KR20180018154A - Long-range drones service system capable of fast dispatching task drone - Google Patents

Abstract

The present invention relates to a long-distance drone service system which comprises: a task drone; a plurality of communication drones for establishing an ad hoc multi-hop communication channel; and a control center for verifying a distance and a terrain to a destination position by using map data after receiving the destination position transmitted from a portable terminal of a requester, dispatching the plurality of communication drones after determining the necessary number of communication drones and a hovering position of each communication drone by referring to the verified distance and the terrain, and controlling the task drone to reach the destination position by using the communication channel established by the plurality of communication drones.

Description

[0001] The present invention relates to a long-range drones service system capable of rapidly dispatching a drones,

The present invention relates to a drones system, and more particularly, to a long haul drones service system capable of quickly dispatching mission drones to a long distance.

Unmanned aerial vehicles (UAVs), which can be remotely operated without people getting on board, are represented by drones and are now widely used in civilian markets as well as military.

Drones can be used to manage and monitor specific areas where access is difficult. Specifically, the drone can move freely and quickly, and can carry out remote monitoring of a specific area through the mounted camera or sensor. That is, the drones can be used for public purposes such as victim search, wildfire monitoring, traffic violation control, hurricane and border area surveillance, remote emergency medical care, and setting emergency lines in disaster areas.

The drones move to the air, so they are very mobile. In other words, even in severe traffic congestion and rough roads, the drones can move quickly through the air.

Korean Patent Laid-Open Publication No. 10-2016-0048737 discloses a " life-saving structure and environment monitoring drones having a simple operation function ", and a drones capable of quickly and safely constructing a dewatering device using a remote and simple adjustment function Lt; / RTI >

In Korean Patent Laid-Open No. 10-2016-0048737, the user adjusts the direction of movement of the dron using the left adjustment stick 11 and the right adjustment stick 12.

In general, when the left adjustable stick 11 is moved back and forth (throttle), the drone moves up and down in the vertical direction (ground-air).

In addition, when the left adjustable stick 11 is moved left and right (yaw), the drone rotates clockwise or counterclockwise.

Further, when the right adjustable stick 12 is moved back and forth (pitch, pitch), the drone moves forward and backward in the horizontal direction.

Further, when the right adjustable stick 12 is moved left and right (roll, roll), the drone moves leftward and rightward in the horizontal direction.

In the conventional drones system, the user directly controls the movement to the destination while confirming the image transmitted from the drones. However, when the distance exceeds the limit distance for communicating with the drones, the user can not move to the destination.

In addition, the conventional drone system can receive satellite position information relatively accurately, and is configured to automatically move to a destination from the condition of an obstacle-free topography such as a river or sea where the destination can be easily identified using an image. However, it is difficult to automatically move the drones to a detailed destination at a point where reception of satellite position information is distorted, such as a building forest or a tough mountain valley, or in a terrain where vision is difficult to obtain due to the image captured by the drones.

KR 10-2016-0048737 A

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned technical problems, and it is an object of the present invention to determine the number of necessary communication drones and the hovering position of each communication dron according to the detected distance and topography, A long distance drones service system in which a mission drones can quickly reach a destination location through communication distance expansion obtained by relaying communications between communication drones. Drones of the current level, which is a shortcoming of relatively short duration, can be developed and applied to areas requiring long distance travel, such as remote emergency medical services, but requiring short mission time. If you want to increase your mission time, you can substitute communication drones and mission drones respectively.

In addition, a drone with a telemedicine device that enables remote emergency medical treatment after the arrival of an autonomous flight in Golden Time in case of an accident requiring emergency medical treatment in an area where medical support is not possible in a short time such as mountain or sea And provides a remote medical service using the same.

 Also, after moving to the vicinity of the destination location with reference to the satellite position information, the WIFI HOTSPOT signal is referred to from the point of time when the WIFI HOTSPOT signal outputted from the portable terminal of the requester is detected, Long-range drones service system that can be finally reached.

According to one embodiment of the present invention, a mission drones; A plurality of communication drones for establishing an ad hoc multi-hop communication channel; After receiving the destination location transmitted from the portable terminal of the requester, the distance and topography to the destination location are determined using the map data,

Determining a number of necessary communication drones and a hovering position of each of the communication drones with reference to the detected distance and the topography, and then dispatching the plurality of communication drones, and using the communication channels established by the plurality of communication drones, And a control center for controlling the drones to reach the destination position.

In addition, when the mission drone reaches the destination position, the mission drone moves to the vicinity of the destination position with reference to the satellite position information,

And when the wireless terminal detects a WIFI HOTSPOT signal output from the portable terminal, the WIFI HOTSPOT signal is finally reached to the destination position.

