KR20220092121A - System of controlling with trainning dron flight by chasing simulation and operating method thereof - Google Patents

Abstract

The present invention relates to a drone operation control training tracking simulation system and an operating method thereof. The drone operation control training tracking simulation system comprises: a smart drone; a smart drone control means; and a smart drone server. According to the present invention, there is an effect of increasing the proficiency of drone control by allowing a drone operator to directly check the state in which he or she controls the drone.

Description

Drone flight control training tracking simulation system and operating method thereof

The present invention relates to a drone operation control training tracking simulation system and a method for operating the same, and more particularly, in order for a drone operator to increase the skill of drone operation for operating (flying) a drone, it operates by controlling an actual drone in the field or training ground. All the control signals the drone is operated are tracked and recorded so that they can be simulated, and the drone is automatically and repeatedly operated in the field again for skill improvement and analysis so that the drone operator can directly check the accuracy of drone operation. It relates to a drone operation control training tracking simulation system that increases the degree and an operation method thereof.

The subject or the manager who operates and maintains a specific object used by many people needs to accurately grasp the current state of the object and monitor or confirm whether there is a need for repair or a safety problem, and for this reason It is necessary to conduct an inspection to accurately grasp the current state of the facility periodically and from time to time as necessary.

On the other hand, in the case of a large-scale building, long-span bridge, or large area, a large amount of time and labor is required for monitoring and confirmation, and a special device or equipment for access is used, which takes time and a lot of labor. there is a problem.

Drones can be used as a technology to solve some of these problems, but drones can be damaged by falling or damaged due to the skill level of the controller or coordinator (hereinafter referred to as 'drone coordinator') for operation (flight). There are problems such as causing safety accidents that cause damage to the state.

1 is a diagram showing the status of a drone accident, a fall and loss, and a state in which a drone is damaged according to an embodiment, which is compiled by the Ministry of Land, Infrastructure and Transport in 2018.

Referring to the attached Figure 1, there are a total of 454 drone accidents that occurred in 2018 and counted by the Ministry of Land, Infrastructure and Transport, 25 cases of airframe defects and unknown causes, accounting for about 6%, and the remaining 94% of accidents are caused by drone pilots. It is counted and analyzed as negligence (mistake).

Damage to the drone due to a drone crash due to a drone operation error is also a big loss in its own right. It is necessary to increase the skill level of the coordinator, and in particular, if the surrounding buildings and properties fall under the unique cultural heritage of the nation, there is no way to restore the loss to its original state. It is relatively very urgent.

As a prior art that partially solves these problems, there is Republic of Korea Patent Registration No. 10-1765235 (July 31, 2017) "A facility maintenance system and method using IoT-based sensors and unmanned aerial vehicles".

2 is an explanatory diagram illustrating the configuration of an object inspection system using a drone according to an embodiment of the prior art.

Hereinafter, when the prior art is described in detail with reference to the accompanying drawings, an Internet of Things (IoT)-based sensor unit 81, a measurement result analysis and action terminal 82, an unmanned aerial vehicle flight and control terminal 83, an unmanned aerial vehicle 84 ) and an unmanned aerial vehicle station 85 .

The Internet of Things (IoT)-based sensor unit 81 is composed of one or more measurement sensors, a power supply device, and an IoT network communication device, is assigned a unique identification number, generates a location signal, and is installed in the facility 70 as an observation object. is measured and transmitted through the IoT communication network.

Measurement result analysis and action The terminal 82 analyzes the abnormal state of the facility 70 according to the received measurement value, notifies the analysis result to the active maintenance system 86, and whether a detailed inspection of the facility 70 is required If it is judged to be in an abnormal state by self-judgment, it is notified to the manager to respond.

The unmanned aerial vehicle flight and control terminal 83 remotely controls the unmanned aerial vehicle 84 or drone stored in the unmanned aerial vehicle station 85 to automatically approach the location where the IoT-based sensor unit 81 is installed, and remotely controls the camera So, the abnormal area is photographed.

