KR20180064155A - Apparatus for Preventing Drop Accident of Drone, and Method for Controlling the Same - Google Patents

Abstract

The present invention relates to an apparatus for preventing a drone crash, and a method for controlling the same. More specifically, an apparatus for preventing a drone crash is attached to and detached from an unmanned flight drone, and comprises: a parachute module having a parachute compressed by an elastic means to be accommodated in a container and a parachute cover opened and closed by an actuator; and a parachute control module detecting a drone crash by monitoring a gradient and a free fall of the drone, and opening the parachute cover by controlling the actuator for the parachute to be unfolded when the drone crash happens.

Description

[0001] Apparatus for Preventing Drop Accident of Drone, and Method for Controlling the Same [

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a fall accident prevention apparatus, and more particularly, to a fall prevention apparatus and a control method thereof.

'Drone' means an airplane or a helicopter-shaped airplane flying by induction of radio waves by people without burning, and was mainly used for military purposes such as ticket application, reconnaissance, surveillance, etc. Recently, Are also used for various purposes.

That is, the drones are used for unmanned courier services of Internet shopping malls or shooting places where it is difficult for a person to go directly to photographed volcanic craters. In the case of unmanned delivery service, it is to deliver documents, books, pizza, etc. to individuals by utilizing GPS (Satellite Navigation Device) technology which confirms the location using satellite.

In recent years, the application field of the drones has been widely used, in which heli-cam for shooting images while mounting the camera on the dron and remote-controlling the dron is widely used for broadcasting.

However, despite the many advantages of the drones, it is also true that there is a high possibility of falling due to changes in the external environment such as the wind and immaturity of the driving operation. Since the drones and their various parts are so expensive, the economic damage caused by the damage of the drone is inevitable. In addition, when a dron crashes, the risk of secondary damage to people and objects as well as the enormous economic damage caused by the breakage of the dron itself is also serious.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a drones crash preventing device and a control method thereof, which can prevent a dron crash.

In order to achieve the above object, according to a first embodiment of the present invention, there is provided a device for preventing fall of a dron according to the present invention, comprising: A parachute module including a parachute which is compressed by the parachute and accommodated in the container, and a parachute cover which is opened and closed by an actuator; And a parachute control module for monitoring a slope and a free fall of the drone to detect a fall of the drone, and controlling the actuator to unfold the parachute when the drone falls, thereby opening the parachute cover.

The parachute control module includes a gyro sensor for measuring an angular velocity at which the drone is rotated; An acceleration sensor for measuring an acceleration of the drones; And monitoring the slope and free fall of the drones using the gyro sensor and the acceleration sensor to detect a fall of the drones and controlling the actuator to unfold the parachute when the drones fall, And a control unit.

Wherein the controller initializes the gyro sensor and the acceleration sensor and then calibrates the gyro sensor and the acceleration sensor to store the offset values of the gyro sensor and the acceleration sensor, And determines that the drones fall if the X and Y values of the angular velocity measured by the gyro sensor deviate from a preset range based on the stored offset value.

The control unit determines that the drones fall if the X and Y values of the angular velocity are greater than the stored offset value + 90 or the X and Y values of the angular velocity are smaller than the stored offset value = 90.

Wherein the controller corrects an error of the gyro sensor by applying an acceleration measured by the acceleration sensor to an angular velocity measured by the gyro sensor through a compensation filter (Complementary Filter).

The control unit determines that the drones fall when the falling of the dron continues for at least 0.1 second per second at a speed of 8 meters or more.

The controller may check the battery capacity of the drones to warn the battery low voltage when the capacity of the battery of the drones is less than 3.6 V, and to limit the operation of the drones.

The parachute control module includes an air pressure sensor for measuring an altitude of the drones; And a log including at least one of execution time, error type, and contents; And the controller stores the error log together with the altitude measured by the atmospheric pressure sensor at the time when the parachute is deployed in the memory unit when the drone falls.

And the control unit confirms the presence or absence of an abnormality in the atmospheric pressure sensor after initializing the atmospheric pressure sensor.

Wherein the memory unit is a card type memory, and the control unit checks whether or not the memory unit is inserted and the capacity thereof.

And the control unit confirms whether the gyro sensor and the acceleration sensor are abnormal after initializing the gyro sensor and the acceleration sensor.

