KR20180081644A - Evasive movement method in drone using bio-inspired scheme - Google Patents

Abstract

The present invention relates to a drone evasion steering method using a biomimetic technique. According to the present invention, the drone evasion steering method using a biomimetic technique comprises the following steps of: initializing a drone by starting the drone; flying the drone toward a preset destination by allowing the drone to take off by a ground control center such that the drone flies toward the preset destination, and maintaining an initial setting flight mode; a surrounding obstacle by a camera and sensors installed in the drone during flight of the drone, and sensing corresponding sensing elements; analyzing a captured image and the sensed elements using a specific analysis algorithm by the ground control center or a control module installed in the drone; determining whether an enemy is detected by the ground control center or the control module based on the analysis result; transmitting an evasion steering operation command by the ground control center or the control module if it is determined that the enemy is detected as a result of the determination; and receiving the evasion steering operation command from the ground control center or the control module by the drone to perform evasion steering.

Description

[0001] The present invention relates to a method for activating a drones avoiding using a biomimetic technique,

The present invention relates to a method for drones avoidance maneuver, and more particularly, to a drones avoidance method capable of automatically performing evasive flight or random maneuvering such as a dragonfly on the basis of the present situation when there is an impending collision such as a missile, an obstacle, The present invention relates to a drones avoidance start method using biomimetic techniques.

Recently, various researches have been conducted on the utilization of small unmanned aerial vehicles such as multi-copter. The small unmanned aerial vehicle as described above refers to a flight capable of taking off, flying and landing automatically in order to achieve a specific purpose without human intervention according to a control signal (remote control signal) or a programmed control method transmitted from the outside, It is also called a drone. Drones range from drones for military purposes to everyday areas such as unmanned aerial photographers and unmanned courier delivery services. In particular, with the advancement of technology, the weight of the drone itself has become lighter, the operation time has been increased, and the role of the drone has become more diversified by installing various sensors.

Unmanned Aircraft Systems (UAS), such as drone, can play an important role in war-prone areas. However, it is probable that the UAS can be traced by tracing the path by the enemy. UAs should be in some position by avoiding collisions, which may be missiles launched to them. However, in a flash, the missile could end up in a failure with UAS. Thus, if the path of the UAS can not be recognized, it will be difficult to launch the missile to a certain point exactly, thereby ensuring that the drones are safe.

On the other hand, Japanese Laid-Open Patent Publication No. 10-2016-0074896 (Patent Document 1) discloses a method and an apparatus for setting a flight path of a drone, Receiving set drone route determination information from the drone control device; Determining the set drones route based on the set drones route determination information; And transmitting information about the set drone route to the drone control device, wherein the set drone route determination information includes at least one of a purpose of using the drone, whether the drone is authenticated, And information about at least one of them.

In the case of Patent Document 1, it is possible to efficiently utilize a limited route by setting a flight path in consideration of priority according to the purpose of use of the drone, reliability of the drone, performance of the drone, and degree of interference by electromagnetic waves in each zone But the drones 'flight path is set by the drones or the drones to control the drones' flight (path) by the drones so that there is an imminent danger (eg, missiles , Shells, algae, other drones, unmanned airplanes, etc.), it is difficult to avoid them quickly.

Japanese Patent Application Laid-Open No. 10-2016-0074896 (Jun.

The present invention has been made in view of the above considerations, and it is an object of the present invention to provide a drones which automatically performs zigzag or random maneuvering such as a dragonfly when there is an imminent collision situation such as a missile or an obstacle, It is an object of the present invention to provide a drones avoidance maneuvering method that utilizes a biomimicry technique capable of avoiding a collision by changing a path.

In order to accomplish the above object, a drones avoidance start method using a biomimetic technique according to the present invention comprises:

A drones avoidance start-up method using a biomimetic technique based on a dron control system having a dron flying toward a predetermined destination and a ground control station (remote control device) for controlling the flight of the dron through communication with the dron ,

a) initializing the drones by starting up the drones;

b) taking off the drones by the ground control station to allow the drones to fly to predetermined destinations and maintaining the default set flight mode;

c) photographing the surrounding obstacles by the camera installed in the drones during flight of the drones and sensing corresponding sensing elements by the sensors installed on the drones;

d) analyzing the image photographed by the camera and the elements sensed by the sensors using a specific analysis algorithm by a control module installed in a ground control station or a drone;

e) determining, based on the result of the analysis, whether the target is detected by the ground control station or the control module;

f) transmitting the avoidance start operation command by the ground control station or the control module if it is determined that the enemy is detected as a result of the determination; And

g) receiving the evasive starting operation command from the ground control station or the control module by the drones and performing the evasive maneuver.