Although this prior art has the advantage of remotely automatically maintaining the facility by double inspection, it is suitable for the maintenance of a small number of facilities, and for the maintenance of a large number of unspecified facilities, the system configuration becomes very large and complicated, and the operation and maintenance It still has not solved the problem of cost and time consuming, and it is possible to train skilled drone pilots to solve these problems.

Therefore, it is necessary to develop a technology to safely observe and maintain a large number of unspecified buildings, facilities, etc., as drone pilots practice to control drones in a skilled state to enable stable flight.

Republic of Korea Patent Registration No. 10-2192686 (2020. 12. 11.) ‘Drone control system and method for facility inspection’ Republic of Korea Patent Registration No. 10-1765235 (July 31, 2017) "Facility maintenance system and method using IoT-based sensor and unmanned aerial vehicle"

The present invention, devised to solve the problems and necessity of the prior art as described above, tracks the control signal input by the drone operator for drone operation at a specific site, records and manages it in an allocated memory area, and increases the skill level of the drone operator For the simulation, the drone is controlled to automatically operate (fly) again under the same conditions at the site, so the drone operator can directly check and review the flight status of the drone he controls, so that the drone operation control training increases the proficiency of drone operation tracking. It is an object to provide a simulation system and its operation method.

The drone operation control training tracking simulation system of the present invention, devised to achieve the above object, detects GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively, while flying in a route designated by the corresponding flight control signal, and selectively The posture is controlled by arithmetic mean operation, and the designated target is photographed in stereo with ultraviolet, infrared, and white light, respectively, and recorded and stored in the allocated area by linking with the corresponding posture information during shooting. a smart drone 1000 that wirelessly accesses and transmits and receives the same content converted into a packet frame to eliminate communication errors; It wirelessly connects with the smart drone 1000 to output a flight control signal including the direction and attitude of flight, and simultaneously wirelessly connects to two or more of the self-equipped communication means to transmit and receive a signal of the same content converted into a packet frame smart drone control means (2000); a smart drone server 4000 that connects via the smart drone 1000 and the smart communication network 3000, receives information converted into a packet frame, stores and manages it in an allocated area, and provides a packet frame through a search; may include

The smart drone 1000 includes: a GPS unit 1010 for wirelessly receiving and analyzing GPS signals from a plurality of GPS satellites according to a corresponding control signal and outputting GPS coordinate information at the current location; It connects to the GPS unit 1010 and outputs and monitors a corresponding control signal to fly on a flight path designated by the input GPS coordinate information and the flight control signal, and controls and monitors the operation of each functional unit provided, respectively, and an assigned area a smart drone control unit 1020 that records and stores the data; an LBS unit 1030 that receives and analyzes a location-based service signal from a nearby mobile communication base station according to the corresponding control signal of the smart drone control unit 1020 and outputs LBS coordinate information at the current location; an INS unit 1040 for outputting inertial navigation coordinate information detected by the corresponding control signal of the smart drone control unit 1020; An analysis arithmetic mean operator that inputs at least one selected from the GPS coordinate information, the LBS coordinate information, and the inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculates and outputs the arithmetic average of the input values (1050); a stereo ultraviolet photographing unit 1060 having an ultraviolet camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified object with ultraviolet light; a stereo infrared photographing unit 1070 having an infrared camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified object in infrared; a stereo white light photographing unit 1080 having a white light camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified target with white light; GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information detected by the corresponding control signal of the smart drone control unit 1020, the photographed ultraviolet stereo image, infrared stereo image, white light stereo image, and rotation of each camera a packet frame encryption/decryption unit 1090 for converting into a packet frame of a specified size including angle and time information, flight information and operation information, and sequentially recording one or more packet frames for encryption or decryption; a drone database unit 1100 for recording and storing information converted into a packet frame according to a corresponding control signal of the smart drone control unit 1020 in an allocated area; a flight engine unit 1110 for outputting flight power in which the drone operates according to a corresponding control signal of the smart drone control unit 1020; A multi-communication unit for transmitting and receiving a signal of the same content by wirelessly connecting to a designated counterpart by driving the Wi-Fi communication unit, the Bluetooth communication unit, the mobile communication unit, and the FM communication unit provided by the corresponding control signal of the smart drone control unit 1020 in an active state at the same time (1120); may include

