensor module provided with a plurality of sensors for collecting position information and attitude information of the drone;
A first data handler for parsing at least one of image information of the camera module and position information and attitude information of the sensor module so as to be recognized by the Android application and then converting the information into byte data;
The first marble link handler receiving the connection request command and the information request command of the corresponding drone supplied from the management server, converting the received data into marble link data, and transmitting the converted marble link data to the drone, the camera module, and the sensor module; And
And a first socket module for bidirectional communication for transferring byte video data of a corresponding dron of the first data handler to the management server.
Preferably, the management server further comprises:
Receives the connection request command of the corresponding drones generated from the user terminal, and transmits the connection request command to the Android terminal.
Preferably, the management server further comprises:
A second socket module for performing bidirectional communication with the Android terminal;
A user storage module storing user terminal information including an IP address and personal information on the web;
A second marble link handler for converting the connection request command and the information request command of the corresponding dron supplied from the user terminal into marble link data and transmitting the same to the Android terminal;
A command handler for managing a connection request command and an information request command supplied from the user terminal;
A second data handler for parsing image data of the corresponding diagram of the Android terminal supplied from the second socket module;
A data storage module for temporarily storing byte image data of the Android terminal received through the second socket module;
A web GUI (Graphic User Interface) for converting the image data of the data storage module into a graphic form according to an information request command of the corresponding dron supplied from the user terminal matched with the user information previously stored in the user storage module and delivering the graphic data;
And a first web socket module for transmitting the graphic image data of the web GUI to a user terminal matched with user information previously stored in the user storage module.
Preferably, the management server further comprises:
And a user interface for displaying image data of a web GUI received through the first web socket module and transmitting the image data to the user terminal,
Wherein the user interface comprises:
A second web socket module for receiving image data supplied from a first web socket module of the management server;
And a map of an open source application displaying image data of the second web socket module to a plurality of drones. A third data handler for parsing the state of the sensor module of the plurality of drones, the image information of a plurality of drones that are updated in real time, and the image information of the plurality of drones;
And an interface module for converting the parsed map of the third data handler, the state of the sensor module, the real-time image, and the captured image into a format matched with the format of the user terminal.
Preferably, the user interface further comprises:
And transmits the information request command of a corresponding one of the plurality of drones selected from the user terminal to the management server through the second web socket module.
Technical Solution According to a second aspect of the present invention,
A local communication module for receiving an information request command of a user terminal received through the management server and connecting the information request command to the corresponding dron according to a connection command of the corresponding dron provided from the management server;
A camera module for driving the corresponding drone through the local communication module and collecting image information of the driven drone;
A sensor module provided with a plurality of sensors for collecting position information and attitude information of the drone;
A first data handler for parsing at least one of image information of the camera module and position information and attitude information of the sensor module so as to be recognized by the Android application and then converting the information into byte data;
The first marble link handler receiving the connection request command and the information request command of the corresponding drone supplied from the management server, converting the received data into marble link data, and transmitting the converted marble link data to the drone, the camera module, and the sensor module; And
And a first socket module for bidirectional communication for transferring byte video data of a corresponding dron of the first data handler to the management server.
Technical Solution According to a third aspect of the present invention,
A second socket module for performing bidirectional communication with the Android terminal;
A user storage module storing user terminal information including an IP address and personal information on the web;
A second marble link handler for converting the connection request command and the information request command of the corresponding dron supplied from the user terminal into marble link data and transmitting the same to the Android terminal;
A command handler for managing a connection request command and an information request command supplied from the user terminal;
A second data handler for parsing image data of the corresponding diagram of the Android terminal supplied from the second socket module;
A data storage module for temporarily storing byte image data of the Android terminal received through the second socket module;
A web GUI (Graphic User Interface) for converting the image data of the data storage module into a graphic form according to an information request command of the corresponding dron supplied from the user terminal matched with the user information previously stored in the user storage module and delivering the graphic data;
And a first web socket module for transmitting the graphic image data of the web GUI to a user terminal matched with user information previously stored in the user storage module.
