KR20190128418A - Method for controling unmanned flying object and recording medium storing program for executing the same, and recording medium storing program for executing the same - Google Patents

Abstract

The present invention relates to a method for controlling an unmanned aerial vehicle, a recording medium storing program for implementing the same, and a computer program stored in the recording medium for implementing the method. More specifically, provided are the method for controlling an unmanned aerial vehicle which sets a path of an unmanned aerial vehicle to a base station based on a path through which a remote controller moved or a location to which the remote controller moved and controls the unmanned aerial vehicle to move along the path in the base station, the recording medium storing program for implementing the same, and the computer program stored in the recording medium for implementing the method.

Description

METHODO FOR CONTROLING UNMANNED FLYING OBJECT AND RECORDING MEDIUM STORING PROGRAM FOR EXECUTING THE SAME, AND RECORDING MEDIUM STORING PROGRAM FOR EXECUTING THE SAME }

The present invention relates to a method for manipulating an unmanned aerial vehicle, a recording medium storing a program for implementing the same, and a computer program stored in the medium for implementing the same. A method for manipulating an unmanned aerial vehicle for setting a path of an aircraft in a base station and controlling the unmanned aerial vehicle to move along a corresponding path by the base station, a recording medium storing a program for implementing the same, and a computer program stored in a medium for implementing the same. will be.

In general, the control of unmanned aerial vehicles (airplanes, helicopters, drones, etc.) is based on the front of the unmanned aerial vehicle. For example, the front of the car is controlled to the front, and in the case of ships to control the front of the foreign body, in the case of airplanes to steer forward.

Another control method is to generate a moving path of the unmanned aerial vehicle and to control the unmanned aerial vehicle to move along the moving path.

In the case of maneuvering according to the movement route, the movement route is generally input using a Geographic Information System, and the position of the unmanned vehicle is checked based on GPS (Global Positioning System) information to control the unmanned aerial vehicle. However, when using the map information system and GPS, there is a problem in that the volume and weight of the unmanned aerial vehicle increase due to the devices to be provided in the unmanned aerial vehicle.

This affects the distance that can be flown with the capacity of the battery mounted on the drone.

Korean Laid Open Patent [10-2016-0074896] discloses a method and apparatus for setting a flight path of a drone.

Korea Patent Publication [10-2016-0074896] (Published date: 2016. 06. 29)

Accordingly, the present invention has been made to solve the problems described above, an object of the present invention is to set the path of the unmanned aerial vehicle to the base station based on the path or the position of the remote controller is moved, accordingly the base station The present invention provides a method for manipulating a drone to move an unmanned aerial vehicle along a corresponding path, a recording medium storing a program for implementing the same, and a computer program stored in a medium for implementing the same.

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

According to one or more embodiments of the present invention, there is provided a method for manipulating a drone, which comprises a program form executed by an arithmetic processing unit provided in a base station 100. 100 and the distance between the predetermined point of the remote controller 200 is measured, and based on this, the base station 100 calculates the position information corresponding to the predetermined point of the remote controller 200, thereby determining the predetermined distance of the remote controller 200. The movement path through which the remote controller reference point 201 is moved, or the movement path through a point corresponding to the position information by calculating a plurality of position information about the predetermined controller reference point 201 of the remote controller 200, or the remote controller 200. The two-dimensional coordinate system or the three-dimensional coordinates of the movement path of a specific type, which is input in advance, around a point corresponding to a plurality of position information of the predetermined controller reference point 201 of the Path input step of storing in the system (S10); And a path control step (S50) for controlling by the base station 100 to move the predetermined vehicle reference point 301 of the unmanned aerial vehicle 300 according to the movement path stored in the path input step (S10). It is done.

In addition, the path input step (S10) is characterized by calculating the position information of the remote controller 200 by measuring the azimuth, altitude and distance on the horizontal coordinates to a predetermined point of the remote controller 200 around the base station 100 do.