The drone operation control training tracking simulation system operating method of the present invention devised to achieve the above object is a smart drone 1000, a smart drone control means 2000, a smart communication network 3000, and a smart drone server 4000. In the drone operation control training tracking simulation system operation method including a preparation step of detecting each of the The mutual deviation values of each coordinate information value detected in the preparation step are analyzed to determine whether they are all included in the allowed range, and when it is determined that the mutual deviation values are all included in the allowed range, the GPS coordinate information and the LBS coordinate information a first selection step of selecting all inertial navigation coordinate information; If it is determined that any one coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step, the remaining two coordinate information values in the allowed mutual deviation value range a second selection step of selecting; a third selection step of selecting an inertial navigation coordinate information value by analyzing the mutual deviation values of the respective coordinate information values detected in the preparation step and determining that the respective coordinate information values exceed the allowed mutual deviation values; The coordinate information input from any one of the first selection step, the second selection step, and the third selection step is input to the analytical arithmetic average operation unit, the coordinate information is output by the arithmetic average operation, and the coordinate information is used as flight information to fly and fly over the target. A flight photographing step of photographing a designated target as a stereo image of ultraviolet rays, infrared rays, and white rays; A drone that converts each image captured in the operation shooting step, including operation information and operation information, into a packet frame, records it in the allocated area, accesses the smart drone control means and a designated state room, and performs multi-communication for transmitting and receiving packet frames operation stage; may include

The present invention of the above configuration tracks the corresponding control signal input by the drone operator for drone operation at a specific site, records and manages it in the allocated area, and automatically returns to the same condition at the site for simulation to increase the drone operator's skill level. Since it is automatically controlled to operate (fly), it has the advantage of increasing the skill level of drone piloting by allowing the drone operator to directly check and evaluate the control status.

1 is a state diagram of a drone accident crash loss state compiled by the Ministry of Land, Infrastructure and Transport in 2018 and a state in which the drone is damaged according to an embodiment;
2 is an explanatory diagram of the configuration of an object inspection system using a drone according to an embodiment of the prior art;

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed 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. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

In the following description, navigation and flight have the same meaning, and visible light and white light have the same meaning, and each will be selectively used according to the context.

3 is a functional configuration diagram of a drone operation control training tracking simulation system according to an embodiment of the present invention, FIG. 4 is a detailed functional configuration diagram of a smart drone according to an embodiment of the present invention, and FIG. 5 is this It is a detailed functional configuration diagram of a multi-communication unit according to an embodiment of the present invention, and FIG. 6 is a diagram illustrating the configuration of a packet frame according to an embodiment of the present invention.

Hereinafter, when described in detail with reference to all the accompanying drawings, the drone operation control training tracking simulation system 900 is a smart drone 1000, a smart drone control means 2000, a smart communication network 3000, and a smart drone server 4000. configuration that includes

The smart drone 1000 detects GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively, while flying in a path designated by the corresponding flight control signal, and performs selective arithmetic averaging to control the posture, Each stereo is photographed with white light, recorded and stored in the allocated area in connection with the corresponding posture information at the time of photographing, and the same content converted into a packet frame is transmitted/received by wireless connection with the outside using two or more of the self-equipped communication means at the same time to eliminate communication errors. The flight control signal is automatically input by a flight control signal and a program wirelessly received from the smart drone control means 2000, and from the drone control unit 1020 or the smart drone control means 2000 or the smart drone server 4000, respectively. may be inputted and may or may not pass through the smart communication network 3000 according to the surrounding communication environment.

