KR20190128425A - Method for controling unmanned moving object based on cylindrical coordinate system and recording medium storing program for executing the same, and computer prograom stored in recording medium for executing the same - Google Patents

Abstract

The present invention relates to a method for controlling an unmanned moving object based on a cylindrical coordinate system, a recording medium storing a program for implementing the same, and a computer program stored in the recording medium for implementing the method. More specifically, the present invention provides the method for controlling an unmanned moving object by applying a cylindrical coordinate system from viewpoint of a user (based on a direction viewed by a controller), not the control based on the unmanned moving object (based on a direction viewed by the unmanned moving object), the recording medium storing the program for implementing the same, and the computer program stored in the recording medium for implementing the method.

Description

METHOD FOR CONTROLING UNMANNED MOVING OBJECT BASED ON CYLINDRICAL COORDINATE SYSTEM AND RECORDING MEDIUM STORING PROGRAM FOR EXECUTING THE SAME, AND COMPUTER PROGRAOM STORED IN RECORDING MEDIUM FOR EXECUTING THE SAME}

The present invention relates to a method for manipulating an unmanned mobile vehicle based on a cylindrical coordinate system, a recording medium storing a program for implementing the same, and a computer program stored in a medium for implementing the same. Cylindrical coordinate system-based unmanned vehicle control method that controls the unmanned vehicle by applying the cylindrical coordinate system from the user's point of view (based on the direction viewed by the controller), not the control based on the direction viewed by the unmanned vehicle, and the stored program storing the program A medium and a computer program stored in the medium for implementing the same.

In general, the control of unmanned vehicles (cars, ships, airplanes, drones, etc.) is based on the front of the unmanned vehicle. For example, in the case of a car, the front bumper side is controlled in the front, in the case of a ship, the foreign body is controlled in the front, and in the case of an airplane, the nose is controlled in the front.

However, since the front of the unmanned vehicle is changed at any time according to the movement of the unmanned vehicle, many cases do not coincide with the front of the operator. Therefore, it is difficult to control the unmanned vehicle without mastery of the control.

This is because the unmanned vehicle moves based on the front of the unmanned vehicle.

In the case of a drone equipped with a camera, the direction in which the camera is viewed in many cases is forward, and in this case, it is more difficult to steer the drone to move while the camera always looks at the place to be photographed.

In addition, when the user wants to always photograph the operator, when the user moves, it is more difficult to manipulate the camera so that the operator always looks at the operator.

Korean Unexamined Patent Publication [10-2013-0086192] discloses an unmanned aerial vehicle control and steering system using smart glasses.

Korean public patent [10-2013-0086192] (published date: 2013.07.31)

Accordingly, the present invention has been made to solve the problems described above, the object of the present invention in controlling the unmanned moving object, the user's point of view rather than the control according to the reference of the unmanned mobile body (direction of direction seen by the unmanned mobile object) It is to provide a method of manipulating the unmanned vehicle based on the cylindrical coordinate system by applying the cylindrical coordinate system in (based on the direction viewed by the controller), a recording medium storing a program for implementing the same, and a computer program stored in the 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. .

Cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention for achieving the object as described above, in the cylindrical coordinate system-based unmanned vehicle control method consisting of a program executed by arithmetic processing means, the operation processing A control command input step (S10) in which the means receives a control command including an operation command input to the remote controller 10 and direction information directed to the remote controller 10; The arithmetic processing means sets the manipulator 10 as the origin, and the yaw angle Φ, pitching angle θ and horizontal distance r or yaw angle Φ, height h and horizontal distance r. Moving object positioning step (S20) for positioning the position of the unmanned moving body 20 in the cylindrical coordinate system represented; The unmanned moving object 20 is based on the control command received by the operation processing means in the control command input step S10 and the position of the unmanned moving object 20 on the cylindrical coordinate system positioned in the moving object positioning step S20. A control command generation step (S30) of generating a control command of the; And a control command transmission step (S40) for transmitting the control command generated in the control command generation step (S30) to the unmanned moving object (20).

In addition, the unmanned movable body 20 of the unmanned vehicle control method is characterized in that the unmanned aerial vehicle.

