KR20200123556A - System and method for operation evaluating of unmanned aerial vehicle - Google Patents

Abstract

According to an embodiment of the present invention, provided is an unmanned aerial vehicle operation evaluation system which can improve reliability of evaluation data. The unmanned aerial vehicle operation evaluation system comprises: a plurality of distance measuring devices disposed at a predetermined location in an unmanned aerial vehicle control license test site to measure the altitude of an unmanned aerial vehicle flying at the predetermined location; and an evaluation terminal generating evaluation data by measuring flight data including the altitude and location of the unmanned aerial vehicle based on distance information received from the distance measuring device, and further generating estimated flight data by estimating the location and altitude of the unmanned aerial vehicle outside a measurement range of the distance measuring device.

Description

Unmanned aerial vehicle operation evaluation system and method {SYSTEM AND METHOD FOR OPERATION EVALUATING OF UNMANNED AERIAL VEHICLE}

The present invention relates to an unmanned aerial vehicle operation evaluation system and method, and more particularly, to an unmanned aerial vehicle operation evaluation system and method capable of reliably evaluating the flight capability of an unmanned aerial vehicle of a pilot using objective data.

In general, unmanned airplanes are airplanes or helicopters that fly by induction of radio waves without humans, and are also called drones.

Such unmanned aerial vehicles are being used in various industrial fields, and initially used for military and hobby purposes, but recently, their utility is widening up to the transportation industry, movies and broadcasting industries, and various sizes and performances depending on the purpose of use. Vehicles with various types are being developed.

As described above, as interest in unmanned aerial vehicles has rapidly risen due to the recent influence of the 4th industrial revolution, demand for acquiring an unmanned multicopter pilot license is increasing. Drone qualification tests are currently being operated to cultivate drone experts, and in line with this, various drone education institutions are emerging to learn the theory and control skills of drones.

The unmanned multicopter (drone) pilot certification test consists of a written test and a practical test (flying test). Among them, the practical test (real flight test) is a test in which the supervisor evaluates the drone's constant flight altitude and its positional deviation from the installed beacon while flying the drone and completing a specified course.

However, in the case of the practical test currently being conducted, the accuracy and objectivity of the actual flight test evaluation are falling a lot because the positional deviation and altitude of the drone are evaluated only by the subjective factor of the supervisor through the flying of the brush attached to the beacon. In other words, the drone qualification test or drone education system currently in operation remains in a situation in which the supervisor or manager visually identifies and evaluates and educates the drone piloting ability test of the evaluated subject, and an objective and systematic evaluation system is not provided.

Korean Patent Registration No. 10-1925094 Korean Patent Registration No. 10-1842330

An aspect of the present invention provides an unmanned aerial vehicle operation evaluation system and method for providing objective and systematic evaluation results in a pilot qualification test for evaluating a pilot operating an unmanned aerial vehicle.

The technical problem of the present invention is not limited to the technical problem mentioned above, and other technical problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

An unmanned aerial vehicle operation evaluation system according to an embodiment of the present invention includes a plurality of distance measuring devices disposed at a predetermined position in an unmanned aerial vehicle control license test site to measure an altitude of an unmanned aerial vehicle flying at the predetermined position; And generating evaluation data by measuring flight data including the altitude and location of the unmanned aerial vehicle based on distance information received from the range finder, and estimating the location and altitude of the unmanned aerial vehicle outside the measurement range of the distance finder. It generates the estimated flight data, and includes an evaluation terminal for generating the evaluation data by considering the flight data and the estimated flight data together.

It may further include a path detection unit installed on the unmanned aerial vehicle to detect whether the unmanned aerial vehicle sequentially passes through the specific test point and follows a designated test path.

The evaluation terminal determines whether or not the unmanned aerial vehicle is located at a specific test point through a sensor unit including an infrared sensor, air volume sensor, or wind speed sensor respectively installed at the specific test point, and information detected by the sensor unit. Thus, flight data can be generated.

