KR20170099094A - Drone capable of connecting with ground control system through heterogeneous communication and method for controlling thereof - Google Patents

Drone capable of connecting with ground control system through heterogeneous communication and method for controlling thereof Download PDF

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Publication number
KR20170099094A
KR20170099094A KR1020160021036A KR20160021036A KR20170099094A KR 20170099094 A KR20170099094 A KR 20170099094A KR 1020160021036 A KR1020160021036 A KR 1020160021036A KR 20160021036 A KR20160021036 A KR 20160021036A KR 20170099094 A KR20170099094 A KR 20170099094A
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South Korea
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communication
drones
mode
control equipment
signal strength
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KR1020160021036A
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Korean (ko)
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윤몽한
안정길
강정하
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(주)파인텔레콤
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Priority to KR1020160021036A priority Critical patent/KR20170099094A/en
Publication of KR20170099094A publication Critical patent/KR20170099094A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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
    • 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
    • B64C2201/146—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q2209/00—Arrangements in telecontrol or telemetry systems
    • H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Selective Calling Equipment (AREA)

Abstract

The present invention relates to a ground control device for monitoring a communication environment between a drone and a ground control system (GCS) in real time and extending a communication range by changing a communication path in accordance with a communication state by an RF or a mobile communication method, The present invention relates to a drones and a control method thereof. More particularly, the present invention relates to a dron control method capable of establishing a heterogeneous communication connection with a ground control apparatus according to the present invention. The dron operates in an ad- (Radio Frequency) communication; Monitoring whether the drones are moving out of the area of RF communication; Stopping the movement if it is determined that the drones have moved out of the area of the RF communication; Attempting to establish a mobile communication connection between the ground control device and the base station by operating the drones in an infrastructure mode; When the mobile communication connection is completed, receiving a control command from the ground control device to determine whether the dron should continue the mission; Monitoring whether the drones are entering the area of RF communication if it is determined to continue the mission; And entering into the area of RF communication, the drones are operated in ad hoc mode to switch to ground communication equipment and RF communication connection.

Description

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

[0001] The present invention relates to a drones and a control method thereof that are capable of dissimilar communication with ground handling equipment. More particularly, the present invention relates to a drones and a control method thereof, To a drones capable of dissimilar communication with ground handling equipment that extends the communication range, and to a control method thereof.

Unmanned aerial vehicles (UAVs) or simply drone (s) are commonly used as a flying object that is designed to perform a specified mission without boarding a pilot. Generally, a dron uses a battery to rotate a plurality of propellers (GCS), and it is configured to be able to perform various patterns of flight and function by receiving control command according to the operation of the operator's ground control system (GCS).

These drones were originally developed and used for military purposes in order to reconnaissance and destroy enemy forces in international disputed areas. Recently, however, the range of use of drones has been expanding due to the convenience of transportation and storage and ease of operation. For example, drones are relatively lightweight and easy to operate, so they are widely used for broadcasting, and they are used to monitor wildlife in a wide area and to monitor poaching, and to fly in disaster and disaster areas It extends its use to dangerous missions.

In the future, the drones are expected to be used beyond the simple reconnaissance mission of disasters and disasters to the use of medical supplies and relief supplies to survivors and victims at disaster and disaster sites, as well as the use of simple items such as milk and newspaper delivery It is also expected to be used for delivery.

Korean Patent Laid-Open No. 10-2015-0129603 'Handover Control Method of Drones Network' (Published May 20, 2015)

SUMMARY OF THE INVENTION An object of the present invention is to provide a hybrid communication method supporting a heterogeneous communication system of an RF communication system based on an ad hoc basis and a mobile communication system based on an infrastructure in accordance with a communication environment, have.

According to another aspect of the present invention, there is provided a control method of a drone capable of communicating with a ground control apparatus according to the present invention, the method comprising: a dron operating in an Ad-hoc mode to control a Ground Control System (GCS) (Radio Frequency) communication; Monitoring whether the drones are moving out of the area of the RF communication; Stopping movement if it is determined that the drones have moved outside the area of the RF communication; The drones operating in an infrastructure mode, attempting to establish a base station based mobile communication connection with the terrestrial control equipment; When the mobile communication connection is completed, receiving the control command from the terrestrial control equipment and determining whether the dron should continue the mission; Monitoring whether the drones enter the area of the RF communication if it is determined to continue the mission; And entering into the RF communication area, the drone operates in the ad-hoc mode and switches to the RF communication connection with the terrestrial control equipment.