In order to accurately grasp the destination position, the mission drone obtains the relative positions of the three vertexes by horizontally operating the triangle, grasps the distance to the destination, applies the trilateration to determine the relative position of the destination, , And finally arrives at the destination position while considering the relative position and the satellite position information (absolute position) at the same time.

Also, the plurality of communication drones relay the wireless network connection between neighboring communication drones to connect the control center and the multi-hop network to the multi-hop network, wherein the IP address of each communication dron is assigned in advance And,

And a communication channel is established between the control center and the communication drones and the adjacent communication drones using a link channel sharing scheme such as CSMA / CA (Carrier Sense Multiple Access with Collision Avoidance).

The plurality of communication drones are connected to the control center and the multi-hop network by relaying wireless network connections between neighboring communication drones, and when the communication channel with neighboring communication drones is poor, communication is performed for a predetermined number of times If there is no response after retrying the connection, if this situation is transmitted to another communication drones on the other side,

Wherein the plurality of communication drones automatically extend the interval spaced by the quality / speed / mission time sacrifice policy preset by the control center to maintain the connection state of the wireless ad hoc multi-hop network.

In addition, when the communication center maintains a long-term communication channel, the control center dispatches additional communication drones replacing communication drones that are already operating, and the additional communication dron communicates with the other communication drones disposed from the control center Handover is performed to approach the replacement-purpose communication drones, and the replacement-purpose communication drones are also handed over to the control center to return.

In addition, in determining the hovering position of each communication drones by referring to the detected distance and topography, the control center ensures that the line-of-sight (LOS) between each communication dron is guaranteed So that the hovering position of the plurality of communication drones is adjusted.

In addition, the plurality of communication drones detect whether there is an obstacle between neighboring communication drones after reaching the hovering position specified by the control center, and when an obstacle is detected, a line of sight (LOS) And the position of the own or neighboring drones for communication is individually and automatically adjusted to the guaranteed position.

Further, the mission drone includes a landing gear including at least four grounding portions,

Each of the grounding portions detects a sloping or curved floor condition and automatically adjusts the height so that the drones are operated to land with the horizontal durability maintained.

In addition, the mission drill includes a cylindrical rotary saw which can remove obstacles such as twigs by applying a twin-axle motor to the opposite side of the propeller when the rotary drill is rotating, And the obstacle such as branches located in the direction is removed to secure a landing radius in a mountain or the like.

In addition, the mission drones can be used for medical applications, such as an invasive / noninvasive myocardial infarction diagnostic device, an automatic cardioverter defibrillator, an automatic intramuscular injection device, a sealed injection fluid, an air bed, a smart glass for patient monitor, A camera, a display device, and a parental motion device,

The remote control is performed with a doctor at a remote location using a speaker, a camera, and a display device, and authentication of a protector agreement for a remote medical treatment is performed using fingerprint recognition and vein pattern recognition of the parental consent device, .

According to another embodiment of the present invention, a mission drones; And receiving the destination position transmitted from the portable terminal of the requestor, the distance and the topography to the destination position are determined by using the map data, and the mission dragon reaches the destination position And a control center for controlling the control center,

When the mission drones reach the destination position, the mission drones are moved to the vicinity of the destination location with reference to the satellite position information, and after the detection of the WIFI HOTSPOT signal output from the portable terminal, A long distance drones service system is provided wherein the long distance drones service system is finally reached with reference to a WIFI HOTSPOT signal.

The long-distance drones service system according to the embodiment of the present invention determines the number of necessary communication drones and the hovering position of each communication dron with reference to the detected distance and the topography, then sends out a plurality of communication drones, The mission drones can be moved to the destination position by using the established communication channel.

That is, the neighboring communication drones relay the wireless network connection to each other to construct the control center and the ad hoc multi-hop network. Therefore, even if the distance from the control center to the destination location is long, the communication drones can be additionally dispatched to construct the network, so that the mission drones can be moved to the destination location without restriction on the dispatch distance.

In addition, the long-distance drones service system refers to the satellite position information up to the vicinity of the destination location, and after the WiFi hotspot signal outputted from the portable terminal of the requesting person at the destination is detected, the WiFi hotspot HOTSPOT) signal to the destination position. Therefore, it is possible to move the drone automatically to the destination position even at a point where the reception of the satellite position information is distorted such as a building forest, a valley of a hilly mountain, or a terrain in which visibility can not be secured by the image taken by the drones.