Preferably, the management server further comprises:
And a user interface for displaying image data of a web GUI received through the first web socket module and transmitting the image data to the user terminal,
Wherein the user interface comprises:
A second web socket module for receiving image data supplied from a first web socket module of the management server;
And a map of an open source application displaying image data of the second web socket module to a plurality of drones. A third data handler for parsing the state of the sensor module of the plurality of drones, the image information of a plurality of drones that are updated in real time, and the image information of the plurality of drones;
And an interface module for converting the parsed map of the third data handler, the state of the sensor module, the real-time image, and the captured image into a format matched with the format of the user terminal.
Preferably, the user interface further comprises:
And transmits the information request command of a corresponding one of the plurality of drones selected from the user terminal to the management server through the second web socket module.
Technical Solution According to a fourth aspect of the present invention,
Connecting the management server and an Android terminal of the corresponding Doron in accordance with a connection request command of the user terminal to drive the corresponding Doron in the Android terminal;
Collecting related information including image information, position information, and attitude information of the corresponding driving vehicle, processing the processed driving image data, and transmitting byte image data of the corresponding driving vehicle to the management server;
Parsing the acquired image data of the plurality of images if the corresponding image data is the last image data of the plurality of images, processing the image data into a graphic image, and transmitting the processed image data to the user interface;
Parsing the image data of the plurality of image data in the user interface, processing the image data in a format matched with the user terminal, and transmitting the image data to the user terminal; And
Transferring the information request command of the selected donor among the plurality of donors displayed on the user terminal to the management server, and connecting to the Android terminal of the corresponding donor in the management server and transmitting the byte video data of the corresponding donor to the user terminal .
As described above, according to the second and third embodiments of the drones control system and the control method therefor, in order to control the plurality of control target devices by executing the Android application installed in the Android terminal, The server and the plurality of drones are connected to each other to perform communication, a single management server can control a plurality of drones connected to a plurality of Android terminals, An effect that can be obtained quickly can be obtained.
BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description of the invention given below, serve to further understand the technical idea of the invention. And should not be construed as limiting.
FIG. 1 is a diagram showing a configuration of a plurality of drone control systems according to an embodiment of the present invention.
2 is a diagram illustrating a configuration of a drones and an Android terminal of a plurality of drones control systems according to an embodiment of the present invention.
3 is a diagram illustrating the configuration of a management server of a plurality of drone control systems according to an embodiment of the present invention.
4 is a diagram showing the configuration of a user interface (UI) of a plurality of drone control systems according to an embodiment of the present invention.
5 is a flowchart illustrating a plurality of drone control processes according to another embodiment of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, It can be easily carried out. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 is a diagram showing the configuration of a plurality of drone control systems according to an embodiment of the present invention. FIG. 2 is a diagram showing a configuration of a drone and an Android terminal of a plurality of drone control systems shown in FIG. 1 shows a configuration of a management server shown in FIG. 1, and FIG. 4 shows a configuration of a user interface (UI) shown in FIG.
As shown in FIGS. 1 to 4, a plurality of Dorron control systems according to an embodiment of the present invention includes an Android-based Android application running on an Android terminal to control a plurality of drones to be controlled devices, The system includes a plurality of
The
The selected drones 10 among the plurality of
The local area network may be provided by a variety of communication networks such as Bluetooth and ZigBee. In the embodiments of the present invention, Bluetooth is used as an example for convenience of explanation.
Accordingly, the corresponding
2, the
That is, the
The
The corresponding
Then, the
The
The
3, the
That is, the
When the information request command of the corresponding
The
The byte video data of the
The parsed byte image data of the
The
4, the
Here, when the
The
Here, the series of processes of collecting, managing, and converting image data from the corresponding
In the embodiment of the present invention, the
That is, in order to control the plurality of control target devices, the Android-based Android terminal, the management server, and the plurality of drones are connected to each other by executing the Android application mounted on the Android terminal, A plurality of drones connected to the plurality of Androd terminals can be controlled, and the real time shooting image data can be acquired quickly through the plurality of drones.
In order to control the plurality of control target devices, the Android-based Android terminal, the management server, and the plurality of drones are interconnected to execute a plurality of controlled drones A series of processes will be described with reference to FIG.
FIG. 5 is a flowchart illustrating the operation of the plurality of drone control systems shown in FIG. 1. Referring to FIGS. 1 and 5, the operation of a plurality of drone control systems according to another embodiment of the present invention will be described.