The smart drone 1000 includes a GPS unit 1010, a smart drone control unit 1020, an LBS unit 1030, an INS unit 1040, an analytical arithmetic mean operation unit 1050, a stereo UV imaging unit 1060, and a stereo It may include an infrared photographing unit 1070 , a stereo white light photographing unit 1080 , a packet frame encryption/decrypting unit 1090 , a drone database unit 1100 , a flight engine unit 1110 , and a multi-communication unit 1120 .

The GPS unit 1010 wirelessly receives and analyzes GPS signals from a plurality of GPS satellites according to a corresponding control signal applied from the smart drone control unit 1020, and outputs GPS coordinate information at the current location.

GPS coordinate information includes GPS (global position system) that receives GPS signals from multiple GPS satellites in low orbit of the earth, receives signals from at least three or more, and uses the principle of triangulation to check coordinate information about the current location in the receiver. ) positioning system technology.

The radio wave emitted from the GPS satellite contains the location and time information of the GPS satellite at the moment of radio wave emission, and the distance from the time difference between the moment of transmitting the radio wave and the moment of receiving the radio wave with the GPS receiver to the satellite find out In the old days, people observed celestial bodies such as the North Star, the sun, and the moon, and then compared them with a table calculated in advance according to the observation values and the time of observation to determine their location and correct the direction they wanted to go.

Orbiting the Earth, at least three GPS satellites are always visible in any place, such as a deep mountain, the middle of the sea, or a desolate desert, and as long as there is a radio receiver, accurate location information regardless of the weather can be delivered. The satellite is equipped with a very precise atomic clock to precisely measure the time the radio waves travel from the satellite to the receiver. If the differential GPS technology method is used, the error can be very small.

GPS coordinates information includes longitude values, latitude values, elevation values, angular velocity values, travel direction values, and time values.

The smart drone control unit 1020 accesses all functional units provided in the smart drone 1000, including the GPS unit 1010, respectively, and controls the corresponding control to fly along a flight path designated by the input GPS coordinate information and the corresponding flight control signal. It outputs and monitors a signal, controls and monitors the operation of each provided functional unit, and controls and monitors to update and manage to record and store in the allocated area of the drone database unit 1100 when the necessary processing is completed.

The LBS unit 1030 receives and analyzes a coordinate information signal by a location based service (LBS) from a nearby CDMA type mobile communication base station according to the corresponding control signal of the smart drone control unit 1020 and analyzes it at the current location. Outputs the LBS coordinate information of

Location-based service (LBS) refers to a system service that provides various services to users by using relatively very accurate location information of a base station obtained through a mobile communication network or a global positioning system (GPS).

LBS technology may include LBS platform technology that provides a key base technology for positioning technology and service for locating a mobile terminal, and LBS service joint technology and LBS terminal and application service for providing various LBS services. Positioning technology is a technology for measuring the position of a mobile terminal for mobile communication. A network-signal based positioning method using a base station reception signal of a mobile communication network, a satellite signal-based positioning method using satellite signals such as GPS, ubiquitous computing It can be classified into a ubiquitous positioning method using a device, and a mixed positioning method in which these methods are mixed. Information that can be obtained with LBS includes location confirmation, logistics, control, surrounding information (weather and living information, etc.), entertainment, traffic, navigation, safety and rescue, and advertising services. There are marine safety comprehensive information system, 119 mobile phone location information system, and infectious waste real-time management system. Currently, LBS is widely used in traffic and navigation fields such as navigation, and is expected to be widely used in enterprise services such as real-time tracking in the future.

LBS coordinate information is known to be more accurate than GPS coordinate information, and since it is general, further detailed description will be omitted.

The INS unit 1040 outputs inertial navigation (INS) coordinate information detected by the corresponding control signal of the smart drone control unit 1020 .

Inertial Navigation System (INS) is a device that detects its location and guides it to its destination by installing it on submarines, aircraft, and missiles. way to save. If you input your initial location, you can always calculate and grasp your location and speed even if you move. Although it has the advantage of being unaffected by bad weather or radio wave interference, it is common to add correction by GPS or active radar guidance, etc.