According to a second aspect of the present invention, there is provided a control method for a fall prevention device for a drone, which is detachably attached to a dragon flying in an unmanned manner, Monitoring the slope and free fall of the drone to detect a fall of the drone; And a parachute module including a parachute which is compressed by elastic means and accommodated in the container and which is opened and closed by an actuator when the drones fall, and the parachute cover is opened by controlling the actuator so that the parachute is unfolded .

Initializing the gyro sensor and the acceleration sensor prior to sensing the fall of the drones; And storing the offset values of the gyro sensor and the acceleration sensor by calibrating the gyro sensor and the acceleration sensor.

The step of sensing the drop of the dron may include: measuring the angular velocity of the dron using the gyro sensor; And determining that the drone falls if the X and Y values of the angular velocity measured by the gyro sensor deviate from a preset range based on the stored offset value.

The controller determines that the drones fall when the X, Y value of the angular velocity is greater than the stored offset value + 90 or the X, Y value of the angular velocity is less than 90 .

Wherein the step of sensing the falling of the dron comprises the step of measuring the angular velocity measured by the gyro sensor through a compensation filter between a step of measuring the angular velocity of the dron and a step of determining that the dron is falling, And correcting an error of the gyro sensor by applying an acceleration measured by the sensor.

The controller determines that the drone falls when the drop of the dron continues for at least 0.1 second per second at a speed of 8 meters or more per second.

The control method for the fall-accident prevention device of the drone further includes checking whether the gyro sensor and the acceleration sensor are abnormal.

The method of controlling the apparatus for preventing a fall accident of a drone includes the steps of: checking a battery capacity of the dron before detecting a fall of the dron; And warning the lower voltage of the battery when the battery capacity of the battery of the dron is less than 3.6 V, and restricting the operation of the drones.

The parachute control module may further include an air pressure sensor for measuring an altitude of the drones, and the control method of the apparatus for preventing a fall accident of a drone may include a step of, when the parachute is deployed, Storing an error log including at least one of an execution time, an error type, and contents together with an altitude.

The control method of the apparatus for preventing a crash of a dragon further comprises a step of blinking an LED at the time of the drop of the drones and reproducing an error sound.

As described above, according to the present invention, it is possible to prevent the breakage due to the fall of the drone by providing a device for preventing a crash of a drone and detecting the fall of the drone, And can significantly reduce the damage to the body and property of others.

1 is a perspective view of a dron equipped with a fall prevention device according to an embodiment of the present invention,
2 is a view for explaining a method of operating a parachute control module according to an embodiment of the present invention;
FIG. 3 is a block diagram showing a schematic configuration of a parachute control module according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a control method of a fall-accident prevention device for a pre-flying drones according to an embodiment of the present invention, and FIG.
5 and 6 are flowcharts illustrating a control method of a fall prevention apparatus for a dragon during flight according to an embodiment of the present invention.

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. Further, when a technical term used herein is an erroneous technical term that does not accurately express the spirit of the present invention, it should be understood that technical terms that can be understood by a person skilled in the art are replaced. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "comprising" or the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

Further, the suffix "module" and "part" for components used in the present specification are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

Furthermore, terms including ordinals such as first, second, etc. used in this specification may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or similar elements throughout the several views, and redundant description thereof will be omitted.

In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention, and should not be construed as limiting the scope of the present invention with reference to the accompanying drawings.

1 is a perspective view of a dron equipped with a fall prevention device according to an embodiment of the present invention.

First, the drones 100 are manually operated by an on-ground manager or autonomously controlled by a set flight program so as to fly unmanned. 1, the drone 100 includes a main frame 110, a horizontal and vertical movement propelling device 120, and a landing leg 130. [

The main frame 110 is a body portion on which a module such as a camera module 200 (FIG. 2) is mounted.

The horizontal and vertical movement propulsion device 120 is composed of one or more propellers 122 installed perpendicularly to the main frame 110. The horizontal and vertical movement propulsion devices 120 according to the embodiment of the present invention are spaced apart from each other And a plurality of propellers (122). Here, the horizontal and vertical movement propulsion device 120 may be an air jet propeller structure rather than a propeller.

The landing legs 130 are spaced apart from each other on the bottom surface of the main frame 110. In addition, a buffer support member 132 may be mounted on the lower portion of the landing leg 130 to minimize impact caused by collision with the ground when the dron 100 lands.

