KR20220120080A - Drone landing field having indicators and landing method in the landing field - Google Patents

Abstract

A drone landing method at a drone landing site includes steps of: (a) detecting at least one of first to Nth marks among images of the drone landing site acquired by a camera; (b) determining unique identification information of the mark detected in step (a); and (c) retrieving pre-stored first information using the unique identification information determined in step (b), wherein the first information includes a distance between a central point of a landing position of the drone and at least some of the first to N^th marks; and a first angle value formed between a center point of the landing position of the drone and at least a part of the first to N^th marks. By specifying an exact landing position, the drone can accurately land at the landing position of the landing site.

Description

A drone landing site equipped with markings and a method of landing on the landing site

The present invention relates to a drone landing site equipped with a mark and a landing method on the landing site.

Drones have recently been actively used in various industries such as delivery, farming, and equipment monitoring. However, the drone, which has flown for a certain period of time, needs to return to the landing site for charging and the like.

However, recent landing sites are being implemented with a small area, and vertical take-off and landing of drones is essential for this small area landing site.

In order for the vertical take-off and landing drone to land accurately at the center point of the landing site of the landing site, it is necessary to accurately recognize the landing point from the sky during the flight of the drone.

Domestic Registered Patent No. 2018892: UAV landing control method and device (September 5, 2019 announcement).

The present invention is an invention for the purpose of solving the technical problems as described above, a drone landing site having a mark, and a drone landing site having a mark, which allows a drone to land accurately at the landing site by specifying an accurate landing position The purpose is to provide a landing method.

A drone landing method on a drone landing site of the present invention includes the steps of: (a) detecting at least one of a first mark to an N-th mark from among the images of the drone landing site acquired by a camera; (b) determining unique identification information of the mark detected in step (a); (c) searching for the first information stored in advance using the unique identification information determined in step (b); (d) calculating a second angle value that is the degree of inclination of the at least one mark detected in step (a) on the image of the drone landing site acquired by the camera; and (e) calculating the flight direction of the drone by using the first angle value and the second angle value.

Specifically, the first information may include: a distance between a center point of a landing position of the drone and at least some of the first to Nth marks; and a first angle value formed by at least a portion of the center point of the landing position of the drone and the first to the N-th mark.

In addition, it is preferable that each of the first mark to the Nth mark includes a shape containing the unique identification information, and N is a natural number greater than 4.

In addition, each of the first mark to the Nth mark includes a shape having P×Q cells, wherein each of the cells displays a bit value for representing the unique identification information, and the P and the Q is a natural number greater than 1.

In addition, it is preferable that the shape having the P×Q number of cells is vertically or horizontally asymmetrical.

In addition, each of the first mark to the Nth mark is characterized in that it further comprises a mark for determining the direction.

Preferably, each of said cells is characterized in that it is indicated by one of two methods. In addition, one of the first mark to the N-th mark is preferably arranged at the center point of the landing position of the drone.

According to the drone landing site equipped with the mark of the present invention and the landing method at the landing site, the drone can accurately land at the landing site by specifying the correct landing position.

1 is a plan view of a drone landing site according to a preferred embodiment of the present invention.
Fig. 2 is an explanatory view of a mark of the first embodiment of the present invention;
3 is a marking according to a second embodiment of the present invention;
4 is a marking according to a third embodiment of the present invention;
5 is a flowchart of a drone landing method on a drone landing site according to a preferred embodiment of the present invention.
6 is an explanatory diagram for a first angle value;
Fig. 7 is an explanatory diagram for a method of calculating a second angle value;
8 is an explanatory diagram for the final flight direction of the drone.

Hereinafter, a drone landing site equipped with a mark and a landing method on the landing site will be described in detail with reference to the accompanying drawings. Of course, the following examples of the present invention are not intended to limit or limit the scope of the present invention only to embody the present invention. What can be easily inferred by an expert in the technical field to which the present invention belongs from the detailed description and examples of the present invention is construed as belonging to the scope of the present invention.

In addition, the portion indicated by the dotted line in FIG. 1 is a virtual line marked so that the center point of the landing position of the drone can be known, and is a line that does not need to be displayed on the actual drone landing site S. In addition, FIG. 2 exemplarily shows the marks (IDs) of the first four embodiments.

The drone landing site (S) of the present invention will be described in detail with reference to FIGS. 1 and 2 .

It is preferable to have a first mark (ID) to an Nth mark (ID) disposed on the drone landing site (S). Here, N is a natural number greater than 4.

Each of the first mark ID to the Nth mark ID includes a shape containing unique identification information.

Specifically, each of the first marks ID to the Nth marks ID includes a rectangular shape having P×Q cells. Here, P and Q are natural numbers greater than 1.

