KR20170132923A - Control system for unmanned assignment of drone - Google Patents

Abstract

The present invention relates to an unmanned system for controlling a task of a drone. According to the system of the present invention, a drone is installed in a place required for a landing station where the drone is capable of taking off and landing in an unmanned manner, and is capable of charging a battery thereof, the drone automatically takes off at a predetermined time as an autonomous task to transmit a field image to a control center with autonomous flight, an administrator dispatches a corresponding drone from the control center as a manual task to control the same to perform the task, and the control center remotely manipulates the drone to allow the same to perform the task, such that the drone is arranged at a place where the administrator is difficult to stay to allow the drone to fly as a regular autonomous task at a remote place, or a manual task in accordance with an input of the administrator so as to perform the desired task. Accordingly, the remote unmanned monitoring can be easily performed, and a field image can be secured by being immediately dispatched to an accident site even in a place such as a downtown. The unmanned system for controlling a task of a drone of the present invention comprises: a drone (100) capable of automatically taking off and landing; a landing station (200) for allowing the drone (100) to be standby; and a control center (300) for receiving and monitoring image and task information obtained from the drone (100).

Description

Control system for unmanned assignment of drone [

The present invention relates to an unmanned mission control system for a drone, and more particularly, to an unmanned landing station capable of unmanned landing and unloading of a drone at a remote location, communicates with a landing station and a landing station from a landing station, And more particularly, to a drones unmanned mission control system for monitoring images to be shot and for controlling a dron to control a mission.

Dron refers to an unmanned aerial vehicle (UAV) flying by remote control or by autonomous flight control. Recently, as the utilization of drones using a flywheel has been diversified, aerial photography, courier service, It is also used for surveillance, leisure, and so on.

However, one of the biggest weaknesses of the drones is that the duration of the flight and the radius of activity are limited due to the battery's lifespan. As a result, the drones can be transported and transported, .

In view of the limitations of the battery capacity of the drone, Korean Unexamined Patent Publication No. 10-2013-0122715 entitled " Vehicle for charging and storing vertical unmanned takeoff and landing craft and method thereof "has been proposed. This prior art is characterized in that it is equipped with a movable container charging and storage function by providing a moving container car with a mobile charging and storage transportation vehicle and being capable of taking off and landing a plurality of air vehicles and monitoring the charging state have.

However, since the above-described prior art provides a mobile charge storage vehicle, it is disadvantageous in that the mobile vehicle must be moved to a mission site and the vehicle must be carried.

Therefore, it is necessary for the manager to shoot the surveillance video of the remote site, which is difficult for the administrator to monitor, or to make emergency the drones if the surveillance scene needs to be urgently secured, There is a problem that it can not be dispatched.

Korean Patent Publication No. 10-2013-0122715 (November 31, 2013)

The present invention provides a landing station capable of loading and unloading drones and automatic charging to element elements at a remote site and communicating with the drones and the landing stations at a remote control center to monitor the dron's mission command and monitoring images of the drones And to provide a drones unmanned mission control system.

In the present invention, the drones stored in the landing station periodically automatically dispatch according to a predetermined mission to perform a mission, transmit the mission image to the control center in real time, automatically return to the landing station after completion of the mission, So that the monitoring task of the remote site, which the administrator can not reside, can be performed automatically.

In addition, the present invention provides battery replacement and automatic charging module of the battery module and the landing station of the dron so that the battery of the dron landed in the landing station can be automatically replaced with the battery charged in the landing station, This is to solve the problem that the dispatch is delayed.

In addition, the present invention provides a landing station in a city, a road, a riverside, a mountainous area, etc. where an emergency image is required in case of an accident, dispatches a drone in a nearby location based on a mission command of the control center upon receipt of an accident report, So that the field image can be grasped and the situation of the site can be grasped.

The drones' unmanned mission control system according to the present invention,

A dron capable of flying by remote control or a predetermined autonomous flight and capable of detaching and attaching an image photographing means and an arbitrary mission executing device and capable of automatic landing and landing;

A landing station for inducing unmanned landing and landing of the drones, taking off and landing the drones, and automatically charging the drones;

A plurality of landing stations respectively installed at a plurality of places, a plurality of drones using each landing station as a landing area, monitoring the state of the drones and the landing stations, and issuing a mission command of the drones, And to provide a drones unmanned mission control system including a control center for receiving and monitoring information.