The step of the dron operating in ad hoc mode and performing RF communication with the terrestrial control equipment comprises the steps of performing mobile communication with the terrestrial control equipment in the infrastructure mode when the drones are activated, Measuring a received signal strength for the RF communication by the drone in real time; determining whether the received signal strength is equal to or greater than a predetermined first threshold (RSSI threshold ); And if the received signal strength is equal to or greater than the first threshold value (RSSI threshold ), the drones operate in an ad-hoc mode to switch to an RF communication connection with the terrestrial control equipment.

At this time, monitoring whether the drones move out of the area of the RF communication includes: measuring the received signal strength for the RF communication by the drones in real time; Determining whether the received signal strength is less than a predetermined second threshold? RSSI threshold ; And determining that the drones have moved out of the RF communication area if the received signal strength is less than the second threshold value? RSSI threshold .

At this time, monitoring whether or not the drones enter the area of the RF communication includes: measuring the received signal strength for the RF communication by the drones in real time; Determining whether the received signal strength is equal to or greater than a predetermined first threshold value (RSSI threshold ); And determining that the drones have entered the RF communication area if the received signal strength is equal to or greater than the first threshold value (RSSI threshold ).

The measuring of the received signal strength for RF communication in real time by the drones may include calculating a moving average by a moving average method based on received signal strengths (RSSI) algorithm to estimate the received signal strength.

At this time, if it is determined that the drones have moved out of the area of the mobile communication, Dron performs D2D (Device to Device) communication with the dron located in the area of the mobile communication, Communication with the control equipment is possible.

At this time, the communication between the drones and the ground control equipment can exchange image information, status information or control commands in the TCP mode.

At this time, in the infrastructure mode, the drone and the ground control equipment can communicate with a M2M (Machine to Machine) server, respectively.

In the infrastructure mode, the drones transmit the image information and the status information to the M2M server, and the M2M server can transmit the image information and the status information received from the drones to the terrestrial control apparatus.

At this time, in the infrastructure mode, the terrestrial control equipment transmits the control command to the M2M server, and the M2M server can transmit the control command received from the terrestrial control equipment to the drones.

At this time, the RF communication may be Wi-Fi communication, and the mobile communication may be Long Term Evolution (LTE) communication.

According to another aspect of the present invention, there is provided a dron that is capable of communicating with a terrestrial communication equipment according to the present invention. The dron may include an RF communication modem for performing RF communication with a terrestrial control device in an ad- A communication module configured by a ground control device and a mobile communication modem performing mobile communication; A communication status monitoring module for monitoring a communication status of the RF communication or the mobile communication; A communication mode setting module for setting one of the ad-hoc mode, the infrastructure mode, and the D2D mode to the communication mode according to the communication state; A flight control module for controlling the flight of the drones; And a mission continuation determining module for determining whether to continue the mission according to a control command received from the ground control equipment.

At this time, when the drones are activated, the communication mode setting module sets the communication mode to an infrastructure mode, and the communication module can perform mobile communication with the terrestrial control device in the infrastructure mode.

In this case, the communication status monitoring module measures a received signal strength for the RF communication in real time as a communication status for the RF communication. In the infrastructure mode, if the received signal strength is equal to or greater than a predetermined RSSI threshold And the communication mode setting module may switch the communication mode from the infrastructure mode to the ad-hoc mode if the received signal strength is equal to or greater than the first threshold (RSSI threshold ).

In this case, the communication status monitoring module monitors whether the received signal strength is less than a predetermined second threshold (? RSSI threshold ) in the ad-hoc mode, and the communication mode setting module monitors whether the received signal strength is a second threshold alpha. RSSI threshold ), the communication mode may be switched from the ad-hoc mode to the infrastructure mode.

At this time, the communication status monitoring module may detect the reception of the RF signal by using a moving average algorithm based on received signal strength (RSSI) values included in a packet of signals received for a predetermined period of time for the RF communication The signal strength can be calculated.

At this time, if the received signal strength is less than the second threshold value? RSSI threshold , the flight control module may determine that the drone has moved out of the RF communication area and stop the movement of the drone.

At this time, when the flight control module stops the movement of the drones, the mission continuity determination module transmits a query request for the continuation of the dron mission to the ground control equipment, receives the query request from the ground control equipment It is possible to determine whether to continue the mission according to the control command.