In addition, the route input step (S10) is a three or more predetermined points of the remote control unit 200, at least three distances between the predetermined point between the base station 100 and the remote control unit 200 to measure the remote control unit 200 And position information and attitude information.

In addition, the path control step (S50) measures the distance between the three or more predetermined points of the unmanned aerial vehicle and the base station 100 to calculate the position information and attitude information of the unmanned aerial vehicle 300 to drive the unmanned aerial vehicle Characterized by steering (300).

In addition, the path control step (S50) is characterized in that for controlling the unmanned aerial vehicle so that the front of the unmanned aerial vehicle 300 is directed toward the direction or direction of the traveling direction or the front of the manipulator 200 toward a specific point. .

In addition, between the path input step (S10) and the path control step (S50), the altitude input step (S20) for inputting the altitude information in the movement path on the two-dimensional coordinate system or three-dimensional coordinate system; In step S50, the unmanned aerial vehicle 300 is controlled to be moved to a path in which the altitude information input in the altitude input step S20 is applied to the movement route stored in the path input step S10.

In addition, between the path input step (S10) and the path control step (S50), a pattern input step (S30) for inputting a movement pattern at a specific position on a two-dimensional coordinate system or a three-dimensional coordinate system; Steering step (S50) is characterized in that for controlling the movement so that the unmanned aerial vehicle 300 is moved to the path applied to the movement pattern input in the pattern input step (S30) to the movement path stored in the path input step (S10).

In addition, the path control step (S50) transmits to the unmanned aerial vehicle 300 a point or path to which the unmanned aerial vehicle 300 should move in advance when the unmanned aerial vehicle 300 leaves the control range of the base station 100. Characterized in that.

In addition, according to an embodiment of the present invention, a computer-readable recording medium storing a program for implementing the method for manipulating the unmanned aerial vehicle is provided.

In addition, according to an embodiment of the present invention, in order to implement the method for manipulating the unmanned aerial vehicle, a program stored in a computer-readable recording medium is provided.

In addition, according to an embodiment of the present invention, it is characterized in that to provide a wire rope sling manufactured by the wire rope sling manufacturing method.

According to the method for manipulating an unmanned aerial vehicle according to an embodiment of the present invention, a recording medium storing a program for implementing the same, and a computer program stored in the medium for implementing the same, a path in which a manipulator moves instead of directly manipulating the unmanned aerial vehicle with a manipulator Alternatively, by setting the moving path of the unmanned aerial vehicle to the base station based on the position of the remote controller, the base station controls the unmanned aerial vehicle to move along the corresponding path, so that the unmanned aerial vehicle can be controlled by accurately inputting the moving path. It works.

In addition, by calculating the position information of the remote controller by measuring the azimuth, altitude and distance, there is an effect that can reduce the cost, volume and weight less than when using the map information system and GPS.

In addition, by calculating the position information and attitude information of the remote controller by measuring three or more distances to the predetermined point of the remote controller, it is possible to reduce the cost, volume and weight compared to the case of using the map information system and GPS. .

In addition, by calculating the position information and attitude information of the remote controller by measuring three or more distances to the predetermined point of the unmanned aerial vehicle, the amount of calculation of the autonomous unmanned aerial vehicle can be greatly reduced, and compared to the case of using the map information system and the GPS. This can reduce costs, volume and weight.

In addition, by controlling the direction of the front of the unmanned aerial vehicle, when the camera is installed, there is an effect that can be controlled in the direction of the camera or the like.

In addition, by additionally inputting the altitude information, there is an effect that can operate the drone at the desired height without raising the remote controller to the desired height.

In addition, by further inputting the movement pattern, there is an effect that can perform a specific movement at a specific point on the movement path.

In addition, when the unmanned aerial vehicle leaves the control range of the base station, the point or the path to be moved is transmitted in advance, thereby preventing the unmanned aerial vehicle from being lost or damaged.