In the drones' unmanned mission control system according to the present invention,

The drones are stored in a landing station installed at a remote site. Each dronon autonomous mission and a manual mission inputted by the manager are assigned to the control center so that the dron can perform the mission by autonomous flight. So that the drones can be manipulated remotely by the control center based on the image information.

To this end,

A communication unit for communicating with each of the drones and the landing stations;

A status monitoring unit for receiving status information of each of the drones and the landing station through the communication unit and monitoring the availability of the flight and the battery charging status of the takeoff and landing and the drones;

And stores and manages flight information and mission information for the drone autonomous mission stored in the landing station, and also issues a corresponding autonomous mission command to each drone, and stores flight information and mission information for the manual mission inputted by the manager A drone mission command unit for issuing a manual mission command to the drone;

A monitoring unit for receiving image information and mission performance information according to each task execution of the drones, outputting the monitoring information to the monitoring screen, storing and managing the monitoring information, and outputting monitoring information of the status monitoring unit;

A manual control unit for manually controlling the landing station and the drone by the manager so as to control the manual flight to perform the mission;

And a control center main management unit for interlocking the communication unit, the status monitoring unit, the dron mission command unit, the monitoring unit, and the manual control unit with each other and providing an administrator interface.

The control center may further include a situation propagating unit for communicating with a predetermined system of related institutions and providing status information and monitoring information to a corresponding organization when a predetermined situation occurs, do.

Therefore, it is possible to perform the autonomous mission by automatically flying at each autonomous mission time according to the flight information set by the autonomous mission for each drone, and it is possible to dispatch a manual mission command when the manager needs special dispatch, The drones can be remotely controlled by the operation, the monitoring part can monitor the image and mission information according to the drones' mission, and can monitor the status of the drones and the landing station.

The dron used in the present invention is a dron which has a drone main device equipped with a flight device capable of normal automatic flight and radio control, a photographing device installed in a drone, and a photographing device An LTE communication module or a CDMA communication module for transmitting and receiving the remote flight control information of the drones to the remote control center, a voice input / output device for voice input / output, a takeoff / landing module for automatic takeoff and landing at the landing station, And a battery charging module for automatically charging the battery of the drones landed and stored in the station.

In the landing station according to the present invention,

A landing tower on which a take-off and landing plate for landing and storage of the drones is installed;

A tower cap installed on the take-off and landing plate of the landing tower so as to be opened and closed;

A landing station communication unit for communicating with the drones and the control center;

A landing induction device for communicating with the drones and for directing the drones to a forward landing;

An ambient environment detecting device for detecting an ambient environment of the landing station to detect whether or not the drones are landing and flying;

A charging module for charging the battery of the drones by docking with the battery charging module of the dron landed on the take-off and landing plate;

A landing station main which automatically controls the opening and closing of the tower cap for the take-off and landing of the drones, the landing induction device and the charging module of the dron according to the communication with the drones and the control center, and transmits the operating state of the landing station and the surrounding environment information to the control center And a control unit.

As another embodiment of the present invention,

The dron is provided with a battery attaching / detaching module capable of automatically attaching / detaching the battery,

The landing station includes a battery charging module for charging the battery; A battery exchange module for docking the drones with the battery detachment module to detach the batteries of the drones and transferring the charged batteries to the battery detachment module of the drones; And a battery transfer device for transferring the charged battery in the battery charging module to the battery exchange module.

The present invention provides a landing station capable of unmanned landing and landing of a dron and a landing station for charging the battery. The drones stored in the landing station are taken off by autonomous dispatch by a mission command of the control center or by manual dispatch by a manager, The drones are sent to the control center in real time and the battery of the returned drones is automatically charged to the landing station so that the drones waiting in the landing station near the scene are dispatched without transporting the dron near the scene, Can be secured in real time.