In addition, each of the cells may display a bit value for indicating unique identification information. That is, each of the cells can display a bit value by being displayed by one of two methods.

For example, if the corresponding cell is filled, it may be interpreted as a bit '1', and if the corresponding cell is empty, it may be interpreted as a bit '0'. In addition, each cell means a bit indicating a predetermined digit value. Accordingly, when expressed as a decimal number using a rectangular shape having P×Q cells as shown in FIG. 2, numbers such as '1', '2', '10', and '26' can be displayed.

In addition, it is preferable that one of the first marks ID to Nth marks ID is arranged at the center point of the landing position of the drone. For reference, in FIG. 1 , when expressed as a decimal number, an ID corresponding to '25' is disposed at the center point.

The drone landing method at the drone landing site (S) according to a preferred embodiment of the present invention is not precise by GPS, but the direction can be specified within a certain error range. In use, the direction of the indicator (ID) may be distinguished using GPS information. For reference, only when the top and bottom or left and right of the mark ID are determined, the corresponding unique identification information can be determined.

However, in preparation for a situation in which GPS information is not available, it would be desirable to distinguish the upper and lower or left and right sides of the corresponding mark ID by separate correspondence. For example, the first mark ID to the Nth You will be able to distinguish the direction by using the marker (ID).

3 shows an identification (ID) according to a second embodiment of the present invention.

In FIG. 3 , an equilateral trapezoid shape having P×Q cells is used, but it may be designed in various polygonal shapes such as a rectangular shape, a triangular shape, or a pentagonal shape. However, in the case of a rectangular shape, if at least one pair of sides of the two pairs of opposite sides uses a feature that is not parallel to each other, the corresponding mark becomes vertically asymmetrical, so that the upper and lower or left and right sides of the corresponding mark ID can be distinguished. That is, the direction can be determined.

That is, the mark ID according to the second embodiment of the present invention is characterized in that it is vertically or horizontally asymmetrical so that the upper and lower or left and right sides of the corresponding mark ID can be distinguished.

4 shows an identification (ID) according to a third embodiment of the present invention.

That is, the first marks (ID) to the Nth marks (ID) according to the third embodiment of the present invention include a mark (M) for determining the shape and direction of a rectangle having P×Q cells do it with By using this mark (M), it is possible to distinguish the top and bottom or left and right of the mark (ID). That is, the direction can be determined.

5 shows a flowchart of a drone landing method on a drone landing site (S) according to a preferred embodiment of the present invention.

For reference, when the drone is located far from the drone landing site (S), it uses GPS to land, and when it is located near the drone landing site (S), the center point of the landing position is used using the mark (ID) provided in the drone landing site (S). It is desirable to carry out the landing with precision.

In addition, the drone landing method may be implemented in the form of a computer program executed by a computing device provided in the drone or a computing device connected by communication with the drone, that is, a processor.

As can be seen from Figure 5, the drone landing method on the drone landing site (S) according to a preferred embodiment of the present invention, among the images of the drone landing site (S) obtained by the camera, the first mark (ID) to detecting at least one of the N-th marks (ID) (S10); Determining unique identification information of the mark (ID) detected in step S10 (S20); retrieving the pre-stored first information using the unique identification information determined in step S20 (S30); Calculating a second angle value (α2), which is the degree of inclination of at least one mark (ID) detected in step S10, on the image of the drone landing site (S) obtained by the camera (S40); calculating the flight direction of the drone by using the first angle value (α1) and the second angle value (α2) (S50); and controlling the flight of the drone using the flight direction calculated in step S50 and the distance value included in the first information (S60).

In step S10, it is preferable to detect the mark (ID) located at the closest distance to the center of the image of the drone landing site (S) obtained by the camera.

The first information may include a distance between a center point of a landing position of the drone and at least a portion of a first mark (ID) to an Nth mark (ID); and a first angle value (α1) formed by at least a portion of the center point of the landing position of the drone and the first mark (ID) to the N-th mark (ID). For reference, the distance between the center point of the landing position of the drone and the mark ID is preferably a distance calculated using the center position of the mark ID. In addition, in the case of the mark (ID) located at the center point of the landing position of the drone, the first information may be omitted.

6 shows an explanatory diagram for the first angle value α1.

As can be seen from FIG. 6 , the first angle value α1 is an extension line of the center point of the landing position of the drone and the center position of the mark ID and a line that crosses the center position of the mark ID in the vertical direction. can be defined as

For reference, FIG. 6 shows that the first angle value α1 increases as the drone rotates clockwise from the lower side of the center point of the landing position. That is, in FIG. 6 , the angle between the upper part of the line that crosses the center position of the mark ID in the vertical direction from the central point and the portion of the straight line connecting the center point of the landing position of the drone and the center position of the mark ID. Although the first angle value α1 is defined, it may be defined by various other methods.

