KR20190014418A - System and Method for Controlling Group Moving - Google Patents

Abstract

The present invention relates to a system for controlling group driving of a plurality of moving objects and a method thereof. According to the present invention, an apparatus for controlling group driving of a plurality of moving objects comprises: a communication unit receiving position information of the moving objects from a base station; a group driving scheduling unit determining the order of driving of the moving objects by calculating a relative position based on position information of the moving objects and position information of targets; and a group driving monitoring unit monitoring the moving objects in group driving and transmitting position information of a leading moving object through the base station to a following moving object.

Description

Technical Field [0001] The present invention relates to a system and method for a control system,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system and method for controlling the movement of a plurality of moving objects, and more particularly, to a system and method for controlling the movement of a plurality of moving objects using a mobile communication network.

Recently, the development of technology related to the automatic driving which travels to the target point by itself without driving the various mobile bodies such as UAV (Unmanned Aerial Vehicle), the automobile, and the robot is rapidly increasing.

On the other hand, there is a need for a system for controlling and controlling the entire mobile body so as to avoid the mutual impulse and accurately move to a desired target point when a plurality of mobile bodies simultaneously move to the same target point during autonomous operation. Particularly, due to the characteristics of the cluster, there may occur a failure of some moving objects among a plurality of moving objects or an event that some moving objects deviate from the traveling route due to an external environmental factor. At this time, There may be a problem of deviation.

In addition, air traffic control services are not provided for conventional low-altitude flying objects. In the reality that the use of unmanned aerial vehicles such as drone that fly at low altitude is rapidly increasing, it is necessary to construct a system to control these aviation bodies, but it is difficult to construct because it requires a huge cost to build related infrastructure.

Accordingly, it is urgently required to construct a system capable of avoiding collision between a plurality of mobile bodies, completing autonomous traveling at the time of an event, and effectively controlling low-altitude flying objects.

Korean Patent Publication No. 10-2017-0071712 "Method and Apparatus for Planning Travel Path of Mobile Robot"

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art,

SUMMARY OF THE INVENTION It is an object of the present invention to provide a system and method for communal running control in which a plurality of mobile bodies flying at low altitudes can transmit location information of a mobile body to a real-time control system through a network base station installed at a time when the mobile body moves toward one destination.

It is another object of the present invention to provide a system and method for communal running control that updates the GPS coordinate value of a moving object with GPS correction information of a network base station to provide precise positional information of the moving object in real time.

Yet another object of the present invention is to provide a system and method for controlling the running of a cluster, which generates new moving coordinates so that the following moving object does not deviate from the traveling path even if a fault event occurs in some moving objects in a cluster, and transmits the new moving coordinates to the following moving object.

The present invention is embodied by the following embodiments in order to achieve the above object.

An apparatus according to an aspect of the present invention is a device for controlling the movement of a plurality of moving objects, comprising: a communication unit for receiving location information of the plurality of moving objects from a base station; A cluster traveling scheduling unit for calculating a relative position based on the position information of the plurality of moving objects and the position information of the target point to determine the traveling order of the plurality of moving objects; And a community driving monitoring unit monitoring the plurality of moving objects in the cluster and transmitting position information of the preceding moving object to the following moving object through the base station.

Wherein the position information of the plurality of moving objects includes GPS coordinates and the base station receives GPS coordinates from a moving object located within the service area and corrects the received GPS coordinates to an error signal and transmits the corrected GPS coordinates to the communication unit .

The communication unit receives position information of a moving object including GPS coordinates updated from a neighboring base station when the moving vehicle moves out of the service area and moves to a service area of an adjacent base station.

The cluster running scheduling unit calculates a vector size between a position coordinate of the target point and the updated GPS coordinates of the plurality of moving objects and determines a traveling order in the order of the vector size being small.

The cluster driving monitoring unit analyzes the position information of the preceding moving object and transmits the position information of the preceding moving object to the following moving object through the base station when the moving object is traveling along the traveling route.

The cluster running monitoring unit analyzes the position information of the preceding moving object to generate a cluster running maintaining coordinate in the case of driving while leaving the traveling path and transmits the cluster running maintaining coordinates to the following moving object through the base station.

The cluster running maintenance coordinate corresponds to an intersection between a center of the traveling route and a vector estimated based on the updated GPS coordinates of the preceding vehicle that deviated from the traveling route and a traveling route boundary point.

According to another aspect of the present invention, there is provided a method for controlling the movement of a plurality of moving objects in a cluster driving control apparatus, the method comprising: calculating a relative position based on position information of a target point and positional information of the plurality of moving objects received from the base station Determining a traveling order of the plurality of moving objects based on the relative positions and scheduling a cluster traveling; And monitoring the moving object in the cluster and controlling the traveling of the cluster by transmitting position information of the preceding moving object to the following moving object through the base station.

Wherein the location information of the plurality of moving objects includes GPS coordinates and the base station receives GPS coordinates from a moving object located in a service area and corrects the received GPS coordinates as error signals to transmit the updated GPS coordinates to the cluster traveling control To the device.

The controlling of the cluster traveling may include receiving position information of a moving object including updated GPS coordinates from a neighboring base station when a moving vehicle moves out of a service area and moves to a service area of an adjacent base station.