In addition, the control command of the control command input step (S10) is characterized in that it comprises a control command corresponding to a predetermined motion or touch pattern according to the motion, click or touch pattern of the remote controller 10.

In addition, the control command maintains a constant horizontal distance, in accordance with the yawing motion of the manipulator 10, the pitching angle (θ) and the horizontal distance (r) is fixed, the yaw angle (Φ) is changed, the manipulator Circular movement command for moving the unmanned moving body 20 in the direction in which 10 is directed, maintains a constant horizontal distance, and according to the pitching movement of the manipulator 10, yaw angle Φ and horizontal distance r is Fixed to, changing the pitching angle (θ) or height (h), and maintains a height movement command and a certain height to move the unmanned moving body 20 in the direction that the manipulator 10 faces, the manipulator 10 The yaw angle Φ is fixed, the pitching angle θ and the horizontal distance r are changed, and the unmanned moving body 20 is moved in the direction in which the manipulator 10 faces. Or, according to the pitching movement of the manipulator 10, the yaw angle (Φ) and height (h) is fixed, Flat sikimyeo changing the distance (r), and the direction of the transmitter (10) is directed, characterized in that it comprises a front-rear movement command for moving the unmanned movable body (20).

In addition, the moving object positioning step (S20) comprises a distance measuring step (S21) of measuring the distance between the manipulator (10) and the unmanned moving body (20); And based on the distance measured in the distance measuring step (S21) and the height information of the unmanned moving body 20 measured by a sensor embedded in the unmanned mobile body 20, the unmanned body on the cylindrical coordinate system having the origin of the remote controller 10 as the origin. An unmanned moving object coordinate calculating step (S22) for calculating the coordinates of the moving object 20; It includes, The control command generation step 30 is based on the coordinates of the unmanned mobile body (20) on the cylindrical coordinate system with the origin of the remote controller 10 calculated in the unmanned mobile body coordinate calculation step (S22) ( 20) to control.

In addition, the distance measuring step (S21) is the distance measurement using the image recognition, the distance measurement using the radio wave intensity, the distance measurement using the movement time of the radio wave, the distance measurement using the phase difference of the radio wave, the distance measurement using the interferometer and the polarization source It is characterized by using any one or a plurality of distance measurement using the intensity.

In addition, the moving object positioning step (S20) is a coordinate receiving step (S23) for receiving a real time kinematic (RTK) GPS coordinates of the remote controller 10 after the unmanned moving body coordinate calculation step (S22); And a coordinate application step (S24) of applying the origin coordinates of the cylindrical coordinate system used in the unmanned moving body coordinate calculation step (S22) to the RTK (real time kinematic) GPS coordinates received in the coordinate reception step (S23). It is characterized by.

In addition, the screen displayed on the remote controller 10 is characterized by being displayed as information applying the cylindrical coordinate system.

In addition, according to an embodiment of the present invention, a computer-readable recording medium storing a program for implementing the cylindrical coordinate system-based unmanned vehicle control method is provided.

In addition, according to an embodiment of the present invention, a program stored in a computer-readable recording medium is provided to implement the cylindrical coordinate system-based unmanned vehicle control method.

According to a cylindrical coordinate system-based unmanned vehicle control method 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, the controller has a starting point, a yaw angle (Φ), By using the cylindrical coordinate system expressed by pitching angle (θ) and horizontal distance (r), the unmanned moving body is moved based on the direction information and operation command directed by the manipulator (the front of the manipulator), thereby making it more intuitive at the point of view of the manipulator. By enabling the steering, there is an effect of improving the convenience of the operation of the unmanned vehicle.

In addition, various inputs such as a motion, a click, a touch pattern, and the like can be performed, thereby making it possible to operate the controller more intuitively and conveniently.

In addition, by using a control command including a circular movement command, a height movement command, and a forward and backward movement command, the operation to be performed is reduced and more precise control is possible (the error is considerably reduced compared to the GPS).

In addition, by using the RTK (real time kinematic) GPS coordinates, there is an effect that can be confirmed more accurate coordinates.

In addition, by automatically controlling the camera to always aim toward the target, there is an effect that can increase the convenience of operation.