The evaluation terminal detects a thermal image generated by a drive motor that rotates a propeller during flight of the unmanned aerial vehicle, and determines that the unmanned aerial vehicle is located on a specific test point if the detected thermal image size is greater than a set size. I can.

The evaluation terminal estimates that the unmanned aerial vehicle is located on a specific test point when the amount or speed of the wind acting under the unmanned aerial vehicle by a propeller during flight of the unmanned aerial vehicle is more than a certain reference value, and the estimated flight data Can be created.

According to one aspect of the present invention described above, since it is possible to estimate the location and altitude of the unmanned aerial vehicle outside the measurement range of flight data and distance measurement generated during the test process, reliable flight data can be generated and evaluated accordingly. Data reliability can also be improved.

1 is a perspective view showing an unmanned aerial vehicle control license test system according to an embodiment of the present invention.
3 is a block diagram showing the components and control system of the unmanned aerial vehicle control license test system according to the present invention.
4 is a block diagram showing components and a control system according to another embodiment of the unmanned aerial vehicle control license test system according to the present invention.
5 is a block diagram showing components and control systems according to another implementation of the unmanned aerial vehicle control license test system according to the present invention.

DETAILED DESCRIPTION OF THE INVENTION The detailed description of the present invention to be described later refers to the accompanying drawings, which illustrate specific embodiments in which the present invention may be practiced. These embodiments are described in detail sufficient to enable a person skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be implemented in other embodiments without departing from the spirit and scope of the present invention in relation to one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the present invention. Accordingly, the detailed description to be described below is not intended to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all scopes equivalent to those claimed by the claims. Like reference numerals in the drawings refer to the same or similar functions over several aspects.

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

1 is a conceptual diagram showing a schematic configuration of an unmanned aerial vehicle operation evaluation system according to an embodiment of the present invention.

Specifically, the unmanned aerial vehicle operation evaluation system 1000 according to an embodiment of the present invention may include a plurality of range finders 11 and evaluation terminals 50.

The unmanned aerial vehicle control license test system according to the present invention is installed at a plurality of pre-designated test points within a pilot license test site for a small unmanned aerial vehicle 100 such as a drone, or is installed at each of the plurality of test points and the unmanned vehicle 100 And a position detection unit 10 that detects whether 100 is located within a set distance range on a specific test point.

The position detection unit 10 detects whether the unmanned aerial vehicle 100 is located on a designated test point, and a distance measuring device 11 installed on a cone-shaped post 1 arranged upright at a plurality of test points, and air volume A processing unit that includes any one or both of the sensor 12, the wind speed sensor 13, and the infrared sensor 14, and determines whether the unmanned aerial vehicle 100 is positioned with respect to the test point based on information detected by each sensor ( 17) can be included.

The position detection unit 10 may apply a distance measuring device 11. The position detection unit 10 determines that the unmanned aerial vehicle 100 is located on the test point when the unmanned aerial vehicle 100 approaches and is positioned within the set angle and distance range on the designated test point based on the designated test point. can do. In this case, it is preferable to apply the range finder 11 to have directivity so that it can detect the unmanned aerial vehicle 100 only within the angular range set with respect to the vertical direction orthogonal to the test point.

The position detection unit 10 may apply an air volume sensor 12 or a wind speed sensor 13. When the unmanned aerial vehicle 100 is located within a set angular range and distance range on a designated test point, the position detection unit 10 winds acting on the lower portion of the unmanned aerial vehicle 100 by rotation of the propeller during flight. The amount or speed of is detected, and if the amount or speed of the wind detected by the air volume sensor 12 or the wind speed sensor 13 is more than a certain reference value, it can be determined that the unmanned aerial vehicle 100 is located on the corresponding test point. .

The position detection unit 10 may apply an infrared sensor 14. When the unmanned aerial vehicle 100 is located within a set angular range and distance range on a designated test point, the position detection unit 10 detects a thermal image caused by heat generated by the driving motor rotating the propeller during flight of the unmanned aerial vehicle 100 And, if the size of the detected thermal image is greater than or equal to the set size, it may be determined that the unmanned aerial vehicle 100 is located on the corresponding test point.