First, when a connection request command of a plurality of drones, which are control target apparatuses generated from the
Then, the
Then, the
Then, the
As a result of the determination in
Then, the
One of the displayed plurality of drones is selected from the
According to the embodiment of the present invention, the Android-based Android terminal, the management server, and the plurality of drones are interconnected to perform communication by controlling the plurality of control target devices by executing the Android application installed in the Android terminal Accordingly, it is possible to control a plurality of drones connected to a plurality of Android terminals with a single management server, and to acquire image data of real-time shooting time through a plurality of drones.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in the form of a program form which may be performed via a variety of computing means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.
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, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
In order to control the plurality of control target devices, the Android-based Android terminal, the management server, and the plurality of drones are interconnected by executing the Android application mounted on the Android terminal, so that a plurality of management servers A plurality of drones connected to the Android terminal of the drones can be controlled and the drones of the plurality of drones can acquire image data of the real-time shooting point quickly through the plurality of drones, Further, it is possible to make a very great progress in performance efficiency, and it is an industrially applicable invention since the applicable dron is not only commercially available, but also has a possibility of being practically and practically obvious.
Claims (11)
And a management server for receiving and processing at least one of image information, position information, and attitude information collected from the connected Android terminal according to an information request command received from the user terminal, and transmitting the processed information to the user terminal A plurality of drone control systems.
A short range communication module for receiving an information request command of the user terminal received through the management server and connecting the information request command to the corresponding dron according to a connection command of the corresponding dron provided from the management server;
A camera module for driving the corresponding drone through the local communication module and collecting image information of the driven drone;
A sensor module provided with a plurality of sensors for collecting position information and attitude information of the drone;
A first data handler for parsing at least one of image information of the camera module and position information and attitude information of the sensor module so as to be recognized by the Android application and then converting the information into byte data;
The first marble link handler receiving the connection request command and the information request command of the corresponding drone supplied from the management server, converting the received data into marble link data, and transmitting the converted marble link data to the drone, the camera module, and the sensor module; And
And a first socket module for bidirectional communication for transferring byte video data of a corresponding dron of the first data handler to the management server.
And receives the connection request command of the corresponding drones generated from the user terminal and delivers the connection request command to the Android terminal.
A second socket module for performing bidirectional communication with the Android terminal;
A user storage module storing user terminal information including an IP address and personal information on the web;
A second marble link handler for converting the connection request command and the information request command of the corresponding dron supplied from the user terminal into marble link data and transmitting the same to the Android terminal;
A command handler for managing a connection request command and an information request command supplied from the user terminal;
A second data handler for parsing image data of the corresponding diagram of the Android terminal supplied from the second socket module;
A data storage module for temporarily storing byte image data of the Android terminal received through the second socket module;
A web GUI (Graphic User Interface) for converting the image data of the data storage module into a graphic form according to an information request command of the corresponding dron supplied from the user terminal matched with the user information previously stored in the user storage module and delivering the graphic data;
And a first web socket module for transmitting the graphic image data of the web GUI to a user terminal matched with user information previously stored in the user storage module.
And a user interface for displaying image data of a web GUI received through the first web socket module and transmitting the image data to the user terminal,
Wherein the user interface comprises:
A second web socket module for receiving image data supplied from a first web socket module of the management server;
And a map of an open source application displaying image data of the second web socket module to a plurality of drones. A third data handler for parsing the state of the sensor module of the plurality of drones, the image information of a plurality of drones that are updated in real time, and the image information of the plurality of drones;
And an interface module for converting the parsed map of the third data handler, the state of the sensor module, the real-time image, and the captured image into a format matched with the format of the user terminal.
And transmits the information request command of the corresponding dron among the plurality of drones selected from the user terminal to the management server through the second web socket module.
A camera module for driving the corresponding drone through the local communication module and collecting image information of the driven drone;
A sensor module provided with a plurality of sensors for collecting position information and attitude information of the drone;
A first data handler for parsing at least one of image information of the camera module and position information and attitude information of the sensor module so as to be recognized by the Android application and then converting the information into byte data;
The first marble link handler receiving the connection request command and the information request command of the corresponding drone supplied from the management server, converting the received data into marble link data, and transmitting the converted marble link data to the drone, the camera module, and the sensor module; And
And a first socket module for bidirectional communication for transferring byte video data of a corresponding dron of the first data handler to the management server.