The step of scheduling the cluster running may include calculating a vector size between a position coordinate of a target point and updated GPS coordinates of a plurality of moving objects and determining a traveling order in the order of a vector size being small.

The step of controlling the cluster traveling may include analyzing the position information of the preceding moving vehicle and transmitting the position information of the preceding moving vehicle to the trailing moving vehicle through the base station while the vehicle is traveling along the traveling route.

The step of controlling the community driving includes the steps of: analyzing position information of the preceding moving vehicle and generating a driving continuing coordinate when the vehicle is running while leaving the driving route; And transmitting the cluster running maintenance coordinates to a trailing vehicle through the base station.

The step of controlling the community driving corresponds to an intersection between a center of the traveling route and a vector estimated based on the updated GPS coordinates of the preceding moving vehicle that deviates from the traveling route and the traveling route boundary point.

The present invention has the following effects with the above-described configuration.

The present invention has the effect that a plurality of mobile bodies flying at low altitudes can transmit position information of a mobile body to a real-time control system through a network base station installed at the time of a cluster running toward one destination.

The present invention has an effect of acquiring positional information of a mobile body with high precision by updating the GPS coordinate value of the mobile body with the GPS correction information of the network base station.

The present invention has an effect of controlling the traveling of a cluster so that the following moving object does not deviate from the traveling route by generating new moving coordinates and transmitting the new moving coordinates to the following moving object even if a fault event occurs in some moving objects during the traveling of the cluster.

1 is a block diagram illustrating a system for controlling the running of a cluster according to an embodiment of the present invention.
2 is a block diagram illustrating the base station of FIG.
3 is a block diagram for explaining the cluster travel control apparatus of FIG.
FIG. 4 is a diagram illustrating a method of determining a cluster running order of a plurality of moving objects according to an embodiment.
FIG. 5 is a diagram illustrating an event in which some moving objects depart from a traveling path during a cluster traveling according to an embodiment.
FIG. 6 is a diagram for explaining a method of generating new GPS coordinates when an event such as FIG. 5 is generated.
FIG. 7 is a flowchart for explaining a community driving control method according to another embodiment.
FIG. 8 is a flow chart for explaining the method for determining the cluster traveling order in FIG. 7 in detail.
FIG. 9 is a flowchart illustrating in detail a method for controlling the cluster traveling flight of FIG. 7.
FIG. 10 is a flowchart illustrating a method of controlling a cluster running for a plurality of moving objects moving along a traveling path according to another embodiment.
FIG. 11 is a flowchart illustrating a method of controlling the traveling of a moving object deviating from a traveling path and a trailing moving object following the moving object according to another embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments of the present invention can be modified in various forms, and the scope of the present invention should not be construed as being limited to the following embodiments. This embodiment is provided to more fully describe the present invention to those skilled in the art. Furthermore, although specific terms have been used in the drawings and specification of the present invention, they have been used for the purpose of describing the present invention only and not for limiting the scope of the present invention described in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

In the present specification, the singular forms include plural forms unless otherwise specified in the specification. &Quot; comprises " and / or "comprising" when used in this specification is taken to specify the presence or absence of one or more other components, steps, operations and / Or add-ons.

Hereinafter, the system and method for controlling the running of the present invention will be described in detail with reference to the drawings.

1 is a block diagram illustrating a system for controlling the running of a cluster according to an embodiment of the present invention.

1, the cluster travel control system includes a plurality of mobile units 10: 1, 2, ..., N, base stations 20: 1 and 2, a communication network 30, and a cluster travel control unit 40 .

The moving object 10 is a device that is not fixed at a specific position but has a driving ability and is movable to a desired target point. According to an embodiment, the moving object 10 includes a GPS receiving function for receiving a signal sent from a satellite, And has a mobile communication network connection function. The plurality of moving objects 10: 1, 2, ..., N according to an embodiment perform a cluster traveling under the control of the cluster traveling controller 40 during the autonomous travel.

The plurality of mobile units 10: 1, 2, ..., N receive GPS satellite signals and transmit location information including the GPS satellite signals and the mobile 10 identification information to the base station 20. According to one embodiment, a GPS satellite signal transmitted from a plurality of mobile bodies 10: 1, 2, ..., N to the base station 20 is corrected to a GPS error value at the base station 20, The included location information is transmitted to the cluster driving control device 40 via the communication network 30. [

The base station 20 provides a wireless connection between the mobile unit 10 and the communication network 30. [ The base station 20 according to an embodiment may be realized by an LTE base station (eNB) including a GPS receiver and may correct location information transmitted from the mobile unit 10 located in the service area, And can be transmitted to the cluster driving control apparatus 40.

Also, the base station 20 can detect the signal strength of the mobile unit 10 and support mobility management. 1, when the mobile unit 1 moves out of the service area of the first base station 1 and enters the service area of the second base station 2, the mobile unit 1 transmits the location information to the first base station 1, To the second base station 2, and the position information correction is also performed in the second base station 2 receiving the position information.