At this time, the communication mode setting module sets the communication mode to the D2D mode when it is determined that the drones have moved out of the mobile communication area according to the communication state of the mobile communication, and the RF communication modem sets the communication mode And performs D2D communication with the drone located in the area of the mobile communication in the D2D mode to communicate with the terrestrial control device via the dron located in the area of the mobile communication.

At this time, the RF communication may be Wi-Fi communication, and the mobile communication may correspond to Long Term Evolution (LTE) communication.

According to the present invention, it is possible to provide a hybrid communication method that supports a heterogeneous communication method of an RF communication method based on an ad hoc basis and a mobile communication method based on an infrastructure, It is effective.

Also, according to the present invention, the drones flying in the line of sight monitor the RF communication state with the ground control system and if the RF communication is disconnected beyond the RF communication range, the mobile communication terminal immediately stops moving and tries to establish a mobile communication connection It is possible to prevent the problem that the drone is disconnected from RF communication with the ground control equipment and is blown away by determining whether the mission is continued according to a control command from the ground control equipment.

According to the present invention, a drones flying in a mobile communication range monitor a mobile communication state, perform D2D communication with another dron located in a mobile communication area when mobile communication is broken due to entering a mobile communication shadow area According to the present invention, it is possible to increase the communication range with the ground control equipment even in a mobile communication shade area such as a high sea level by maintaining communication with the ground control equipment. According to the present invention, It is possible to provide a hybrid communication system supporting a heterogeneous communication scheme of an ad-hoc based RF communication scheme and an infrastructure-based mobile communication scheme.

FIG. 1 is a view for explaining a concept of changing a communication path according to a communication environment between a drone and a ground control equipment according to the present invention.
FIG. 2 is a diagram for explaining that a dron that enters a mobile communication shadow area performs communication with a ground control device through D2D communication.
FIG. 3 is a block diagram for explaining the construction and operation of the drone 10 capable of dissimilar communication with the ground handling equipment according to the present invention.
FIGS. 4 and 5 are flowcharts for explaining a control method of a dron that can be connected to a terrestrial control apparatus according to the present invention.

The present invention will now be described in detail with reference to the accompanying drawings. Hereinafter, a repeated description, a known function that may obscure the gist of the present invention, and a detailed description of the configuration will be omitted. Embodiments of the present invention are provided to more fully describe the present invention to those skilled in the art. Accordingly, the shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

FIG. 1 is a diagram for explaining a concept of a drone and a ground control device according to the present invention, which change a communication path according to a communication environment to remotely control shooting and transmission of a dragon flight and an image.

1, a drone 10 and a ground control system (GCS) 20 according to an embodiment of the present invention are installed in an ad hoc (LOC) line within a line of sight (LOS) ) Point-to-point communication method based on a network to exchange data and the like. Here, the point-to-point communication method between the drones 10 and the ground control equipment 20 corresponds to RF (Radio Frequency) communication as a short range wireless communication method. This is a Wi- Fidelity) communication method is preferably used but is not limited thereto. In some cases, point-to-multipoint communication may be established if a communication link between the drones 10 and an additional coordinating controller is required.

On the other hand, when the drone 10 monitors the communication state for RF communication with the ground control equipment 20 in real time during flight and moves out of the RF communication area, that is, when the RF communication is disconnected, The base station 30 tries to establish a mobile communication connection based on an infrastructure network using the base station 30 as shown in (b) of FIG. When the mobile communication connection is completed, the drone 10 receives a control command from the ground control equipment 20 and determines whether or not to continuously perform the mission. At this time, the drone 10 and the ground control equipment 20 respectively communicate with the M2M (Machine to Machine) server 50 and communicate with the dron 10 via the M2M (Machine to Machine) And exchanges image information, status information or control commands between the control devices 20. More specifically, the drones 10 connect to the M2M server 50 via the Internet network 40 via the base station 30 and transmit data (image information, status information, etc.) to the M2M server 50 , And receives data (control command, etc.) from the ground control equipment 20 through the M2M server 50. The ground control equipment 20 accesses the M2M server 50 via the Internet network 40 via the base station 30 and transmits data (control command or the like) to the M2M server 50, The drones 10 and the ground control equipment 20 receive data (image information, status information, and the like) from the mobile communication terminal 10 through the M2M server 50, Exchange. At this time, when the RF communication is disconnected, it is preferable that long-term evolution (LTE) communication is used for mobile communication between the drones 10 and the ground control equipment 20, but the present invention is not limited thereto.