Inertial navigation (INS) coordinate information can be used in areas such as tunnels where radio waves do not reach, and GPS and LBS coordinate information can be detected and used only in areas where radio waves reach.

The analysis arithmetic mean operation unit 1050 inputs any one or more selected from GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculates the arithmetic average of the input values. Print the flight information.

The stereo UV photographing unit 1060 sets the UV camera provided in response to a corresponding control signal of the smart drone control unit 1020 to face a specified direction by rotating it at a specified angle. The direction control is explained and understood as selecting and setting the desired direction forward, backward, left, right, and right by the corresponding control in a 180 degree range.

The stereo ultraviolet photographing unit 1060 is configured to photograph a stereo image of a specified target with ultraviolet (UV) light. Hereinafter, a stereo image is an image that feels a three-dimensional effect when observed with the human eye, and it is described and understood as an image that can feel the depth, and since it is general, further detailed description will be omitted.

The stereo infrared photographing unit 1070 includes an infrared camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified object with infrared (IR).

The stereo white light photographing unit 1080 includes a white light camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified target in white light or visible light.

packet frame encryption/decryption unit 1090; GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information detected at the current location by the corresponding control signal of the smart drone control unit 1020, UV stereo image, infrared stereo image, white light stereo image, and each camera taken of the target object It is a configuration that converts into a packet frame of a specified size including the rotation angle of the angle of rotation, each time information taken, each coordinate information, flight information and operation information, and records it sequentially in one or more packet frames (5000) for encryption or decryption. .

The configuration of functions such as the packet frame encryption/decryption unit 1090 will be explained and understood as those provided in the smart drone control means 2000 and the smart drone server 4000, respectively.

The packet frame 5000 will be described again in detail below.

The drone database unit 1100 outputs the information converted into the packet frame 5000 according to the corresponding control signal of the smart drone control unit 1020 by searching for recording and storing in the allocated area.

The flight engine unit 1110 is configured to output flight power for the operation of the drone according to the corresponding control signal of the smart drone control unit 1020, and is generally composed of a plurality of propellers and motors, but for rapid movement forward, backward, left and right, respectively. It can be made of 4 each.

The multi-communication unit 1120 is equipped with the Wi-Fi communication unit 1121, the Bluetooth communication unit 1122, the mobile communication unit 1123, and the FM communication unit 1124 provided by the corresponding control signal of the smart drone control unit 1020 at the same time and is activated at the same time It operates in the state of being and wirelessly connects to the designated counterpart and transmits and receives signals of the same content at the same time.

The Wi-Fi communication unit 1121 is a configuration of a wireless communication unit that transmits and receives in a Wi-Fi method to perform two-way communication, and since it is generally well known, further detailed description will be omitted.

The Bluetooth communication unit 1122 is a configuration of a wireless communication unit for bidirectional communication by transmitting and receiving in a Bluetooth (BT: Blue tooth) method, and since it is generally well known, a detailed description thereof will be omitted.

The mobile communication unit 1123 is a configuration of a wireless communication unit for bidirectional communication by transmitting and receiving in a CDMA method or a W-CDMA method.

The FM communication unit 1124 is a configuration of a wireless communication unit for bidirectional communication by transmitting and receiving in an FM (frequency modulation) method, and since it is generally well known, further detailed description will be omitted.

The smart drone control means 2000 wirelessly connects to the multi-channel simultaneously through the smart drone 1000 and each corresponding multi-communication unit, outputs a flight control signal including the direction and posture of the flight, and has a number of self-equipped communication means, that is, Two or more of the multi-communication means are simultaneously wirelessly connected via the communication unit and transmitted/received at the same time using a signal of the same content converted into the packet frame (5000). The smart drone control means 2000 may be a dedicated control means or a data terminal, or may be used instead of installing a program necessary for a mobile communication terminal.

The smart communication network 3000 connects the smart drone 1000, the smart drone control means 2000, and the smart drone server 4000 respectively or individually to provide a communication path through which a packet frame is transmitted by switching, and a designated counterpart if necessary. Alternatively, it will be described as having a switching function to connect to a manager located at a remote location.