The communication network 30 is a medium used to provide communication links between various devices and data processing systems connected to each other in a cluster driving control system. The communication network 30 may include connections such as wires, wireless communication links, or fiber optic cables. The communication network 30 may be any of a wide area network (WAN), a local area network (LAN), a WAN or LAN wireless network, a mobile network, a virtual private network (VPN) Or a variety of different communication technologies, such as a Public Switched Telephone Network (PSTN) or the like.

The cluster travel controller 40 schedules a cluster travel so that a plurality of mobile objects 10: 1, 2, ..., N arrive accurately at a target point, and a plurality of mobile objects 10: 1, 2, Can be monitored. According to an embodiment, the cluster driving control apparatus 40 can control the trailing moving bodies 10 that follow even when some moving bodies 10 depart from the traveling path during traveling, so that they can safely reach the target point.

2 is a block diagram illustrating the base station of FIG.

2, the base station 20 may include a GPS reception unit 21, a GPS correction error generation unit 23, a mobile GPS update unit 25, and a base station communication unit 27.

The GPS receiving unit 21 receives the radio wave (GPS satellite signal) transmitted from the satellite and measures the coordinates (GPS coordinates) of the base station 20 based on the GPS satellite signal. Since the GPS satellite signal may fluctuate depending on various causes such as a satellite clock fluctuation, a fluctuation of a satellite orbit, and a propagation delay upon passage of a waiting circle, the GPS coordinates of the base station 20 calculated based on the GPS satellite signal may also vary from time to time.

The GPS correction error generation unit 23 measures the GPS error signal of the base station 20 by subtracting the absolute position coordinates of the base station 20 from the GPS coordinates (Differential GPS). The absolute position is a fixed precision position of the base station 20 measured in various ways and the GPS coordinates are the position of the base station 20 estimated based on the GPS satellite signal. Since the GPS satellite signal varies instantaneously for various reasons, the GPS error signal calculated by subtracting the GPS coordinates from the fixed absolute position coordinates may continuously change with time. According to one embodiment, the mobile 10 in the service area of the base station 20 is considered to have the same GPS error since it travels close to the base station 20.

The moving body GPS update unit 25 can correct and update the position information transmitted from the mobile unit 10 located in the service area of the base station 20. [ According to an exemplary embodiment, the position information of the mobile unit includes a GPS satellite signal, that is, GPS coordinate information, so that the mobile unit GPS update unit 25 updates the GPS error signal of the base station 20 in the GPS coordinates of the mobile unit 10, The GPS coordinates of the mobile body 10 can be precisely calculated.

 The base station communication unit 27 receives the positional information from the mobile unit 10 and transmits the positional information to the mobile unit GPS update unit 25 and receives the updated position information of the mobile unit 10 from the mobile unit GPS update unit 25, 30 to the cluster driving control unit 40.

FIG. 3 is a block diagram for explaining a cluster travel control apparatus of FIG. 1, FIG. 4 is a view for explaining a cluster travel order of a plurality of moving bodies according to an embodiment, and FIG. FIG. 6 is a view for explaining a method for generating new GPS coordinates when an event occurs as shown in FIG. 5. FIG.

4 to 6, the moving body 10 can illustrate an unmanned aerial vehicle (UAV) flying at an altitude (ex, 150 m or less) capable of wireless communication with a base station 20 installed on the ground However, the present invention is not limited thereto and may be implemented by various mobile bodies such as an automobile, a robot, and a motorcycle having a GPS receiving function and a connection function of the base station 20.

The cluster running control device 40 may include a memory, a memory controller, one or more processors (CPUs), a peripheral interface, an input / output (I / O) subsystem, a display device, an input device and a communication circuit. The memory may include high speed random access memory and may also include one or more magnetic disk storage devices, non-volatile memory such as flash memory devices, or other non-volatile semiconductor memory devices. Access to the memory by other components such as the processor and the peripheral interface may be controlled by the memory controller. The memory can store various information and program instructions, and the program is executed by the processor.

The peripheral interface connects the input / output peripheral devices of the cluster travel controller 40 with the processor and the memory. The one or more processors perform various functions and process data for the cluster running control device 40 by executing a set of instructions stored in various software programs and / or memories. The I / O subsystem provides an interface between I / O peripheral devices such as display devices, input devices, and peripheral interfaces. The display device can use liquid crystal display (LCD) technology or light emitting polymer display (LPD) technology.

The processor is a processor configured to perform an operation associated with the cluster running control device 40 and to perform the instructions, for example, using instructions retrieved from the memory to determine whether the input and output data between the components of the cluster running control device 40 Reception and operation can be controlled. The communication circuit performs communication via an external port or communication by an RF signal. The communication circuit converts the electrical signal to an RF signal and vice versa, and is capable of communicating with the communication network, other mobile gateway devices, and the communication device through the RF signal.

1 and 3, the cluster travel control unit 40 may include a communication unit 41, a cluster travel scheduling unit 43, a cluster travel monitoring unit 45, and a storage unit 47.

The communication unit 41 includes at least one communication module that enables wireless communication between the cluster travel control unit 40 and the network in which the base station 20 is located to transmit data between the cluster travel control unit 40 and the base station 20 Send and receive. The communication unit 41 receives the positional information of the moving object 10 from the base station 20 via the communication network 30 and receives the control signal of the moving object 10 generated by the cluster moving control apparatus 40 To the base station (20). Here, the positional information of the mobile unit 10 may include GPS coordinates.