1 is a configuration diagram of a long-distance drones service system 1 according to an embodiment of the present invention.
2 to 4 are diagrams showing a process of moving a plurality of communication drones and mission drones in the long distance drones service system 1
FIG. 5 shows a state diagram in which a mission drill is used to determine a destination position using trilateration
6 is a view showing a destination position grasped by trilateration

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention.

1 is a configuration diagram of a long-distance drones service system 1 according to an embodiment of the present invention.

The long-distance drones service system 1 according to the present embodiment includes only a simple configuration for clearly explaining the technical ideas to be proposed.

1, the long distance drones service system 1 includes a mission drones 100, a plurality of communication drones 200, a control center 300, and a portable terminal.

The detailed configuration and major operations of the long-distance drones service system 1 configured as described above will be described below.

The mission drones (100) include medical drones equipped with medical equipments, transport drones that can supply goods in the disaster area as well as logistics such as shipping, automatic docking to the declared area, and establishing a communication network on the ground around the destination And can be defined as a drone capable of automatic return after automatic dispatch to the structure position.

In this embodiment, the mission drones 100 are defined and described as medical drones 100 equipped with medical equipment.

The plurality of communication drones 200 establish an Ad-Hoc multi-hop communication channel. That is, the plurality of communication drones 200 establish the Ad-Hoc multi-hop communication channel and then relay the communication between the control center 300 and the mission drones 100.

Ad-Hoc Multi-hop network is a communication network composed only of a mobile host, and terminals (communication drones) are connected to each other. In the middle of terminals located far away from each other, Go ahead.

That is, even though the terminals have a short communication range, many terminals acting as routers serve as relays, and the transmitting node communicates information by connecting a virtual link with a remote receiving node.

Typically, to send data to a remote node, the RF signal must be sent at a higher power to reach it, while in the case of an Ad-Hoc multi-hop network, And repeatedly connects to the final receiving node.

The plurality of communication drones 200 are connected to the control center 300 and the ad hoc multi-hop network by relaying wireless network connections between neighboring communication drones 210 and 220, IP ADDRESS) is allocated in advance before the start of the network, so that the network connection speed can be increased.

Also, a two-layer shared system such as CSMA / CA (Carrier Sense Multiple Access with Collision Avoidance), TDMA or CDMA is used between the control center 300 and the communication drones 210 and between the adjacent communication drones 210 and 220 Establish a communication channel. That is, a communication channel is established using a link channel sharing scheme such as CSMA / CA (Carrier Sense Multiple Access with Collision Avoidance).

The CSMA / CA channel access method is a transmission structure using only spreading and PSK modulation without using a separate channel coding technique. Therefore, it can be implemented at a low price in a limited use for a low-speed wireless communication in a short distance.

CSMA is a process to check beforehand what data will be corrupted by something else on the channel I want to send before sending the data. CA is a way to avoid collisions (CSMA / CD for collision detection). That is, the CSMA / CA checks whether other devices are being transmitted to the CSMA / CA before transmitting the data. If someone is already transmitting data, wait for a random amount of time and try again. Since the CSMA / CA is a contention scheme, the first device that is attempting to access first transmits it.

In addition, TDMA or CDMA is a scheme for multiple access,

A time division multiple access (TDMA) scheme in which a plurality of users can use one frequency band at the same time by dividing a time using a frequency and a signal coded so that a plurality of users can simultaneously access the same frequency band And a Code Division Multiple Access (CDMA) scheme, which is proposed for spreading and transmitting signals.

The plurality of communication drones 200 are connected to the control center 300 and the ad hoc multi-hop network by relaying wireless network connections between neighboring communication drones. When the communication channel with the adjacent communication drones is poor Retry the communication connection a specified number of times.

At this time, if the communication channel is bad even after the communication connection is retried a specified number of times, the corresponding communication drones send their own situation (bad information) to the other communication drones, and the plurality of communication drones 200 are set in advance Hop / hop-time sacrifice policy to maintain the connection state of the ad hoc multi-hop network.

The control center 300 receives the destination location 400 transmitted from the portable terminal of the requester, and then grasps the distance to the destination location 400 and the terrain using the map data. Here, since the map data is the three-dimensional map data, it is possible to grasp the elevation of the terrain by using the map data of the control center 300. In addition, the portable terminal is a general term for a portable device such as a mobile phone, a smart phone, a smart pad and the like that the user can carry while using the portable terminal. In the present embodiment, the portable terminal is assumed to be a portable terminal configured as a smart phone.

Next, the control center 300 determines the number of necessary communication drones and the hovering position of each communication dron referring to the detected distance and the topography, and then sends out a plurality of communication drones to the destination 400 and the control center 300 ).