1 is a flowchart of a method for manipulating a drone according to an embodiment of the present invention.
2 is a view for explaining a process of inputting a path in a path input step of a method for manipulating a drone according to an embodiment of the present invention;
3 is a view for explaining a process of manipulating the unmanned aerial vehicle to move along the path in the path control step of the method for manipulating the unmanned aerial vehicle according to an embodiment of the present invention.
4 is a flowchart of a method for manipulating a drone according to another embodiment of the present invention.
5 is a flowchart of a method for manipulating a drone according to another embodiment of the present invention.

As the inventive concept allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

When a component is said to be "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that another component may be present in the middle. Should be.

On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "having" are intended to indicate that there is a feature, number, process, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present disclosure does not exclude the possibility of the presence or the addition of numbers, processes, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to the accompanying drawings will be described in more detail the present invention. Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the ordinary or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own inventions. Based on the principle that it can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention. In addition, unless there is another definition in the technical terms and scientific terms used, it has the meaning commonly understood by those of ordinary skill in the art to which this invention belongs, and the gist of the present invention in the following description and the accompanying drawings. Descriptions of well-known functions and configurations that may be unnecessarily blurred are omitted. The drawings introduced below are provided by way of example so that the spirit of the invention to those skilled in the art can fully convey. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other forms. Also, like reference numerals denote like elements throughout the specification. It should be noted that the same elements in the figures are represented by the same numerals wherever possible.

1 is a flowchart of a method for manipulating a drone according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a process of inputting a path in a path input step of a method for manipulating a drone according to an embodiment of the present invention. FIG. 3 is a view illustrating a process of manipulating the unmanned aerial vehicle to move along a path in a path control step of the method for manipulating the unmanned aerial vehicle according to an embodiment of the present invention, and FIG. 4 is an unmanned aerial vehicle according to another embodiment of the present invention. 5 is a flowchart of a steering method, and FIG. 5 is a flowchart of a drone steering method according to another embodiment of the present invention.

Prior to the description, terms used in the specification (and claims) will be briefly described.

An unmanned aerial vehicle is a vehicle, helicopter, or drone that can be controlled remotely (wired or wireless) without a person.

As shown in FIG. 1, the method for manipulating an unmanned aerial vehicle according to an exemplary embodiment of the present invention includes a path input step in the method for controlling an unmanned aerial vehicle made of a program executed by an arithmetic processing means provided in a base station 100. S10) and path control step (S50).

Path input step (S10) measures the distance between the base station 100 and the predetermined point of the remote controller 200, based on the base station 100 calculates the position information corresponding to the predetermined point of the remote controller 200 By using the control path 200, the predetermined controller reference point 201 of the controller 200 is moved, or a plurality of position information of the predetermined controller reference point 201 of the controller 200 are calculated to pass through a point corresponding to the position information. Stores the movement path of a predetermined type based on a position corresponding to a plurality of position information of the movement route or the predetermined controller reference point 201 of the manipulator 200 on a two-dimensional coordinate system or a three-dimensional coordinate system. .

The predetermined point of the remote controller 200 refers to designating a specific point on the remote controller 200. For example, for a drone with four propellers from 1 to 4, one point of propeller, one point of propeller two, one point of propeller three, one point of four propeller , You can specify the center point as a point. By mounting a sensor or the like for measuring the distance to the designated point, it is possible to measure the distance between the predetermined point of the base station 100 and the remote controller 200.

The predetermined manipulator reference point 201 of the manipulator 200 also refers to designating a specific point on the manipulator 200. For example, the center point of the manipulator may be designated as the manipulator reference point 201. The designated controller reference point 201 is used as a reference for inputting a path later.

At this time, it is also possible to use a predetermined point of the remote controller 200 as the remote controller reference point 201.