When the moving body 10 moves out of the service area and moves to the service area of the adjacent base station 20 and the base station 20 that performs wireless communication with the mobile body 10 is changed (handover, hand over) The location information of the moving object 10 including the updated GPS coordinates from the changed base station 20 can be received.

The cluster running scheduling unit 43 calculates a cluster running scheduling unit 43 for each of the plurality of moving objects 10: 1, 2, ..., N based on the positional information of the target point and the plurality of moving objects 10: 1, 2, The traveling order of the plurality of moving objects 10: 1, 2, ..., N can be determined by calculating the relative position.

4, the cluster traveling scheduling unit 43 calculates the distance between the position coordinate T of the target point and the GPS coordinates between the first unmanned air vehicle 11 and the fifth unmanned air vehicle 15 according to an embodiment, _{VL 1, VL 2, VL 3} , VL 4, obtain and VL _5, compares the magnitude of each vector _{(VL 1 <VL 2 <VL} 3 <VL 4 <VL 5) and a small sequence (VL _1, VL ₂ size , VL ₃ , VL ₄ , VL ₅ ). Therefore, the traveling order is the first unmanned aerial vehicle 11, the second unmanned air vehicle 12, the third unmanned air vehicle 13, the fourth unmanned air vehicle 14, and the fifth unmanned air vehicle 15. According to one embodiment, when the first unmanned air vehicle 11 moves heading toward the target point T, the second unmanned air vehicle 12 follows the first unmanned air vehicle 11 flying ahead, The unmanned air vehicle 13 travels along the preceding second unmanned aerial vehicle 12 and the fourth unmanned air vehicle 14 and the fifth unmanned air vehicle 15 are also scheduled to travel along the immediately preceding air vehicle.

The cluster driving monitoring unit 45 monitors a plurality of moving objects 10: 1, 2, ..., N in a cluster and moves the position information of the preceding moving object 10 to the following moving object 10 via the base station 20 It is possible to control the movement of the cluster. The crowd driving monitoring unit 45 analyzes the position information of the preceding moving vehicle 10 to determine whether the vehicle is running on the driving route. If it is determined that the vehicle is traveling on the driving route, Lt; / RTI &gt;

For example, referring to FIG. 4, the cluster driving monitoring unit 45 analyzes the position information of the first unmanned air vehicle 11 and determines the position of the first unmanned air vehicle 11 And transmits the information to the second unmanned aerial vehicle 12 through the communication unit 41. At this time, the second unmanned air vehicle 12 will fly according to the position information of the first unmanned air vehicle 11 flying ahead in advance.

The cluster running monitoring unit 45 generates the cluster running maintenance coordinates and transmits the generated cluster running maintaining coordinates to the following moving vehicle 10 when it determines that the preceding vehicle 10 is out of the running path after the analysis result. Here, the cluster running maintenance coordinates may correspond to the intersection between the center coordinates of the running path and the vector estimated based on the GPS coordinates of the moving body 10 deviating from the running path and the running path boundary point. The preceding vehicle 10 and the following vehicle 10 are relative to each other and the vehicle 10 traveling ahead of the current vehicle 10 on the basis of an arbitrary vehicle 10 is the preceding vehicle 10, 10 is a trailing moving body 10 that follows the moving body 10 from behind.

5, the five unmanned aerial vehicles 11, 12, 13, 14, and 15 are arranged in such a manner that the second unmanned air vehicle 12, which is flying in the second order of the community, Shows an example of an exit event. At this time, the second unmanned air vehicle 12, which has temporarily deviated from the traveling route A, can normally follow the cluster formation after receiving the position information of the first unmanned air vehicle 11 which is normally traveling, but the third unmanned air vehicle The third to fifth unmanned aerial vehicles 13, 14, and 15 are continuously out of the cluster formation because they receive the location information of the second unmanned air vehicle 12 deviating from the traveling route, can do. At this time, in order to safely move the unmanned air vehicles 11, 12, 13, 14, and 15 to the target point, the traveling path is realized as airspace A, which is a space defined by a specific range of a predetermined height from the surface of the ground .

6, the community driving monitoring unit 45 calculates the vector VL (GPS) based on the center coordinates C of the traveling route and the current GPS coordinates (GPS ₂ ) of the second unmanned air vehicle 12 deviating from the traveling route, ), And calculate an intersection (N _GPS ) between the calculated vector (VL) and the traveling path boundary point (A) as a cluster running maintenance coordinate. Accordingly, the third unmanned aerial vehicle (13) that follows the second unmanned aerial vehicle (12) that has departed from the traveling route can receive the community driving maintenance coordinates and travel while maintaining the cluster formation without departing from the traveling route.

The storage unit 47 can store the position coordinates transmitted from the plurality of mobile units 10: 1, 2, ..., N by the mobile units 10 and store them separately. The storage unit 47 may store various programs necessary for operating the cluster travel control unit 40 and location information of the target point T. [

FIG. 7 is a flowchart for explaining a method for controlling a cluster running according to another embodiment, FIG. 8 is a flowchart for explaining a method for determining a cluster running running sequence in FIG. 7 in detail, In the following description.