1 is a flow chart of a method for manipulating the unmanned mobile vehicle according to an embodiment of the present invention.
Figure 2 is a conceptual diagram showing an example of moving the unmanned moving body according to the circular movement command according to an embodiment of the present invention.
Figure 3 is a conceptual diagram showing an example of moving the unmanned moving body according to the height movement command according to an embodiment of the present invention.
4 to 5 is a conceptual view showing an example of moving the unmanned moving body according to the forward and backward movement command according to an embodiment of the present invention.
6 to 7 are block diagrams of an unmanned vehicle control smart device according to an 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 flow chart of a method for manipulating the unmanned vehicle according to an embodiment of the present invention, Figure 2 is a conceptual diagram showing an example of moving the unmanned vehicle in accordance with the circular movement command according to an embodiment of the present invention, Figure 3 4 is a conceptual diagram illustrating an example in which an unmanned movable body is moved according to a height moving command according to an embodiment of the present invention, and FIGS. 4 to 5 illustrate examples of moving the unmanned movable body according to a back and forth moving command according to an embodiment of the present invention. 6 to 7 is a block diagram of an unmanned vehicle control smart device according to an embodiment of the present invention.

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

An unmanned vehicle is a vehicle that can be controlled remotely (wired or wireless) without a person riding it.

As shown in Figure 1, the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention in the cylindrical coordinate system-based unmanned vehicle control method consisting of a program executed by arithmetic processing means, the control command input step ( S10), the moving object positioning step (S20), the control command generation step (S30) and the control command transmission step (S40).

In the control command input step S10, the arithmetic processing means receives a control command including an operation command input to the remote controller 10 and direction information directed to the remote controller 10.

The operation command refers to a command generated while the user operates the controller 10 such as a switch operation, a button click, or a touch panel touch.

In the moving object positioning step (S20), the arithmetic processing means uses the remote controller 10 as the origin, the yaw angle (Φ), the pitching angle (θ) and the horizontal distance (r) or the yaw angle (Φ), the height (h). And positioning the unmanned moving body 20 on the cylindrical coordinate system represented by the horizontal distance r.

In the moving object positioning step (S20), the direction (yaw angle (Φ) and pitching angle (θ)) is a method using a compass sensor utilizing a magnetic field, a method using a plurality of built-in (at least two) gps, image The sensor can be used to maintain the direction by object recognition.

Control command generation step (S30) is a control command received by the operation processing means input step (S10) and the position of the unmanned moving body 20 on the cylindrical coordinate system positioned in the moving object positioning step (S20). As a basis, a control command of the unmanned vehicle 20 is generated (based on a cylindrical coordinate system).

In this case, the control command of the control command generation step (S30) is generated based on the coordinate value of the cylindrical coordinate system based on the direction and the inclination of the remote controller 10 and the distance between the remote controller 10 and the unmanned vehicle 20. It may be characterized by.

That is, a circular movement command and a height movement command generated by a motion for changing the position of the front of the manipulator, and a command system capable of moving the unmanned vehicle with only the forward and backward movement commands for adjusting the horizontal distance between the manipulator and the unmanned vehicle can be used. have. In other words, it is possible to generate a command to move the unmanned vehicle 20 in a horizontal position separated by the remote controller 10 in any direction.

This is superior in terms of convenience of control 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. If the circular movement command, the height movement command, and the forward and backward movement commands are used to move the unmanned vehicle 20 in a horizontal position far away from the controller 10 in any direction, the operation to be performed is reduced and more precise control is possible ( Error is significantly reduced compared to GPS).

The control command transmission step S40 transmits the control command generated in the control command generation step S30 to the unmanned moving object 20.

In other words, when the moving direction of the unmanned vehicle 20 and the horizontal distance from the remote controller come out, each motor output value (the number of rotations of the motor) for the movement of the unmanned vehicle 20 and the direction in which the motor should be directed are determined. By transmitting to the unmanned movable body 20, precise control of the unmanned movable body 20 is possible.

In the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention may include an operator shooting command for controlling the camera mounted on the unmanned vehicle 20 to always face the remote controller 10 of the control command, When the operator's photographing command is input, the driver can automatically control the camera toward the remote controller 10, no matter where the unmanned vehicle 20 moves.