The smart drone server 4000 connects via the smart drone 1000 or the smart drone control means 2000 and the smart communication network 3000, receives the information converted into a packet frame, stores it in an allocated area, manages it, and searches It is provided as a packet frame (5000).

Since the drone control unit 1020 records and stores information including flight control information, flight information, and operation information in the drone database unit 1100, it is possible to perform a simulation that automatically repeats the flight course operated later if necessary. Through these simulations, the drone pilot can become a skilled drone pilot by learning whether the drone he controlled flew normally or safely, or which part he should be more careful about.

On the other hand, information including flight control information, flight information, and operation information is recorded in the smart drone server 4000 and may be recorded in the allocated memory area of the smart drone control means 2000 if necessary.

Therefore, the smart drone server 4000 and the smart drone adjustment means 2000 that have input the corresponding command signal or control signal may output the corresponding signal to simulate automatically repeating the flight course operated in the past, and these signals are It may be transmitted to the smart drone 1000 via the communication network 3000 or may be directly transmitted.

The packet frame 5000 consists of a total of 185 bytes, and includes an overhead (OVHD) field, a first data field, a second data field, a third data field, a check data (CHK) field, and an end (END) field. configuration that includes

When the capacity of specific data to be recorded is relatively large and the drone control unit 1020 cannot record all of the data in the allocated field area of one packet frame 5000, the drone control unit 1020 allocates the packet frame 5000 by adding it in the following order, and assigns the corresponding data is recorded, and by assigning a serial number to each frame, the indication that data is connected and recorded is controlled to be recorded in the overhead field area and the end field area, respectively, so that the receiving side can perform the necessary data restoration processing.

A byte means a collection of 8 bits, which is the minimum unit for recording the presence or absence of one pulse signal in a digital signal, and if necessary, more than 8 bits are defined as one byte However, in the following description, it is defined that 10 bits constitute one byte for encryption to prevent unauthorized access by unauthorized third parties and theft of valuable information.

The OVHD (overhead) field consists of 10 bytes. When the size and amount of data is large, it can consist of multiple frames, so frame serial number information indicating the connected state is included and recorded.

The first data field consists of 50 bytes with an interval of 1 byte from the overhead field, and operation information and operation information including detected GPS coordinate information, LBS coordinate information, inertial navigation coordinate information, and arithmetic mean calculated coordinate information , flight control signals, infrared, ultraviolet and visible light (white light), respectively, the image signal of the object taken in stereo, and the attitude control signal of the camera The signal is recorded.

The second data field is formed of 50 bytes with an interval of 1 byte from the first data field, and a signal having the same information as the information recorded in the first data field is recorded.

The third data field is formed of 50 bytes with an interval of 1 byte from the second data field, and a signal of the same information as the information recorded in the first data field is recorded.

The reason that the same information is recorded in the first data field, the second data field, and the third data field, respectively, is to overcome a transmission error that may occur in the transmission process.

The check (CHK) data field consists of 10 bytes with an interval of 1 byte from the third data field, and errors are detected by analyzing the data recorded in the first data field, the second data field, and the third data field, respectively. If it is determined to be included, the cyclic redundancy check (CRC) method and the Hamming code method are sequentially operated to detect duplicate errors and process duplicate recovery.

The END field consists of 10 bytes with an interval of 1 byte from the check data field. Error detection and recovery, retransmission request, equipment or location information that generated the recorded data, and the location where the data of the packet frame ends , the packet frame serial number information is included and recorded.

One byte spaced between each data field is not shown in the figure because the figure becomes complicated when shown in the figure.

7 is a flowchart of a drone operation control training tracking simulation system operating method according to an embodiment of the present invention.