The drones 10 monitor the RF communication status in real time as well as the mobile communication status while performing the mission through the mobile communication connection with the ground control equipment 20. [ When it is determined that the drone 10 is re-entered into the RF communication area with the ground control equipment 20 in the process of monitoring the RF communication status, the communication with the ground control equipment 20 is switched from the mobile communication to the RF communication.

2, when the drones 10 enter the mobile communication shadow area A as they move out of the mobile communication area as shown in FIG. 2, the drones 10a, 10b, ) To D2D (Device to Device) communication and connect to the mobile communication network through the drones 10a to which the mobile communication is connected to perform communication with the ground control equipment 20. [ The drones 10 may serve as an intermediary for D2D communication with the drones 10a to which the mobile communication is connected to the other drones 10b located in the mobile communication shadow area A. [ Accordingly, it is possible to extend the communication range with the ground control equipment 20 for a large number of drones forming a group in a mobile communication shadow area such as a high resolution.

In the present invention, it is preferable that the communication between the drones 10 and the ground control equipment 20 is performed by exchanging image information, status information or control commands based on the TCP scheme. However, the present invention is not limited to this, Communication may be performed.

FIG. 3 is a block diagram for explaining the construction and operation of the drone 10 capable of dissimilar communication with the ground handling equipment according to the present invention.

3, the dron 10 according to the present invention includes a communication module 100 for communicating with the ground control equipment 20 by connecting RF communication or mobile communication according to a communication mode, a ground control equipment 20 ), A communication status monitoring module (300) for monitoring a communication status for RF communication or mobile communication with the communication status monitoring module (300), and a communication status monitoring module A flight control module 700 for controlling the flight of the drones 10 and a controller for controlling the operation of the drones 10 in accordance with control commands received from the ground control equipment 20, And a mission continuity determination module 900 for determining whether or not to determine whether or not to continue the mission. Here, the drones 10 are drones capable of flying according to a control command of the ground control equipment 20 and for photographing a video footage to be transmitted to the ground control equipment 20 or other control system, And a description of the configuration for performing the image photographing function will be omitted.

The communication module 100 receives a control command signal from the ground control device 20 or transmits image information or status information (communication status information, flight status information, etc.) photographed by the drones 10 to the ground control device 20 The communication module 100 performs RF communication with the ground control equipment 20 within the line of sight (LOS) distance in the ad-hoc mode according to the communication mode set by the communication mode setting module 500 And a mobile communication modem 130 for communicating with ground control equipment 20 by connecting mobile communication in an infrastructure mode outside the line of sight (LOS). Meanwhile, when the communication mode setting module 500 sets the communication mode to the D2D mode because the mobile communication is disconnected due to the movement of the drone 10 to the mobile communication area A, the RF communication module 110 transmits D2D communication with other drones 10a located in the area and communicate with the ground control equipment 20 via the drones 10a located in the area of mobile communication.

The communication status monitoring module 300 monitors the communication connection status for RF communication with the ground control equipment 20 during the operation of the drones 10 or monitors the communication connection status for mobile communication. The communication state monitoring module 300 monitors the RF communication state in real time within the RF communication area with the ground control equipment 20 and connects the mobile communication to the ground control equipment 20 , It not only monitors the communication status of the mobile communication in real time but also monitors the RF communication status in real time to resume RF communication with the ground control equipment 20. [ The communication status monitoring module 300 monitors the RF communication status by measuring a received signal strength for RF communication in real time. At this time, the communication status monitoring module 300 measures a received signal strength (RSSI) value included in a packet of signals received for a predetermined period of time from the ground control equipment 20 through RF communication for a moving average algorithm can be used to estimate the received signal strength as the average of the most recent received signal strength values. When the mobile communication is connected by setting the communication mode to the infrastructure mode after the drones 10 are out of the RF communication area with the ground control equipment 20, the communication status monitoring module 300 transmits the RF communication in the infrastructure mode And monitors whether the received signal strength is equal to or greater than a predetermined first threshold (RSSI threshold ). In addition, when the drone 10 is located in the RF communication area and operates in the ad-hoc mode to connect the RF communication, the communication status monitoring module 300 determines whether the received signal strength for RF communication in the ad- (? RSSI threshold ). α is a group a second threshold value (α · RSSI threshold) for a first threshold value (RSSI threshold) in accordance with α as a set value is variable or not less than the second threshold value (α · RSSI threshold) is the first threshold value (RSSI threshold) .