Next, the control center 300 controls the mission drones 100 to reach the destination location 400 using the communication channels established by the plurality of communication drones 200. [

For reference, in this embodiment, the mission drones 100 are defined as the medical drones 100, so that the control center 300 can be defined as a telemedicine server. Therefore, the remote control system can be constructed with the control center 300, that is, the physician of the remote location, by using the speaker, the camera and the display device of the mission drill 100.

FIGS. 2 to 4 are views showing a process of moving a plurality of communication drones and mission drones in the long-distance drones service system 1. FIG.

Referring to Figs. 2 to 4, the process of the mission drones 100 reaching the destination position 400 will be described.

First, after receiving the destination location 400 transmitted from the portable terminal of the requester, a step S10 is performed in which the distance to the destination location 400 and the topography are grasped using the map data.

Here, the requestor can be defined as a distressed distress in the outback, such as a valley, or as a protector next to a distress.

That is, when the requester executes the application installed in the portable terminal and transmits the current location, i.e., the destination location (satellite position information) to the control center 300, the control center 300 receives the destination location, The distance to the destination location 400 and the terrain are determined using the data.

Next, the control center 300 determines the number of required communication drones and the hovering position of each of the communication drones with reference to the detected distance and the topography, then sends out a plurality of communication drones 200, S30, S40, S50, S60, and S70) of controlling the mission drones 100 to reach the destination location 400 using the communication channel established by the terminal 200. [

The steps (S20, S30, S40, S50, S60, S70) of controlling the mission drones 100 to reach the destination position 400 will be described in more detail as follows.

The control center 300 determines the number of required communication drones and the hovering position of each communication dron in consideration of the distance to the destination location 400 and then sends out a plurality of communication drones 200 and the mission drones 100 . - S20 -

At this time, an example in which a plurality of communication drones 200 and the mission drones 100 are simultaneously dispatched will be described in this embodiment. In another embodiment, a plurality of communication drones 200 may be configured to arrive at the destination location 400 in advance, and then the mission drones 100 may be configured to reach the destination location 400 using the established communication network .

Next, the plurality of communication drones 200 and the mission drones 100 share the communication link with the control center 300, while considering the communication limit distance with the LOS (Line Of Sight) Move to the position you assigned to yourself. - S30 -

Next, the first communication drones 210 among the plurality of communication drones 200 hover while maintaining the communication link with the control center 300 while the second communication drones 220 and the mission drones 100 1 communication dron 210 and the communication link while maintaining the LOS (Line Of Sight, LOS) and the communication limit distance, the control center moves to the position specified by the control center. - S40, S50 -

When a plurality of communication drones are hovered to their positions, the mission drones finally arrive at the mission destination in the same manner.

For reference, the control center 300 determines the hovering position of each communication dron by referring to the detected distance and the terrain, and calculates the line of sight (LOS) between each communication dron in consideration of the position of the obstacle on the terrain. Of the plurality of communication drones is ensured.

That is, the control center 300 receives the destination location 400 transmitted from the portable terminal of the requester, and then grasps the distance to the destination location 400 and the terrain using the map data. Here, since the map data is three-dimensional map data, the control center 300 can grasp the elevation of the terrain by using the map data. Therefore, after determining the elevation of the terrain, the hovering position (vertical and horizontal position) of each communication dron is determined so that the line of sight (LOS) can be secured.

This is to maintain the communication quality by hovering the communication drones in a position where the line of sight (LOS) is ensured. That is, when there is an obstacle between the drone transmitting and receiving the RF signal, the quality of the communication channel such as diffraction and attenuation becomes unstable or deteriorated. In order to prevent this, the control center 300 necessarily takes into consideration the line of sight (LOS) when deriving the number and position of the communication drone.

After reaching the hovering position designated by the control center 300, the plurality of communication drones detect whether an obstacle exists between neighboring communication drones. If an obstacle is detected, a line of sight (LOS) Automatically adjusts the position of the own or neighboring communication drones individually to the position where it is guaranteed.

Since the control center 300 uses the three-dimensional map data, it can not grasp the position of the obstacle in real time. Accordingly, the communication drones are provided with a radar device for detecting an obstacle, and the position of the own or neighboring communication drones can be individually adjusted after real-time detection of obstacles in the vicinity.

In other words, it is necessary to monitor the space between neighboring drones by applying GPS, radar technology, and a light source that can be recognized at a long distance to hover at a position where the line of sight (LOS) is guaranteed. It is possible to apply the function of autonomously controlling the position of the user or the position of the opponent.

