KR20190036146A - Method for controlling aerialvehicle cluster - Google Patents

Abstract

The present invention relates to a method for controlling a flight vehicle cluster comprising: a step where a plurality of flight vehicles including a wireless communication module and a wireless relay module therein use the wireless communication module and the wireless relay module to establish communication connection to each other; a step where the plurality of flight vehicles form a flight vehicle cluster line to fly in a cluster by using the communication connection; and a step of exchanging data between the plurality of flight vehicles. First intervals between the plurality of flight vehicles flying in the cluster in the cluster flying step include one or more among intervals adjusted by a device, intervals by control of a server, and preprogrammed intervals. If an escape flight vehicle escaping from the cluster line escapes from the first intervals while flying at the first intervals, a plurality of flight vehicles except the escape flight vehicle fly in a cluster at second intervals which are the maximum range in which the wireless communication module and the wireless relay module can communicate. If the escape flight vehicle is positioned in a range of the second intervals, the escape flight vehicle is controlled to return to the flight vehicle cluster to form a cluster line to fly in the cluster.

Description

METHOD FOR CONTROLLING AERIAL VEHICLE CLUSTER [0001]

The present invention relates to a flight control method, and more particularly, to a flight control method.

The drone appeared in the early 2000s and was developed as a military unmanned aerial vehicle. The earliest drones were used for the Air Force 's missile bombing exercises, which gradually expanded to include reconnaissance and attack aircraft.

Currently, drone is used not only for military but also for business, media, and individual. In recent years, Amazon has been using the "Prime Air" delivery service, which is also used in shipments. In the meteorological field, the drone can be used to observe natural disasters and quickly bring down disaster alarms. In addition, in the field of agriculture, drone is used to spray medicines and check the condition of vegetables.

In recent years, a number of drones have been operating simultaneously for a single mission. It is useful for a large number of drones to perform a joint task without collision, which can increase the probability of success for difficult tasks such as scouting a wide range. In addition to the reconnaissance mission, the cluster flight can also perform complex missions such as three-dimensional map generation, target recognition and hitting, hostile UAV identification and prevention.

Korean Patent Laid-Open No. 10-2016-0069561, Jun.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for controlling a plurality of aircraft in a cluster flight so as to be able to return to mission performance when a communication connection between aircraft is disconnected.

Also, it is an object of the present invention to provide a method of controlling a cluster of airplanes, which can stably maintain a connection state between a base station and a flying object in a cluster flight, and can increase the distance by which communication between the base station and the flight object can be performed.

It is another object of the present invention to provide a control method of a flight body cluster that enables smooth operation even in a low bandwidth environment.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other problems which are not mentioned can be clearly understood by those skilled in the art from the following description.

A method for controlling a flying body cluster to solve the above-mentioned problems comprises the steps of: a plurality of air vehicles including a wireless communication module and a wireless relay module in communication with each other using the wireless communication module and the wireless relay module; A plurality of flight objects forming a group of airplane communities by using the communication connection; And a step of exchanging data between each of the plurality of air vehicles, wherein a first interval between a plurality of air vehicles that are in a cluster flight in the cluster flight is determined by an interval adjusted through the device, an interval Or a preprogrammed interval, and in a case where a flight flight body deviating from the community ranks deviates from the first interval during the flight of the community at the first interval, Wherein the flight body allows the wireless communication module and the wireless relay module included in the flight body to collectively fly at a second interval that is the maximum communicable range and when the flight vehicle is within the range of the second interval, It is controlled to return to the flight body cluster and form a cluster row and to fly the cluster.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention, even if the connection between the flying objects is broken at the time of the cluster flight, the communication modules included in the flying object can be communicated at the second interval, which is the maximum communicable range, It is possible to return to the performance.

In addition, even when only one air vehicle is connected to the base station, communication between a plurality of air vehicles is established, thereby maintaining a stable connection state between the air vehicles in a cluster flight and increasing the distance that the base station can communicate with the air vehicle.

In addition, by using the Publish Subscribe (Pub / Sub) messaging protocol, it is effective to allow the cluster flight to operate smoothly even in a low bandwidth environment.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

FIG. 1 is a view showing a connection relationship of respective components of a flight body cluster according to an embodiment of the present invention.
FIG. 2 is a view for explaining a control method for returning to a cluster flight an airplane whose communication connection is disconnected during a cluster flight according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention, and the manner of achieving them, will be apparent from and elucidated with reference to the embodiments described hereinafter in conjunction with the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, Is provided to fully convey the scope of the present invention to a technician, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element. Like reference numerals refer to like elements throughout the specification and "and / or" include each and every combination of one or more of the elements mentioned. Although "first "," second "and the like are used to describe various components, it is needless to say that these components are not limited by these terms. These terms are used only to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical scope of the present invention.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense that is commonly understood by one of ordinary skill in the art to which this invention belongs. In addition, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

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

FIG. 1 is a view showing a connection relationship of respective components of a flight body cluster according to an embodiment of the present invention.

