KR20220087038A - A drone controlled through communication network and control method of the drone - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle equipped with a gyro sensor, a geomagnetic sensor, and an IOT communication system, and in particular, a gyro sensor, an acceleration sensor, a geomagnetic sensor, and a satellite antenna that maintain the posture of the vehicle to communicate with the satellite to maintain the altitude If the inventor provides an unmanned aerial vehicle that provides a real-time pattern of flight data such as position, speed, and altitude to the base station through an altitude sensor, a control unit, and an IOT communication unit equipped with the unmanned aerial vehicle,
The base station (the monitoring station that monitors whether the target is flying) monitors and analyzes the unmanned aerial vehicle (referred to as a drone) in real time through the IOT communication unit.
Consists of aircraft information and real-time flight information of the unmanned aerial vehicle. In the case of the above aircraft information, data is collected through web crawling for the purpose of determining whether the flight is suitable for the purpose of collecting different financial resources, flight performance, and operating environment information for each manufacturer of the unmanned aerial vehicle;
In the case of flight information, a monitoring system that tracks the flight purpose of the drone is monitored by collecting and comparing data through the RFI module to derive the flight purpose by analyzing the flight data patterns such as real-time location, speed, and altitude.

Description

Unmanned aerial vehicle equipped with gyro sensor, geomagnetic sensor and IOT communication system {A DRONE CONTROLLED THROUGH COMMUNICATION NETWORK AND CONTROL METHOD OF THE DRONE}

The present invention relates to an unmanned aerial vehicle having a gyro sensor, a geomagnetic sensor, and an IOT communication system, and in particular, a gyro sensor, an acceleration sensor, a geomagnetic sensor, and a satellite antenna to maintain the posture of the vehicle to communicate with the satellite to maintain the altitude. If the inventor provides an unmanned aerial vehicle that provides a real-time pattern of flight data such as position, speed, and altitude to the base station through an altitude sensor, a control unit and an IOT communication unit equipped with the unmanned aerial vehicle,

The base station (a monitoring station that monitors whether the target is flying) monitors and analyzes the unmanned aerial vehicle (referred to as a drone) in real time through the IOT communication unit.

Consists of aircraft information and real-time flight information of the unmanned aerial vehicle. In the case of the above aircraft information, data is collected through web crawling for the purpose of determining whether the flight is suitable for the purpose of collecting different financial resources, flight performance, and operating environment information for each manufacturer of the unmanned aerial vehicle;

In the case of flight information, a monitoring system that tracks the flight purpose of the drone is monitored by collecting and comparing data through the RFI module to derive the flight purpose by analyzing the patterns of flight data such as real-time location, speed, and altitude.

Furthermore, through the information including the ID stored in the server and the ID received from the master, even if the drone is lost or needs to be tracked, it can be traced back, so the unregistered drone identification system monitors the loss recovery rate.

Drones are being used in various application fields such as surveillance and reconnaissance, broadcasting, parcel delivery, and agriculture, and their use and application range are expected to rapidly expand in the future.

In this way, a convenient and safe living environment can be built by using drones, but on the contrary, adverse functions such as safety and privacy violations may occur due to user error, intentional or drone failure.

To prevent this, a drone-prohibited area is set by law, and drone users must avoid this area and fly.

However, it is unfortunate that the flight is taking place in violation of the law.

In general, an unmanned aerial vehicle (UAV; hereinafter referred to as a 'drone') is an aircraft that follows a pre-entered program by remote control on the ground without a pilot or the vehicle itself recognizes and judges the surrounding environment and flies by itself. Drones are advancing very rapidly because of their advantages of being able to conveniently, quickly and safely perform missions that are dangerous to pilots, limited or contaminated by human capabilities, difficult to access, or that require long and persistent tedium.

The term 'anti-drone' means starting from the monitoring of drone flight, interfering with operation, and stopping the operation of the drone by hacking or falling, for example, other drones determined to be dangerous, that is, It consists of a special purpose drone equipped with a net to catch drones that cause terrorism, crime, intrusion into private life, surveillance, or accidents caused by inexperienced operation, or after detecting the drone with a radar or confirming the identity with a camera. It can also consist of a system that can disable drones through jamming devices.

In particular, drones can be easily used for terrorism because of their freedom of movement and easy manipulation and modification. is growing For example, areas where a large number of people gather or hazardous substances exist, such as nuclear power plants, baseball fields, parks, and subway stations, are expected to suffer heavy damage from drone crashes or terrorism.