1 is a schematic diagram of a drones unmanned mission control system according to the present invention;
2 is a schematic diagram of a dron used in a drones unmanned mission control system according to the present invention;
3 is a schematic view of a control center of a drones unmanned mission control system according to the present invention.
FIG. 4 is an overview of a landing station of a drones unmanned mission control system according to the present invention; FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic diagram of a drones unmanned mission control system according to the present invention.

As shown therein,

A dron (100) capable of remote control or a predetermined autonomous flight, capable of detaching and attaching an image photographing means and an arbitrary mission performing device, and capable of automatic takeoff and landing;

A landing station 200 for providing a landing area for the drones 100 to induce and control landing and landing automatically, to store and store the landed drones 100, and to automatically charge the batteries of the stored drones;

A plurality of landing stations 200 installed in a plurality of places and a plurality of drones 100 using each landing station 200 as a landing area while monitoring the states of the drones 100 and landing stations 200, The drones 100 are automatically taken off from the landing station 200 to perform a mission and then return to the landing station 200. The video and mission information acquired from the drones 100 A drones unmanned mission control system including a control center 300 for receiving and monitoring the drones.

2 is a control center outline diagram of the unmanned drones control system according to the present invention.

As shown therein,

A communication unit 310 for communicating with each of the drones 100 and the landing stations 200;

A state monitoring unit 320 receiving state information of each of the drones 100 and the landing station 200 via the communication unit 310 and monitoring the availability of the flight and the battery charging state of the takeoff and landing and the drones 100;

Sets and manages flight information and mission information for an autonomous mission of the drones 100 stored in the landing station 200, and also issues a corresponding autonomous mission command to each dron 100, A dron mission command unit 330 for storing flight information and mission information of the drones 100 and for issuing a manual mission command to the drones 100;

A monitoring unit 340 for receiving image information and mission performance information according to each mission execution of the drones 100, outputting the monitoring information to the monitoring screen, storing and managing the monitored information, and outputting monitoring information of the status monitoring unit 320, Wow;

A manual control unit 350 for allowing an administrator to remotely control the landing station 200 and the drones 100 manually, and to control a manual flight by remote control of the drones 100 to perform a mission;

The control center main control unit 310 controls the interlocking of the communication unit 310, the state monitoring unit 320, the dron mission command unit 330, the monitoring unit 340, and the manual control unit 350, 360).

The control center 300 includes a status propagation unit 370 for communicating status information and monitoring information to a corresponding organization when a predetermined situation occurs in communication with a predetermined system of related organizations, And further comprising:

3 is a schematic diagram of a dron used in a drones unmanned mission control system according to the present invention. As shown therein,

The drone 100 used in the present invention includes a drone main device 110 having a flight device capable of normal automatic flight and radio adjustment; A landing induction module 120 for inducing and controlling the automatic landing of the drone main unit 110 by detecting a position and an orientation when landing the drone 100 on the landing station 200; The photographing device 160 installed in the drones 100 and the image taken by the photographing device 160 installed in the drones 100 by directly communicating with the control center 300 to the control center 300 at the remote site An LTE or CDMA communication module 130 for transmitting / receiving control information for remote control of the drone 100, a voice input / output device 140 for voice input / output, a drones 100 landed and stored in the landing station 200, And a battery charging module (150) for automatically charging the battery of the battery.

4 is a schematic diagram of a landing station of a drones unmanned mission control system according to the present invention. As shown therein,

In the landing station 200 according to the present invention,

A landing tower 210 on which a take-off and landing plate 211 for landing and storage of the drones 100 is installed;

A tower cap 220 installed in a take-off and landing plate 211 of the landing tower 210 so as to be opened and closed;

A landing station communication unit 230 for communicating with the drones 100 and the control center 300;

A landing induction device 240 for communicating with the drones 100 and guiding the drones 100 to make a positive forward landing;

An ambient environment detecting device 250 for detecting the surrounding environment of the landing station 200 and detecting whether or not the drones 100 can be taken off and landed and capable of flying;

A battery charging device 260 for charging the battery of the drones by docking with the battery charging module of the drones 100 landed on the takeoff and landing plate 211;

The opening and closing of the tower cap 220 for landing and landing of the drones 100 and the landing induction device 240 and the battery charging device 260 are automatically controlled based on the communication with the drones 100 and the control center 300, And a landing station main control unit 270 for transmitting the operating state of the mobile terminal 200 and the surrounding environment information to the control center 300.