This is because, while manipulating the position of the unmanned vehicle 20 and controlling the camera to the direction to which the camera is directed makes it difficult to operate the unmanned vehicle 20, it is preferable to automatically control the camera to always aim at the target to be photographed. Do.

The unmanned vehicle 20 of the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention may be characterized in that the unmanned vehicle.

Here, a drone refers to a device capable of flying in the air, such as a drone, an unmanned helicopter, or a drone.

The control command used in the control command input step (S10) of the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention is a motion or touch pattern predetermined according to the motion, click or touch pattern of the remote controller 10. It may include a corresponding control command.

Here, the motion of the remote controller 10 may be confirmed by an acceleration sensor, a geomagnetic sensor, and a gyro sensor in the remote controller, and may perform a command according to the motion when taking a specific motion. For example, when the manipulator 10 is moved to draw a circular trajectory, a command for moving the unmanned vehicle 20 around the adjuster 10 may be generated.

Also, click refers to pressing and releasing once (within 1 second). For example, once clicked, the position is fixed (hovering) and a command can be generated to control the manipulator 20 to be viewed by the unmanned vehicle 20, and when double clicked, the driver unmanned toward the manipulator 10. A command may be generated to control the moving object 20 to return.

In addition, the touch pattern refers to dragging, which means drawing and releasing a certain trajectory while pressing. For example, it is possible to generate a command to control to move the unmanned moving body 20 to the desired copper wire.

Although the example of giving a command to the touch screen has been described above, the present invention is not limited thereto. For example, the touch screen may be further used as an input means, and it is also possible to generate a control command using a specific button. . For example, when the start button is used, pressing the start button once may generate a control command to start up, and pressing the start button again may generate a control command to turn off the start. In addition, when using the wing button, press the wing button once, the wing is released, press the wing button once again can generate a command to insert the wing.

In this case, the control command may include a circular movement command, a height movement command, and a forward and backward movement command.

The circular movement command maintains a constant horizontal distance, and according to the yawing motion of the manipulator 10, the pitching angle θ and the horizontal distance r are fixed, the yaw angle Φ is changed, and the manipulator 10 Move the unmanned moving body 20 in the direction that the ().

When the circular movement command is described with reference to FIG. 2, when the manipulator 10 yaws in the direction to move the unmanned vehicle 20, the direction in which the manipulator 10 faces (the front of the manipulator is directed) Direction) the unmanned vehicle 20 is yawing around the manipulator 10.

The height movement command maintains a constant horizontal distance, and according to the pitching motion of the manipulator 10, the yaw angle Φ and the horizontal distance r are fixed, and the pitching angle θ or the height h is changed. To move the unmanned moving body 20 in the direction in which the manipulator 10 faces.

When the height movement command is described with reference to FIG. 3, when the manipulator 10 is pitched in the direction to move the unmanned moving object 20, the direction in which the manipulator 10 faces (the front of the manipulator is directed) Direction) the unmanned moving body 20 is vertically up and down about the manipulator 10.

The forward and backward movement command maintains a constant height, and the yaw angle Φ is fixed, the pitching angle θ and the horizontal distance r are changed according to the forward and backward movement manipulation command of the manipulator 10. 10, the yaw angle Φ and the height h are fixed and the horizontal distance r is changed according to the movement of the unmanned moving body 20 in the direction in which 10 is directed. To move the unmanned moving body 20 in the direction in which the manipulator 10 faces.

When the front and rear movement command is described with reference to FIG. 4, when the front and rear movement command (forward command in FIG. 4) is input to the remote controller 10, the unmanned moving body 20 moves horizontally forward and backward (forward in FIG. 4). do.

Another embodiment of the back and forth movement command will be described with reference to FIG. 5. When the back and forth movement command (pitching motion in FIG. 5) is input to the manipulator 10, the unmanned moving body 20 moves horizontally back and forth (FIG. 5). Forward).

That is, the method for manipulating the unmanned moving body based on the cylindrical coordinate system according to the embodiment of the present invention moves forward, moves backward, moves leftward, moves rightwards, moves upwards, moves downwards, rotates clockwise, and counterclockwise. Without using complicated command system such as rotation, the unmanned moving body is controlled only by the circular movement command and height movement command generated by the motion to change the position of the front of the manipulator and the horizontal movement command between the controller and the unmanned vehicle. You can use the command system to move the.