For example, referring to FIG. 2, a process of directly inputting a moving path (directly inputting a 3D path) during a process of inputting a path using the remote controller 200 in the path input step (S10) will be described. When the manipulator 200 is moved along a dotted line path, a movement path in which the manipulator reference point 201 is moved is input.

However, since the above method is inconvenient to input the movement trajectory of the straight line, even if only the starting point, the bending point and the arrival point can be input, the movement path connecting the corresponding points can be input.

The path input step (S10) may calculate position information of the remote controller 200 by measuring an azimuth angle, an altitude, and a distance on a horizontal coordinate from a base point 100 to a predetermined point of the remote controller 200. have.

If there is only one predetermined point of the remote controller 200, the azimuth angle in the horizontal coordinates up to a predetermined point of the remote controller 200 with respect to the base station 100 in order to confirm the exact position of the predetermined point of the remote controller 200. And altitude and distance should be measured.

In the above example, but one example of the predetermined point of the remote controller 200, it is possible to apply this even if there are a plurality of predetermined points of the remote controller 200.

The path input step (S10) is three or more predetermined points of the remote control unit 200, at least three predetermined distances between the base station 100 and the remote control unit 200 by measuring the distance of the remote control unit 200 The position information and posture information may be calculated.

If the predetermined point of the remote controller 200 is three or more, in order to confirm the exact position and attitude of the remote controller 200, the distance to the predetermined base station 100 at least three points should be measured about the base station 100. do.

For example, in the case of quadcopter, each of the four motors can be designated as a point, and it is preferable to measure the distance to the base station 100 for at least three points. This is to calculate the position information and attitude information of the remote controller 200 using a triangulation, and the like.

Here, the attitude information means a direction toward which the front of the remote controller 200 faces, an inclined angle of the remote controller 200, and the like.

In this case, since a plurality of values are generated by only 3 points, the distance of 1 point (total 4 points) can be additionally measured, or the height difference between the base station 100 and the remote controller 200 can be measured. Can be used.

The base station 100 may calculate the coordinates of the remote controller 20 on a reference coordinate centered on the base station 100.

Here, the reference coordinate system may be a horizontal coordinate system, a rectangular coordinate system, a cylindrical coordinate system, a spherical coordinate system, and the like. Hereinafter, a method of using a rectangular coordinate system will be described.

An example of calculating the coordinate values of each quadcopter motor in the reference coordinate system is as follows.

Each motor is arranged in a rectangular shape and is called 1, 2, 3, 4, and the coordinates of the drone's center are (x ^* , y ^* , z ^* ).

은Vector pointing to (motor) 1

silver

이때,

은 직교좌표계 상의 vector

At this time,

Silver vector on Cartesian coordinate system

회전할 경우,0 ^* X ^* Y ^* Z ^* axis relative to Cartesian coordinate system

When rotating,

(Where X ^* is the direction the quadcopter looks (front), Z ^* is the direction perpendicular to the quadcopter plane, and 0 ^* is the center of the quadcopter)

이때

이고

At this time

ego

(Where a is the distance between motors parallel to the y-axis, b is the distance between motors parallel to the x-axis)

는 쿼드콥터 상의 지자기센서와 자이로센서로 측정이 가능하다.

Can be measured with geomagnetic and gyro sensors on quadcopters.

Similarly, for (motor) 2 and (motor) 3

, vector

을

로 표현하면vector

, vector

of

In terms of

You can solve for (x ^* , y ^* , z ^* ) by solving the system of equations.

를 구할 수 있다.Through this

Can be obtained.

Although the rectangular coordinate system has been exemplified above, the present invention is not limited thereto, and any coordinate system such as a horizontal coordinate system, a rectangular coordinate system, a cylindrical coordinate system, and a spherical coordinate system may be applied.

If the conversion to a base station coordinate system centered on the base station 100 as an example of the rectangular coordinate system,

Assuming that the origin is at the center of the (mic-speaker set) of the base station 100, the Z axis is perpendicular to the ground, and the Y axis is a Cartesian coordinate system that points north of the compass.