Of course, the drones 100 may have various structures of the above-mentioned different flight configurations.

The crash preventing device 300 according to the present invention is installed between a pair of landing legs 130 using the fixing means 330. However, the present invention is not limited to this and may affect the flight of the drones 100 Or may be mounted on the upper or lower portion of the main frame 110 in an unspecified line.

The fall prevention device 300 mainly comprises a parachute module 310 and a parachute control module 320.

The parachute module 310 includes a parachute 313 which is compressed by a spring 311 which is an elastic means and is accommodated in the container 312 and is structured such that the parachute 313 can be unfolded by an actuator 314.

1 and 2, the parachute module 310 includes a support 311a in addition to a spring 311 and a parachute 313, and the spring 311 is compressed by the parachute cover 315 When the lock means 314a is released by the operation of the actuator 314, the parachute cover 315 is opened, the spring 311 is resiliently restored, and the parachute 313 is unfolded while the compressed state is released.

For example, as shown in FIG. 2A, when the actuator 314 is located at about 90 degrees, the locking means 314a is in a locked state. 2B, when the actuator 314 is located at about 170 degrees, the locking means 314a is in the released state, and the parachute cover 315 is opened, so that the parachute 313 is unfolded.

The parachute control module 320 monitors the slope and free fall of the drones 100 to detect the fall of the drones 100 and controls the actuator 314 to unfold the parachutes 313 when the drones 100 fall The parachute cover 315 is opened. To this end, the parachute control module 320 according to the present invention may include various sensors such as a gyro sensor, an acceleration sensor, and an air pressure sensor, a controller, a GPS receiver, a communication module, and a memory unit. The detailed configuration of the parachute control module 320 will be described below.

3 is a block diagram illustrating a schematic configuration of a parachute control module according to an embodiment of the present invention.

First, prior to the explanation, the drone 100 measures its own flight state using various sensors in order to stably fly. The flight status of the drones is defined as the Rotational States and the Translational States. Rotational motion states refer to Yaw, Pitch, and Roll, and translational motion states refer to longitude, latitude, altitude, and velocity.

Here, 'roll', 'pitch', and 'yaw' are called Euler angles, and three axes x, y, z of the plane are co-ordinate with certain coordinates, for example, NED coordinates N, E, Represents the angle rotated about the axis. When the entire plane of the airplane is rotated left and right with respect to the z axis of the gas coordinate, the x axis of the gas coordinate will have an angular difference with respect to the N axis of the NED coordinate, and this angle is called "yaw" (Ψ). When the plane of the airplane is rotated up and down with respect to the y-axis toward the right, the z-axis of the gas coordinates will have an angle difference with respect to the D-axis of the NED coordinate, and this angle is called "pitch" (θ). When the fuselage of the airplane is tilted to the left or to the right with respect to the x-axis toward the front, the y-axis of the gas coordinate is angled with respect to the E-axis of the NED coordinate, and this angle is called "roll" (Φ).

The drone 100 uses three-axis gyroscopes, three-axis accelerometers, and three-axis geomagnetic sensors to measure the rotational motion state, and a GPS receiver Use a barometric pressure sensor.

The parachute control module 320 according to the present invention includes a gyro sensor 31, an acceleration sensor 32, and an air pressure sensor 33 for monitoring the motion state of the drones 100. Here, the gyro sensor 31 and the acceleration sensor 32 measure the state of the body frame coordinate of the drones 100 with respect to the Earth Centered Inertial Coordinate Micro-Electro-Mechanical Systems It can also be fabricated as a single chip called an inertial measurement unit (IMU) using semiconductor process technology. In the IMU chip, the measured values of the global inertia coordinates measured by the gyro sensor 31 and the acceleration sensor 32 are used as local coordinates, for example, NED (North-East-Down) coordinates using GPS Lt; RTI ID = 0.0 > a < / RTI > In addition, the parachute control module 320 may further include a control unit 34, a memory unit 35, an LED unit 36, and an alarm unit 37.

The gyro sensor 31 measures the angular velocity at which the three coordinate axes x, y, z of the drones 100 are rotated with respect to the earth inertial coordinate, and then outputs the converted value (Wx.gyro, Wy.gyro, Wz. gyro), and this value is converted into Euler angles (? gyro,? gyro,? gyro) using linear differential equations. Here, since the measured value of the gyro sensor 31 includes a bias error in the low frequency band (i.e., the measured value of the gyro sensor does not become 0 even when the drone is stopped) The bias error of the gyro sensor 31 must be removed. The method for this will be described later.