Here, the sensing elements sensed by the sensors in step c) may include at least one of a sound wave, an electromagnetic wave, an acceleration, and a position.

In addition, if it is determined that the enemy is not detected as a result of the determination in step e), the step of regenerating the process of the drones avoidance start method may be further included in step b).

Further, in the step f), an intercept command may be further transmitted together with the avoidance start operation command.

In addition, in the step g), the avoidance start operation command may be received, the avoidance start may be performed, and an interception may be attempted by receiving the interception command.

Further, the method may further include regenerating the process of the drones avoidance start method in step e) after step g).

According to the present invention, when the drones are flying, when there is an imminent collision situation such as a missile or an obstacle, zigzag or random maneuver such as a dragonfly is automatically performed to change the flight path of the dron, There are advantages to be able to.

FIG. 1 is a schematic view of a drone control system employed to implement a drones avoidance start-up method using a biomimicry technique according to an embodiment of the present invention.
FIG. 2 is a view schematically showing a system configuration of a drone employed for implementing a drones avoidance start-up method using a biomimicry technique according to the present invention.
FIG. 3 is a flowchart illustrating an execution process of a drones avoidance start-up method using a biomimicry technique according to an embodiment of the present invention.
FIG. 4 is a diagram showing a moving (flying) characteristic of a sleeping bed and a real-time sleeping avoidance operation of a UAS (drones) applied to the method of the present invention.
FIG. 5 is a diagram showing a movement (flying) characteristic of a fruit flies applied to the method of the present invention and a real-time Drosophila avoidance start (Zig-Zag) of a UAS (drones).
6 is a diagram showing different real-time random avoidance maneuvers of UAS (drone) applied to the method of the present invention.
FIG. 7 is a diagram showing a conventional UAV (Unmanned Aerial Vehicle) and a flight pattern and a displacement difference of a UAV to which the biomimetic avoidance maneuver employed in the present invention is applied.
8 is a diagram showing a flight pattern and a displacement difference of a conventional UAV and a UAV to which the random avoidance maneuver employed in the present invention is applied.
FIG. 9 is a view showing a recognition image in a landing and take-off attitude through a camera installed in a dron for implementing the method of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor can properly define the concept of the term to describe its invention in the best way Should be construed in accordance with the principles and meanings and concepts consistent with the technical idea of the present invention.

Throughout the specification, when an element is referred to as " comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise. Also, the terms " part, " " module, " and " device "Lt; / RTI >

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

FIG. 1 is a schematic view of a drone control system employed to implement a drones avoidance start-up method using a biomimicry technique according to an embodiment of the present invention.

Referring to FIG. 1, a drones control system 100 employed for implementing a drones avoidance start-up method using a biomimetic technique according to the present invention includes a dron 110 flying toward a predetermined destination, And a ground control station (remote control device) 120 for controlling the flight of the drone 110 through communication with the drones 110. Various sensors (for example, an acceleration sensor, a gyro sensor, a distance measuring ultrasonic sensor, a GPS sensor, etc.) may be installed in the drone 110 as well as the camera 110c.

FIG. 2 is a view schematically showing a system configuration of a drone employed for implementing a drones avoidance start-up method using a biomimicry technique according to the present invention.

2, the dron 110 includes a flight controller 111 for controlling the flight of a drone, an MCU (Micro Controller Unit) 112 for detecting enemy, evasive maneuvering, and weapon control, A control command receiver 113 for receiving a remote control command from a ground control station (remote control device) 120 (see FIG. 1), and an enemy sensor sensor 113 for detecting presence or absence of an enemy, such as a video signal, A global positioning system (GPS) 115 for receiving the signals from the GPS satellites and calculating the current position of the drones, an IMU (Inertial Measurement Unit) 115 for measuring the speed, direction, gravity and acceleration of the flying drones. An inertial weapon 117 mounted on a predetermined portion of the dron and a control unit for controlling the rotational speed of the motor to adjust the rotational speed of the dron rotor (propeller) ) Transmission 118, and a power source And a motor & propeller 119 that allows the drones to fly. Reference numeral 110b denotes a battery supplying power necessary for operation of various components of the drones as described above.

Hereinafter, a drones avoidance start-up method using the biomimetic technique according to the present invention will be described based on a drones control system and a dron with the above configuration.

FIG. 3 is a flowchart illustrating an execution process of a drones avoidance start-up method using a biomimicry technique according to an embodiment of the present invention.

