KR20170055789A - Appratus for controlling unmanned aerial vehicle - Google Patents

Appratus for controlling unmanned aerial vehicle Download PDF

Info

Publication number
KR20170055789A
KR20170055789A KR1020150159008A KR20150159008A KR20170055789A KR 20170055789 A KR20170055789 A KR 20170055789A KR 1020150159008 A KR1020150159008 A KR 1020150159008A KR 20150159008 A KR20150159008 A KR 20150159008A KR 20170055789 A KR20170055789 A KR 20170055789A
Authority
KR
South Korea
Prior art keywords
control unit
unit
remote controller
flight
wireless communication
Prior art date
Application number
KR1020150159008A
Other languages
Korean (ko)
Inventor
최원혁
지민석
박상혁
Original Assignee
한서대학교 산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 한서대학교 산학협력단 filed Critical 한서대학교 산학협력단
Priority to KR1020150159008A priority Critical patent/KR20170055789A/en
Publication of KR20170055789A publication Critical patent/KR20170055789A/en

Links

Images

Classifications

    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • B64C2201/042—
    • B64C2201/14—
    • B64C2201/141—
    • B64C2201/146—

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Toys (AREA)
  • Selective Calling Equipment (AREA)

Abstract

[0001] The present invention relates to an unmanned aerial vehicle control apparatus, which comprises a wireless communication unit for receiving a signal received from a remote controller, a flight control unit for reading a signal applied from a wireless communication unit, An infrared transmitting / receiving unit for transmitting infrared rays, and a motor driving unit for controlling the flying state of the unmanned air vehicle according to a control signal applied from the flight control unit. If the operation mode of the unmanned aerial vehicle is the automatic mode, the flight control unit determines the set distance by using the signal from the wireless communication unit, transmits infrared rays to the remote control unit using the wireless communication unit, If the calculated distance is shorter than the set distance, the motor driving unit is controlled so that the unmanned aerial vehicle is in an advanced state. If the calculated distance is longer than the set distance, the motor driver is controlled to operate the unmanned aerial vehicle Let the flight state backward.

Description

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

The present invention relates to an unmanned aerial vehicle control device.

Various toys have been developed and marketed to enhance children's intelligence or to assist learning.

These kinds of toys are made of blocks of various shapes, so that the user can create various shapes by making blocks toys or clay that can make various shapes by hand and improve user's imagination Toys, or toys that move children with their finished shapes, such as robots or airplanes, to develop children's imagination.

Of these conventional children's toys, unmanned aerial vehicles such as a drones or quackcopter, which is a toy airplane capable of flying through the sky for children and adults who are interested in flying in the sky, are produced and sold.

These unmanned aerial vehicles can be maneuvered by remocon, but they can be remotely piloted with a drive motor attached to them.

The remote controllable unmanned aerial vehicle has a structure in which the propeller that receives the rotational force of the driving motor moves the airplane and the moving airplane uses the buoyancy to fly to the sky. The rearward directional controller, the left rotation motor and the right rotation motor It is possible to rotate left and right.

However, if the manipulation of such an unmanned aerial vehicle becomes unfamiliar, an operation mistake may cause a crash of an unmanned aerial vehicle or a collision with an object, thereby damaging an unmanned aerial vehicle, which is expensive equipment, It causes an economic burden.

In addition, there has been a problem that the unmanned aerial vehicle is lost due to the operation.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art,

Another technical problem to be solved by the present invention is to reduce the risk of loss or damage of the unmanned aerial vehicle.

According to an aspect of the present invention, there is provided an apparatus for controlling an unmanned air vehicle, including a wireless communication unit for receiving a signal received from a remote controller, a flight control unit for reading a signal applied from the wireless communication unit, And a motor driving unit connected to the flight control unit and controlling a flight state of the unmanned air vehicle according to a control signal applied from the flight control unit, Wherein the control unit determines the set distance by using the signal from the wireless communication unit when the operation mode of the unmanned air vehicle is the automatic mode and transmits infrared rays to the remote controller using the wireless communication unit, The distance is calculated, and the calculated spacing The control unit controls the motor driving unit so that the flying state of the unmanned air vehicle is advanced, and if the calculated distance is longer than the set separation distance, the motor driving unit is controlled so that the flying state of the unmanned air vehicle is in the reverse state .