On the other hand, the unmanned aerial vehicle control license test system according to the present invention is installed at a plurality of test points, or is installed at each of the plurality of test points and the unmanned aerial vehicle 100 to detect the altitude of the unmanned aerial vehicle 100 for a specific test point. The altitude detection unit 20 may be further provided.

The altitude detection unit 20 determines whether the unmanned aerial vehicle 100 is located within a set altitude range through the ultrasonic distance sensor 21 or the infrared distance sensor 22 respectively installed at a plurality of test points, and information detected by each sensor. It may be configured to include a processing unit 27 that determines whether or not.

The altitude detection unit 20 is installed to have a directivity upward so as to detect the distance to the unmanned aerial vehicle 100 positioned in a vertical direction with respect to the ground, and detected by the ultrasonic distance sensor 21 or the infrared distance sensor 22 If the distance to the unmanned aerial vehicle 100 is within the set altitude range, it may be determined that the unmanned aerial vehicle 100 is located within the altitude range set for the corresponding test point.

The above-described position detection unit 10 and altitude detection unit 20 are installed to be upright at a plurality of test points, respectively, as shown, so that the test taker 200 or examiner can easily recognize the location of the test site. The structure installed on the cone-shaped post (1) is applied, but differently, it can be installed on the ground or the floor above the test point in a form in which the post (1) is omitted, and differently, it is installed and applied to the unmanned aerial vehicle (100). Of course you can.

The unmanned aerial vehicle control license test system according to the present invention is installed at a plurality of test points or is installed at each of a plurality of test points and each of the unmanned aerial vehicle 100 to be designated by sequentially passing through a plurality of test points to which the unmanned aerial vehicle 100 is designated. It may further include a path detection unit 30 for detecting whether or not flying along the test path.

The route detection unit 30 is installed in the unmanned aerial vehicle 100 to obtain the location information of the unmanned aerial vehicle 100 in real time, and the reference location information for a plurality of test points respectively located on the designated test path. By comparing the flight position information and reference position information of the unmanned aerial vehicle 100 obtained from the pre-stored storage unit and the GPS module 31, whether the unmanned vehicle 100 is sequentially flying along a designated test path or a designated test path. Accordingly, it may be configured to include a processing unit 37 that determines whether or not to sequentially complete the flight.

On the other hand, in the unmanned aerial vehicle control license test system according to the present invention, the unmanned aerial vehicle 100 is located within a set distance range on a specific test point, or the unmanned aerial vehicle 100 is located within a set altitude range for a specific test point, or When the flight or flight is completed along a predetermined test route by sequentially passing through a plurality of test points, the notification unit 40 provides a notification signal so that the test taker 200 or the test supervisor 300 can recognize it. It may be further provided.

The notification unit 40 may apply a warning light or a speaker to provide a notification signal in the form of light or sound.

The unmanned aerial vehicle control license test system according to the present invention wirelessly transmits location detection information, altitude detection information, and route detection information for the unmanned aerial vehicle 100 to the location detection unit 10, the altitude detection unit 20, and the path detection unit 30 Communication units (19, 29, 39) are further provided, respectively.

In addition, it receives the location detection information, altitude detection information, and path detection information transmitted from the location detection unit 10, the altitude detection unit 20, and the path detection unit 30, respectively, and synthesizes the received information to control the unmanned aerial vehicle 100. It further includes an evaluation terminal unit 50 for determining whether or not the license test candidate 200 passes.

The evaluation terminal 50 may be provided in the control unit (not shown) of the unmanned aerial vehicle control license test system, or the test supervisor 300 may be equipped and carried.

Hereinafter, an unmanned aerial vehicle 100 piloting license test process and a pass determination process using the unmanned aerial vehicle piloting license test system according to the present invention will be described.