Referring to FIGS. 1 and 7, the cluster travel control method includes a cluster travel scheduling step S100 and a cluster travel flight control step S200. In the cluster driving control method, communication between the cluster driving control unit 40 and the mobile unit 10 is performed through the base station 20 that is in charge of a service area where the mobile unit 10 is located. At this time, the base station 20 receives the GPS coordinates and the position information including the mobile body 10 identification information from the mobile body 10 located in the service area, corrects the received GPS coordinates as an error signal, To the cluster driving control unit (40).

According to one embodiment, the positional information correction of the mobile 10 may be performed by a DGPS (Differential GPS) method of subtracting the GPS error signal generated by the base station 20 with respect to the GPS coordinates of the mobile 10, But not limited to, various GPS correction methods. In the DGPS correction, it is assumed that the mobile station 10 and the base station 20 located in the service area of the base station 20 have similar GPS errors.

The cluster traveling control device 40 calculates a relative position based on the target point and the positional information of the plurality of moving objects 10: 1, 2, ..., N received from the base station 20, (N) of the mobile units 10 (1, 2, ..., N) are determined and the cluster travel is scheduled (S100).

When a plurality of moving objects 10: 1, 2, ..., N perform a cluster traveling in a predetermined order, the cluster traveling control device 40 transmits a plurality of moving objects 10: 1, 2, And transmits the position information of the preceding moving body 10 to the following moving body 10 through the base station 20 to control the traveling of the cluster (S200). That is, the cluster traveling control device 40 transmits the position information including the GPS coordinates and the mobile body 10 identification information to the base station 20 in the traveling order of the plurality of mobile bodies 10: 1, 2, ..., N And transmits the position information of the preceding moving vehicle 10 to the moving vehicle 10, that is, the trailing moving vehicle 10, which runs immediately after determining whether or not the moving vehicle 10 is departing from the traveling route.

Referring to FIG. 8, the cluster travel scheduling step S100 may include a coordinate collecting step S110, a traveling order calculating step S130, and a moving object calculation result transmitting step S150.

1 to 8, the cluster travel control device 40 receives current GPS coordinates (hereinafter referred to as &quot; GPS coordinates &quot;) from a plurality of moving objects 11, 12, 13, 14 and 15, And acquires position information of the target point T stored in the storage unit 47 (S110). Here, the location information of the target point to be moved may include GPS coordinates.

Next, the cluster traveling control device 40 generates a plurality of moving objects 11, 12, 13 (refer to FIG. 13) based on the position coordinates of the target point and the positional information of the plurality of moving objects 11, , 14, and 15 (S130). The location information of the plurality of mobile objects 11, 12, 13, 14 and 15 may include GPS coordinates corrected by the base station 20, that is, updated GPS coordinates and identification information of the mobile object 10. The relative position can be realized with a vector size based on the position coordinates T of the target point and the GPS coordinates of the plurality of mobile objects 11, 12, 13, 14,

For example, referring to FIG. 4, the cluster travel control device 40 receives the position coordinates T of the target point, the GPS coordinates of the first unmanned air vehicle 11, the GPS coordinates of the second unmanned air vehicle 12, third obtaining the GPS coordinates, the fourth vector VL ₁ between the GPS coordinates of the unmanned air vehicle (14) the GPS coordinates, the fifth unmanned air vehicle (15) of, VL _2, VL _3, VL _4, VL ₅ of the unmanned air vehicle (13) comparing the magnitude of each vector _{(VL 1 <VL 2 <VL} 3 <VL 4 <VL 5) the size of a small sequence _{(VL 1, VL 2, VL} 3, VL 4, VL 5) to determine the driving order have.

Next, the cluster travel control device 40 transmits the determined travel order to the plurality of mobile units 11, 12, 13, 14, and 15, respectively (S150). Therefore, when the first unmanned vehicle 11 moves toward the target point at the head of the first unmanned air vehicle 11, the second unmanned air vehicle 12 follows the first unmanned air vehicle 11, The fourth unmanned air vehicle 14 travels along the preceding second unmanned air vehicle 12 and the third unmanned air vehicle 13 and the fifth unmanned air vehicle 15 travel ahead of the fourth unmanned air vehicle 14 ).

Referring to FIG. 9, the community driving flight control step S200 includes a moving object position information reception step S210, a traveling route deviation confirmation step S220, a preceding moving object position information transmission step S230, A new location information generation step S240, and a step S250 of transferring new location information to the following moving object.

1 to 9, the cluster travel control device 40 receives position information including GPS coordinates from a plurality of moving objects 11, 12, 13, 14, 15 in real time (S210) . At this time, the cluster travel control device 40 may receive location information from the plurality of moving vehicles 11, 12, 13, 14, 15 in operation at the same time and may receive the same at a predetermined time difference. According to another embodiment, the GPS coordinates included in the position information are corrected in the base station 20 and implemented with updated GPS coordinates.

Next, the cluster driving control apparatus 40 analyzes the received position information and analyzes whether the moving body 10 that has transmitted the position information has deviated from the traveling path, and determines whether a plurality of moving bodies 10: 1, 2, ..., N are monitored (S220).