Hereinafter, when described in detail with reference to all the accompanying drawings, a drone operation control training tracking simulation system 900 including a smart drone 1000 , a smart drone control means 2000 , a smart communication network 3000 , and a smart drone server 4000 . ) The operation method determines whether a flight control signal to start operation is input by the smart drone 1000 (S100), and when it is determined that it is input, activates and controls the flight engine unit 1110, GPS coordinate information and LBS coordinates Information and inertial navigation coordinate information are respectively detected (S110). Here, the flight control signal to start the operation is supposed to be received from the smart drone control means 2000, but if necessary, according to the corresponding command signal for simulation, the flight control signal is output by itself or via the smart communication network 3000 It may be received from the smart drone server (4000).

Analyzes the mutual deviation values of each coordinate information value detected in the preparation step to determine whether they are all included in the allowed range (S120) Select both the S coordinate information and the inertial navigation coordinate information (S130). The allowable deviation is based on the calculated linear distance value, and it is set within 1 meter (m) and can be increased or decreased as necessary, but it is desirable not to exceed the 2 meter distance for safe flight. .

If it is determined that any one coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step (S140), the remaining two coordinates within the allowed mutual deviation value range An information value is selected (S150).

When it is determined that each coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step (S160), the inertial navigation (INS) coordinate information value is selected (S170) .

Here, if each coordinate information value exceeds the allowed mutual deviation value, GPS coordinate information and LBS coordinate information are not detected because the drone is located in a shaded area or tunnel area where radio waves do not reach well. In this case, inertia This is because it is most preferable to select coordinate information by navigation (INS).

Input the coordinate information input from any one of the first selection step (S130), the second selection step (S150), and the third selection step (S170) to the analysis arithmetic mean operation unit 1080, and output the coordinate information by arithmetic mean operation, It flies by using it as flight information (S180), and after controlling the posture so that each camera faces a designated target in the sky above the target, stereo images of ultraviolet, infrared, and white light (visible light) are taken respectively (S190). ).

Each image taken in the operation shooting step (S190), including operation information and operation information, is converted into a packet frame (5000) and recorded in the allocated area, and the smart drone control means (2000) and the designated state room or smart drone server ( 4000) and performs multi-communication for transmitting and receiving using a plurality of communication channels (S210).

On the other hand, the smart drone that has input the corresponding command signal flies for simulation of the flight course it flew on its own or previously flew by the corresponding command signal of the smart drone control means (2000) or the smart drone server (4000). A simulation flight process of flying a simulation flight course is further included.

It is determined whether or not to continue this process (S220), if it continues, it returns to the preparation step, and if not, it proceeds to the end.

In the above, the present invention has been described in detail with respect to the described embodiments, but it is apparent to those skilled in the art that various changes and modifications are possible within the scope of the technical spirit of the present invention.

900: drone operation control training tracking simulation system
1000: smart drone 1010: GPS unit
1020: smart drone control unit 1030: LBS unit
1040: INS unit 1050: analysis arithmetic mean operation unit
1060: stereo ultraviolet imaging unit 1070: stereo infrared imaging unit
1080: stereo white light photographing unit 1090: packet frame encryption/decryption unit
1100: drone database unit 1110: flight engine unit
1120: multi-communication unit 2000: smart drone control means
3000: smart communication network 4000: smart drone server

Claims (3)