First, the unmanned aerial vehicle 100 pilot license test process is set to fly the unmanned aerial vehicle 100 along a designated test path including a plurality of specific test points and a plurality of test points, and at this time, the specific test point is FIG. As shown in, the starting point (P0), the first test point (P1), the second test point (P2), the third test point (P3), the fourth test point (P4), and the fifth test point (P5). , The designated test path includes a first test path (L1), a second test path (L2), a third test path (L3), and a fourth test path (L4).

In this embodiment, the first test path L1 is a path moving from the start point P0 to the first test point P1. In this embodiment, the second test path L2 is a path that advances from the first test point P1 to the second test point P2 and then returns to the first test point P1.

In this embodiment, the third test path (L3) moves from the first test point (P1) to the right third test point (P3), and is above the first test point (P1) from the third test point (P3). It moves inclined upwards to the fourth test point (P4) separated by the set altitude, and moves obliquely downwards from the fourth test point (P4) to the fifth test point (P5) to the left of the first test point (P1). This is the path to return to the test point (P1).

In this embodiment, the fourth test path (L4) moves from the first test point (P1) to the start point (P0), and from the start point (P0) to the third test point (P3), and the second test point (P2). , It is a path returning to the starting point (P0) by sequentially passing through the fifth test point (P5).

First, the test taker 200 ascends the unmanned aerial vehicle 100 to a set height at the initial point where the unmanned aerial vehicle 100 is placed and checks for abnormalities of the aircraft, and then starts the unmanned vehicle 100 at the starting point (P0). Move to At this time, the position detection unit 10 installed at the first test point P1 determines whether the unmanned aerial vehicle 100 is located within the angular range and distance range set on the first test point P1, and determines that it is in the correct position. When possible, the notification unit 40 operates so that the test taker 200 and the examiner can recognize it.

Thereafter, the test taker 200 moves the unmanned aerial vehicle 100 to the second test point P2 so that the unmanned aerial vehicle 100 can fly along the second test path L2, and then again the first test point. Move to (P1). At this time, the position detection unit 10 installed at the second test point P2 determines whether the unmanned aerial vehicle 100 is located within the angular range and distance range set on the second test point P2, and determines that it is in the correct position. When it is, the notification unit 40 is operated. In addition, when the unmanned aerial vehicle 100 returns to the first test point (P1) from the second test point (P2), the position detection unit 10 installed at the first test point (P1) is 1 It is determined whether it is located at the test point P1, and when it is determined that it is located at the correct position, the notification unit 40 operates.

When the flight of the unmanned aerial vehicle 100 is finished along the second test path (L2), the test candidate 200 uses the unmanned aerial vehicle 100 so that the unmanned aerial vehicle 100 can fly along the third test path (L3). Move to the 3rd test point (P3). At this time, when the position detection unit 10 installed at the third point detects the position of the unmanned aerial vehicle 100, the notification unit 40 operates.

Then, the unmanned aerial vehicle 100 is tilted upward so that the unmanned aerial vehicle 100 can move from the third test point P3 to the fourth test point P4 on the first test point P1. At this time, when it is determined that the unmanned aerial vehicle 100 is located in the correct position and the set altitude range by the position detecting unit 10 and the altitude detecting unit 20 installed at the first point, the notification unit 40 is operated.

Thereafter, the unmanned aerial vehicle 100 is tilted downward so that the unmanned aerial vehicle 100 can move from the fourth point to the fifth test point P5. At this time, the position detection unit 10 installed at the fifth test point P5 determines whether the unmanned aerial vehicle 100 is located at the fifth test point P5, and when it is determined to be in the correct position, the notification unit 40 It works.

And, by moving the unmanned aerial vehicle 100 from the fifth test point P5 to the first test point P1, the flight for the third test path L3 is completed. At this time, the position detection unit 10 installed at the first test point P1 determines whether the unmanned aerial vehicle 100 returns to the first test point P1, and when it is determined that it has returned, the notification unit 40 operates. do.