In the drones' unmanned mission control system according to the invention thus configured,

The landing station 200 is installed in an area where supervisors need to be constantly monitored and in an area where emergency mobility is required. The landing station 200 communicates with the control center 300 via a wired or wireless communication network and the drones 100 communicate with the control center 300 through direct LTE communication or CDMA communication to transmit the acquired image information, And transmits information on the status and mission performance to the control center 300. The landing station 200 is provided with a landing induction device for guiding the drones to make automatic landing and landing so that the drones 100 can beautomatically unloaded and landed.

In the description of the present invention, the autonomous mission is to autonomously perform a mission in an autonomous flight according to the determined flight information at a predetermined time, and the manual mission is a manual mission in which a droneman's mission, flight information, The autonomous mission and the manual mission mean flying in the automatic flight mode by the given information, and the manual control is divided into the manual remote control instead of the autonomous flight.

First, the autonomous mission determines the activity radius or flight information for each of the drones 100 stored in each landing station 200, and sets and sets mission time or mission event. For example, if the autonomous mission is set, the dron mission command unit 330 of the control center 300 checks the time of the autonomous mission and, when the autonomous mission time comes, And autonomous mission information. The drones 100 are ready for takeoff in order to carry out the autonomous mission and the drones 100 and the landing station 200 prepare for landing while the landing station 200 communicates with the drones 100, The docking of the battery charging device 260 and the battery charging module 150 of the drones 100 is released and the tower cap 220 is opened. Here, the tower cap 220 is formed by forming a dome with a multi-stage slide cap which is opened and closed while being slid from the center to the left and right, for example, and has a waterproof function.

After the tower cap 220 is opened, the drones 100 take off from the landing station 200 on the basis of predetermined take-off control information, and perform autonomous flight based on the autonomous flight information, that is, And transmits the image photographed by the photographing apparatus 160 directly to the control center 300. Real time monitoring and image storage management is performed in the control center 300 by using LTE or CDMA communication to transmit / receive image information between the remote drones 100 and the control center 300.

After the autonomous mission of the drones 100 is returned to the landing station 200, the interlinking information of the landing induction device 240 of the landing station 200 and the landing induction module 120 of the drones 100, The main device 110 is automatically landed on the takeoff and landing plate 211 of the landing station 200 in the correct position. The fixed position is to control the direction and the position so that the automatic charging can be performed by docking the battery charging module.

Therefore, in the above-mentioned autonomous mission performance, the drone is automatically dispatched at a preset time, and the photographed image is transmitted, so that the supervisor can automatically perform the monitoring mission even without manually operating the apparatus.

Meanwhile, the manual task is a task in which an administrator arbitrarily assigns a mission to dispatch the drones 100 in the event of an emergency or an accident occurs. At this time, if the flight information of the drones 100, A manual mission command is transmitted to the drones 100 through the command unit 330 and the tower cap 220 of the landing station 200 is opened so that the drones 100 take off and fly And transmits the photographed information in real time. Therefore, in the event of an accident or an emergency, remote monitoring can be carried out by the administrator to monitor the scene, so that the situation can be grasped and the corresponding response can be propagated to the related organization or agency. In addition, in the manual task, it dispatches the emergency medicine or the structural article to the predetermined position, and when the emergency medicine or the structural article is mounted, the drone is dispatched to the site to be delivered to the site.

The manual control unit 350 allows the manual control unit 350 to control the flight of the drones manually at a remote location while watching the images of the drones manually. A signal can be generated to manually control the drone.

The state monitoring unit 320 detects information such as a battery state of each of the drones 100 and whether or not the drones 100 are landing or flying in the landing station 200, Monitor environmental information to determine if the drone's flight is possible or qlgoid is not possible. This can be used to automatically determine whether or not the flight is made using predetermined comparison determination information, and the manager can manually determine the flight status information. For example, if the surrounding area of the landing station 200 is detected by detecting a wind speed, a direction and a snow direction, etc., and images of the landing station are captured using the camera and transmitted to the control center 300, The status monitoring unit 320 of the mobile terminal 300 may automatically determine the status of the drones according to the determined determination information or the administrator may view the information displayed on the monitoring unit to determine the situation and control the dron's mission command. That is, if the wind speed is higher than the predetermined wind speed, the autonomous mission command of the corresponding time of the drones 100 is canceled to cancel the drones' flight.