If it is determined in step S220 that the vehicle has not departed from the travel route, the cluster travel control device 40 transmits the location information of the preceding vehicle 10 to the following vehicle 10 in step S230. The position information is transmitted to the following moving body 10 through the base station 20 which is in charge of the service area in which the following moving body 10 is located. At this time, the base station 20 can transmit without correcting the position information.

If it is determined that the vehicle 10 has departed from the travel route (S220: Yes), the cluster travel controller 40 determines that the new location Coordinates are generated (S240). Here, the cluster traveling maintenance coordinate may correspond to the intersection between the center coordinates of the traveling route and the vector estimated based on the GPS coordinates of the preceding moving vehicle 10 deviating from the route and the traveling route boundary point.

Referring to FIG. 5, the five unmanned aerial vehicles 11, 12, 13, 14, and 15 are connected to the second unmanned air vehicle 12, which is flying in the second order, Show examples. At this time, the second unmanned air vehicle 12, which has temporarily deviated from the traveling route, can receive the position information of the first unmanned air vehicle 11 which is normally traveling and can follow the cluster formation again. However, The third and fifth unmanned aerial vehicles 13, 14, and 15 can continuously deviate from the cluster formation because they receive the location information of the second unmanned air vehicle 12 deviating from the route. At this time, in order to safely move the unmanned air vehicles 11, 12, 13, 14, and 15 to the target point, the travel path is realized as airspace A, which is a space defined by a specific range of a certain height from the surface of the ground .

6, the cluster travel control device 40 calculates the vector VL (GPS) based on the center coordinates C of the traveling route and the current GPS coordinates (GPS ₂ ) of the second unmanned air vehicle 12 deviating from the traveling route, ), And calculate an intersection (N _GPS ) between the calculated vector (VL) and the traveling path boundary point (A) as a cluster running maintenance coordinate.

Next, the cluster travel control device 40 transmits the cluster running maintenance coordinates to the following vehicle 10 via the base station 20 (S250). 5 and 6, the third unmanned air vehicle 13, which follows the second unmanned air vehicle 12 deviating from the traveling route, receives the community driving maintenance coordinates from the community driving control device 40, The fourth and fifth unmanned aerial vehicles 14 and 15 moving along the traveling path without departing from the vehicle can continue traveling in a cluster formation.

FIG. 10 is a flowchart illustrating a method of controlling a plurality of moving objects moving along a traveling path according to another embodiment. FIG. 11 is a flowchart illustrating a method of controlling a moving object moving along a traveling path, Fig. 2 is a flowchart for explaining a method for controlling a cluster driving; Fig.

FIGS. 10 and 11 are diagrams illustrating the contents of FIGS. 7 to 9 in a signal flow between all the components. For convenience of explanation, FIGS. 10 and 11 show a preceding moving object Only two trailing bodies were marked.

1 to 10, the cluster travel control device 40 receives position information including the current GPS coordinates from a plurality of mobile objects 11 and 12 to perform a cluster travel to determine a crowd traveling running order (S1001), and collects position information (T) of a target point stored in the storage unit (47). 10 shows that the first and second mobile units 11 and 12 transmit positional information but the third, fourth and fifth mobile units 13, 14 and 15, Is transmitted. Here, the target point location information T to be moved may include GPS coordinates, and the GPS coordinates of the plurality of mobile objects 11 and 12 are corrected by the base station 20, and updated GPS coordinates are transmitted to the cluster traveling controller 40 (S1003, S1005).

Next, the cluster traveling control device 40 calculates the respective relative positions of the plurality of mobile objects 11 and 12 based on the target point position coordinates T and the positional information of the plurality of mobile objects 11 and 12 The traveling order of the plurality of moving bodies 11 and 12 can be determined (S1007). At this time, the relative position can be estimated as the vector magnitude between the position coordinate (T) of the target point and the updated GPS coordinates of the plurality of mobile objects (11, 12).

Next, the cluster travel control device 40 can transmit the estimated traveling order to the plurality of unmanned aerial vehicles 11 and 12, respectively (S1011). At this time, the traveling order is transmitted to the plurality of unmanned aerial vehicles 11 and 12 through the base station 20. When the service area of the base station 20 in which the unmanned air vehicles 10 are located is different, 12 can receive the driving order through the different base stations 20, respectively. That is, although only one base station 20 is shown in FIG. 10, when a plurality of unmanned air vehicles 11 and 12 are located at a great distance from each other, the base station 20 of FIG. 10 may be realized as a different base station 20 .

10 shows that the traveling order is determined for the first and second mobile bodies 11 and 12 and the determined travel order is transmitted. However, the third, fourth, and fifth mobile bodies 13, 14, and 15 , It is also assumed that the traveling order is determined together and the determined traveling order is transmitted to the third, fourth, and fifth mobile units 13, 14, and 15. [

Next, when the cluster travel is performed, the plurality of unmanned aerial vehicles 11, 12, 13, 14, and 15 transmit their current location information to the base station 20 in real time. In the cluster, each unmanned air vehicle (11, 12, 13, 14, 15) travels in the order of travel. That is, when the first unmanned object 11 moves toward the first target point, the second unmanned air vehicle 12 travels along the first unmanned air vehicle 11, To the adjacent base station (20).

