KR20160125249A - Plural of drone controlling system and method thereof - Google Patents

Plural of drone controlling system and method thereof Download PDF

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Publication number
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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South Korea
Prior art keywords
information
data
module
image data
request command
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KR1020150056188A
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Korean (ko)
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KR101690993B1 (en
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김형우
최철웅
이양원
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부경대학교 산학협력단
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • 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
    • 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
    • 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
    • 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
    • B64C2201/127—
    • B64C2201/146—

Abstract

The present invention relates to a system for controlling multiple drones and a control method thereof. The system for controlling multiple drones comprises: an android application-based android terminal which controls multiple drones by executing an android application loaded in an android terminal; and a management server which controls multiple drones connected to multiple android terminals by performing communications through the drones connected to each other, thereby rapidly obtaining the real-time image data at photographing time through the drones.

Description

TECHNICAL FIELD [0001] The present invention relates to a drone control system and a control method thereof,

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 donors 10, a plurality of donors 10, a plurality of donors 10, and a local area network A plurality of Android terminals 30 for collecting, processing and processing image information, position information, and posture information of a connected Doron, and transmitting processed byte image data; And a management server 50 that processes the data in a graphic form and transmits the processed data to the user terminal 70.

The management server 50 further includes a user interface 60 for processing the image data of the plurality of images of the management server 50 to be displayed on the user terminal.

The selected drones 10 among the plurality of drones 10 generated from the user terminal 70 and received via the management server 50 are connected to the Android terminal 30 through a local area network.

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 drone 10 further includes a Bluetooth 13 for connecting a communication network with the corresponding Android terminal 30, as shown in FIG. Here, the corresponding drone 10 includes an ATM (ArduPilot Mega) 11 produced as an object of hardware control management. Here, the hardware configuration of the ATM 11 and the configuration of the Bluetooth 13 are already And therefore, detailed description thereof will be omitted.

2, the Android terminal 30 is connected to the corresponding dron according to a drive command of the corresponding dron supplied from the outside, and collects image information, position information, and posture information about the connected drones .

That is, the Android terminal 30 includes a local communication module 31 for receiving an information request command of a user terminal received through the management server and connecting the received information request to the corresponding dron according to a connection command of the corresponding dron provided from the management server, A camera module 32 for driving the corresponding drone through the local communication module 11 and collecting image information of the driven drone, a plurality of sensors 32 for collecting the position information and attitude information of the corresponding drone 10, And at least one of the image information of the camera module 32 and the position information and the attitude information of the sensor module 33 is parsed so as to be recognized by the Android application, A first data handler 34 for converting the first data handler 34 into a second data handler 34 for converting the first data handler 34 into a second data handler 34, And transmits the control signal to the camera module 32 and the sensor module 33 to generate a control signal for executing an imaging command of the user terminal 70 supplied from the outside, A first marble link handler 35 for converting the shooting command into marble link data and a first socket module 36 for bidirectional communication for transferring the byte video data of the first data handler 34 to the management server 50 ).

The first socket module 36 of the Android terminal 30 receiving the connection request of the corresponding drones 10 supplied from the management server 50 transmits a connection request command to the first marble link handler 35 The first marble link handler 35 converts the received connection request command into marble link data, and then is transmitted to the local communication module 31.

The corresponding dron 10 receiving the marble link data corresponding to the connection request through the local communication module 31 of the Android terminal 30 is connected to the corresponding Android terminal 30 and the corresponding dron 10 .

Then, the Android terminal 30 collects image information, position information, and attitude information of the corresponding drones 10, which are operating through the camera module 32 and the sensor module 33, and collects the collected image information, The information is supplied to the first data handler 34. Here, the image information may be collected from the camera module 32, and the position information and attitude information may be collected through a GPS, a gyro sensor, a compass sensor, or the like.

The first data handler 34 parses the acquired image information, the position information, and the attitude information into byte image data, and then converts the converted byte image data into marble link data through the first marble link handler 35 And the converted image data is transferred to the management server 50 through the first socket module 36. [

The management server 50 executes the above-described series of processes for all the plurality of drone, and parses and stores the image data supplied from all the plurality of drone.

3, the management server 50 converts the image data of a plurality of drones into a graphic form, and converts the graphic data of the graphic form into a format that matches the format of the user terminal And transmits the processed result to the user terminal 70. [0033]

That is, the management server 50 includes a second socket module 51 that performs bidirectional communication with the Android terminal, a user storage module 52 that stores user terminal information including an IP address and personal information on the web, A second marble link handler 53 for converting the driving instruction of the corresponding dron supplied from the user terminal into marble link data and transmitting the same to the Android terminal 30, A second data handler 55 for parsing image data of the corresponding diagram of the Android terminal 30 supplied from the second socket module 51, A data storage module 56 for temporarily storing the byte image data of the Android terminal 30 received through the user storage module 52, A web GUI (Graphic User Interface) 57 for converting the image data of the data storage module 55 into a graphic form according to an information request command of the corresponding drones and delivering graphic image data of the web GUI 57 And a first web socket module 58 for transmitting the user information stored in the user storage module 52 to the user terminal matching the pre-stored user information.