When the test taker 200 completes the flight of the unmanned aerial vehicle 100 along the third test path (L3), the first test point (P1) to fly the unmanned aerial vehicle 100 along the fourth test path (L4). From, the unmanned aerial vehicle 100 is controlled to sequentially pass through the start point (P0), the third test point (P3), the second test point (P2), the fifth test point (P5), and the start point (P0). , When the unmanned aerial vehicle 100 returns to the starting point P0, the flight for the fourth test path L4 is completed. At this time, the position detection unit 10 installed at the starting point (P0), the third test point (P3), the second test point (P2), and the fifth test point (P5) is the unmanned aerial vehicle 100 at the corresponding test point. It is determined whether or not it has passed, and when it is determined that the test point has passed, the notification unit 40 is operated.

In addition, the path detection unit 30 installed in the unmanned aerial vehicle 100 includes location information of the unmanned aerial vehicle 100 acquired through the GPS module 31, that is, the unmanned aerial vehicle 100 acquired in real time when flying. The reference position information stored in the storage unit of the location information of the vehicle 100, that is, the start point (P0), the third test point (P3), the second test point (P2), and the fifth test point (P5) are arc-shaped. It is determined whether the unmanned aerial vehicle 100 has flown along the designated fourth test path (L4) by comparing the location information of each point on the circumference through which it passes, and flies along the designated fourth test path (L4). When it is determined that the notification unit 40 is operated.

Thereafter, when the test taker 200 moves and lands the unmanned aerial vehicle 100 from the starting point P0 to the initial position, the piloting license test process of the unmanned aerial vehicle 100 is completed, and the test supervisor 300 is the unmanned vehicle 100 ) From the flight start point to the flight completion point, the operation status of the notification unit 40 by the location detection unit 10, the altitude detection unit 20, and the path detection unit 30 can be continuously checked and scored to determine whether to pass. .

In addition, the unmanned aerial vehicle control license test system according to the present invention includes test points located on each test path when the unmanned aerial vehicle 100 flies along the first test path (L1) to the fourth test path (L4). Each of the location detection unit 10 and altitude detection unit 20 installed in the and the path detection unit 30 installed in the unmanned aerial vehicle 100 include location detection information and determination information, altitude detection information and determination information, for the unmanned aerial vehicle 100, The route detection information and determination information are wirelessly transmitted to the management terminal 50 through the communication units 19, 29, 39, and the management terminal 50 includes a location detection unit 10 and an altitude detection unit 20 and a path detection unit. Position detection information and judgment information, altitude detection information and judgment information, route detection information and judgment information received and received information sent from (30) are synthesized to comprehensively judge the pass or not of the test candidate 200.

The unmanned aerial vehicle control license test system according to the present invention as described above detects and determines whether the unmanned aerial vehicle 100 is located at a specified position, a specified altitude, or flies along a specified path, so that the existing pilot license There is an advantage of preventing misjudgments or disadvantages according to the subjective judgment of the test supervisor 300 at the test site.

In some other embodiments, the evaluation terminal according to the present invention generates evaluation data by measuring flight data including the altitude and location of the unmanned aerial vehicle 100 based on distance information received from the range finder 11, Estimated flight data is generated by estimating the location and altitude of the unmanned aerial vehicle 100 outside the measurement range of the range finder 11, and evaluation data may be generated by considering the flight data and the estimated flight data together.

Specifically, when the evaluation terminal 50 does not receive the measurement data from the range finder 11 for a predetermined time, it is determined that the drone 100 is out of the measurement range of the range finder 11, and the last measurement data The estimated flight data may be generated by varying the arrangement angle of the first range finder that transmits and the second range finder closest to the first range finder on a predetermined test path.

For example, the evaluation terminal 50 is the measurement data for the location and altitude from any one of a plurality of range finders 11 continuously arranged at predetermined intervals according to the test route in the process of flying the unmanned aerial vehicle along a predetermined test route. Can receive.

At this time, as described above, any one distance meter 11 is spaced apart from the other distance meter 11 by a predetermined distance, and each distance meter 11 approaches within a predetermined angle with respect to the vertical upper direction. Only measurement data for the unmanned aerial vehicle 100 may be generated.