만큼, X축을 기준으로

만큼 회전시키면 기지국(100)이 향하는 방향을 Y축으로 하는 기지국좌표계를 만들 수 있다.This Cartesian coordinate system is based on the Z axis

Relative to the X axis

By rotating as much as possible, a base station coordinate system having a Y-axis in which the base station 100 is directed can be created.

An example of a coordinate system rotation matrix is

만큼 회전할 경우,Counterclockwise around the Z axis

Rotate by

만큼 회전할 경우,Similarly, counterclockwise around the X axis

Rotate by

,

,

That is, knowing the coordinates of the quadcopter in the Cartesian coordinate system can know the coordinates of the quadcopter in the base station coordinate system.

The screen displayed on the base station 100 may be displayed as information applying a spherical coordinate system.

In case of using position movement command (direction and angle of ground) and distance movement command (distance between controller and unmanned vehicle), it is possible to simply calculate the information of spherical coordinate system and intuitive judgment of the operator.

In other words, using a spherical coordinate system is convenient for the monitoring person and efficient for calculation.

The path control step S50 controls the base station 100 to move the predetermined vehicle reference point 301 (center point) of the unmanned aerial vehicle 300 according to the movement path stored in the path input step S10.

For example, referring to FIG. 3, the process of controlling the unmanned aerial vehicle 300 by the base station 100 in the path manipulation step S50 is performed. The unmanned aerial vehicle 300 follows a movement path (dotted path) input by a user. The base station 100 may control the unmanned aerial vehicle 300 to move the aircraft reference point 301.

In this case, the control command of the unmanned aerial vehicle 300 may use a command system capable of moving the unmanned aerial vehicle 300 only by a position moving command (angle between the direction and the ground) and a distance moving command (distance between the manipulator and the unmanned vehicle). Can be. That is, the unmanned aerial vehicle 300 may be manipulated by generating a command for moving the unmanned aerial vehicle 300 at a position separated by the base station 100 in a certain direction.

That is, when the movement direction and the distance from the base station 100 comes out, each motor output value (the number of rotations of the motor) for the movement of the unmanned aerial vehicle 300 and the direction in which the motor should be directed is determined. Precise control of the vehicle 300 becomes possible.

This is superior in terms of accuracy and control convenience than issuing commands corresponding to coordinates in a general coordinate system. That is, in order to check the corresponding coordinates and coordinates to be moved and control them precisely using a general GPS, the error should be small. In order to move the unmanned aerial vehicle 300 to a position separated from the base station 100 in a certain direction by using a position movement command (angle between the direction and the ground) and a distance movement command (distance between the base station and the unmanned vehicle) This reduces the computations that need to be performed and allows for more precise control (significantly less error compared to GPS).

The path control step (S50) measures the distance between three or more predetermined points of the unmanned aerial vehicle 300 and the base station 100 to determine the positional information and attitude information of the unmanned aerial vehicle 300 (direction, inclination angle). It can be characterized in that to operate the unmanned aerial vehicle 300 by calculating the.

Since the method of checking the position and attitude of the unmanned aerial vehicle 300 is the same as the method of calculating the position information and the attitude information of the manipulator 200 in the path input step S10, the description thereof will be omitted.

Calculating the position information and attitude information (direction, inclination angle) of the unmanned aerial vehicle 300 by measuring the distance reduces the weight of the autonomous drone itself which has the greatest influence on the cost and flight time of the unmanned aerial vehicle itself. It can reduce the amount of computation of autonomous drone.

The path control step (S50) may be characterized in that for controlling the unmanned aerial vehicle so that the front of the unmanned aerial vehicle 300 is directed toward the direction or direction or direction that the front of the manipulator 200 is facing the movement direction. .

The direction in which the front of the unmanned aerial vehicle 300 is directed is because the camera or the like can be installed in the unmanned aerial vehicle 300.