The drones 100 can take off and perform the autonomous duties automatically according to the predetermined autonomous duties. The autonomous duties can be performed by the drones by the administrator and the manual duties can be performed. In the control center 300, May direct fly the drones in passive flight mode.

When the dron 100 is landed on the landing station 200, the tower cap 220 is closed and stored, and the battery charging device 260 of the landing station 200 is operated to connect the battery charging module of the dron 100 Docking to charge the battery of the drones. For example, the battery charging module 150 of the drones is positioned on the lower surface of the drones, and the charging terminals of the battery charging circuits are exposed on the lower surface. The battery charging device 260 of the landing station 200 is charged The power supply node for supplying power may be raised and lowered to contact the charging terminal of the charging module 150 of the drones 100 to charge the battery.

 Therefore, in a state where the drones 100 are stored in the landing station 200, the charging of the drones is automatically performed, so that it is possible to cope with the emergency dispatch.

When the predetermined autonomous mission is given for each of the drones 100, the corresponding dron 100 automatically takes off at a predetermined time of the autonomous mission and performs an autonomous mission such as image shooting while autonomously flying according to the determined flight information , And the photographed image can be transmitted to the control center 300 in real time for monitoring. Upon completion of the autonomous mission according to the determined flight information, the mobile terminal 200 returns to the landing station 200 to perform automatic landing, and the landing station 200 automatically charges the battery of the landed drones.

Accordingly, the drones 100 are stored in the landing station 200 at a remote location where the manager is difficult to reside, the drones are automatically taken off from the control center 300 by remote control, It is possible to return to the landing station and store it in the battery charging mode, so that it is not necessary to carry the drone directly to the scene for the flight of the dron, and to perform the autonomous mission at a fixed time, So that a manual task such as image shooting can be performed.

The landing station 200 is installed in an area difficult to be monitored only by a fixed CCTV such as a city, a river, a park, a mountain trail, and a mountainous area of a book mountain. When the landing station 200 stores a drone, In particular, it is possible to obtain a scene image by manually issuing a manual mission command at the remote control center 300 by flying the drone 100 to the scene without transporting the dron to the site in the event of an accident. In other words, it is possible to acquire the drone image of the scene by scouting the dron at the scene of the accident such as the fire in the city center, the accident scene of the highway, the water accident scene, the forest fire accident scene and the like. Also, it can be used for safety accident management by outputting the site guidance voice of the control station or receiving and receiving the voice of the site through the voice input / output device at the time of dispatching the site.

Meanwhile, as another embodiment of the present invention, the tron 100 is provided with a battery detachment means for detaching the battery of the dron, and the docking means of the dron 100 is docked to the landing station 200, And a battery exchange device for transferring the spare battery charged in the landing station to the battery detachment means and mounting the battery to replace the battery of the drones.

When the battery exchange device is installed to replace the battery of the drones in the landing station, the delay of the drones due to the non-charging of the battery can be prevented.

100: Drone 110: Drone main device
120: Landing induction module 130: LTE or CDMA communication module
140: voice input / output device 150: battery charging module
160: photographing apparatus 200: landing station
210: landing tower 211: takeoff and landing plate
220: Tower cap 230: Landing station communication section
240: Landing induction device 250: Ambient environment detecting device
260: Battery charging device 270: Landing station main control unit
300: control center 310: communication unit
320: state monitoring unit 330: dron mission command unit
340: monitoring unit 350: manual control unit
360: control center main management part 370: situation propagation part

Claims (9)