In this case, when the unmanned aerial vehicle 100 moves between the range finders 11 in the test process, it may be temporarily impossible to receive measurement data. In other words, the evaluation terminal 50 has a problem in that it is necessary to determine whether the unmanned aerial vehicle 100 is accurately operating along a predetermined test path only with discontinuous measurement data.

In order to prevent such a problem, the evaluation terminal 50 determines that the unmanned aerial vehicle 100 is out of the measurement range of the range finder 11 when the measurement data is not received from the range finder 11 for a predetermined time, The estimated flight data may be generated by varying an arrangement angle of the first range finder that transmitted the measurement data last and the second range finder closest to the first range finder on a predetermined test path.

To this end, each range finder 11 may be installed so that the rotation angle is adjusted, and in the above-described example, the evaluation terminal 50 receives flight data every predetermined time and then flies after a predetermined time after receiving specific flight data. If data is not received, a control signal for controlling the rotation angle of the range finder (hereinafter referred to as the first range finder) that transmits the flight data received last may be generated.

In this case, the evaluation terminal 50 may control the first range finder to rotate toward the direction in which the range finder (hereinafter referred to as the second range finder) disposed after the first range finder is installed. At the same time, the evaluation terminal 50 may control the rotation angle of the second range finder to rotate toward the direction in which the first range finder is installed. Accordingly, the evaluation terminal 50 may detect the position and altitude of the unmanned aerial vehicle 100 estimated to be between the first range finder and the second range finder.

The technology for providing a method for evaluating the operation of the unmanned aerial vehicle as described above may be implemented as an application or implemented in the form of program instructions that can be executed through various computer components and recorded in 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 in the computer-readable recording medium may be specially designed and constructed for the present invention, and may be known and usable to those skilled in the computer software field.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magnetic-optical media such as floptical disks. media), and a hardware device specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of the program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes 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 processing according to the present invention, and vice versa.

Although the above has been described with reference to embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention described in the following claims. I will be able to.

Claims (6)

A plurality of distance measuring devices disposed at a predetermined position in the unmanned aerial vehicle control license test site to measure an altitude of an unmanned aerial vehicle flying at the predetermined position; And
Based on the distance information received from the range finder, flight data including the altitude and location of the unmanned aerial vehicle is measured to generate evaluation data, but estimated by estimating the location and altitude of the unmanned aerial vehicle outside the measurement range of the range finder And an evaluation terminal for generating the flight data and generating the evaluation data by considering the flight data and the estimated flight data together.
The method of claim 1,
The unmanned aerial vehicle operation evaluation system further comprises a path detection unit installed in the unmanned aerial vehicle to detect whether the unmanned aerial vehicle sequentially passes through the specific test point and follows a designated test route.
The method of claim 1, wherein the evaluation terminal,
A sensor unit including an infrared sensor, air volume sensor, or wind speed sensor respectively installed at the specific test point, and determining whether the unmanned aerial vehicle is located at a specific test point through information detected by the sensor unit Evaluation system.
The method of claim 1, wherein the evaluation terminal,
Unmanned aerial vehicle operation evaluation, which detects a thermal image generated by a driving motor that rotates a propeller during flight of the unmanned aerial vehicle, and determines that an unmanned aerial vehicle is located on a specific test point if the detected thermal image size is greater than a set size system.
The method of claim 1, wherein the evaluation terminal,
If the amount or speed of the wind acting under the unmanned aerial vehicle by a propeller during flight of the unmanned aerial vehicle is more than a certain reference value, it is estimated that the unmanned aerial vehicle is located on a specific test point and generates the estimated flight data. Airplane operation evaluation system.
The method of claim 1, wherein the evaluation terminal,
When the measurement data from the range finder is not received for a predetermined time, it is determined that the unmanned aerial vehicle is out of the measurement range of the range finder, and the first range finder that transmitted the measurement data last and the first range finder on a predetermined test path. A system for evaluating an unmanned aerial vehicle operation for generating the estimated flight data by varying the arrangement angle of the second range finder closest to the first range finder.

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