Wherein the remote controller transmits an infrared signal to the wireless communication unit upon receiving the infrared ray transmitted from the flight control unit, and the flight control unit controls the remote controller to transmit the infrared signal to the remote control unit by using the reception time of the infrared signal received from the remote control unit, The separation distance can be calculated.

According to this feature, the unmanned aerial vehicle is maintained in a state of being kept apart from the remote controller by the set distance set by the user.

This reduces the risk of loss of the unmanned aerial vehicle, and when the user feels fatigue of the operation of the unmanned air vehicle 100, the operation mode of the unmanned air vehicle 100 is controlled in the automatic mode, do.

1 is a schematic block diagram of an unmanned aerial vehicle system having an unmanned aerial vehicle and a remote controller according to an embodiment of the present invention.
2 is a flowchart illustrating an operation of a remote controller according to an exemplary embodiment of the present invention.
3 is a flowchart illustrating an operation of an unmanned aerial vehicle according to an exemplary embodiment of the present invention.

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

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but it should be understood that other elements may be present in between do. On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Hereinafter, an unmanned aerial vehicle system according to an embodiment of the present invention will be described with reference to the accompanying drawings.

First, the structure of an unmanned aerial vehicle system according to an embodiment of the present invention will be described in detail with reference to FIG.

The unmanned aerial vehicle system according to one embodiment of the present invention includes a remote controller 200 for wirelessly communicating with the unmanned air vehicle 100 and the unmanned air vehicle 100 to transmit a control signal to the unmanned air vehicle 100 wirelessly Respectively.

The unmanned air vehicle 100 includes a tilt sensor 11 for detecting a tilt of the unmanned air vehicle 100 and outputting a tilt detection signal in a corresponding state, a wireless communication unit 12 for wireless communication with the remote controller 200, A tilt sensing unit 11, a wireless communication unit 12, a flight control unit 14 connected to the infrared transmission / reception unit 13, a motor driving unit 15 connected to the flight control unit 14, And a left-turn motor 161 connected to the motor driver 15 and a motor 162 for bypassing.

The wireless communication unit 12 may be, for example, a communication module for bluetooth communication or zigbee communication.

The infrared transmitting / receiving unit 13 is an apparatus for transmitting and receiving infrared rays for sensing a distance to the remote controller 200. [

The flight control unit 14 includes a storage unit 141 that stores data necessary for operation and data generated during operation and receives a steering signal corresponding to the steering state by the remote control device 200 to the wireless communication unit 12 The operation of the motor driving unit 15 is controlled according to the state of the received control signal to drive the motors 161 and 162 so that the user can perform the flight of the unmanned air vehicle 100 in a desired state.

When the operation mode is the automatic mode by the selection operation by the remote controller 200, the flight control unit 14 controls the flight control unit 14 to transmit the set distance separated by the remote controller 200 to the remote controller 200, And controls the operation of the motor driving unit 15 so that the unmanned air vehicle 100 keeps it.

Thus, the remote controller 200 can fly around the user operating the remote controller 200 to implement the pet unmanned aerial vehicle.

The motor driving unit 15 operates according to a motor control signal applied from the flight control unit 14 to control the motors 161 and 162.

The left-turn motor 161 and the bypass-only motor 162 are connected to a propeller or the like, respectively, for performing the left turn, right turn, forward and backward operations on the UAV 100. [

At this time, when the left-rotation motor 161 rotates in a predetermined direction (e.g., the forward rotation direction) (e.g., the first direction) The unmanned object 100 is moved to the right when both the left turn motor 161 and the right turn motor 162 rotate in the first direction and the left turn motor 161 and the right turn motor 162 ) Rotate in the second direction (e.g., the reverse direction), the unmanned air vehicle 100 can move backward.

As such, according to the rotation state of the motor, the UAV 100 can fly in a desired direction according to the operation of the remote controller 200, and can maintain a desired flight state as in the case of an in-situ flight.

The flight control unit 14 may be connected to the motor driving unit 15 and may further include an up and down motor for raising or lowering the altitude of the unmanned air vehicle 100 according to the rotation direction.