The accelerometer 32 measures the accelerations of the three coordinate axes x, y and z of the drones 100 with respect to the global inertia coordinates and then outputs the values (fx, acc, fy, acc, fz, acc) Roll "and" pitch "θacc, which are calculated by using the measured values of the gyro sensor 31, and the values are converted into" roll (Φacc) "and" Is used to remove the bias error included in the signal. However, since the acceleration sensor 32 can not measure the 'yaw', it can not remove the bias error included in the 'ψgyro' measured using the gyro sensor 31. To this end, the parachute control module 320 according to the present invention may further include a geomagnetic sensor (not shown).

A geomagnetic sensor (not shown) measures the direction of the magnetic north coordinates of the three coordinate axes x, y and z of the drones 100 and calculates the yaw value of the NED coordinates of the geographical coordinates using this value. The control unit 34 removes the bias error included in the measurement value ygyro of the gyro sensor 31 using the yaw moment measured by the geomagnetic sensor (not shown).

The GPS receiver (not shown) uses the signal received from the GPS satellites to calculate the translational motion state of the drones 100, i.e., the latitude Pn.GPS, the hardness Pe.GPS, the altitude hMSL.GPS, , The velocity on the latitude (Vn.GPS), the velocity on the hardness (Ve.GPS), and the velocity of the elevation phase (Vd.GPS). Here, subscript MSL means mean sea level (MSL).

The position coordinates received via the GPS receiver (not shown) always have an error of 5 to 10 m. A civilian GPS receiver can receive either C / A code of the L1 frequency band (1.5 GHz) or C / A code of the L2 frequency band (1.2 GHz). However, the military GPS receiver can receive L1 C / A and L2 C / A at the same time, thereby obtaining a gain due to diversity and further receiving an encrypted signal P (Y) It is possible to compensate disturbance when the GPS signal passes through the ionosphere of the earth (Ionospheric Correction). The GPS altitude error of 5 m to 10 m causes a risk of collision with the ground facilities of the drones that mainly fly low. Therefore, the altitude (hALP.baro) may be measured using a separate air pressure sensor. The subscript ALP means an air-level pressor. The atmospheric pressure sensor 33 compares the take-off pressure of the drones 100 with the atmospheric pressure at the current flying height, and calculates the current altitude from the take-off point.

The controller 34 can easily update the firmware, use open source, and apply Arduino, which is currently popular in the Internet of things. The controller 34 monitors the inclination and free fall of the drones 100 by using the gyro sensor 31 and the acceleration sensor 32 to detect the fall of the drones 100, The actuator 314 is controlled to open the parachute cover 315 so that the parachute cover 313 is opened. Hereinafter, a specific method of controlling the parachute module 310 by the control unit 34 will be described.

First, the control unit 34 initializes each component constituting the parachute control module 32 prior to the control of the parachute module 310.

That is, the control unit 34 turns on the green LED through the LED unit 36 when the power is applied, and checks the battery capacity of the drones 100. The control unit 34 alerts the low voltage of the battery when the capacity per cell of the battery is less than 3.6V. That is, the control unit 34 blinks the green LED and the red LED through the LED unit 36, reproduces the error sound through the alarm unit 37, and outputs an error log including the execution time, the error type, In the memory unit 35. [0050] At this time, the controller 34 may limit the operation of the drones 100 when the capacity of the battery is low.

The control unit 34 initializes the gyro sensor 31, the acceleration sensor 32 and the air pressure sensor 33 and confirms whether there is an abnormality in each of the sensors. Then, the gyro sensor 31 and the acceleration sensor 32 are calibrated and stores the offset values of the gyro sensor 31 and the acceleration sensor 32. Here, the control unit 34 blinks the yellow LED through the LED unit 36 when initialization and calibration are in progress, and when there is an error in any sensor, the control unit 34 blinks the green LED and the yellow LED through the LED unit 36, An error sound is reproduced through the memory 37, and an error log including the execution time, the error type, and the contents is stored in the memory unit 35.