Referring to FIG. 10, the first unmanned aerial vehicle 11 designated as the head transmits its own position information including the current GPS coordinates to the adjacent base station 20 (S1013).

Next, the base station 20 generates an updated GPS coordinate (GPS 1) by correcting the received GPS coordinate (GPS 1) to an error signal (S1015). At this time, the GPS coordinate correction of the first UAV 11 may be performed by a DGPS (Differential GPS) method in which the GPS error signal generated by the base station 20 is subtracted from the GPS coordinates of the first UAV 11. Next, the base station 20 transmits position information including the updated GPS coordinates (GPS 1) of the first unmanned aerial vehicle 11 to the cluster travel control unit 40 (S1017).

According to another embodiment, as the plurality of unmanned aerial vehicles 11 and 12 move in the airspace, the adjacent base station 20 may be changed. That is, when the first unmanned air vehicle 11 in operation moves out of the service area and moves to the service area of the adjacent base station 20, the unmanned air vehicle 10 transmits the current location information to the base station 20, And the current base station 20 receiving the position information from the unmanned air vehicle 10 differentiates the GPS error signal generated by the current base station 20 to generate updated GPS coordinates. Therefore, the cluster traveling control device 40 can receive position information of the first unmanned flight vehicle 11 including the GPS coordinates (GPS 1) updated from the adjacent base station 20. [

Next, the cluster driving control apparatus 40 analyzes the received position information and analyzes whether the first unmanned air vehicle 11 that has transmitted the position information has deviated from the driving route (S1019).

If the first unmanned object 11 has not departed from the traveling route (S1019, No), the cluster traveling control device 40 transmits the position information of the first unmanned air vehicle 11 to the following second unmanned air vehicle 12 (S1021). At this time, the position information of the first unmanned air vehicle 11 is transmitted through the base station 20 responsible for the service area where the second unmanned air vehicle 12 is located. At this time, The position information of the air vehicle 11 can be transmitted.

In FIG. 10, the case where the first unmanned flight vehicle 11 does not deviate from the traveling path has been described. 11, the cluster traveling control device 40 performs the step S2021 shown in FIG. 11, in which the cluster traveling control device 40 transmits the first unmanned air vehicle 11 (11) through the base station 20 ) To the second unmanned aerial vehicle 12 based on the calculated coordinates.

Referring to FIG. 11, the second unmanned aerial vehicle 12 in operation transmits its own position information including the current GPS coordinates to the adjacent base station 20 (S2013).

Next, the base station 20 generates an updated GPS coordinate (GPS 2) by correcting the received GPS coordinate (GPS 2) to an error signal (S2015). At this time, the GPS coordinate correction of the second UAV 12 may be performed by a DGPS (Differential GPS) method in which the GPS error signal generated by the base station 20 is subtracted from the GPS coordinates of the second UAV 12.

Next, the base station 20 transmits position information including the updated GPS coordinates (GPS 2) of the second unmanned air vehicle 12 to the cluster travel control unit 40 (S2017). According to another embodiment, when the second unmanned air vehicle 12 is moving out of the service area and moving to the service area of the adjacent base station 20, the second unmanned air vehicle 12 may transmit the service to the base station 20 And the current base station 20 receiving the position information from the unmanned air vehicle 10 subtracts the GPS error signal generated by the current base station 20 to generate updated GPS coordinates. Therefore, the cluster traveling control device 40 can receive the position information of the second unmanned air vehicle 12 including the updated GPS coordinates (GPS 2) from the adjacent base station 20.

Next, the cluster traveling control device 40 analyzes the received location information and analyzes whether the second unmanned air vehicle 12 that has transmitted the location information has departed from the traveling route (S2019).

If the second unmanned air vehicle 12 has departed from the traveling route (S2019, Yes), the cluster traveling control device 40 transmits the second unmanned air vehicle 12 that has deviated from the third to fifth unmanned air vehicles (S2021) to generate a new position coordinate that keeps the cluster running so that the roads 13, 14, 15 do not deviate from the traveling path. 6, the coordinates (C) of the traveling route and the current GPS coordinates (GPS ₂ ) of the second unmanned air vehicle 12 deviating from the traveling route are used as coordinates ), And calculate an intersection (N _GPS ) between the calculated vector (VL) and the traveling path boundary point (A) as a cluster running maintenance coordinate.

Next, the cluster travel control device 40 transmits the cluster running maintenance coordinates to the third unmanned air vehicle 13 via the base station 20 (S2023). 5 and 6, the third unmanned air vehicle 13, which follows the second unmanned air vehicle 12 deviating from the traveling route, receives the community driving maintenance coordinates from the community driving control device 40, It is possible to move along the traveling path without leaving.

In FIG. 11, it is assumed that the second unmanned air vehicle 11 deviates from the traveling path. 10, the cluster traveling control device 40 performs a step S1021 shown in FIG. 10, in which the cluster traveling control device 40 transmits a control signal to the second unmanned air vehicle 12 via the base station 20, And transmits the location information to the third unmanned aerial vehicle 13.