The communication mode setting module 500 sets the communication mode to the infrastructure mode when the drones 10 are activated so that the communication module 100 performs mobile communication with the ground control equipment 20 through mobile communication. The communication mode setting module 500 may set the communication mode setting module 500 to a communication mode setting mode when the drones 10 are started up in order to avoid the time consuming waiting for the RF communication connection in a state in which it is difficult to determine whether or not the RF communication with the ground- To the infrastructure mode. After activation of the drones 10, the communication mode setting module 500 sets the communication mode according to the RF communication with the ground control equipment 20 or the communication state for mobile communication. More specifically, if the received signal strength for the RF communication monitored by the communication status monitoring module 300 during the flight of the drones 10 outside the RF communication area is equal to or greater than a first threshold (RSSI threshold ) The communication module 100 determines that it has entered the area of the RF communication outside the area of the RF communication and switches the communication mode from the infrastructure mode to the ad hoc mode so that the communication module 100 performs RF communication with the ground control device 20. [ On the other hand, when the received signal strength for the RF communication monitored by the communication status monitoring module 300 falls below the second threshold value alpha (RSSI threshold ) while the drones 10 are flying in the RF communication area, Is determined to have moved out of the RF communication area in the area of the RF communication and the communication mode is switched from the ad-hoc mode to the infrastructure mode so that the communication module 100 communicates with the terrestrial control device 20 through mobile communication . On the other hand, the communication mode setting module 500 determines that the drones 10 have moved out of the area of the mobile communication based on a result of monitoring the state of the mobile communication connection by the communication status monitoring module 300 in the infrastructure mode The communication mode can be set to the D2D mode.

The flight control module 700 controls the flight of the drones 10 according to control commands received from the ground control equipment 20. [ In addition, the flight control module 700 may control the flight of the drones 10 according to the communication status for the RF communication monitored by the communication status monitoring module 300. More particularly, the flight control module 700 if the received signal strength of the RF communication measured by the communication state monitoring module 300 corresponds to less than the second threshold value (α · RSSI threshold) drone 10 is RF communication And the movement of the drones 10 is stopped. Accordingly, it is possible to prevent the drones 10 from being disconnected from the ground control equipment 20 and being blown away.

The mission continuity determination module 900 determines whether or not the drones 10 are to continue their duties according to control commands received from the ground control equipment 20. [ The mission continuity determination module 900 determines the start, flight, shooting, or termination of the drones 10 according to a control command from the ground control equipment 20. [ In particular, when it is determined that the flight control module 700 has moved outside the area of the RF communication and the movement of the drones 10 is stopped, the mission continuity determination module 900 determines whether the dura- Transmits a request signal for inquiring whether the mission is continued to the control equipment (20), receives a control command corresponding to the request signal from the ground control equipment (20), and determines whether to continue the mission of the drone (10).

Hereinafter, a control method of a drone capable of establishing dissimilar communication with a ground control apparatus according to the present invention will be described. The operation of the drones according to the present invention will be described with reference to FIGS. 1 to 3. FIG.

4 is a flowchart illustrating a method of controlling a drones capable of communicating with a ground control apparatus according to the present invention.

Referring to FIG. 4, a method of controlling a dron according to the present invention is a method for controlling a dron according to the present invention. First, the dron 10 is activated (S100) (20) and the point-to-point communication method (S200).

Then, the drones 10 monitor whether the drones 10 are moving out of the RF communication area with the ground control equipment 20 during flight in ad hoc mode (S300). If it is determined in step S300 that the drone 10 is flying in the RF communication area, RF communication with the ground control equipment 20 is continuously performed in the ad-hoc mode.

If it is determined that the drone 10 has moved out of the RF communication area with the ground control equipment 20 as a result of the monitoring in step S300, the movement is stopped (S400). Then, the base station 30 operates in the infrastructure mode, And attempts to make a mobile communication connection to communicate with the ground control equipment 20 via the M2M server 50 (S500).

When the mobile communication connection is completed in step S500, the drone 10 receives a control command from the ground control equipment 20 to determine whether to continue the mission (S600).

If it is determined in step S600 that the mission is to be continued, the dron 10 maintains a communication connection with the ground control equipment 20 through mobile communication in the infrastructure mode, and in the infrastructure mode, (S700). ≪ / RTI > In the infrastructure mode, the drones 10 and the ground control equipment 20 communicate with the M2M server 50, respectively. At this time, the dron 10 transmits image information and status information to the M2M server 50, and the M2M server 50 transmits the image information and the status information received from the drones 10 to the ground control equipment 20 do. The ground control device 20 transmits a control command to the M2M server 50 and the M2M server 50 transmits the control command received from the ground control device 20 to the drone 10. When it is determined that the drones 10 have departed from the mobile communication area and traveled to the shaded area A during the flight, the drones 10a and 10b located in the mobile communication area and performing mobile communication with the ground control equipment 20 D2D communication to perform communication with the ground control equipment 20 via the drone 10a.