At this time, it is also possible to simultaneously input the circular movement command height movement command and the front and rear movement command.

In addition, the control command may be characterized in that it comprises a shooting command for instructing the shooting of the camera mounted on the remote controller (10).

That is, when the camera is mounted on the unmanned moving body 20, a command required for operating the camera may be included in the control command. For example, if you click the camera operation button once, you can take a picture, if you double-click to take a continuous picture, and if you hold it down for more than 1 second, you can command to take a picture.

As shown in FIG. 6, the moving object positioning step (S20) of the cylindrical coordinate system-based unmanned vehicle steering method according to an embodiment of the present invention includes a distance measuring step (S21) and an unmanned vehicle coordinate calculating step (S22), The control command generation step 30 controls the unmanned mobile body 20 based on the coordinates of the unmanned mobile body 20 in the cylindrical coordinate system having the origin of the controller 10 calculated in the unmanned mobile body coordinate calculation step (S22). It can be characterized by.

In the distance measuring step S21, the distance between the remote controller 10 and the unmanned vehicle 20 is measured.

In this case, the distance measuring step S21 may measure the distance between the predetermined point of the remote controller 10 and the predetermined point on the unmanned vehicle 20.

 The predetermined point on the unmanned vehicle 20 refers to a specified point on the unmanned vehicle 20. For example, in the case of a ship, the center of gravity can be specified as a point. By mounting a sensor or the like for measuring the distance to the designated point, it is possible to measure the predetermined distance between the remote controller 10 and the unmanned vehicle 20.

In addition, the distance measuring step (S21) may be characterized in that the predetermined point of the unmanned moving body 20 is 3 or more, and the distance between the remote controller 10 and the point is measured at least three points. For example, in the case of a quadcopter, each of the four motors can be designated as a point, and it is preferable to measure the distance to the manipulator 10 for at least three points. This is to use triangulation and the like.

In this case, since two values are generated by only three points, various methods may be used, such as measuring a distance of one point (four points in total) or measuring a height difference between a manipulator and an aircraft.

The unmanned vehicle coordinate calculating step S22 is based on the distance measured in the distance measuring step S21 and the height information of the unmanned vehicle 20 measured by the sensor embedded in the unmanned vehicle 20. The coordinates of the unmanned moving object 20 are calculated on the cylindrical coordinate system whose origin is.

The height information may be measured by a real time kinematic (RTK) GPS sensor, barometric altimeter, IMU (Inertial Measurement Unit), ultrasonic sensor, etc. built in the unmanned moving body 20.

 RTK GPS technology is a GPS technology with improved error from 1cm to 3cm, and it is developing into a miniaturized and low-cost product.

In addition, the step of calculating the unmanned moving body coordinates (S22) may be characterized by calculating the coordinates of the unmanned moving body 20 on the reference coordinates centered on the remote controller 10.

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 ^* ).

(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

Two methods can be used to transform the coordinates between the manipulator and the drone.

One is to measure the distance at three or more points as previously described, and then transform the coordinates based on the measured distance,

On the other hand, the remote controller 10 includes the RTK GPS (built-in), and the unmanned vehicle 20 also includes the RTK GPS (built), utilizing the RTK GPS, the absolute coordinates of the remote controller 10 and the unmanned vehicle 20 ) It measures native absolute coordinates and converts them to relative coordinates of the center of the controller.

Coordinate transformation between the remote controller and the drone can be performed by using the above two methods separately or by mixing them with weights.

Operation processing for the unmanned vehicle control method according to an embodiment of the present invention may be installed in the remote controller 10 or the unmanned vehicle (20). That is, the unmanned moving body 10 may move according to the existing command system, but the corresponding operation may be performed by the remote controller 10 so that the unmanned mobile body 10 is controlled according to the corresponding operation, and the remote controller 10 may be It is also possible to use a remote controller, but the unmanned vehicle 10 controls the unmanned vehicle by performing the corresponding operation.

Distance measurement step (S21) of the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention is the distance measurement using image recognition, the distance measurement using the intensity of the radio wave, the distance measurement using the movement time of the radio wave, the phase difference of the radio wave The distance measurement using the distance measurement, the distance measurement using the interferometer, and the distance measurement using the intensity of the polarization source may be used.