The control unit 34 initializes the memory unit 35 and then checks the capacity of the memory unit 35. When the free space is 10 megahertz or less, the control unit 34 blinks the yellow LED and the red LED through the LED unit 36 , And reproduces the error sound through the alarm unit 37. At this time, the control unit 34 disables the black box function for allowing the drones 100 to operate, and for storing error logs, flight logs, and the like. In addition, when the memory unit 35 is a card type memory, the control unit 34 can confirm whether or not the memory is inserted.

In addition, the control unit 34 initializes the actuator 314. That is, the control unit 34 closes the parachute cover 315 by positioning the actuator 314 at 90 degrees. After completion of the initialization of the gyro sensor 31, the acceleration sensor 32, the air pressure sensor 33, the memory unit 35 and the actuator 314, the control unit 34 controls the LED unit 36 The yellow LED is turned off, and the completion sound is reproduced, thereby notifying the user that the initialization is completed.

The control unit 34 detects a fall of the drones 100 when the drones 100 start flying after a series of initialization processes are completed and controls the actuators 313 to open the parachutes 313 when the drones 100 fall. (314) to open the parachute cover (315). Here, the method by which the controller 34 detects the fall of the drones 100 can be divided into the following two methods.

First, the control unit 34 monitors the slope of the drones 100 to monitor the fall of the drones 100. [ More specifically, the control unit 34 measures the angular velocity of the drones 100 using the gyro sensor 31, and determines whether the X and Y values of the angular velocity measured by the gyro sensor 31 correspond to the offset values stored in the initialization process (For example, when the X and Y values of the angular velocity are greater than +90 or less than -90 than the stored offset value), it is determined that the drone 100 falls.

At this time, the controller 34 can correct the error of the gyro sensor 32 by applying the acceleration measured by the acceleration sensor 32 to the angular velocity measured by the gyro sensor 31 through the compensation filter (Complementary Filter) have. Specifically, the compensation filter extracts the state measurement values? Gyro and? Gyro of the gyro sensor 31 having a high-frequency band characteristic with a high-frequency band filter and outputs the state measurement values? A c,? Acc ) Are extracted by a low-frequency band filter, and the two state estimates (? E,? E) are calculated by minimizing the bias error of the gyro sensor (31).

In addition, the control unit 34 according to the present invention may correct an error of the angular velocity measured by the gyro sensor 31 using an extended Kalman filter. Specifically, the extended Kalman filter calculates the measured values? Ga,? Gyro,? Gyro using the gyro sensor 31, the measured values? Acc,? Acc using the acceleration sensor 32, And the gyro sensor 31 and the acceleration sensor 32 while modeling the rotational dynamics of the drones 100 in real time using the measured values Vn.GPS, Ve.GPS, and Vd.GPS using a GPS receiver (not shown) (? E,? E,? E) in which the bias error of the magnetic disk 32 is minimized. To this end, the parachute control module 320 according to the present invention preferably includes a geomagnetic sensor (not shown) and a GPS receiver (not shown).

Secondly, the control unit 34 can monitor the free fall of the drones 100 to detect the fall of the drones 100. Specifically, the controller 34 judges that the drones 100 fall when the drop of the drones 100 continues for at least 0.1 second per second using the gyro sensor 31 and the acceleration sensor 32 do. This is because the range in which the drone 100 normally operates is 0 to 6 meters per second.

The memory unit 35 stores a log including execution time, error type, contents, and the like. The memory unit 35 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A RAM, and a ROM. In this case, when the memory unit 35 is a card type memory, the parachute control module 320 according to the present invention may include a memory slot instead of the memory unit 35.

The LED portion 36 may include a green LED, a red LED, a yellow LED, and the like. The LED unit 36 may indicate whether the battery is low voltage, whether there is an abnormality in each sensor, initialization and calibration progress status, capacity status of the memory unit 35, completion of initialization, and whether the drones 100 are down.

The alarm unit 37 is provided with the LED unit 36 together with the LED unit 36 to determine whether the battery is low voltage, whether each sensor is abnormal, initialization and calibration progress status, capacity status of the memory unit 35, initialization completion, And the like. The alarm unit 37 outputs a signal for informing occurrence of an event in a form other than an audio signal or a video signal. For example, a signal can be output in the form of sound or vibration.

FIG. 4 is a flowchart illustrating a control method of a fall-accident prevention device for a pre-flying drones according to an embodiment of the present invention.

Referring to FIG. 4, the parachute control module 320 checks the battery capacity of the drones 100 and determines whether the battery capacity of the drones 100 is 3.6 V or more (S410). At this time, the battery capacity means the capacity per cell of the battery.