If it is determined in step S700 that the drone 10 has entered the RF communication area with the ground control equipment 20, the control unit 20 operates in the ad-hoc mode and switches to the RF communication connection with the ground control equipment 20 (S800).

FIG. 5 is a flowchart for explaining a control method of a drone capable of communicating with a ground control equipment according to the present invention shown in FIG.

5, when the dron 10 is activated (S100), the step S200 of causing the drones 10 to perform RF communication with the ground control equipment 20 is performed by first setting the communication mode setting module 500 to the communication mode (210) to allow the communication module (100) to perform mobile communication based on the ground control equipment (20) and the base station (30). Next, the communication status monitoring module 300 measures a received signal strength for RF communication with the ground control equipment 20 in real time (S230). If the received signal strength is equal to or greater than a predetermined first threshold value (RSSI threshold ) (S250). At this time, the method for measuring the received signal strength for the RF communication by the communication status monitoring module 300 is a method for measuring the received signal strength (RSSI) included in a packet of signals received for a certain period of time from the ground control equipment 20 through RF communication. It is preferable to calculate the received signal strength as an average value of the latest received signal strength values using a moving average algorithm for the received signal strength values. If it is determined in step S250 that the received signal strength is less than the first threshold value (RSSI threshold ), the communication mode setting module 500 determines that the drones 10 are flying out of the RF communication area and transmits the communication mode to the infrastructure mode So that the communication module 100 continuously performs mobile communication with the ground control equipment 20 (S210). On the other hand, if it is determined in step S250 that the received signal strength is equal to or greater than the first threshold (RSSI threshold ), the communication mode setting module 500 determines that the drones 10 are flying within the RF communication range, The mode is changed to the ad-hoc mode so that the communication module 100 switches the communication connection with the ground control equipment 20 to the point-to-point RF communication connection (S270).

The step S300 of monitoring whether or not the drones 10 are moving out of the RF communication area with the ground control equipment 20 includes the steps of monitoring the communication status monitoring module 300 in the ad hoc mode in real- The received signal strength for communication is measured (S310), and it is determined whether the received signal strength is less than a preset second threshold value? RSSI threshold (S330). As a result of the determination in step S330, if the received signal strength is equal to or greater than the second threshold value? RSSI threshold , the communication mode setting module 500 determines that the drones 10 are flying within the RF communication area, And maintains the ad-hoc mode so that the communication module 100 continuously performs RF communication with the ground control equipment 20. [ On the other hand, if it is determined in step S330 that the received signal strength is less than the second threshold value? RSSI threshold , the flight control module 700 determines that the drone 10 has moved out of the RF communication area.

It is determined that the received signal strength according to the RF communication measured by the communication status monitoring module 300 in the ad hoc mode is less than the second threshold value? RSSI threshold and the flight control module 700 has moved out of the RF communication area The communication mode setting module 500 changes the communication mode to the infrastructure mode so as to allow the communication module 100 to communicate with the ground control equipment 20 and outside the RF communication range To make a mobile communication connection for communication (S500).

In step S600, when the communication connection by the mobile communication with the ground control equipment 20 is completed in step S500 and the control command is received from the ground control equipment 20 to determine whether to continue the mission, A control command is received from the ground control equipment 20 (S610), and it is determined whether the control command corresponds to a mission continuation command (S630). If the control command corresponds to the mission termination command in step S630, the operation of the drones 10 is stopped. On the other hand, if the control command corresponds to the mission continuation command in step S630, the mobile communication connection is maintained (S210) with the ground control equipment 20, while the dron 10 is connected to the ground communication equipment 20 (S700). In step S700, it is determined that the mobile communication terminal has entered the RF communication area. In step S800, the mobile communication terminal operates in ad-hoc mode and switches to the RF communication connection with the terrestrial communication equipment 20. At this time, step S700 of monitoring whether the drone 10 enters the RF communication area with the ground control equipment 20 includes steps S230 of measuring the received signal strength for RF communication in real time, and S250, determining whether the (RSSI threshold) or more, the received signal strength is the first threshold value if the above (RSSI threshold) drone (10) is carried out in S270, determining that the entry in the area of the RF communication is sequentially do.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Drones
100: Communication module 300: Communication status monitoring module
500: communication mode setting module 700: flight control module
900: Mission persistence judgment module
20: Ground control equipment
30: base station
40: Internet network
50: D2D server