The first information is stored in the form of a table, and when a mark (ID) corresponding to the decimal number '18' of the unique identification information is detected in step S10, in step S20, the unique identification information of the corresponding mark (ID) is ' It is determined as 18', and the distance and the first angle between the 18th mark (ID) and the center point are retrieved from the first information. For example, the distance between the 18 mark (ID) and the center point may be stored in the first information, such as 50 cm and 225 degrees.

7 is an explanatory diagram for a method of calculating the second angle value α2. In addition, FIG. 8 shows an explanatory view of the final flying direction of the drone.

The final flight of the drone will be described with reference to FIGS. 7 and 8 .

If the image of the drone landing site (S) acquired by the camera and the corresponding mark (ID) are not correctly aligned, the first mark (ID) to the N-th mark (ID) on the image of the drone landing site (S) is tilted will appear to be true.

By correcting the degree of inclination of at least one mark ID detected in step S10 on the image of the drone landing site S by the second angle value α2, the flight direction of the drone is finally calculated. For example, suppose that the distance between the 18 mark ID and the center point is 50 cm, the first angle value α1 is 225 degrees, and the second angle value α2 is -45 degrees. In this case, the flight direction of the drone becomes 180 degrees by correction.

In this case, since the center of the image of the drone landing site (S) acquired by the camera and the center of the detected mark (ID) do not match, the direction of flight may be considered by separately correcting for this.

However, the difference between the center of the image of the drone landing site (S) acquired by the camera and the center of the detected mark (ID) is ignored by designing a mechanism for the alignment of a separate drone on the drone landing site (S), Drones can land.

As described above, according to the drone landing site (S) equipped with the mark (ID) of the present invention and the landing method at the landing site, it is known that the drone can accurately land at the landing site by specifying the correct landing position. can

ID: Mark
S : drone landing site
M: mark

Claims (17)

In the drone landing site,
Provided with a first mark to an N-th mark disposed on the drone landing site,
The N is a drone landing site, characterized in that it is a natural number greater than 4. According to claim 1,
Each of the first mark to the Nth mark is,
Drone landing site, characterized in that it includes a shape containing unique identification information. 3. The method of claim 2,
Each of the first mark to the Nth mark includes a shape having P×Q cells,
Each of the cells displays a bit value for indicating the unique identification information,
The P and Q are a drone landing site, characterized in that it is a natural number greater than 1. 4. The method of claim 3,
The shape having P × Q cells is,
A drone landing site, characterized in that it is vertically or horizontally asymmetrical. 4. The method of claim 3,
Each of the first mark to the N-th mark, drone landing site, characterized in that it further comprises a mark for determining the direction. 4. The method of claim 3,
Each of the above columns is
A drone landing site, characterized in that it is marked by one of two methods. 3. The method of claim 2,
One of the first mark to the N-th mark is a drone landing site, characterized in that it is disposed at the center point of the landing position of the drone. In the drone landing method on the drone landing site,
(a) detecting at least one of a first mark to an N-th mark among the images of the drone landing site obtained by a camera; and
(b) determining the unique identification information of the mark detected in step (a); drone landing method comprising the. 9. The method of claim 8,
The drone landing method includes:
(c) searching for the first information stored in advance using the unique identification information determined in step (b);
The first information is
a distance between the center point of the landing position of the drone and at least some of the first to Nth marks; and a first angle value formed by at least a portion of the center point of the landing position of the drone and the first to the N-th mark. 10. The method of claim 9,
The drone landing method includes:
(d) calculating a second angle value, which is the degree of inclination of the at least one mark detected in step (a), on the image of the drone landing site obtained by the camera; How to Land a Drone. 11. The method of claim 10,
The drone landing method includes:
(e) calculating the flight direction of the drone by using the first angle value and the second angle value; 9. The method of claim 8,
Each of the first mark to the N-th mark includes a shape containing the unique identification information,
The drone landing method, characterized in that N is a natural number greater than 4. 13. The method of claim 12,
Each of the first mark to the Nth mark includes a shape having P×Q cells,
Each of the cells displays a bit value for indicating the unique identification information,
The P and Q are a drone landing method, characterized in that it is a natural number greater than 1. 14. The method of claim 13,
The shape having P × Q cells is,
Drone landing method, characterized in that up and down or left and right asymmetry. 14. The method of claim 13,
Each of the first mark to the N-th mark, drone landing method, characterized in that it further comprises a mark for determining the direction. 14. The method of claim 13,
Each of the above columns is
A drone landing method, characterized in that indicated by one of two methods. 9. The method of claim 8,
One of the first mark to the N-th mark is a drone landing method, characterized in that it is disposed at the center point of the landing position of the drone.

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