The parachute control module 320 alerts the battery low voltage when the battery capacity of the drones 100 is less than 3.6 V (S412). For example, the parachute control module 320 blinks the green LED and the red LED through the LED unit 36, reproduces the error sound through the alarm unit 37, and displays execution time, error type, And stores the error log in the memory unit 35. At this time, the parachute control module 320 may limit the operation of the drones 100.

The parachute control module 320 initializes the gyro sensor 31 and the acceleration sensor 32 in S420 and initializes the air pressure sensor 33 in S430 when the battery capacity of the drone 100 is 3.6 V or more, , It is determined whether there is an abnormality in each sensor (S450).

The parachute control module 320 alerts the sensor abnormality when any sensor is abnormal (S452). For example, the parachute control module 320 blinks the green LED and the yellow LED through the LED unit 36, reproduces the error sound through the alarm unit 37, and displays execution time, error type, And stores the error log in the memory unit 35.

The parachute control module 320 calibrates the gyro sensor 31 and the acceleration sensor 32 in step S460 and outputs the offset value of the gyro sensor 31 and the acceleration sensor 32 to the memory unit 35) (S470).

The parachute control module 320 initializes the memory unit 35 simultaneously with steps S420 and S430 and checks the capacity of the memory unit 35 to determine whether the free space of the memory unit 35 is 10 mega- Or not (S442). At this time, when the memory unit 35 is a card type memory, the parachute control module 320 can check whether or not the memory is inserted.

The parachute control module 320 warns of a memory shortage when the free space of the memory unit 35 is 10 megahertz or less (S444). For example, the parachute control module 320 blinks the yellow LED and the red LED through the LED unit 36, and reproduces an error sound through the alarm unit 37. [ At this time, the parachute control module 320 disables the black box function to allow the drones 100 to operate, and to store error logs and flight logs.

The parachute control module 320 initializes the actuator 314 after steps S470 and S442 (S480). For example, the parachute control module 320 closes the parachute cover 315 with the actuator 314 positioned at 90 degrees.

Further, after the parachute control module 320 completes the initialization of the gyro sensor 31, the acceleration sensor 32, the air pressure sensor 33, the memory unit 35 and the actuator 314, the LED unit 36 ), And notifies the user that the initialization is complete, by turning off the yellow LED and reproducing the finished sound.

Meanwhile, although it has been described in the embodiment of the present invention that step S420, step S430, and step S440 are simultaneously performed for the sake of convenience, the present invention is not limited thereto, and steps S420, S430, and S440 may be sequentially performed. For example, steps S420, S450, S460, S470, S430, S450, S440, S442, and S480 may be performed in this order.

5 and 6 are flowcharts illustrating a control method of a fall prevention apparatus for a dragon during flight according to an embodiment of the present invention.

The parachute control module 320 according to the present invention monitors the inclination of the drones 100 to detect a fall of the drones 100 as shown in FIG. The falling of the drones 100 can be detected.

Referring to FIG. 5, the parachute control module 320 reads sensor values of the gyro sensor 31 and the acceleration sensor 32 (S510). That is, the parachute control module 320 measures the angular velocity of the drones 100 using the gyro sensor 31 and measures the acceleration of the drones 100 using the acceleration sensor 32.

The parachute control module 320 corrects the error of the gyro sensor 32 by applying the acceleration measured by the acceleration sensor 32 to the angular velocity measured by the gyro sensor 31 through the compensation filter (S520). Specifically, the compensation filter extracts the state measurement values? Gyro and? Gyro of the gyro sensor 31 having a high-frequency band characteristic with a high-frequency band filter and outputs the state measurement values? A c,? Acc ) Are extracted by a low-frequency band filter, and the two state estimates (? E,? E) are calculated by minimizing the bias error of the gyro sensor (31).

In addition, in step S520, the parachute control module 320 may correct the error of the angular velocity measured by the gyro sensor 31 using the extended Kalman filter. Specifically, the extended Kalman filter calculates the measured values? Ga,? Gyro,? Gyro using the gyro sensor 31, the measured values? Acc,? Acc using the acceleration sensor 32, And the gyro sensor 31 and the acceleration sensor 32 while modeling the rotational dynamics of the drones 100 in real time using the measured values Vn.GPS, Ve.GPS, and Vd.GPS using a GPS receiver (not shown) (? E,? E,? E) in which the bias error of the magnetic disk 32 is minimized.