Claims (20)

Performing a ground control system (GCS) and radio frequency (RF) communication by operating the drones in an ad-hoc mode;
Monitoring whether the drones are moving out of the area of the RF communication;
Stopping movement if it is determined that the drones have moved outside the area of the RF communication;
The drones operating in an infrastructure mode, attempting to establish a base station based mobile communication connection with the terrestrial control equipment;
When the mobile communication connection is completed, receiving the control command from the terrestrial control equipment and determining whether the dron should continue the mission;
Monitoring whether the drones enter the area of the RF communication if it is determined to continue the mission; And
Wherein the drones are operated in the ad hoc mode to switch to the RF communication connection with the terrestrial control equipment when it is determined that the drones have entered into the RF communication area. Control method. The method according to claim 1,
The step of the dron operating in ad hoc mode to perform RF communication with the ground control equipment comprises:
Operating the infrastructure in the infrastructure mode when the drones are activated to perform mobile communication based on the base station with the terrestrial control equipment;
Measuring the received signal strength for the RF communication by the drones in real time;
Determining whether the received signal strength is equal to or greater than a predetermined first threshold value (RSSI threshold ); And
Wherein the drones are switched to an RF communication connection with the ground control equipment by operating in the ad-hoc mode if the received signal strength is equal to or greater than the first threshold value (RSSI threshold ). Control method of connectable drones. The method according to claim 1,
The step of monitoring whether the drones are moving out of the area of RF communication comprises:
Measuring the received signal strength for the RF communication by the drones in real time;
Determining whether the received signal strength is less than a predetermined second threshold? RSSI threshold ; And
And determining that the drones have moved out of the RF communication area if the received signal strength is less than the second threshold value (? RSSI threshold ). Controlling the drones. The method according to claim 1,
Wherein monitoring whether the drones enter into the area of the RF communication comprises:
Measuring the received signal strength for the RF communication by the drones in real time;
Determining whether the received signal strength is equal to or greater than a predetermined first threshold value (RSSI threshold ); And
And determining that the drones have entered the RF communication area if the received signal strength is equal to or greater than the first threshold value (RSSI threshold ). Control method. The method according to any one of claims 2 to 4,
Wherein the measuring of the received signal strength for RF communication by the drones in real time comprises:
Characterized in that the received signal strength is calculated using a moving average algorithm based on received signal strength (RSSI) values included in a packet of signals received for a predetermined period of time, And a control method of the drones capable of connecting different types of communication. The method according to claim 1,
Wherein the drones perform D2D (Device-to-Device) communication with a dron located in the area of the mobile communication when it is determined that the drones have moved outside the area of the mobile communication, And communicating with the control equipment. The control method of the dron according to claim 1, The method according to claim 1,
Wherein the communication between the drones and the ground control equipment exchanges image information, status information or control commands in a TCP manner. The method according to claim 1,
Wherein in the infrastructure mode, the drones and the terrestrial control equipment each communicate with an M2M (Machine to Machine) server. The method of claim 8,
Wherein the drones transmit the image information and status information to the M2M server in the infrastructure mode and the M2M server transmits the image information and status information received from the drones to the terrestrial control equipment. Control method of drones capable of interconnection with ground control equipment. The method of claim 8,
Wherein in the infrastructure mode, the terrestrial control equipment transmits the control command to the M2M server, and the M2M server transmits the control command received from the terrestrial control equipment to the drones. Control method of drones capable of heterogeneous communication connection. The method according to claim 1,
Wherein the RF communication is a Wi-Fi communication, and the mobile communication is Long Term Evolution (LTE) communication. A communication module configured by an RF communication modem for performing RF communication with the terrestrial control apparatus in an Adhoc mode according to a communication mode and a mobile communication modem for performing mobile communication with the terrestrial control apparatus in an infrastructure mode;
A communication status monitoring module for monitoring a communication status of the RF communication or the mobile communication;
A communication mode setting module for setting one of the ad-hoc mode, the infrastructure mode, and the D2D mode to the communication mode according to the communication state;
A flight control module for controlling the flight of the drones; And
And a mission continuity determination module for determining whether or not the mission of the drone is continued according to a control command received from the ground control device. The method of claim 12,
Wherein the communication mode setting module sets the communication mode to the infrastructure mode when the drones are activated and the communication module performs mobile communication with the terrestrial control equipment in the infrastructure mode. Drones that can be connected to the equipment in a heterogeneous communication. The method of claim 13,
Wherein the communication state monitoring module measures a received signal strength for the RF communication in real time as a communication state for the RF communication and determines whether the received signal strength is equal to or greater than a predetermined RSSI threshold in the infrastructure mode Lt; / RTI >
Wherein the communication mode setting module switches the communication mode from the infrastructure mode to the ad-hoc mode when the received signal strength is equal to or greater than the first threshold (RSSI threshold ) This possible drones. The method of claim 14,
Wherein the communication status monitoring module monitors whether the received signal strength is less than a predetermined second threshold value alpha (RSSI threshold ) in the ad hoc mode,
Wherein the communication mode setting module switches the communication mode from the ad-hoc mode to the infrastructure mode when the received signal strength is less than a second threshold value (? RSSI threshold ) Connectable drones. The method of claim 15,
The communication status monitoring module measures the received signal strength using a moving average algorithm based on received signal strength (RSSI) values included in a packet of signals received for a predetermined period of time for the RF communication, And a drones capable of establishing a heterogeneous communication connection with the ground control equipment The method of claim 16,
Wherein the flight control module determines that the drones have moved out of the area of the RF communication when the received signal strength is less than a second threshold value alpha RSSI threshold and stops the movement of the drones. Drones that can be connected to the control equipment in heterogeneous communication. The method of claim 17,
Wherein the mission continuation determining module transmits a query request for continuation of the mission of the drones to the ground control equipment when the flight control module stops the movement of the drone and transmits the control command received from the ground control equipment Wherein the drones are capable of communicating with the ground control equipment. The method of claim 12,
Wherein the communication mode setting module sets the communication mode to the D2D mode when it is determined that the drones have moved out of the area of the mobile communication according to the communication state of the mobile communication,
The RF communication modem performs D2D communication with the drones located in the area of the mobile communication in the D2D mode according to the communication mode and communicates with the terrestrial control equipment via a dron located in the area of the mobile communication A dron which can be connected to the ground control equipment in a heterogeneous communication manner. The method of claim 12,
Wherein the RF communication is Wi-Fi communication and the mobile communication is a Long Term Evolution (LTE) communication.
KR1020160021036A 2016-02-23 2016-02-23 Drone capable of connecting with ground control system through heterogeneous communication and method for controlling thereof KR20170099094A (en)