As the use of drones has rapidly increased in recent years and the scope of their application is expanding, the military is handling highly confidential information, the public security department is responsible for the safety of the general public, accommodations that are obligated to prevent illegal camera shooting, and people who are reluctant to expose their privacy Demand for anti-drones is occurring in various areas, including individuals, and the size of the anti-drone industry is expected to grow rapidly. Therefore, effective anti-drone technology is required. There is also a need for technology to identify whether it is a drone.

Prior art document: Registered Patent Publication No. 1881396 (2018.7.24. Announcement)

As devised in view of the above conventional problems,

The present invention is a gyro sensor, an acceleration sensor, a geomagnetic sensor and a satellite antenna to maintain the attitude of the aircraft, and an altitude sensor to communicate with the satellite to maintain the altitude, the control unit and the IOT communication unit mounted on the unmanned aerial vehicle located in the base station, It provides an unmanned aerial vehicle that provides flight data patterns such as speed and altitude in real time.

Furthermore, the purpose of the present invention is to provide an unregistered drone identification system that identifies, monitors, and controls drones for impure purposes through communication with drones.

The configuration of the present invention will be described with reference to the accompanying drawing 1 as follows.

a plurality of driving caps and propellers installed on the aircraft of the drone to take off the drone from the ground;

a control unit for controlling the rotation speed of the driving motor or reading signals from a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor to process a signal;

an acceleration sensor for detecting acceleration of the drone; a gyro sensor for detecting the inclination of the drone;

a geomagnetic sensor for recognizing the traveling direction of the drone;

an altitude maintenance sensor for maintaining the altitude of the drone;

a satellite antenna that exchanges data with a satellite to measure the aircraft position information and altitude;

communication means for communicating the drone information;

a balance control unit for controlling the balance through PID control by acquiring the acceleration and inclination provided from the acceleration sensor and the gyro sensor;

a driving motor for driving according to the control of the balance control unit;

a propeller rotating by receiving power from the driving motor;

The balance control unit includes a balance control module for performing PID control by acquiring acceleration and slope provided from the acceleration sensor and the gyro sensor.

The present invention is a gyro sensor, an acceleration sensor, a geomagnetic sensor and a satellite antenna to maintain the attitude of the aircraft, and an altitude sensor to communicate with the satellite to maintain the altitude, and an IOT communication unit equipped with a control unit and an unmanned aerial vehicle. Located in the base station, By providing an unmanned aerial vehicle that provides flight data patterns such as speed and altitude in real time, illegal drones can be notified, so illegal drones can be monitored and accidents can be prevented in advance.

1 is an explanatory diagram of the classification of the aircraft and purpose of the drone of the monitoring system for real-time tracking and analysis of the unmanned aerial vehicle of the present invention;
2 is a monitoring system for real-time tracking analysis of an unmanned aerial vehicle according to the present invention;
Reference diagram showing the classification of uses for drone flight patterns,
3 is a monitoring system for real-time tracking analysis of an unmanned aerial vehicle according to the present invention;
Classification model example by data labeling
4 is a conceptual diagram of an unregistered drone identification system according to another embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS [0010] Reference is made to the accompanying drawings, which show by way of illustration specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein with respect to one embodiment may be implemented in other embodiments without departing from the spirit and scope of the invention.

In addition, it should 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 set forth 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 scope equivalents as those claimed. Like reference numerals in the drawings refer to the same or similar functions throughout the various aspects.

Although the above has been described with reference to the embodiments, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention described in the claims below You will understand.

The configuration of the present invention will be described with reference to the accompanying drawing 1 as follows.

a plurality of driving motors 200 and propellers 201 installed on the aircraft of the drone 200a to take off the drone 200a from the ground;

A control unit 210 that controls the rotation speed of the driving motor 200 or reads signals of a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor to process a signal;

an acceleration sensor 211 for detecting acceleration of the drone 200a; a gyro sensor 212 for detecting the inclination of the drone 200a;

a geomagnetic sensor 213 for recognizing the traveling direction of the drone 200a;

Altitude maintenance sensor 214 for maintaining the altitude of the drone (200a);

a satellite antenna 215 for exchanging data with a satellite to measure the aircraft position information and altitude;

a communication means 230 for communicating information of the drone 200a;

a balance control unit (210a) for controlling the balance through PID control by acquiring the acceleration and inclination provided from the acceleration sensor (211) and the gyro sensor (212);

a driving motor 200 for driving according to the control of the balance control unit 210a;

a propeller 201 rotating by receiving power from the driving motor 200;

The balance control unit 210a includes a balance control module 210b for performing PID control by acquiring the acceleration and slope provided from the acceleration sensor 211 and the gyro sensor 212 .