Next, the second communication drones 220 hover while maintaining the communication link with the first communication drones 210, while the mission drones 100 maintain the communication link with the second communication drones 220, And begins to move to position 400. [ - S60 -

At this time, when the mission drill 100 reaches the destination position 400, it moves to the vicinity of the destination position 400 by referring to the satellite position information, and then moves to S20, S30, S40, S50-

From the point of time when the WIFI HOTSPOT signal outputted from the portable terminal is sensed, it reaches the destination position 400 with reference to the WIFI HOTSPOT signal. - S60, S70 -

That is, in measuring the distance to the portable terminal that outputs the WIFI HOTSPOT signal, the mission drill 100 obtains the relative position of the three vertexes by performing a regular three-quadrant operation in order to accurately grasp the destination position The distance to the destination is determined, and the relative position of the destination position is obtained by applying trilateration, and the destination is finally reached by considering the relative position and the satellite position information (absolute position) at the same time. - S60, S70 -

5 is a state diagram in which the mission drill 100 grasps a destination position 400 using trilateration and FIG. 6 is a diagram showing a destination position 400 grasped by a trilateration to be. The first drawing 10 of Fig. 5 is a plan view and the second drawing 20 is a side view.

Referring to FIGS. 5 and 6, a process in which the mission drones 100 arrive at the destination position 400 by trilateration will be described as follows.

The wireless communication channel between the mission drones 100, the plurality of communication drones 200, and the control center 300 can utilize disaster frequencies such as 1. 700 MHz and 4.9 GHz. When 4.9GHz high frequency is applied, beamforming technology is applied to ensure maximum distance, but energy efficiency and interference reduction can be obtained. The communication drones can have two radio interfaces with different frequency bands due to the switching role and speed efficiency.

When the patient accompanied by the patient in the mission required location (mission position) such as patient occurrence reports an accident occurrence to the control center 300 with the app of the smart phone, the control center 300 can access the smart phone Locate the location. This app will automatically activate the WIFI HOTSPOT function of the smartphone for induction and landing of mission drones (100) such as medical drunks, and the network service set identifier (SSID) It has the function to inform. In addition, the app may have a function of notifying the control center 300 of the status of the patient, such as the status of the patient, through the image or additional device / function.

The control center 300 receives the caller's telephone number or communicates with the smartphone app to obtain the satellite position information, the service set identifier (SSID) of the WiFi hotspot (WIFI HOTSPOT) Select the drones, derive the waypoints for communication drones and mission drones to fly or stop, calculate the distance to the mission location (destination location), determine the required number of communication drones, It informs.

The corresponding number of drones begin their take-off in a cluster and fly to the position where the first communication dron should stop. First, the communication drones secure the line of sight (LOS) with the control center 300, and the wireless communication is stably possible. However, when the communication channel with the control center 300 is set to the maximum specified distance, The drones continue to fly.

This is to ensure that all drones maintain the communication channel settings with the control center 300 and are always within the control of the control center 300. The remaining communication drones are stopped one by one in order to maintain the high-speed communication channel, in a position ensuring the line-of-sight (LOS) with the preceding communication drones. When the last communication dron is stopped at its designated position by repeating this, the mission drones finally try to land close to the mission position (destination position). In some cases, when a plurality of mission sites occur, a plurality of mission drones may attempt to land on their mission destination, derived from the communication drones in the intermediate location.

The control center 300, the plurality of communication drones 200, and the mission drones 100 should be able to communicate most quickly, while maintaining a dedicated communication channel, not a shared one. Therefore, the communication channel setting with the front communication drones (center) can use the daisy chain method in the second layer (data link layer) instead of the general TCP / IP network configuration method in which an address is allocated after a link is established. In addition, TCP / IP communication is applied, but the IP address of each communication drones can be set before flight. If the task of the mission drones is a communication device, a DHCP server or the like may be provided, and a communication service such as a router may be performed at the corresponding mission position. Therefore, when the existing wired / wireless communication infrastructure is lost due to an earthquake or other disaster, the serviceability of the drones can be improved by providing the communication service.

The cluster drones share a channel with the front communication drones (center) using a CSMA / CA (Carrier Sense Multiple Access with Collision Avoidance) at the second layer, while the communication drones arrive at the corresponding location, And the remaining drones re-establish the link with the corresponding communication drones to form a new shared channel with the corresponding communication drones. Then, the corresponding communication dron switches the communication frame sent by the rear drones, forwards it to the front communication drones (center), or switches the communication frame coming from the front communication dron (center) and sends it to the rear communication drones (mission drones). All of the switching here can be done in two layers.