When the information request command of the corresponding drone 10 supplied from the user terminal 70 is received through the first web socket module 58, the information request command of the first web socket module 58 is transmitted to the command handler 54 And is converted into marble link data through the second marble link handler 53 and transmitted to the Android terminal 30.

The Android terminal 30 receiving the marble link data corresponding to the information request command drives the corresponding drone 10 and transfers the byte video data collected from the camera module 32 and the sensor module 33 to the first marble link 30, And transfers the converted data to the management server 50 through the first socket module 36.

The byte video data of the Android terminal 30 received through the second socket module 51 of the management server 50 is parsed through the second data handler 55 and then transmitted to the data storage module 56 Temporarily store.

The parsed byte image data of the data storage module 56 is converted into a graphic form through the web GUI 57 and then transferred to the first web socket module 58. The first web socket module 58 converts the byte- And transmits the graphic image data to the user terminal 70, which matches the user information stored in the user storage module 52.

The management server 50 may include a user interface 70 for converting the graphic image data of the web GUI 57 received through the first web socket module 58 into a language corresponding to the display format of the user terminal 70 60).

4, the user interface 60 includes a second web socket module 61 for receiving graphic image data supplied from the first web socket module 58, The image data of the socket module 61 is displayed on a map of an open source application that displays the positions of a plurality of drones, the state of the sensor modules of the plurality of drones, image information of a plurality of drones that are updated in real time, A third data handler 62 for parsing the captured image information of the drones 62 and an interface module 63 for converting the parsed map of the third data handler 62 to display the status of the sensor module, ).

Here, when the user terminal 70 receives image data for a plurality of drones converted through the interface module 63 and selects one of the plurality of drones, the user terminal 70 generates a connection request command of the selected drone, The connection request command is transmitted to the Android terminal 30 interworking with the corresponding drones 10 via the management server 50 and the corresponding Android terminal 30 transmits the connection request command to the corresponding drones 30 (10), and collects image information, position information, and attitude information of the corresponding drone (10), and is transmitted to the management server (50).

The management server 50 converts the image data of the selected drone 10 among the plurality of drones into a graphic form and transmits the converted graphic form image data to the user terminal 60 through the user interface 60. [ And transfers the converted format to the user terminal 70. [0064]

Here, the series of processes of collecting, managing, and converting image data from the corresponding drone 10 selected by the user terminal 70 and transferring the converted image data to the user terminal 70 may include collecting image data of the plurality of drone 10 Management, and graphics, and transmits the same to the user terminal 70. Therefore, detailed description thereof will be omitted.

In the embodiment of the present invention, the Android terminal 30 is configured independently of the corresponding drones 10 and functions for the sake of convenience of explanation. However, the corresponding drones 10 are provided to the Android terminal 30 And the functions may be integrated into one or more servers. It should be noted that the configuration related to the present invention will be described with the convenience of explanation. Servers for providing various functions such as an authentication function on a web and a function for running an Android app, and the like may be additionally included.

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 user terminal 70, is received through the management server 50, the management server 50 transmits an access request command to the drones 10, The mobile terminal 30 transmits the connection request command and the Android terminal 30 drives the corresponding drones 10 through the local communication module 31 according to the received connection request command (steps 101, 103, and 105) .

Then, the Android terminal 30 parses the video information, the position information, and the posture information of the corresponding drone 10 that is being driven and collects the video information, the position information, and the posture information of the corresponding drone 10, To the server 50 (steps 107 and 109).

Then, the management server 50 parses the received byte video data and temporarily stores it (step 111).

Then, the management server 50 repeatedly executes the above-described series of steps for each corresponding drone 10 to determine whether it is the last one, and if it is not the last one, proceeds to step 103 (step 113) .

As a result of the determination in step 113, if it is not the last dron, the byte image data of each stored dron is processed into a graphic form, and then the processed graphic image data is converted into a format matched with the format of the user terminal 70 To the user terminal 70 (steps 115 and 117).

Then, the user terminal 70 displays a map, a real-time image, a shot image, and a sensor state of a plurality of drones on the screen (step 119).

One of the displayed plurality of drones is selected from the user terminal 70 and the corresponding dron 10 is operated by interlocking the corresponding dron 10 with the corresponding Android terminal 30 The process of collecting the image information, the position information and the attitude information of the driven drone 10, converting the image information, the position information, and the attitude information into a graphic form, processing the same in a format consistent with the user format, and transmitting the processed information to the user terminal, Position information, and attitude information of the corresponding drone 10 driven by connection, and converts the acquired image information, position information, and attitude information into a graphic form, and then processes the processed image into a format consistent with the user format and transmits the processed image to the user terminal A detailed description thereof will be omitted.

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)

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 A plurality of drone control systems. The mobile communication terminal of claim 1,
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. The management server according to claim 2,
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. The management server according to claim 2,
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. The system according to claim 4,
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. 6. The method of claim 5,
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 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. 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. 9. The system according to claim 8,
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. . 10. The method of claim 9,
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. 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 And a plurality of drones.




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