The communication means 230 is an IOT communication means and is configured to provide a pattern of flight data such as location, speed, and altitude to the base station in real time.

-The geomagnetic sensor is a sensor that can detect the direction like a compass by grasping the flow of the magnetic field generated on the earth, and can recognize the direction of the drone.

As a result, the drone can recognize its own direction, enabling stable flight.

The communication means 230, the wireless module 250 for transmitting the operation processing result of the control unit 210 to the mobile communication terminal and PC of the administrator or user using WAP;

Through the wireless module 250 and the existing mobile communication network, the remote controller or user's mobile communication terminal (monitor pc) transmits the unique number of the drone 200a, a set character, and the measurement data stored in the storage device to the remote monitor (flight). It allows the information of which drone 10 to be known from a remote location by transmitting it to a user or a place that monitors whether it is flying for the purpose of flying from the outside.

Briefly describing the active operation of the remote monitoring system, an administrator or user who desires remote monitoring operates an application program installed in a mobile communication terminal to access the control unit 210, and checks the status with the control unit 210 When the request is transmitted, the control unit 20 transmits the current or past result extracted by the request for status check from the manager or user to the manager or user's mobile communication terminal.

In this embodiment, remote monitoring is performed without additional equipment by using WAP (Wireless Application Protocol) that is installed in the control unit 210 and the administrator or user's mobile communication terminal and enables wireless data communication between the two devices. can do.

WAP acts as a communication emulator, and according to a predetermined protocol, it converts a signal received/demodulated from the other party into meaningful information. allows you to monitor

The construction of big data for reducing the illegal operation rate of unmanned aerial vehicles of the present invention is

-Data collection consists of aircraft information of unmanned aerial vehicles and real-time flight information;

-In the case of aircraft information, data collection step through web crawling for the purpose of determining whether the flight is suitable for the purpose of collecting different financial resources, flight performance, and operating environment information for each manufacturer of the unmanned aerial vehicle;

-In the case of flight information, the data collection step is performed through the RFI module to derive the flight purpose by analyzing the patterns of flight data such as real-time location, speed, and altitude.

The following is a detailed look at the configuration with reference to the accompanying drawings so that the object of the present invention can be understood in detail as follows.

1) Data collection consists of aircraft information of unmanned aerial vehicles and real-time flight information;

2) In the case of aircraft information, data is collected through web crawling for the purpose of determining whether or not it is suitable for flight by collecting different financial resources, flight performance, and operating environment information for each manufacturer of the unmanned aerial vehicle;

3) In the case of flight information, data collection through the RFI module to derive flight objectives by analyzing patterns of flight data such as real-time location, speed, and altitude;

· Encryption environment configuration to prevent leakage of collected big data

1) Configure network security to protect the development/operation environment from external attacks (web firewall and load balancing, etc.)

2) Network service and access system control to protect from external attacks during operation

3) Control access to the physical space of network equipment and servers

4) Administrative and technical control in connection with application security policy

5) Implement development-related application security through the solution

6) Data transmission and reception encryption through application security such as other cookie information encryption, SSL, encryption equipment, DB access control policy, backend processing integrity check, checksum, and hexadecimal coding (code generation of 64 hexadecimal digits)

7) Apply secure coding to secure system security and reliability

go. Analyze systems based on OWASP or SANS vulnerabilities

me. Understand the user's problem specifically and define the areas of information that the software is responsible for

All. Secure coding analysis and design technical documents such as requirements definition, screen design, ERD, table list, table definition, program list, development standard definition, unit test scenario, integration test scenario, etc.

AI-based real-time flight information pattern tracking algorithm for flight purpose determination

1) Classification of aircraft information such as manufacturer, financial resources, and flight performance collected through web crawling by flight purpose

2) Classification of actual flight use/purpose by comparing aircraft information classified by purpose and flight information collected in real-time and analyzing data such as altitude, location, speed, and time of aircraft information currently in flight and aircraft information

3) Classification of movement route patterns by time of location data collected from flight information classified according to purpose and purpose

4) Supervised learning using a classification model by data labeling of movement path patterns classified according to use and purpose

go. Visualize the collected flight information to establish a standard range for normal values and error data

me. Removal of missing values and outliers in the movement path pattern data according to the reference range