The mission drones 100 maintain the control channel with the control center 300 through the cluster flight with the communication drones after receiving the satellite position information sent by the report taker (requestor) in the control center 300. When the last communication dron is positioned, the mission dron 100 updates the channel through link resetting with the corresponding communication dron, and approaches and approaches the mission position (destination position) while reducing the speed after proceeding a certain distance.

(1) In other words, the mission drones 100 start to listen for receiving a WIFI HOTSPOT signal transmitted at a mission position (destination position) and reduce the speed of a video function . For this purpose, the camera is ready to be grasped in the forward direction of the moving direction, for example, in order to grasp the mission position (destination position).

(2) The mission drone (100) approaches the previously known absolute coordinates (x ', y', z '). If the mission location (destination location) is confirmed as an image before detecting a WiFi hotspot signal of a known network name (service set identifier, SSID), the distance is calculated using the image information, Location). At this time, the WIFI HOTSPOT signal will be detected while approaching the destination. At this time, using the WIFI HOTSPOT signal to obtain the accuracy for maintaining the minimum distance for the safety of people in the mission destination such as patient / guardian, TOA (Time of Arrival) or RSSI (Received Signal Strength Indication can be used as auxiliary information with image information.

(3) On the other hand, if the mission position (destination position) can not be confirmed through the image due to the error of the GPS information (satellite position information) until the WiFi hotspot signal is detected,

5 and 6, when a WIFI HOTSPOT signal is detected, the mobile terminal stops (hovering) and transmits a corresponding WiFi hot spot (WIFI hotspot) using a method such as Time of Arrival (TOA) or Received Signal Strength Indication HOTSPOT) Calculate the distance to the smartphone outputting the signal.

The position at this time is (x1, y1, z1) and the distance is d1. - Since Figure 5 is a sphere representation, the expressions of d1, d2, and d3 do not touch the (x, y, z) display point. (x, y, z) is the perspective display point -

(4) Next, calculate the distance to the smartphone by stopping at the same altitude (minimizing the change of the z-axis) and stopping at a distance of 1 o'clock (30 degrees) based on the flight direction before stopping (hovering). The position at this time is (x2, y2, z2) and the distance is d2.

(5) Next, we fly by the same distance as (4) with the same altitude (minimize the change of z axis) by the distance that we flowed from (4) at 8 o'clock direction (120 degrees) Stop (hover) and calculate the distance to the smartphone. The position at this time is (x3, y3, z3) and the distance is d3.

(6) If you know the distances from one coordinate to another in three different coordinates that are not in line in space, you can use the trilateration to obtain the coordinate values. The solution of the simultaneous quadratic equation (x, y, z) consisting of the equations of the three spheres is the corresponding mission position.

(x - x1) ² + (y - y1) ² + (z - z1) ² = d1 ²

(x - x2) ² + (y - y2) ² + (z - z2) ² = d2 ²

(x - x3) ² + (y - y3) ² + (z - z3) ² = d3 ²

(X ", y", z ") of two zeros are discarded, and the value of z (x, y, z) Take this small coordinate (x, y, z) value.

(7) The above process minimizes the errors of the GPS absolute coordinates (x ', y', z ') initially received by the mission drones 100 at the control center 300 and quickly recognizes the mission position (3), it is possible to use relative coordinates using an acceleration sensor, a geomagnetic sensor, a gyro sensor and the like without using the absolute coordinates of GPS.

That is, after storing (x1, y1, z1) by GPS, it is set as a reference point for relative coordinates. When obtaining the relative coordinates (x, y, z) from this, the absolute coordinates (x, y, z) by GPS can be obtained again by calculating the difference from the relative coordinate reference (x1, y1, z1).

(8) The corrected coordinates are obtained using the existing GPS coordinates (x ', y', z ') and the newly obtained GPS coordinates (x, y, z) At this time, if the mission position (destination position) is confirmed in the image, it goes through the process of (2).

For reference, the mission drill 100 may include a landing gear including at least four grounding portions. That is, each grounding portion senses a sloping or curved bottom condition, and the height of the ground is automatically adjusted so that the mission drones 100 are kept in a horizontal state for landing.

In addition, the mission drill 100 may include a rotating saw disposed opposite to a propeller to which a twin-axle motor is applied so as to remove obstacles such as twigs, And the obstacle located in the moving direction is removed to secure the landing radius.

In addition, when the mission drones 100 are medical drones, it is also possible to use an invasive / noninvasive myocardial infarction diagnostic device, an automatic cardioverter defibrillator, an automatic intramuscular injection device, a sealed injection fluid, an air bed, , A speaker, a camera, a display device, a protector motion device, and a robot arm required for a treatment.