10 and 11 illustrate the process of transmitting and judging the position information on the first and second unmanned air vehicles 11 and 12 while the third, fourth and fifth unmanned vehicles 13, Steps S1013 to S1021, or S2013 to S2027 can be repeated in the same manner. The cluster traveling control device 40 can receive the position information from the plurality of moving objects 11, 12, 13, 14, 15 in the traveling state to determine whether or not the traveling path has departed. According to another embodiment, It is possible to judge whether or not the travel route is departed by receiving the location information with a time difference.

While the specification contains many features, such features should not be construed as limiting the scope of the invention or the scope of the claims. In addition, the features described in the individual embodiments herein may be combined and implemented in a single embodiment. Conversely, various features described in the singular &lt; Desc / Clms Page number 5 &gt; embodiments herein may be implemented in various embodiments individually or in combination as appropriate.

Although the operations have been described in a particular order in the figures, it should be understood that such operations are performed in a particular order as shown, or that all described operations are performed to obtain a sequence of sequential orders, or a desired result . In certain circumstances, multitasking and parallel processing may be advantageous. It should also be understood that the division of various system components in the above embodiments does not require such distinction in all embodiments. The above-described program components and systems can generally be implemented as a single software product or as a package in multiple software products.

The method of the present invention as described above can be implemented by a program and stored in a computer-readable recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto optical disk, etc.). Such a process can be easily carried out by those skilled in the art and will not be described in detail.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. The present invention is not limited to the drawings.

10: mobile body 20: base station
30: mobile communication network 40:

Claims (14)

An apparatus for controlling the movement of a plurality of moving bodies in a community,
A communication unit for receiving location information of the plurality of moving objects from a base station;
A cluster traveling scheduling unit for calculating a relative position based on the position information of the plurality of moving objects and the position information of the target point to determine the traveling order of the plurality of moving objects; And
A cluster running monitoring unit monitoring the plurality of moving objects in a cluster and transmitting position information of the preceding moving object to the following moving object through the base station;
&Lt; / RTI &gt; The method according to claim 1,
The position information of the plurality of moving objects includes GPS coordinates,
The base station comprises:
Receives the GPS coordinates from a moving object located in the service area, and corrects the received GPS coordinates as an error signal, and transmits the corrected GPS coordinates to the communication unit. 3. The method of claim 2,
Wherein,
Wherein the location information of the moving object including the updated GPS coordinates is received from a neighboring base station when the moving vehicle moves out of the service area and moves to a service area of the adjacent base station. 3. The method of claim 2,
Wherein the community driving scheduling unit includes:
And calculates the vector size between the position coordinates of the target point and the updated GPS coordinates of the plurality of moving objects, and determines the traveling order in the order of the small vector size. 5. The method of claim 4,
The system according to claim 1,
And analyzes the position information of the preceding moving object and transmits the position information of the preceding moving object to the following moving object through the base station if the moving object is traveling along the traveling route. 6. The method of claim 5,
The system according to claim 1,
Analyzing positional information of the preceding moving object, generating a cluster running maintenance coordinate if the vehicle is traveling while departing from the traveling path, and transmitting the cluster running maintenance coordinate to the following moving object through the base station. The method according to claim 6,
The community running maintenance coordinates include:
Correspond to an intersection between the center coordinates of the traveling route and a vector estimated based on the updated GPS coordinates of the preceding moving object departing from the traveling route and the traveling route boundary point. A method for controlling a cluster running control apparatus for a plurality of moving bodies,
Calculating a relative position on the basis of the position information of the target point and the position information of the plurality of moving objects received from the base station and determining the traveling order of the plurality of moving objects based on the relative position, And
Monitoring the plurality of moving objects in a cluster and controlling the cluster traveling by transmitting position information of the preceding moving object to the trailing moving object through the base station;
&Lt; / RTI &gt; 9. The method of claim 8,
The position information of the plurality of moving objects includes GPS coordinates,
The base station comprises:
Receiving GPS coordinates from a moving object located in a service area and correcting the received GPS coordinates to an error signal, and transmitting the updated GPS coordinates to the cluster driving control unit. 10. The method of claim 9,
Wherein the step of controlling the community driving comprises:
Wherein the location information of the moving object including the updated GPS coordinates is received from the neighboring base station when the moving vehicle moves out of the service area and moves to the service area of the adjacent base station. 10. The method of claim 9,
Wherein the step of scheduling the community driving comprises:
Calculating a vector size between the position coordinates of the target point and the updated GPS coordinates of the plurality of moving objects, and determining the traveling order in the order of the vector size being small. 12. The method of claim 11,
Wherein the step of controlling the community driving comprises:
Analyzing position information of the preceding moving object and transmitting the position information of the preceding moving object to the following moving object through the base station if the moving object is traveling along the traveling route. 13. The method of claim 12,
Wherein the step of controlling the community driving comprises:
Analyzing the position information of the preceding moving object to generate a traveling continuing coordinate when traveling while leaving the traveling route; And
And transmitting the cluster running maintenance coordinates to a trailing vehicle through the base station. 14. The method of claim 13,
Wherein the step of controlling the community driving comprises:
Center coordinates of the traveling route and the intersection point of the vector estimated based on the updated GPS coordinates of the preceding moving object departing from the traveling route and the traveling route boundary point.

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