Next, the parachute control module 320 determines whether the X and Y values of the angular velocity measured by the gyro sensor 31 are out of a preset range based on the offset value stored in the initialization process (S530) If the X and Y values of the angular velocity measured by the angular velocity sensor 31 do not deviate from the predetermined range based on the stored offset value, the process returns to step S510.

When the X and Y values of the angular velocity measured by the gyro sensor 31 are out of a preset range based on the stored offset value (for example, the offset values X and Y of the angular velocity are stored It is determined that the drone 100 is going to fall and the actuator 314 is controlled to open the parachute cover 315 to unfold the parachute 313 at step S540. That is, the parachute control module 320 rotates the actuator 314 from about 90 ° to about 170 °, releases the locking means 314a, opens the parachute cover 315, and unfolds the parachute 313. At this time, the parachute control module 320 blinks the red LED through the LED unit 36, reproduces the 90-degree tilted error sound through the alarm unit 37, and includes the execution time, the error type, The error log can be stored in the memory unit 35. [

6, the parachute control module 320 according to the present invention monitors the free fall of the drones 100 using the gyro sensor 31 and the acceleration sensor 32 (S610).

The parachute control module 320 determines whether the drop of the drones 100 lasts for at least 0.1 second per second at a speed of 8 meters or more (S620). In general, the range in which the drone 100 normally operates is 0 to 6 meters per second, and the initial speed and time for determining the free fall, except for the range where the drones 100 normally operate, can be changed by the user as much as possible Of course.

The parachute control module 320 determines that the drone 100 falls when the drone 100 falls freely and opens the parachute cover 315 by controlling the actuator 314 so that the parachute 313 is unfolded S630). That is, the parachute control module 320 rotates the actuator 314 from about 90 ° to about 170 °, releases the locking means 314a, opens the parachute cover 315, and unfolds the parachute 313. At this time, the parachute control module 320 blinks the yellow LED through the LED unit 36, reproduces the free falling error sound through the alarm unit 37, and generates an error including the execution time, the error type, The log can be stored in the memory unit 35. [

The above-described method can be implemented by various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention may be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs) , FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, and microprocessors.

In the case of an implementation by firmware or software, the method according to embodiments of the present invention may be implemented in the form of a module, a procedure or a function for performing the functions or operations described above. The software code can be stored in a memory unit and driven by the processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor by various well-known means.

As described above, according to the embodiment of the present invention, it is possible to prevent breakage due to a fall of a drone by providing a device for preventing a crash of a dron that causes a drop to be deployed when a drop of the dron is detected, , And can significantly reduce the damage to the body and property of others.

The embodiments disclosed herein have been described with reference to the accompanying drawings. Thus, the embodiments shown in the drawings are not to be construed as limiting, and those skilled in the art will understand that the present invention can be combined with each other, and when combined, some of the components may be omitted.

Here, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings, but should be construed as meaning and concept consistent with the technical idea disclosed in the present specification.

Therefore, the embodiments described in the present specification and the drawings are only exemplary embodiments of the present invention, and are not intended to represent all of the technical ideas disclosed in the present specification, so that various equivalents It should be understood that water and variations may be present.

100: Drone 110: Main frame
120: horizontal and vertical movement propulsion device 122: propeller
130 landing leg 132 buffer support member
200: camera 300: crash prevention device
310: Parachute module 311: Spring
311a: support 312: container
313: Parachute 314: Actuator
314a: Locking means 315: Parachute cover
320: Parachute control module 330: Fixing means
31: Gyro sensor 32: Acceleration sensor
33: air pressure sensor 34:
35: memory unit 36: LED unit
37: Alarm section

Claims (14)