Referring to FIG. 3, the drones avoidance start method using the biomimetic technique according to the present invention includes a dron 110 flying toward a predetermined destination as described above, and a dron 110 (Dron) control system (100) having a ground control station (remote control device) 120 for controlling the flight of the drones (110) and initializes the drones 110 (step S301).

Thereafter, the ground control station 120 takes off the drones 110 to allow the drones 110 to fly toward predetermined destinations, and maintains the initial set flight mode (step S302).

In this way, while the drone 110 maintains the initial set flight mode, the camera 110c installed on the dron 110 captures an obstacle around the dron 110 while the dron 110 is mounted on sensors (not shown) installed on the dron 110 (Step S303). Here, the sensing elements sensed by the sensors may include at least one of a sound wave, an electromagnetic wave, an acceleration, and a position.

Thereafter, the image photographed by the camera 110c and the elements sensed by the sensors are analyzed by a control module (for example, MCU 112) installed in the ground control station 120 or the drone 110, Algorithm (step S304).

Then, based on the result of the analysis, it is determined whether the target is detected by the ground control station 120 or the control module (step S305). As a result of the determination, if it is determined that no enemy is detected, the process of the drones avoidance start method can be regressed to the step S302.

If it is determined in step S305 that an enemy has been detected, the ground control station 120 or the control module transmits an escape start operation command (step S306). At this time, it is preferable to further transmit an intercept command together with the avoidance start operation command.

When the avoidance start operation command is transmitted by the ground control station 120 or the control module in this way, the drone 110 receives the avoidance start operation command from the ground control station 120 or the control module and performs the avoidance start operation (Step S307). At this time, preferably, the avoidance start operation command is received, the avoidance start is performed, the interception command is received (of course, it is assumed that the interception command is transmitted), and the interception may be attempted. Here, the evasive maneuver includes at least one of a biomimicry-based evasive maneuver using motions of insect motions, a random evasive maneuver using a rapid-exploring random tree (RRT) technique, and a zigzag evasive maneuver using zigzag motions can do.

Thereafter, the method of evading the drones of the present invention may further include regenerating the process of the drones avoiding start-up method in step S305.

Hereinafter, a description will be given in conjunction with the avoidance start operation of the drones 110 in step S307.

Unmanned aerial vehicle systems (UASs such as drones) play an important role in war-vulnerable areas, but they are very likely to track down the path of the UAS and fall by enemies. They must be in some position, even avoiding collisions that may be missiles launched to them. However, within the timeframe, missiles can collide with the UAS and fail. Therefore, if the path of the UAS is unrecognizable, the drones can be obtained because it is difficult to accurately ignite the enemy.

For this purpose, in the method of the present invention, a biomimicry-based avoidance maneuvering technique in which motions of insects (for example, dragonfly or Drosophila) are motifed so that UAS (drone) We apply the random avoidance start technique using -exploring Random Tree technique and the zigzag avoidance start technique applying zigzag movement. It is as shown in Figs. 4, 5 and 6.

Referring to FIG. 4, (A) shows the movement (flight) characteristic of the sleeping, and (B) shows the simulation result of the real-time sleeping avoidance maneuver of the UAS. In FIG. 4 (B), the red dot represents the obstacle, and the cruciform represents the actual dron.

Referring to FIG. 5, (A) shows the motion (flying) characteristics of the Drosophila, and (B) shows the simulation result of the real-time Drosophila avoidance maneuver (Zig-Zag) of the UAS. In FIG. 5B, similarly, a portion made of a red dot is a portion showing an obstacle, and a cross portion actually indicates a dron.

Referring to FIG. 6, (A) and (B) show simulation results of different real-time random avoidance maneuvers of UAS (drone), respectively.

7 (A) is a comparison of a path of a UAV (drone) applied with a simple path of a conventional UAV (Unmanned Aerial Vehicle) and a biomimetic avoidance start, and is a distance of 100 * 100 (m) Based on the coordinate values of one system, UAV (drones) flight lines according to flight direction are plotted graphically.

The UAV proposed in the present invention is a simulation result using the biomimetic avoidance start method (FIG. 7) and the random avoidance start method (FIG. 8), the solid line indicates the existing UAV, and the dotted line indicates the proposed UAV flight path.

In addition, the inventors of the present invention compared the mean and standard deviation of the displacement difference at the fixed position with respect to the two techniques applied to the present invention compared to the conventional UAV.

As shown in FIG. 7 (B), since the proposed UAV flight path has a displacement of up to 40 m from the existing predicted value for the flight path of the existing UAV based on the straight line, it has a path that is relatively unpredictable, It can be seen from Table 1 and Figure 7 (B) that the survival probability is relatively high even when exposed.