A dron (100) capable of remote control or a predetermined autonomous flight, capable of detaching and attaching an image photographing means and an arbitrary mission performing device, and capable of automatic takeoff and landing;
A landing station 200 for providing the landing area of the drones 100 to automatically induce and control the landing and landing of the drones and to automatically charge the battery of the landed drones 100 to stand the drones 100, ;
A plurality of landing stations 200 installed in a plurality of places and a plurality of drones 100 using each landing station 200 as a landing area while monitoring the states of the drones 100 and landing stations 200, The drones 100 are automatically taken off from the landing station 200 to perform a mission and then return to the landing station 200. The video and mission information acquired from the drones 100 And a control center (300) for receiving and monitoring the unmanned mission control system of the drones.
The control center (300) according to claim 1, wherein the control center (300)
A communication unit 310 for communicating with each of the drones 100 and the landing stations 200;
A state monitoring unit 320 receiving state information of each of the drones 100 and the landing station 200 via the communication unit 310 and monitoring the availability of the flight and the battery charging state of the takeoff and landing and the drones 100;
Sets and manages flight information and mission information for an autonomous mission of the drones 100 stored in the landing station 200, and also issues a corresponding autonomous mission command to each dron 100, A dron mission command unit 330 for storing flight information and mission information of the drones 100 and for issuing a manual mission command to the drones 100;
A monitoring unit 340 for receiving image information and mission performance information according to each mission execution of the drones 100, outputting the monitoring information to the monitoring screen, storing and managing the monitored information, and outputting monitoring information of the status monitoring unit 320, Wow;
A manual control unit 350 for allowing an administrator to remotely control the landing station 200 and the drones 100 manually, and to control a manual flight by remote control of the drones 100 to perform a mission;
The control center main control unit 310 controls the interlocking of the communication unit 310, the state monitoring unit 320, the dron mission command unit 330, the monitoring unit 340, and the manual control unit 350, 360). ≪ / RTI >
The control center (300) according to claim 2, wherein the control center (300)
And a status propagation unit (370) for communicating the status information and the monitoring information to the corresponding organizations when a predetermined situation occurs in communication with the systems of the predetermined related organizations, Drones unmanned mission control system.
The drones according to claim 1,
A drone main device 110 having a flight device capable of normal automatic flight and radio control;
A landing induction module 120 for inducing and controlling the automatic landing of the drone main unit 110 by detecting a position and an orientation when landing the drone 100 on the landing station 200;
A photographing apparatus 160 installed in the drones 100;
The control unit 300 directly communicates with the control center 300 to transmit the image photographed by the photographing apparatus 160 installed in the drone 100 to the control center 300 at the remote site and to transmit and receive control information for remote control of the drone 100 An LTE or CDMA communication module (130)
Further comprising a battery charging module (150) for automatically charging the battery of the drones (100) landed and stored in the landing station (200).
The drones according to claim 1,
And a voice input / output device (140) for receiving and outputting a voice message from the control center (300) or receiving the voice of the site and transmitting the voice to the control center (300).
The method of claim 1, wherein the landing station (200)
A landing tower 210 on which a take-off and landing plate 211 for landing and storage of the drones 100 is installed;
A landing station communication unit 230 for communicating with the drones 100 and the control center 300;
A landing induction device 240 for communicating with the drones 100 to guide the landing of the drones 100;
A battery charging device 260 for charging the battery of the drones by docking with the battery charging module of the drones 100 landed on the takeoff and landing plate 211;
The landing induction device 240 and the battery charging device 260 for landing and landing of the drones 100 are automatically controlled based on communication with the drones 100 and the control center 300, And a landing station main control unit (270) for transmitting the drones to the control center (300).
7. The method of claim 6, wherein the landing station (200)
And a tower cap 220 mounted on the take-off and landing plate 211 of the landing tower 210 so as to be opened and closed. The tower cap 220 is controlled by the landing station main control unit 270, So that the drones can be opened and closed.
7. The method of claim 6, wherein the landing station (220)
The apparatus according to claim 1, further comprising a surrounding environment detecting device (250) for detecting a surrounding environment of the landing station (200) and detecting whether the drones (100) To the control center (300) under the control of the landing station main control unit (270).
[2] The apparatus of claim 1, wherein the drones (100)
The landing station 200 is equipped with a battery charging module for charging the battery, and a docking device for the drones to transfer the battery of the drones to the battery charging module in the landing station. Further comprising battery replacing means for replacing the battery of the dron by mounting the battery to the dron via the battery detachment device of the dron.

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