At this time, it is possible to perform telemedicine with a remote doctor by using a speaker, a camera and a display device. In particular, it is configured to authenticate a protector agreement for remote medical treatment using a fingerprint recognition device or a vein pattern recognition device , As well as first-aid treatment, as well as treatment that requires the consent of the guardian. For example, the sealing of the infusion liquid may be released only if the patient's consent for telemedicine is approved.

That is, the mission drill 100 has four or more grounding portions for landing at a sloping or curved position. The other height of each grounding portion is cut by joints to maintain the equilibrium of the gas and a composite material such as carbon fiber is applied It is possible to mount a robot landing gear to mitigate the impact.

In addition, when the mission drones (100) are difficult to access due to the branches, the propogade for protecting the drone propeller or the rotary saw at the bottom of the frame can be used to land the twigs so that they do not affect the propellers .

The mission drones 100 that have completed the landing can perform tasks such as diagnosis and treatment by receiving instructions from a remote doctor or the like, through a predetermined communication channel. For this purpose, the medical drone can be used as an invasive / noninvasive myocardial infarction diagnostic device, an automatic cardiac defibrillator (AED), an automatic intramuscular injection device, an air bed, an automatic intravenous device, a speaker, a camera, A robot arm or the like necessary for the robot.

On the other hand, when all the drones have completed their mission, they return to the control center 300 through the cluster flight in the reverse order of dispatching, which is collected from the mission drones in turn. That is, the order of returning from the mission can be proceeded in the reverse order of the deployment method for communication setting. The center (landing) landing at the time of return uses the landing function of the landing area. For this purpose, the communication drones may also have a video recognition device such as a mission drones and a WIFI HOTSPOT receiver. In addition, a radar device can be used for precise landing.

In addition, if the communication drones lose their communication channel link with the front communication drones, the communication drones will attempt to reconnect for a specified number of times, and if the channel link resetting is not made, notify the communication drones connected to their child channels, The communication drones can be rearranged by returning by using the previously inputted position information or enlarging the distance between the drone at the sacrifice of the communication quality / speed / mission time. In order to confirm the position of the front and rear communication drones, all drones are equipped with radar function, so that they can effectively maintain the communication channel by locating and communicating neighboring drones and controlling their positions.

In addition, when it is necessary to maintain a communication channel for a long period of time, the communication drones can be replaced after a predetermined time in the control center 300 to replace the existing communication drones. At this time, the movement path of the communication drones always moves via the other communication drones. At this time, the channel link resetting algorithm can apply a moving algorithm such as handover.

As described above, the long-distance drones service system 1 can be configured to include the mission drones 100 and the control center 300,

The control center 300 receives the destination position transmitted from the portable terminal of the requester, and then uses the map data to determine the distance and topography to the destination position, and refers to the detected distance and the topography, .

At this time, when the mission drones 100 reach the destination location, the mobile terminal 100 moves to the vicinity of the destination location by referring to the satellite location information, and after the WiFi hotspot signal output from the portable terminal is detected, And can finally reach the destination location with reference to the hotspot (WIFI HOTSPOT) signal.

That is, the mission drones 100 receive satellite position information from the control center 300 for the first time and move to the vicinity of the destination location. From the point of time when the WIFI HOTSPOT signal outputted from the portable terminal is sensed, And can finally reach the destination location with reference to the hotspot (WIFI HOTSPOT) signal.

The mission drones 100 measure the distance to a portable terminal that outputs a WIFI HOTSPOT signal, and then use trilateration to determine the relative position of the destination location, Information (absolute position) at the same time.

The long-distance drones service system according to the embodiment of the present invention determines the number of necessary communication drones and the hovering position of each communication dron with reference to the detected distance and the topography, then sends out a plurality of communication drones, The mission drones can be moved to the destination position by using the established communication channel.

That is, the neighboring communication drones relay the wireless network connection to each other to construct the control center and the ad hoc multi-hop network. Therefore, even if the distance from the control center to the destination location is long, the communication drones can be additionally dispatched to construct the network, so that the mission drones can be moved to the destination location without restriction on the dispatch distance.

In addition, the long-distance drones service system moves to the vicinity of the destination location with reference to the satellite position information, and after the WiFi hotspot signal outputted from the portable terminal of the requester is sensed, a WiFi hotspot signal And finally reach the destination position. Therefore, it is possible to move the drone automatically to the destination position even at a point where the reception of the satellite position information is distorted such as a building forest, a valley of a hilly mountain, or a terrain in which visibility can not be secured by the image taken by the drones.

In addition, the control center of the long distance drones service system dispatches additional communication drones that replace existing communication drones when maintenance of a long-term communication channel is required,

The additional drones for communication are handed over to the drones for communication to be replaced in consideration of the distance of communication with the drones for other communication disposed from the control center and the drones for communication to be replaced are also handed over to the control center (hand over) and return.