The flying body cluster (100) includes a plurality of air vehicles (101 to 109). Each of the air vehicles 101 to 109 includes a wireless communication module and a wireless relay module. For example, each of the air vehicles 101 to 109 may include, but is not limited to, a WiFi modem and a hotspot modem. The airborne communities 100 may be controlled by the user device or server 300. The user device or server 300 may be connected to the airborne community through one or more communication nodes 200. For example, the communication node 200 may include, but is not limited to, a base station or a mobile base station.

Since each of the air vehicles 101 to 109 includes a wireless communication module and a wireless relay module in the interior thereof, one air vehicle 101 to 109 provides access to the wireless communication network to the other air vehicles 101 to 109 And at the same time, one of the air vehicles 101 to 109 can access the wireless communication network provided by another air vehicle 101 to 109. That is, a communication connection and data exchange between a plurality of air vehicles 101 to 109 can be performed.

Therefore, even if one or more of the plurality of air bodies 101 to 109 among the plurality of air bodies 101 to 109 of the air vehicle community 100 are connected to the communication node 200, the user device or the server 300, May be connected to the communication node 200 or the like.

Even if only one air vehicle 109 is connected to the communication node 200 or the like as described above, the entire air vehicle cluster 100 is connected to the communication node 200 and the like, The state of the communication connection between the base station and the base station can be stably maintained.

Further, for substantially the same reason, the travel distance communicable with the above-described communication node 200 and the like of the flying body cluster 100 is increased. In other words, as long as any one of the air vehicles (for example, 109) capable of communicating with the communication node 200 and the like exists among the air vehicle communities 100, the other one or more air vehicles 101 to 108 can communicate with the above- The user can move away from the moving distance that can communicate with the mobile terminal 200 and the like. The remaining flying objects 101 to 108 except for one flying object 109 can move outside the traveling distance communicable with the communication node 200 and the like and as a result the moving distance of the entire flying object cluster 100 is increased .

On the other hand, each of the interconnected air bodies 101 to 109 can transmit data to another air vehicle, receive data from another air vehicle, and transfer data received from another air vehicle to another air vehicle. To this end, the aviation community 100 may communicate using the Publish / Subscribe Messaging protocol. A plurality of interconnected air vehicles 101 to 109 can transmit and receive data in a tree structure. Depending on whether or not the data is subscribed, each of the air vehicles 101 to 109 can selectively receive data from other air vehicles. Thus, each of the air vehicles 101 to 109 of the air vehicle cluster can smoothly transmit and receive data even in a low-bandwidth environment.

Hereinafter, a description will be given of a method in which a plurality of flight objects are communicatively connected to a flight escape vehicle that has departed from the cluster sequence during the flight of the group.

FIG. 2 is a view for explaining a method for returning to a cluster flight an airplane whose communication connection is disconnected during a cluster flight according to an embodiment of the present invention.

The plurality of flying objects 101 to 109 flying in a cluster can fly while maintaining a first interval which is an interval more than any one of the interval adjusted by the device, the interval controlled by the server 300, or the pre-programmed interval . A plurality of flight objects (101 to 109) may depart from the first interval during the cluster flight at the first interval, resulting in a flight flight object (110) in which the communication connection is disconnected. The plurality of flight objects 111 excluding the leaving flight object 110 may be a maximum communication range of the wireless communication module and the wireless relay module included in the flight object, It is possible to fly the cluster by expanding at two intervals. Thereby, the communication range generated by the flying body cluster 110 can be extended to the maximum range. When the plurality of flight objects 111 except for the leaving flight body 110 are flying in a cluster while maintaining the second gap, the flight flight body 110, which is located outside the communication range under the condition of the first interval, It can be located within the communication range. Thus, the leaving flight body 110 can communicate with at least one of the plurality of flight bodies 111 and return to the flight body community.

The steps of a method or algorithm described in connection with the embodiments of the present invention may be embodied directly in hardware, in software modules executed in hardware, or in a combination of both. The software module may be a random access memory (RAM), a read only memory (ROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, a hard disk, a removable disk, a CD- May reside in any form of computer readable recording medium known in the art to which the invention pertains.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100, 101, 102, 103, 104, 105, 106, 107, 108, 109:
110: Departure vehicle
111: A plurality of flight vehicles
200: communication node
300: server

Claims (1)

A plurality of air vehicles including a wireless communication module and a wireless relay module communicate and communicate with each other using the wireless communication module and the wireless relay module;
A plurality of flight objects forming a group of airplane communities by using the communication connection; And
Exchanging data between each of the plurality of air vehicles,
Wherein the first interval between the plurality of flight objects flying in the cluster flight is an interval including at least one of an interval adjusted through the device, an interval according to the control of the server, or a preprogrammed interval,
And when the leaving flight body deviating from the community ranks deviates from the first interval during the cluster flight at the first interval,
Wherein the plurality of flight objects except for the flight objects allow the wireless communication module and the wireless relay module included in the flight object to perform a cluster flight at a second interval that is the maximum communicable range and that the flight objects are within the range of the second interval Wherein the exit flight body returns to the flight body cluster to form a cluster row, and is controlled to fly the cluster.

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