Distance measurement using image recognition is a method of calculating a distance based on the shape and size of a reference image.

Distance measurement using the movement time of the radio wave is a method of calculating the distance by measuring the return time of the radio wave reflected.

Distance measurement using the phase difference of radio waves is a method of calculating the distance based on the phase difference between the emitted radio wave and the reflected radio wave.

Distance measurement using an interferometer can measure up to several nanometers by calculating the distance using an interference phenomenon.

As shown in FIG. 7, the moving object positioning step (S20) of the cylindrical coordinate system-based unmanned moving object control method according to an embodiment of the present invention includes a coordinate receiving step (S23) and a coordinate after the unmanned moving object coordinate calculating step (S22). The application step S24 may be included.

Coordinate Receiving Step (S23) The real time kinematic (RTK) GPS coordinates of the remote controller 10 are received.

Coordinate application step (S24) is to apply the origin coordinates of the cylindrical coordinate system used in the unmanned mobile coordinate calculation step (S22) to the RTK (real time kinematic) GPS coordinates received in the coordinate reception step (S23).

Represent the manipulator fixed point coordinate system as 0'-x'y'z ',

Remote controller GPS coordinates (x ₀ , y ₀ , z ₀ ),

If the drone GPS coordinates are (x ₁ , y ₁ , z ₁ ),

If you convert it to 0'-x'y'z ',

Remote controller GPS coordinates (0, 0, 0) _{0 '} ,

Drone GPS coordinates (x ₁ -x ₀ , y ₁ -y ₀ , z ₁ -z ₀ ) _{0 '} = Do'

The target coordinate set by the controller is called T,

When Do 'is the current position of the drone and To' is the target point of the drone when the 0'-x'y'z 'coordinate system is converted,

,

차이로 이동 경로를 연산하는 단계이다.In FIG. 6, the moving object positioning step (S20) is a step of finding Do ', and the control command generation step (S30) uses To'.

,

Computing the movement path by the difference.

=(x_T, y_T, z_T)라 하면,At this time,

= (x _T , y _T , z _T )

When expressed as radius r, yaw angle Φ, height z in cylindrical coordinate system

Convert to,

=(r_T, Φ_T, z_T)로 표현 할 수 있고,

역시 동일하게 표현할 수 있다.

can be expressed as = (r _T , Φ _T , z _T ),

The same can be said.

At this time, it is possible to provide a user-centered steering experience by setting one or two of r _T , Φ _T , z _T according to the control command as a variable.

The screen displayed on the remote controller 10 of the cylindrical coordinate system-based unmanned vehicle control method according to an embodiment of the present invention may be characterized by being displayed as information applying the cylindrical coordinate system.

This helps to enable more intuitive manipulation at the operator's point of view, centering on the direction and distance.

Although a description has been made of a cylindrical coordinate system based unmanned vehicle control method according to an embodiment of the present invention, a computer-readable recording medium and a cylindrical coordinate system based unmanned vehicle control method stored therein for implementing a cylindrical coordinate system based unmanned vehicle control method Of course, the program stored in the computer-readable recording medium for implementation is also possible.

That is, it will be readily understood by those skilled in the art that the above-described cylindrical coordinate system-based unmanned mobile vehicle steering method may be provided in a recording medium that can be read through a computer by programmatically implementing a program of 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.

10: remote controller
20: unmanned vehicle
S10: control command input step
S20: Moving object positioning step
S21: Distance Measuring Step
S22: Unmanned Mobile Coordinates Calculation Step
S23: Coordinate Receive Step
S24: Coordinate Application Step
S30: control command generation step
S40: control command transmission step

Claims (10)