That is, when it is necessary to control the direction of the front surface of the unmanned aerial vehicle 300, such as when installing a camera using the unmanned aerial vehicle 300, the direction of the front surface of the unmanned aerial vehicle 300 is controlled by using the remote controller 200. If there is no special input, it is possible to control the direction in which the front side of the unmanned aerial vehicle 300 faces in the advancing direction on the movement path, and it is also possible to control the specific direction so that the front side of the unmanned aerial vehicle 300 faces. .

As shown in FIG. 4, the method for maneuvering an unmanned aerial vehicle according to an embodiment of the present invention includes a path between a path input step S10 and a path control step S50 in a moving path on a two-dimensional coordinate system or a three-dimensional coordinate system. And including the altitude input step (S20) for entering altitude information,

The path control step (S50) is characterized in that for controlling the movement so that the unmanned aerial vehicle 300 is moved to the path applied to the altitude information input in the altitude input step (S20) to the movement path stored in the path input step (S10). Can be.

When the movement route is stored on the 2D coordinate system, information related to the altitude should be set.

Alternatively, even when it is difficult to raise the controller 200 to a desired height, the unmanned aerial vehicle 300 may be controlled to move at a desired height by using the altitude information.

As shown in FIG. 5, the method for maneuvering an unmanned aerial vehicle according to an embodiment of the present invention may be performed at a specific position on a two-dimensional coordinate system or a three-dimensional coordinate system between the path input step S10 and the path control step S50. A pattern input step (S30) of inputting a movement pattern of the;

The path control step S50 may be controlled to move the unmanned aerial vehicle 300 to a path in which the movement pattern input in the pattern input step S30 is applied to the movement path stored in the path input step S10. Can be.

The movement pattern may be a rotation in place, a movement forming a specific path such as a circular path (track) having a constant radius about a specific point, and the like.

An application example thereof will be described with reference to FIG. 3. In the case where the surveillance activity is controlled by a camera installed in the unmanned aerial vehicle 300 while controlling the direction in which the front surface of the unmanned aerial vehicle 300 is directed toward the traveling direction on the movement path. Starting from the starting point of the upper left, rotate the unmanned vehicle 360 degrees at the first bending point to check all the passages, and rotate the unmanned vehicle 360 degrees at the second bending point to check all the passages. Control is possible.

The path manipulation step (S50) is to transmit to the unmanned aerial vehicle 300 a point or path to which the unmanned aerial vehicle 300 should move in advance when the unmanned aerial vehicle 300 leaves the control range of the base station 100. It can be characterized.

When one base station 100 exists, the unmanned aerial vehicle 300 is transmitted by transmitting to the unmanned aerial vehicle 300 a point or a path to be moved so that the unmanned aerial vehicle 300 moves to the point where the unmanned aerial vehicle 300 returns. Can be controlled.

When there are a plurality of base stations 100, if the unmanned aerial vehicle 300 departs from the control range of the base station 100 capable of controlling the unmanned aerial vehicle 300, the control range of the base station 100 to be responsible for the next control The unmanned aerial vehicle 300 may be controlled by transmitting a point or a path to be moved so that the unmanned aerial vehicle 300 moves to a corresponding point in advance to the unmanned aerial vehicle 300.

Although the method for manipulating the unmanned aerial vehicle according to the embodiment of the present invention has been described above, a computer readable recording medium storing a program for implementing the method for manipulating the unmanned aerial vehicle and a computer readable recording medium for embodying the method for manipulating the unmanned aerial vehicle. Of course, stored programs can also be implemented.

That is, it will be readily understood by those skilled in the art that the above-described method for manipulating the drone may be provided included in a recording medium that can be read through a computer by programmatically implementing the instructions for implementing the same. In other words, it may be embodied in the form of program instructions that can be executed by various computer means, and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the computer-readable recording medium may be those specially designed and configured for the present invention, or may be known and available to those skilled in computer software. Examples of such computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and floppy disks. Magneto-optical media, and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, USB memory, and the like. Examples of program instructions include not only machine code generated by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

The present invention is not limited to the above-described embodiments, and the scope of application is not limited, and various modifications can be made without departing from the gist of the present invention as claimed in the claims.