All. Data category matching operation to minimize the weight difference of the breadcrumb pattern data

la. Establishment of multi-classification model based on analysis data of movement path pattern classified according to purpose and purpose

mind. All moving path pattern data are randomly grouped into one moving path verification data and the rest are classified as moving path learning data.

bar. After calculating the average data of error rate and accuracy, model evaluation for the purpose and purpose of real-time flight information according to the moving route

Monitoring system for real-time tracking analysis of unmanned aerial vehicles

1) Monitoring system consists of main screen, registration status, and flight status

2) The main screen displays brief information of regional registration status and flight status

3) Registration status consists of flight approval and filming approval

go. Flight approval: type and use, flight date and area, purpose and method, route and altitude, etc.

me. Approval for shooting: Display of photo purpose, shooting classification and equipment, airplane type, flight date and time, shooting and cruising altitude/cruising speed, etc.

4) Flight status provides real-time flight information, weather information, and local information

go. Flight information: Displays location, altitude, speed, etc. of data collected through LTE M1 communication

me. Weather information: Display of weather information such as wind direction and wind speed for flight location using OPEN API

The following is a conceptual diagram of an unregistered drone identification system 100 according to another preferred embodiment of the present invention with reference to FIG. 4 .

The present invention relates to an unregistered drone identification system (100). In more detail, if unregistered drones such as drones for terrorism or infringing personal privacy are identified by the master 20 located in the control center, the illegal drone can be notified by contacting important facilities including state agencies. According to this, it is possible to monitor illegal drones and prevent accidents in advance. It is also related to the unregistered drone identification system 100 that can be traced back to increase the loss recovery rate.

Referring to FIG. 1 , an unregistered drone identification system 100 according to a preferred embodiment of the present invention is configured to include a registration sub 10 , a master 20 , a drone recognition unit 30 , and a server 40 . .

In particular, in the present invention, it is assumed that the drone registration system in which the drone is registered with the control center, information including the purpose of flying the drone, personal information, etc., and an ID is implemented in order to fly the drone by implementing the drone registration system in the present invention to be explained.

Hereinafter, the registration sub 10 will be described.

The registration sub 10 has a drone license chip embedded therein, so that information including ID, drone flight purpose, and user personal information is registered to perform flight matching the purpose, and one or more may be provided.

In more detail, the registration sub 10 may be viewed as a drone having a built-in license chip by registering with the control center through the drone registration system.

Conversely, although not represented on the drawing, the unregistered vehicle 1 is an unregistered vehicle in which information including ID, drone flight purpose, and user personal information is unregistered and may be subject to monitoring.

In addition, the flying object described in the present invention can be viewed as a drone that has not yet been confirmed whether it is the registered sub 10 or the unregistered flying object 1, and through the drone recognition unit 30 of the present invention, other birds other than drones, falling Other objects, including objects, leaves, etc., can be suppressed from being recognized.

The master 20 is installed in the control center, and receives data including the encrypted ID from the registration sub 10 located within the communication area.

In addition, the master 20 may be installed outside the control center, and may be waterproofed to protect it from external moisture.

In addition, although not expressed in the drawing, in order to prevent a situation in which snow may accumulate on the master 20 installed outside and a communication failure problem may occur, a heat generating module is attached to the master 20 to heat the heat with the heat generating module as necessary. It can cause the snow to melt so that communication performance can be maintained smoothly.

The drone recognition unit 30 includes a program for recognizing a drone as an image, is connected to a photographing device attached to the master 20 to recognize the drone, and transmits its location information and image information to the master 20 . send

For example, the drone recognition unit 30 may recognize the drone by programming that learns to recognize the drone using OpenCV and artificial intelligence yolo.

Since OpenCV and yolo are already known technologies, detailed descriptions will be omitted.

The server 40 receives and manages the registration information of the drone license chip, and receives the communication details from the master 20 as encrypted data to control the master 20 to receive information including the ID and purpose of the vehicle. Receive, store and manage communication details.

In addition, when the server 40 confirms that a drone that does not transmit data including an ID to the server 40 is found, it is of course possible to notify a nearby public institution of the danger.

Previously, the configuration of the present invention was described in detail, and below, the process of operating with the configuration of the present invention will be described in detail.