In addition, the long-distance drones service system is a remote medical service that enables remote emergency medical treatment after arrival in an area where medical support is not possible in a short time such as mountain or sea, And a remote medical service using the drones.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: Mission Drones
200: plural communication drones
300: Control center
400: Destination location

Claims (12)

Mission drones; And
A plurality of communication drones for establishing an edited or multi-hop communication channel;
After receiving the destination location transmitted from the portable terminal of the requester, the distance and topography to the destination location are determined using the map data,
Determining a number of necessary communication drones and a hovering position of each of the communication drones with reference to the detected distance and the topography, and then dispatching the plurality of communication drones, and using the communication channels established by the plurality of communication drones, A control center for controlling the drones to reach the destination position;
A long distance drones service system.
The method according to claim 1,
The mission drones,
When reaching the destination position, the mobile terminal moves to the vicinity of the destination position with reference to the satellite position information,
And when the mobile terminal senses a WIFI HOTSPOT signal output from the portable terminal, the mobile terminal reaches the destination position with reference to the WIFI HOTSPOT signal.
3. The method of claim 2,
The mission drones,
In measuring the distance to the portable terminal for outputting the WIFI HOTSPOT signal, a relative position of three vertexes is obtained by horizontally moving a triangle in order to accurately grasp the destination position, and the distance to the destination is obtained Wherein a relative position of the target position is obtained by applying trilateration and the target position is reached by considering the relative position and the satellite position information (absolute position) at the same time.
The method according to claim 1,
The plurality of communication drones include:
The IP address of each communication drones is allocated in advance before the transmission, and the IP address of each communication dron is allocated in advance,
Wherein a communication channel is established between the control center, the communication drones, and the adjacent communication drones using a two-layer shared system.
The method according to claim 1,
The plurality of communication drones include:
Hop communication network is connected to the control center and the multi-hop network, and when the communication channel with the adjacent communication drones is poor, the communication connection is retried a specified number of times, and the other communication drones When it transmits the defect information of its own communication channel,
Characterized in that the plurality of communication drones automatically extend the interval spaced by the quality / speed / mission time sacrifice policy preset by the control center to maintain the connection state of the multi-hop network of the ad hoc network .
The method according to claim 1,
The control center,
If it is necessary to maintain a long-term communication channel, an additional communication drones replacing existing communication drones are dispatched,
The additional drones for communication are handed over to the drones for communication to be replaced in consideration of the distance of communication with the drones for other communication disposed from the control center and the drones for communication to be replaced are also handed over to the control center and returning by hand over the long distance drones service system.
The method according to claim 1,
The control center,
The hunting position of each communication dron is determined by referring to the detected distance and the topography. In order to ensure the line of sight (LOS) between each communication dron in consideration of the position of the obstacle on the terrain, Long-range drones service system featuring hovering position control.
8. The method of claim 7,
The plurality of communication drones include:
The control unit detects whether there is an obstacle between neighboring communication drones after reaching the hovering position designated by the control center, and when the obstacle is detected, Characterized in that the position of the drones is individually controlled automatically.
The method according to claim 1,
The mission drones,
And a landing gear including at least four grounding portions,
Wherein each of the grounding portions detects a sloping or curved bottom condition and automatically adjusts the height so that the drones are operated to land with the drones remaining in a horizontal state.
The method according to claim 1,
The mission drones,
And a rotary saw capable of removing an obstacle,
Wherein the rotary saw secures a moving radius by removing an obstacle located in a moving direction of the mission drill.
The method according to claim 1,
The mission drones,
At least one of an invasive / noninvasive myocardial infarction diagnostic device, an automatic cardiac defibrillator, an automatic intramuscular injection device, a sealed infusion fluid, an air bed, an automatic IV device, a smart glass for a patient monitor, a speaker, a camera, a display device, One or more,
The method of claim 1, further comprising the steps of: recognizing the parental consent of the remote treatment using the fingerprint recognition or vein pattern recognition of the parental consent device, and releasing the seal of the injection liquid Featured long distance drones service system.
Mission drones; And
After receiving the destination position transmitted from the portable terminal of the requester, the distance and topography to the destination position are determined using the map data, and the mission drill is moved to the destination position A control center for controlling the control center,
When the mission drones reach the destination position, the mission drones are moved to the vicinity of the destination location with reference to the satellite position information, and after the detection of the WIFI HOTSPOT signal output from the portable terminal, And finally arrives at the destination location with reference to a WIFI HOTSPOT signal.

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