Displacement average of existing UAV Standard Deviation of Displacement Difference from Existing UAV The proposed UAV
(Biomimetic avoidance start) 23.4 15.60 The proposed UAV
(Random avoidance start) 20.924 13.077

FIG. 8A is a result of comparing a simple path of a conventional UAV and a path of a UAV (a drone) to which a random avoidance start is applied, and is also compared with a distance of 100 * 100 (m) A graphical representation of the UAV (drones) flight line according to flight direction.

As shown in FIG. 8B, since the proposed UAV flight path has a maximum displacement of about 38m relative to the existing predicted value for the straight-line based UAV flight path, it has a relatively difficult to predict route, (B) of Table 1 and Fig. 8 (B) that the survival probability is relatively high even when exposed to the < RTI ID = 0.0 >

Meanwhile, the UAS (drone) does not miss the task currently assigned while the drones perform the evasive maneuver according to the method of the present invention. For example, if a drones shoots at one person and he moves in the other direction, the drones will perform evasive maneuvers by avoiding missiles aimed at the enemy as they shoot at the enemy. To ensure that the drones do not miss the target, a high level of camera is used for the drones employed in the present invention to analyze the current situation. The camera identifies successive frames and depth estimates, and finally matches it with the features of the entire image to calculate stability and distance. The aircraft consists of various sensors such as gyroscope, IMU, magnetometer and so on. They balance the drones to reach their target position. Recognition by the camera installed in the drone is shown in Fig.

Referring to FIG. 9, (A) shows a recognition image through a camera in a landing posture, and (B) shows a recognition image through a camera in a take-off posture.

As described above, the drones avoidance start-up method utilizing the biomimetic technique according to the present invention automatically performs zigzag or random maneuvering such as a dragonfly when there is an imminent collision situation such as a missile or an obstacle in the flight of the drones So that collision (collision) can be avoided by changing its own flight path.

In addition, it is possible to grasp the surrounding environment in real time through position measurement and obstacle detection based on information (data) and camera image acquired by various sensors installed in the drone, thereby enabling avoidance maneuver .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but many variations and modifications may be made without departing from the spirit and scope of the invention. Be clear to the technician. Accordingly, the true scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of the same should be construed as being included in the scope of the present invention.

110: Drone 110b: Battery
110c: camera 111: flight controller
112: MCU 113: Control command receiver
114: enemy detection sensor 115: GPS
116: IMU 117: Weapons
118: Transmission 119: Motor & Propeller

Claims (7)

A drones avoidance start-up method using a biomimetic technique based on a dron control system having a dron flying toward a predetermined destination and a ground control station (remote control device) for controlling the flight of the dron through communication with the dron ,
a) initializing the drones by starting up the drones;
b) taking off the drones by the ground control station to allow the drones to fly to predetermined destinations and maintaining the default set flight mode;
c) photographing the surrounding obstacles by the camera installed in the drones during flight of the drones and sensing corresponding sensing elements by the sensors installed on the drones;
d) analyzing the image photographed by the camera and the elements sensed by the sensors using a specific analysis algorithm by a control module installed in a ground control station or a drone;
e) determining, based on the result of the analysis, whether the target is detected by the ground control station or the control module;
f) transmitting the avoidance start operation command by the ground control station or the control module if it is determined that the enemy is detected as a result of the determination; And
g) receiving the avoidance start operation command from the ground control station or the control module by the drone and performing evasive maneuvering.
The method according to claim 1,
Wherein the sensing elements sensed by the sensors in step c) include at least one of a sound wave, an electromagnetic wave, an acceleration, and a position.
The method according to claim 1,
Further comprising the step of returning the process of the drones avoidance start method to the step b) if it is determined that the enemy is not detected as a result of the determination of the step e).
The method according to claim 1,
The method of claim 1, further comprising sending an intercept command along with the avoidance start operation command in step f).
The method according to claim 1,
The method of claim 1, further comprising the step of: performing the avoidance start operation by receiving the avoidance start operation command in the step g), and attempting interception by receiving the interception command.
The method according to claim 1,
Further comprising the step of returning the process of the drones avoidance start method to said step e) after said step g).
The method according to claim 1,
In the step g), the evasive maneuver may include at least one of a biomimicry-based evasive maneuver using motions of insects, a random evasive maneuver using a rapid-exploring random tree (RRT) technique, and a zigzag avoidance maneuver using zigzag motions A method of dron escape maneuver using biomimetic technique including one.

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