In this embodiment, the forward operation and the reverse operation of the UAV 100 are performed using the left-turn motor 161 and the bypass-only motor 162. However, in an alternative example, the motor driver 15 The forward operation motor and the reverse operation motor are separately provided under the control of the control unit 100 and the forward operation and reverse operation of the unmanned air vehicle 100 can be controlled. In this case, the unmanned aerial vehicle 100 is provided with dedicated motors for leftward rotation, rightward rotation, forward rotation, and reverse rotation.

The remote controller 200 includes an operation mode selection unit 21 for selecting an operation state of the unmanned air vehicle 100 such as an operation mode and a set separation distance desired by the user by operating the user, An operation switch unit 22 for operating the unmanned object 100 such as a forward flight, a backward flight, a rising flight, a down flight and an in-flight flight, An infrared transmission / reception unit 24 that receives infrared rays from the wireless communication unit 23 and the unmanned object 100 and transmits infrared rays to the unmanned air vehicle 100, an operation mode selection unit 21, an operation switch 22, A drive control unit 25 connected to the infrared transmission / reception unit 24, and a display unit 26 connected to the drive control unit 25.

The drive control unit 25 determines whether the operation mode selected by the user is the manual mode or the automatic mode by using the states of the signals inputted from the operation mode selection unit 21 and the operation switch unit 22. If the operation mode is the manual mode, And transmits the operation signal of the user to the unmanned air vehicle 100 through the wireless communication unit 23. [

Accordingly, the flight control unit 14 of the UAV 100 controls the operation of the motor driving unit 15 according to the operation signal to be transmitted so that the UAV 100 can be operated by the operation by the user.

On the other hand, when the operation mode selected by the user is the automatic mode, the drive control unit 25 notifies the unmanned air vehicle 100 (100) that the operation mode is the automatic mode together with the set distance distance set by the user by the operation of the operation mode selection unit ).

Accordingly, the flight control unit 14 of the UAV 100 maintains the set distance from the remote controller 200 (i.e., the user) regardless of the operation of the remote controller 200, 15).

The drive control unit 25 also includes a storage unit 251 for storing data necessary for operation or data generated during operation.

The display unit 26 may be a liquid crystal display device or an organic light emitting display device as a display device that allows a user to visually confirm the operation state of the remote controller 200. [

The operation of the unmanned aerial vehicle system having such a structure will be described with reference to FIGS. 2 and 3. FIG.

First, the operation of the drive control unit 25 of the remote controller 200 will be described with reference to FIG.

When the power required for the operation of the remote controller 200 is supplied, the remote controller 200 starts to operate, and the drive controller 25 also starts operation (S10).

The drive control unit 25 of the remote controller 200 first reads the operation mode selection signal applied from the operation mode selection unit 21 in order to grasp the control status of the user (S11) Mode is determined (S12).

At this time, the operation mode that can be selected by the user is a manual mode in which the flight of the unmanned air vehicle 100 is controlled according to the steering condition of the remote controller 200 and a manual mode in which the unmanned air vehicle 100 ) Is one of the automatic modes in which the flight control unit 14 automatically controls the flight state of the vehicle.

Therefore, if the operation mode determined by the operation mode selection signal is the manual mode (S13), the drive control unit 25 transmits the current operation mode to the unmanned object 100 using the wireless communication unit 23 as the manual mode S14).

Accordingly, the UAV 100 recognizes that the operation mode of the current unmanned air vehicle 100 is the passive mode by using the signal state input through the wireless communication unit 12, and controls the operation of the UAV 100 according to the steering signal applied from the remote controller 200 So that the operation of the unmanned air vehicle 100 can be controlled.

Then, the drive control unit 25 of the remote controller 200 reads the signal applied from the operation switch unit 22 to determine the flight state selected by the user (S15), and outputs the steering signal corresponding to the determined flying state (For example, a forward signal for forward flight, a backward signal for backward flight, a leftward signal for leftward flight, a rightward turn signal for rightward flight, or an in-place signal for in-flight flight) (S16).

The flight control unit 14 of the UAV 100 receives the steering signal transmitted from the remote controller 200 through the wireless communication unit 12 and operates the motor driving unit 15 according to the steering signal state, (161, 162) according to the state of the steering signal so that the flight state of the unmanned air vehicle (100) is selected by the user.

However, if the operation mode determined in step S14 is not the manual mode, the drive control unit 25 determines that the operation mode of the unmanned air vehicle 100 is the automatic mode (S17), and the operation mode selection unit 21 (Step S18). In step S18, the control unit 251 determines the distance to be set by the user using the applied signal.