A user storage module storing user terminal information including an IP address and personal information on the web;
A second marble link handler for converting the connection request command and the information request command of the corresponding dron supplied from the user terminal into marble link data and transmitting the same to the Android terminal;
A command handler for managing a connection request command and an information request command supplied from the user terminal;
A second data handler for parsing image data of the corresponding diagram of the Android terminal supplied from the second socket module;
A data storage module for temporarily storing byte image data of the Android terminal received through the second socket module;
A web GUI (Graphic User Interface) for converting the image data of the data storage module into a graphic form according to an information request command of the corresponding dron supplied from the user terminal matched with the user information previously stored in the user storage module and delivering the graphic data;
And a first web socket module for transmitting the graphic image data of the web GUI to a user terminal matched with user information previously stored in the user storage module.
And a user interface for displaying image data of a web GUI received through the first web socket module and transmitting the image data to the user terminal,
Wherein the user interface comprises:
A second web socket module for receiving image data supplied from a first web socket module of the management server;
And a map of an open source application displaying image data of the second web socket module to a plurality of drones. A third data handler for parsing the state of the sensor module of the plurality of drones, the image information of a plurality of drones that are updated in real time, and the image information of the plurality of drones;
And an interface module for converting the parsed map of the third data handler, the state of the sensor module, the real-time image, and the captured image into a format matched with the format of the user terminal. .
And transmits the information request command of a corresponding one of the plurality of drones selected from the user terminal to the management server through the second web socket module.
Collecting related information including image information, position information, and attitude information of the corresponding driving vehicle, processing the processed driving image data, and transmitting byte image data of the corresponding driving vehicle to the management server;
Parsing the acquired image data of the plurality of images if the corresponding image data is the last image data of the plurality of images, processing the image data into a graphic image, and transmitting the processed image data to the user interface;
Parsing the image data of the plurality of image data in the user interface, processing the image data in a format matched with the user terminal, and transmitting the image data to the user terminal; And
Transferring the information request command of the selected donor among the plurality of donors displayed on the user terminal to the management server, and connecting to the Android terminal of the corresponding donor in the management server and transmitting the byte video data of the corresponding donor to the user terminal And a plurality of drones.
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20190061869A (en) | 2017-11-28 | 2019-06-05 | 주식회사 로보 | Plural Unmanned Aerial Vehicle Control System |
KR20190064020A (en) | 2017-11-30 | 2019-06-10 | 김영식 | Unmanned Aerial Vehicle and Control System |
KR20200121036A (en) * | 2019-04-15 | 2020-10-23 | 경상대학교산학협력단 | System based on unmanned vehicle operated by gui-based information share method |
KR102234398B1 (en) * | 2019-11-22 | 2021-04-01 | 방지철 | Multimedia duplex communication system with drone and operating method thereof |
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KR102023900B1 (en) * | 2017-11-10 | 2019-09-23 | 엔드론 주식회사 | Method for controlling drone, and apparatus and system using the same |
KR102264185B1 (en) * | 2019-12-10 | 2021-06-10 | 재단법인 경북아이티융합 산업기술원 | SYSTEM and METHOD FOR controling multiple drone camera and video proccessing |
KR102460505B1 (en) * | 2020-12-16 | 2022-10-31 | 주식회사 웨이브쓰리디 | System for remote controlling a drone based on 5g mobile telecommunication |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20190061869A (en) | 2017-11-28 | 2019-06-05 | 주식회사 로보 | Plural Unmanned Aerial Vehicle Control System |
KR20190064020A (en) | 2017-11-30 | 2019-06-10 | 김영식 | Unmanned Aerial Vehicle and Control System |
KR20200121036A (en) * | 2019-04-15 | 2020-10-23 | 경상대학교산학협력단 | System based on unmanned vehicle operated by gui-based information share method |
KR102234398B1 (en) * | 2019-11-22 | 2021-04-01 | 방지철 | Multimedia duplex communication system with drone and operating method thereof |
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