In the cylindrical coordinate system-based unmanned vehicle control method formed by a program executed by arithmetic processing means,
A control command input step of receiving, by the arithmetic processing means, a control command including an operation command input to the remote controller 10 and a direction information directed to the remote controller 10 (S10);
The arithmetic processing means makes the remote controller 10 the origin, and the yaw angle Φ, pitching angle θ and horizontal distance r or yaw angle Φ, height h and horizontal distance r Moving object positioning step (S20) for positioning the position of the unmanned moving body 20 in the cylindrical coordinate system represented;
The unmanned moving body 20 is based on the control command received by the operation command input step (S10) and the position of the unmanned mobile body 20 on the cylindrical coordinate system positioned in the moving object positioning step (S20). A control command generation step (S30) of generating a control command of the; And
A control command transmission step (S40) of transmitting the control command generated in the control command generation step (S30) to the unmanned moving object (20);
Cylindrical coordinate system-based unmanned vehicle control method comprising a.
The method of claim 1,
The unmanned mobile body 20 of the unmanned mobile vehicle steering method
Cylindrical coordinate system-based unmanned vehicle control method, characterized in that the unmanned aerial vehicle.
The method of claim 1,
The control command of the control command input step (S10) is
Cylindrical coordinate system-based unmanned vehicle control method comprising a control command corresponding to a predetermined motion or touch pattern according to the motion, click or touch pattern of the remote controller (10).
The method of claim 1,
The control command is
Maintain a constant horizontal distance, in accordance with the yawing motion of the manipulator 10, the pitching angle (θ) and the horizontal distance (r) is fixed, the yaw angle (Φ) is changed, the direction in which the manipulator 10 is directed Circular movement command to move the unmanned mobile body 20,
Maintaining a constant horizontal distance, in accordance with the pitching motion of the manipulator 10, the yaw angle (Φ) and the horizontal distance (r) is fixed, the pitching angle (θ) or height (h) is changed, 10) a height moving command for moving the unmanned moving body 20 in the direction of the heading and
Maintaining a constant height, the yaw angle Φ is fixed, the pitching angle θ and the horizontal distance r are changed according to the forward and backward movement control command of the manipulator 10, and the manipulator 10 faces. Move the unmanned movable body 20 in the direction, or in accordance with the pitching movement of the manipulator 10, the yaw angle Φ and height h is fixed, the horizontal distance r is changed, and the manipulator ( 10) a forward and backward movement command for moving the unmanned movable body 20 in the direction that the heading is directed.
Cylindrical coordinate system-based unmanned vehicle control method comprising a.
The method of claim 1,
The moving object positioning step (S20)
A distance measuring step (S21) of measuring a distance between the manipulator 10 and the unmanned moving body 20; And
Based on the distance measured in the distance measuring step (S21) and the height information of the unmanned mobile body 20 measured by the sensor embedded in the unmanned mobile body 20, the unmanned mobile body on the cylindrical coordinate system as the origin of the remote controller 10; An unmanned mobile coordinate calculation step (S22) for calculating the coordinates of (20);
Including;
The control command generation step 30
Cylindrical coordinate system based unmanned, characterized in that for controlling the unmanned mobile body 20 on the basis of the coordinates of the unmanned mobile body 20 in the cylindrical coordinate system with the origin of the remote controller 10 calculated in the unmanned mobile body coordinate calculation step (S22). How to control a moving object.
The method of claim 5,
The distance measuring step (S21) is
One or more of distance measurement using image recognition, distance measurement using radio wave strength, distance measurement using radio wave travel time, distance measurement using phase difference of radio wave, distance measurement using interferometer, distance measurement using intensity of polarization source Cylindrical coordinate system-based unmanned vehicle control method, characterized in that using the.
The method of claim 5,
The moving object positioning step (S20) is after the unmanned moving body coordinate calculation step (S22)
A coordinate receiving step (S23) of receiving a real time kinematic (RTK) GPS coordinate of the remote controller 10; And
A coordinate application step (S24) of applying the origin coordinates of the cylindrical coordinate system used in the unmanned moving body coordinate calculation step (S22) to the real time kinematic GPS coordinates received in the coordinate reception step (S23);
Cylindrical coordinate system-based unmanned vehicle control method comprising a.
The method of claim 1,
The screen displayed on the remote controller 10 is
Cylindrical coordinate system-based unmanned vehicle control method, characterized in that displayed by the information applied to the cylindrical coordinate system.
A computer-readable recording medium having stored thereon a program for implementing the cylindrical coordinate system-based unmanned vehicle steering method according to any one of claims 1 to 8.
A program stored in a computer-readable recording medium for implementing the cylindrical coordinate system-based unmanned vehicle steering method according to any one of claims 1 to 8.

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