A drones crash preventer detachably attached to a drones flying in an unmanned manner,
A parachute module including a parachute which is compressed by elastic means and is received in a container, and a parachute cover that is opened and closed by an actuator; And
A parachute control module for monitoring a slope and a free fall of the drone to detect a fall of the drone, and controlling the actuator so that the parachute is deployed when the drone falls, thereby opening the parachute cover;
Wherein the drones are provided on the upper surface of the housing.
The parachute control module according to claim 1,
A gyro sensor for measuring an angular velocity at which the drone is rotated;
An acceleration sensor for measuring an acceleration of the drones; And
A controller for monitoring the slope and free fall of the dron by using the gyro sensor and the acceleration sensor to detect a fall of the dron and controlling the actuator so that the parachute is deployed when the dron falls, ;
And a control unit for controlling the drones so as to stop the drones.
3. The method of claim 2,
Wherein the controller initializes the gyro sensor and the acceleration sensor and then calibrates the gyro sensor and the acceleration sensor to store the offset values of the gyro sensor and the acceleration sensor, And determines that the drones fall if the X and Y values of the angular velocity measured by the gyro sensor deviate from a preset range based on the stored offset value. .
The method of claim 3,
Wherein the control unit determines that the drone falls if the X, Y value of the angular velocity is greater than the stored offset value + 90 or the X, Y value of the angular velocity is less than 90.
The method of claim 3,
Wherein the controller corrects an error of the gyro sensor by applying an acceleration measured by the acceleration sensor to the angular velocity measured by the gyro sensor through a compensation filter (Complementary Filter).
3. The method of claim 2,
Wherein the control unit determines that the drone falls when the drop of the drone continues for at least 0.1 second per second at a speed of 8 meters or more.
3. The method of claim 2,
Wherein the controller checks the battery capacity of the drones to warn a battery low voltage when the capacity of the battery of the drones is less than 3.6 V and restrain the operation of the drones.
The parachute control module according to claim 2,
An air pressure sensor for measuring an altitude of the drones; And
A memory unit for storing a log including at least one of execution time, error type, and contents;
Further comprising:
Wherein the control unit stores the error log together with the altitude measured by the atmospheric pressure sensor at the time when the parachute is deployed in the memory unit when the drone falls.
9. The method of claim 8,
Wherein the control unit initializes the air pressure sensor, and then confirms whether or not the air pressure sensor is abnormal.
9. The method of claim 8,
Wherein the memory unit is a card type memory,
Wherein the control unit checks whether or not the memory unit is inserted and the capacity of the memory unit is checked.
The method according to claim 1,
Wherein the control unit initializes the gyro sensor and the acceleration sensor, and then confirms whether or not the gyro sensor and the acceleration sensor are abnormal.
A control method for a fall prevention device for a drone which is detached and attached to a drone flying in an unmanned manner,
Checking the battery capacity of the drones;
Warning the low voltage of the battery when the capacity of the battery of the drones is less than 3.6 V, and restricting the operation of the drones;
Initializing a gyro sensor and an acceleration sensor;
Checking whether the gyro sensor and the acceleration sensor are abnormal;
Storing the offset values of the gyro sensor and the acceleration sensor by calibrating the gyro sensor and the acceleration sensor;
Monitoring a slope and a free fall of the drones using the gyro sensor and the acceleration sensor to detect a fall of the drones;
A parachute module including a parachute which is compressed by an elastic means and accommodated in a container, and a parachute cover which is opened and closed by an actuator when the drone falls, comprising the steps of: opening the parachute cover by controlling the actuator so that the parachute is deployed ;
Storing an error log including at least one of an execution time, an error type, and contents together with an altitude measured by the atmospheric pressure sensor at the time when the parachute is deployed at the time of the drop of the drones; And
Blinking an LED at the time of the drop of the drones and reproducing an error sound;
Lt; / RTI >
The step of detecting the drop of the drones comprises:
Measuring the angular velocity of the drones using the gyro sensor; And
And determining that the drones fall if the X and Y values of the angular velocity measured by the gyro sensor deviate from a preset range based on the stored offset value,
In the step of determining that the drones are falling,
Wherein the control unit determines that the dragon falls if the X, Y value of the angular velocity is greater than the stored offset value + 90 or the X, Y value of the angular velocity is less than 90.
13. The method of claim 12, wherein sensing the falling of the drones comprises:
Between the step of measuring the angular velocity of the drones and the step of determining that the drones are falling,
Correcting an error of the gyro sensor by applying an acceleration measured by the acceleration sensor to an angular velocity measured by the gyro sensor through a compensation filter (Complementary Filter);
Further comprising a control unit for controlling the operation of the drones.
13. The method of claim 12, wherein in the step of detecting the falling of the drones,
Wherein the controller determines that the dragon falls if the drop of the dragon continues for at least 0.1 second per 8 meters or more per second.

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