Detects GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively, while flying in the route designated by the flight control signal, and controls the posture by performing selective arithmetic average operation. In connection with the corresponding posture information at the time of shooting, it records and stores it in the allocated area, and simultaneously wirelessly connects to the outside using two or more of its own multiple communication means to transmit and receive the same content converted into a packet frame to eliminate communication errors. smart drone 1000;
It wirelessly connects with the smart drone 1000 to output a flight control signal including the direction and posture of flight, and simultaneously wirelessly connects to two or more of the self-equipped multiple communication means to transmit and receive a signal of the same content converted into a packet frame smart drone control means (2000);
a smart drone server 4000 that connects via the smart drone 1000 and the smart communication network 3000, receives information converted into a packet frame, stores and manages it in an allocated area, and provides a packet frame through a search; Drone operation control training tracking simulation system comprising a.
The method of claim 1,
The smart drone 1000 is
a GPS unit 1010 for wirelessly receiving and analyzing GPS signals from a plurality of GPS satellites according to the control signal and outputting GPS coordinates information at the current location;
It connects to the GPS unit 1010 and outputs and monitors a corresponding control signal so as to fly on a flight path designated by the input GPS coordinate information and the corresponding flight control signal, and controls and monitors the operation of each provided functional unit, respectively, and an assigned area a smart drone control unit 1020 that records and stores the data;
an LBS unit 1030 for receiving and analyzing a location-based service signal from a nearby mobile communication base station according to the corresponding control signal of the smart drone control unit 1020 and outputting LBS coordinate information at the current location;
an INS unit 1040 for outputting inertial navigation coordinate information detected by the corresponding control signal of the smart drone control unit 1020;
An analysis arithmetic mean operator that inputs at least one selected from the GPS coordinate information, the LBS coordinate information, and the inertial navigation coordinate information according to the corresponding control signal of the smart drone control unit 1020, and calculates and outputs the arithmetic average of the input values (1050);
a stereo ultraviolet photographing unit 1060 having an ultraviolet camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified object with ultraviolet light;
a stereo infrared photographing unit 1070 having an infrared camera which rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified object in infrared light;
a stereo white light photographing unit 1080 having a white light camera that rotates at a specified angle according to a corresponding control signal of the smart drone control unit 1020 and captures a stereo image of a specified target with white light;
GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information detected by the corresponding control signal of the smart drone control unit 1020, the photographed ultraviolet stereo image, infrared stereo image, white light stereo image, and rotation of each camera a packet frame encryption/decryption unit 1090 for converting into a packet frame of a specified size including angle and time information, flight information and operation information, and sequentially recording one or more packet frames for encryption or decryption;
a drone database unit 1100 for recording and storing information converted into a packet frame according to a corresponding control signal of the smart drone control unit 1020 in an allocated area;
a flight engine unit 1110 for outputting flight power in which the drone operates according to a corresponding control signal of the smart drone control unit 1020;
A multi-communication unit for transmitting and receiving a signal of the same content by wirelessly connecting to a designated counterpart by driving the Wi-Fi communication unit, the Bluetooth communication unit, the mobile communication unit, and the FM communication unit provided by the corresponding control signal of the smart drone control unit 1020 in an active state at the same time (1120); Drone operation control training tracking simulation system comprising a.
In the drone operation control training tracking simulation system operating method comprising a smart drone 1000, a smart drone control means 2000, a smart communication network 3000, and a smart drone server 4000,
a preparation step of activating and controlling the flight engine unit when a control signal for starting operation is input by the smart drone 1000 and detecting GPS coordinate information, LBS coordinate information, and inertial navigation coordinate information, respectively;
The mutual deviation value of each coordinate information value detected in the preparation step is analyzed to determine whether all of the mutual deviation values are included in the allowed range. a first selection step of selecting all inertial navigation coordinate information;
If it is determined that any one coordinate information value exceeds the allowed mutual deviation value by analyzing the mutual deviation value of each coordinate information value detected in the preparation step, the remaining two coordinate information values in the allowed mutual deviation value range a second selection step of selecting;
a third selection step of selecting an inertial navigation coordinate information value by analyzing the mutual deviation values of the respective coordinate information values detected in the preparation step and determining that the respective coordinate information values exceed the allowed mutual deviation values;
The coordinate information input from any one of the first selection step, the second selection step, and the third selection step is input to the analytical arithmetic average operation unit, the coordinate information is output by the arithmetic average operation, and the coordinate information is used as flight information to fly and fly over the target. A flight photographing step of photographing a designated target as a stereo image of ultraviolet rays, infrared rays, and white rays;
A drone that converts each image taken in the operation shooting step, including operation information and operation information, into a packet frame, records it in an allocated area, accesses the smart drone control means and a designated state room, and performs multi-communication for transmitting and receiving packet frames operation stage; Drone operation control training tracking simulation system operating method comprising a.

Images