100: base station
200: Remote Controller 201: Remote Controller Reference Point
300: unmanned aerial vehicle 301: aircraft reference point
S10: Path Entry Step
S20: Altitude Input Step
S30: pattern input step
S50: route control step

Claims (10)

In the method for manipulating the unmanned aerial vehicle made of a program type executed by arithmetic processing means provided in the base station 100,
The distance between the base station 100 and the predetermined point of the remote controller 200 is measured, and based on this, the base station 100 calculates location information corresponding to the predetermined point of the remote controller 200, A movement path through which the predetermined controller reference point 201 is moved, or a movement path passing through a point corresponding to the position information by calculating a plurality of position information about the predetermined controller reference point 201 of the controller 200, or a controller ( A path input step (S10) of storing a predetermined type of movement path, which is previously input, around a point corresponding to a plurality of pieces of position information of the predetermined controller reference point 201 of the 200) on a two-dimensional coordinate system or a three-dimensional coordinate system; And
A path control step (S50) of controlling by the base station 100 to move a predetermined vehicle reference point (301) of the unmanned aerial vehicle (300) according to the movement path stored in the path input step (S10);
Drone control method comprising a.
The method of claim 1,
The path input step (S10) is
The method for controlling an unmanned aerial vehicle comprising measuring the azimuth angle, the altitude, and the distance on the horizontal coordinates up to a predetermined point of the remote controller with respect to the base station 100 to calculate the position information of the remote controller 200.
The method of claim 1,
The path input step (S10) is
Computing the position information and attitude information of the remote controller 200 by using at least three predetermined points of the remote controller 200 and measuring at least three predetermined distances between the base station 100 and the remote controller 200. Drone control method, characterized in that.
The method of claim 1,
The path control step (S50) is
By measuring the distance between the three or more predetermined points of the unmanned aerial vehicle 300 and the base station 100 to calculate the position information and attitude information of the unmanned aerial vehicle 300 characterized in that for controlling the unmanned aerial vehicle 300 How to fly a drone.
The method of claim 1,
The path control step (S50) is
Method for manipulating the unmanned aerial vehicle so that the front of the unmanned aerial vehicle (300) toward the direction of travel on the movement path or the direction of the front of the manipulator (200) or a specific point.
The method of claim 1,
Between the path input step (S10) and the path control step (S50),
An altitude input step (S20) of inputting altitude information into a movement path on a two-dimensional or three-dimensional coordinate system;
Including;
The path control step (S50) is characterized in that for controlling the movement so that the unmanned aerial vehicle 300 is moved to the path applied to the altitude information input in the altitude input step (S20) to the movement path stored in the path input step (S10). How to fly a drone.
The method of claim 1,
Between the path input step (S10) and the path control step (S50),
A pattern input step (S30) of inputting a movement pattern at a specific position on a two-dimensional or three-dimensional coordinate system;
Including;
The path control step (S50) is characterized in that for controlling the movement so that the unmanned aerial vehicle 300 is moved to the path applying the movement pattern input in the pattern input step (S30) to the movement path stored in the path input step (S10). How to fly a drone.
The method of claim 1,
The path control step (S50) is
When the unmanned aerial vehicle (300) is out of the control range of the base station (100), the unmanned aerial vehicle control method, characterized in that for transmitting to the unmanned aerial vehicle (300) a point or path to move in advance.
A computer-readable recording medium having stored thereon a program for implementing the method for manipulating the unmanned aerial vehicle according to any one of claims 1 to 8.
A program stored in a computer-readable recording medium for implementing the method for manipulating the unmanned aerial vehicle according to any one of claims 1 to 8.

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