First, when explaining the process in which the flying object is identified as the registration sub 10, the flight information (location information and image information) of the drone is checked in the master 20 located in the control center through the drone recognition unit 30, and the master As the location information and image information of the drone are received in (20) and transmitted to the server (40), a request signal requiring identification of the flying object recognized by the drone recognition unit (30) in the server (40) is sent to the master (20). Transmitting, the master 20 transmits a request signal requesting an ID to the corresponding aircraft, and the registration sub 10 receiving this transmits the encrypted ID, and the master 20 that receives the encrypted ID transmits the encrypted ID to the server ( 40), and the server 40 checks whether it is the registered sub 10, checks the information of the registered sub 10, and records the details.

In addition, when receiving the encrypted ID from the server 40 and determining whether it is a registered ID, if the ID is a registered ID, if the information is different from the previously stored information, it is updated and stored with new data.

In addition, if the process of confirming the flying object as an unregistered flying object 1 is described, the flight (location information and image information) of the drone is confirmed by the master 20 located in the control center through the drone recognition unit 30, and the master ( In 20), as the location information and image information of the drone are received and transmitted to the server 40, the server 40 transmits a request signal requiring identification of the aircraft recognized by the drone recognition unit 30 to the master 20. And, the master 20 transmits a request signal requesting ID to the corresponding aircraft, but if there is no response to the request signal, record or take a picture of the aircraft with the photographing device attached to the master 20, and the server 40 ), and the server 40 records image information and location information, and transmits the information of the unregistered aircraft 1 to an institution that can take action including a specific public institution.

In addition, if the ID is received from the aircraft in response to the ID request of the server 40 through the master 20, but is not searched with the registered ID in the server 40, the server 40 does not respond to the request signal. Determined in the same way as the situation, record or take a picture of the aircraft with the photographing device attached to the master 20, and transmit it to the server 40, and the server 40 records image information and location information, and specifies It is characterized in that the information of the unregistered flying vehicle (1) is transmitted to an organization that can take action, including public institutions.

In addition, when the drone is lost, the lost location can be tracked through the information including the ID stored in the server 40 and the ID received by the master 20 , thereby increasing the loss recovery rate.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications, changes and substitutions within the scope without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

200: drive motor
200a: drone
201: propeller
211: acceleration sensor
212: gyro sensor
213: geomagnetic sensor
214: altitude holding sensor
215: satellite antenna

Claims (1)

a plurality of driving motors 200 and propellers 201 installed on the aircraft of the drone 200a to take off the drone 200a from the ground;
A control unit 210 that controls the rotation speed of the driving motor 200 or reads signals of a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor to process a signal;

an acceleration sensor 211 for detecting acceleration of the drone 200a; a gyro sensor 212 for detecting the inclination of the drone 200a;
a geomagnetic sensor 213 for recognizing the traveling direction of the drone 200a;

Altitude maintenance sensor 214 for maintaining the altitude of the drone (200a);
a satellite antenna 215 for exchanging data with a satellite to measure the aircraft position information and altitude;
a communication means 230 for communicating information of the drone 200a;

a balance control unit (210a) for controlling the balance through PID control by acquiring the acceleration and inclination provided from the acceleration sensor (211) and the gyro sensor (212);

a driving motor 200 for driving according to the control of the balance control unit 210a;
a propeller 201 rotating by receiving power from the driving motor 200;

The balance control unit 210a includes a balance control module 210b for performing PID control by acquiring the acceleration and slope provided from the acceleration sensor 211 and the gyro sensor 212 .
a plurality of driving motors 200 and propellers 201 installed on the aircraft of the drone 200a to take off the drone 200a from the ground;
A control unit 210 that controls the rotation speed of the driving motor 200 or reads signals of a gyro sensor, an acceleration sensor, a geomagnetic sensor, and an altitude sensor to process a signal;

an acceleration sensor 211 for detecting acceleration of the drone 200a; a gyro sensor 212 for detecting the inclination of the drone 200a;
a geomagnetic sensor 213 for recognizing the traveling direction of the drone 200a;

Altitude maintenance sensor 214 for maintaining the altitude of the drone (200a);
a satellite antenna 215 for exchanging data with a satellite to measure the aircraft position information and altitude;
a communication means 230 for communicating information of the drone 200a;

a balance control unit (210a) for controlling the balance through PID control by acquiring the acceleration and inclination provided from the acceleration sensor (211) and the gyro sensor (212);

a driving motor 200 for driving according to the control of the balance control unit 210a;
a propeller 201 rotating by receiving power from the driving motor 200;

The balance control unit 210a includes a balance control module 210b for performing PID control by acquiring the acceleration and inclination provided from the acceleration sensor 211 and the gyro sensor 212 . An unmanned aerial vehicle equipped with a sensor, a geomagnetic sensor, and an IOT communication system.

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