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KR101852851B1 (en) * 2017-11-10 2018-04-27 (유)동아하이테크 An apparatus for controlling a drone
KR20190048967A (en) * 2017-10-31 2019-05-09 대우조선해양 주식회사 An inspection system for sealed areas using drone
KR20190098815A (en) 2018-01-31 2019-08-23 한서대학교 산학협력단 Real-time geographic information providing method using unmanned aerial vehicle
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WO2022231363A1 (en) * 2021-04-28 2022-11-03 주식회사 파인브이티 Determination system device for determining coverage of communication cell, and operation method thereof
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KR20190048967A (en) * 2017-10-31 2019-05-09 대우조선해양 주식회사 An inspection system for sealed areas using drone
KR101852851B1 (en) * 2017-11-10 2018-04-27 (유)동아하이테크 An apparatus for controlling a drone
KR20190098815A (en) 2018-01-31 2019-08-23 한서대학교 산학협력단 Real-time geographic information providing method using unmanned aerial vehicle
KR20190115790A (en) 2018-04-03 2019-10-14 제주대학교 산학협력단 Flight route determining aircraft and method thereof using communication stable information
KR20190120972A (en) * 2018-04-17 2019-10-25 동명대학교산학협력단 Drone with Routing Route Settings System for data delivery in Ad hok Network
KR20210128188A (en) * 2020-04-16 2021-10-26 한국전자통신연구원 Method and system for identifying drone pilots
WO2022231363A1 (en) * 2021-04-28 2022-11-03 주식회사 파인브이티 Determination system device for determining coverage of communication cell, and operation method thereof
KR20220167055A (en) * 2021-06-11 2022-12-20 한국항공우주연구원 Compound surveillance system including vehicles with sensors
KR102641365B1 (en) * 2023-06-22 2024-02-27 김세욱 Drone with Improved Communication Distance with Ground Control Station and Method for Tracking Ground Control Station

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