At this time, when there is no setting operation of the separation distance by the user during the setting time, the setting separation distance stored in the storage unit 251 can be determined as the setting separation distance selected by the user.

When the set distance is determined, the driving control unit 25 transmits the determined set distance to the unmanned air vehicle 100 using the wireless communication unit 23 (operation mode of the unmanned air vehicle 100 is the automatic mode) S19).

Next, referring to FIG. 3, the operation of the UAV 100 will be described when the operation mode of the UAV 100 is the automatic mode.

As shown in FIG. 3, when the power for the operation of the UAV 100 is supplied and the operation of the UAV 100 is started, the flight control unit 14 of the UAV 100 starts to operate.

Then, if the operation mode of the unmanned air vehicle 100 is the automatic mode from the remote controller 200, the control routine of the flight control unit 14 of the unmanned air vehicle 100 is switched to the automatic mode control to perform the corresponding control operation (S20).

Accordingly, the flight control unit 14 determines an operation mode of the unmanned air vehicle 100 in the automatic mode using the signal transmitted from the remote controller 200, and stores the determined distance in the storage unit 141 (S21).

Then, the flight control unit 14 transmits infrared rays to the remote controller 200 using the infrared transmitter / receiver unit 13 (S22), and then determines whether infrared rays are received from the remote controller 200 (S23).

The remote controller 200 transmits infrared rays to the unmanned air vehicle 100 when the infrared ray is received from the unmanned air vehicle 100 through the infrared transmitting and receiving unit 24 and transmits the infrared rays to the unmanned air vehicle 100, So that the distance between the first and second electrodes 200 can be calculated.

When infrared rays are received from the remote controller 200 to the unmanned air vehicle 100, the flight controller 14 calculates the separation distance from the remote controller 200 using the infrared transmission time or the like (S24).

Then, when the calculated distance is within the error range of the set distance, that is, when the calculated distance is substantially equal to the set distance (S25), the flight control unit 14 sets The infrared remote controller 200 periodically outputs the infrared signal to the remote controller 200 to check the distance between the remote controller 200 and the unmanned air vehicle 100 at steps S26 and S22.

However, if the calculated separation distance is out of the error range of the set separation distance, the flight control unit 14 determines whether the calculated separation distance is within the set separation distance (S27).

When the distance between the unmanned object 100 and the remote controller 200 is shorter than the set distance, the flight control unit 14 controls the motor driver 15 to operate the unmanned vehicle And controls the flight state of the engine 100 as an advanced state (S28).

The distance between the remote controller 200 and the remote controller 200 is increased due to the forward movement of the unmanned air vehicle 100.

However, since the distance between the UAV 100 and the remote controller 200 is longer than the set separation distance, the flight control unit 14 controls the motor driving unit 15 to perform the unmanned The flight state of the air vehicle 100 is controlled to be in the reverse state (S29). Thus, the distance between the remote controller 200 and the UAV 100 is reduced, and the set distance is maintained.

After the distance between the UAV 100 and the remote controller 200 is controlled so as to maintain the set separation distance, the flight control unit 140 compares the calculated distance with the calculated distance, An infrared signal is output to the remote controller 200 to periodically check the separation distance between the remote controller 200 and the unmanned air vehicle 100 at steps S210 and S22.

When the operation mode of the unmanned flight vehicle 100 is in the automatic mode, the unmanned air vehicle 100 maintains the flying state at a distance from the remote controller 200 by the set distance set by the user, The risk of loss is reduced. In addition, when the user feels fatigue with respect to the steering operation of the unmanned air vehicle 100, the operation mode of the unmanned air vehicle 100 is controlled in the automatic mode, thereby increasing convenience for the user.

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

100: unmanned air vehicle 13: infrared ray transmitting unit
14: flight control unit 15: motor driving unit
200: remote controller 21: operation mode selection unit
24: Infrared transmission / reception 25:

Claims (2)

A wireless communication unit for receiving a signal received from the remote controller,
A flight control unit for reading a signal applied from the wireless communication unit,
An infrared transmission / reception unit connected to the flight control unit and transmitting infrared rays to the remote control unit under the control of the flight control unit, and
A motor driver for controlling the flying state of the unmanned aerial vehicle according to a control signal applied from the flight control unit,
Lt; / RTI >
Wherein the flight control unit determines the set distance by using the signal from the wireless communication unit when the operation mode of the unmanned air vehicle is in the automatic mode and transmits infrared rays to the remote controller using the wireless communication unit, If the calculated distance is shorter than the set separation distance, the control unit controls the motor driving unit so that the flying state of the unmanned air vehicle is advanced. If the calculated distance is longer than the set distance, And controls the driving unit so that the flight state of the unmanned air vehicle is brought back
Unmanned aerial vehicle control system. The method of claim 1,
The remote controller receives the infrared ray transmitted from the flight control unit, transmits the infrared ray signal to the wireless communication unit,
Wherein the flight control unit calculates a separation distance between the remote controller and the unmanned air vehicle using the reception time of the infrared signal received from the remote controller
Unmanned aerial vehicle control system.
KR1020150159008A 2015-11-12 2015-11-12 Appratus for controlling unmanned aerial vehicle KR20170055789A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150159008A KR20170055789A (en) 2015-11-12 2015-11-12 Appratus for controlling unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150159008A KR20170055789A (en) 2015-11-12 2015-11-12 Appratus for controlling unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
KR20170055789A true KR20170055789A (en) 2017-05-22

Family

ID=59050145

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150159008A KR20170055789A (en) 2015-11-12 2015-11-12 Appratus for controlling unmanned aerial vehicle

Country Status (1)

Country Link
KR (1) KR20170055789A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108922154A (en) * 2018-10-15 2018-11-30 无锡比特信息科技有限公司 Unmanned plane remote controler
CN109061663A (en) * 2018-06-29 2018-12-21 深圳臻迪信息技术有限公司 Unmanned plane distance measuring method, device and unmanned plane
CN110362114A (en) * 2019-07-26 2019-10-22 深圳市道通智能航空技术有限公司 Starting method, unmanned vehicle and the remote control device of unmanned vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109061663A (en) * 2018-06-29 2018-12-21 深圳臻迪信息技术有限公司 Unmanned plane distance measuring method, device and unmanned plane
CN108922154A (en) * 2018-10-15 2018-11-30 无锡比特信息科技有限公司 Unmanned plane remote controler
CN110362114A (en) * 2019-07-26 2019-10-22 深圳市道通智能航空技术有限公司 Starting method, unmanned vehicle and the remote control device of unmanned vehicle

Similar Documents

Publication Publication Date Title
US9126693B1 (en) Assisted takeoff
US8106748B2 (en) Remote-controlled motion apparatus with acceleration self-sense and remote control apparatus therefor
US7584071B2 (en) Remote-controlled motion apparatus with sensing terrestrial magnetism and remote control apparatus therefor
KR101117207B1 (en) Auto and manual control system for unmanned aerial vehicle via smart phone
JP5432626B2 (en) Remote control system
US20160129999A1 (en) Drone systems for pre-trip inspection and assisted backing
US20170043862A1 (en) Command driven electronic speed controller
WO2016039788A1 (en) Multiple environment unmanned vehicle
KR20130081260A (en) Apparatus for controlling unmanned vehicle and unmanned vehicle having the said apparatus
CN101254349A (en) Central control system of wireless remote-control model
US20170060128A1 (en) Multi-mode remote control flying systems
KR101404767B1 (en) Control comunication apparatus, controled comunication apparatus and control comunication system
JP6767802B2 (en) Unmanned aerial vehicle and its flight control method
JP4304009B2 (en) Unmanned aircraft control system
KR20170055789A (en) Appratus for controlling unmanned aerial vehicle
EP3015939A1 (en) Remote control device
JP2017021755A (en) Vehicular operation support apparatus
WO2018123747A1 (en) Drone maneuvering system, maneuvering signal transmitter set, and drone maneuvering method
KR102035013B1 (en) Control Signal Generator For Obstacle Avoidance of Drone
KR20200041142A (en) Remote controller device having feedback control of unmanned aerial vehicle
JP2019051755A (en) Maneuvering system of flight device
JP7453821B2 (en) remote control system
JP6983262B2 (en) Flight equipment maneuvering system
JP2009096369A (en) Control support device for unmanned radio-controlled helicopter
BUICAN et al. Development And Implementation Of An Automated Pilot System For A Fixed-Wing Twin-Engine Airplane Uav

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application