KR20230047782A - Real-time video data communication method for autonomous operation of unmanned moving vehicles - Google Patents

Real-time video data communication method for autonomous operation of unmanned moving vehicles Download PDF

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KR20230047782A
KR20230047782A KR1020210131047A KR20210131047A KR20230047782A KR 20230047782 A KR20230047782 A KR 20230047782A KR 1020210131047 A KR1020210131047 A KR 1020210131047A KR 20210131047 A KR20210131047 A KR 20210131047A KR 20230047782 A KR20230047782 A KR 20230047782A
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mobile vehicle
unmanned mobile
unmanned
control system
ground control
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KR1020210131047A
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Korean (ko)
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최성찬
안일엽
박종홍
정성욱
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한국전자기술연구원
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/60—Network streaming of media packets
    • H04L65/75—Media network packet handling
    • H04L65/762—Media network packet handling at the source 
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/1066—Session management
    • H04L65/1069—Session establishment or de-establishment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/60—Network streaming of media packets
    • H04L65/65—Network streaming protocols, e.g. real-time transport protocol [RTP] or real-time control protocol [RTCP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L65/00—Network arrangements, protocols or services for supporting real-time applications in data packet communication
    • H04L65/80—Responding to QoS
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/234—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A real-time video data communication method for autonomous operation of an unmanned moving vehicle is provided. According to an embodiment of the present invention, the unmanned moving vehicle comprises: a video device that photographs a mission area to generate video information; a navigation control device that generates control information for an unmanned moving vehicle; and a communication module that integrates the video information generated by the video device and control information generated by the navigation control device to transmit it to a ground control system in real time. As a result, the video information and the control information of the unmanned moving vehicle are integrated and transmitted in real time based on RTC to enable control based on real-time video in the ground control system and increase operational efficiency.

Description

무인이동체 자율운용을 위한 실시간 영상 데이터 통신방법{Real-time video data communication method for autonomous operation of unmanned moving vehicles}Real-time video data communication method for autonomous operation of unmanned moving vehicles}

본 발명은 영상 데이터 통신 기술에 관한 것으로, 더욱 상세하게는 무인이동체가 임무를 수행하는 과정에서 발생하는 카메라의 영상정보와 무인이동체의 관제정보를 지상관제시스템으로 전송하는 방법에 관한 것이다.The present invention relates to video data communication technology, and more particularly, to a method for transmitting image information of a camera and control information of an unmanned mobile vehicle generated while an unmanned mobile vehicle performs a mission to a ground control system.

무인이동체는 접근이 어려운 지역이나 야간 및 극한 환경에서도 운용 가능하여, 실종자 수색시 신속하고 정확한 정보를 제공해 골든타임 확보가 가능하고, 도로망이나 통신망이 붕괴된 상황에서도 재난재해 현장에 대응할 수 있으며, 유독가스와 고온으로 접근이 어려운 화재현장에 투입되어 임무를 수행하고, 광범위한 영역을 대상으로 지속적인 환경오염 분석 및 과학탐사 등을 할 수 있도록 하여 준다.Unmanned mobile vehicles can be operated in difficult-to-access areas, at night and in extreme environments, providing quick and accurate information when searching for missing persons to secure golden time, responding to disaster sites even in situations where road networks or communication networks are collapsed, and It is put into a fire site that is difficult to access due to gas and high temperature and performs missions, and enables continuous environmental pollution analysis and scientific exploration in a wide area.

무인이동체는 지상관제시스템의 제어에 따라 임무를 수행하는데, 이를 위해 지상관제시스템은 무인이동체에서 생성되는 정보를 확보하여야 한다. 특히, 무인이동체에서 생성하는 영상정보와 관제정보를 실시간으로 확보할 것이 요구된다.The unmanned mobile vehicle performs missions under the control of the ground control system, and for this, the ground control system must secure information generated by the unmanned mobile vehicle. In particular, it is required to secure image information and control information generated by an unmanned mobile vehicle in real time.

본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 본 발명의 목적은, 무인이동체의 영상정보와 관제정보를 통합하여 RTC(Real-Time Communication) 기반으로 실시간으로 전송하는 방법을 제공함에 있다.The present invention has been devised to solve the above problems, and an object of the present invention is to provide a method of integrating image information and control information of an unmanned mobile vehicle and transmitting them in real time based on RTC (Real-Time Communication). .

상기 목적을 달성하기 위한 본 발명의 일 실시예에 따른, 무인이동체는, 임무 지역을 촬영하여 영상정보를 생성하는 영상장치; 무인이동체의 관제정보를 생성하는 항법 제어장치; 및 영상장치에서 생성된 영상정보와 항법 제어장치에서 생성된 관제정보를 통합하여 지상관제시스템으로 송신하는 통신모듈;을 포함한다.According to one embodiment of the present invention for achieving the above object, an unmanned mobile vehicle includes an imaging device for generating image information by photographing a mission area; A navigation control device that generates control information of an unmanned mobile vehicle; and a communication module that integrates image information generated by the imaging device and control information generated by the navigation controller and transmits the information to the ground control system.

통신모듈은, 시그널링 서버에서 지상관제시스템를 검색하고 연결을 요청하고, 지상관제시스템은, 시그널링 서버에서 무인이동체를 검색하고 연결을 요청하며, 요청들이 수락되면, 무인이동체의 통신모듈과 지상관제시스템가 Peer-to-Peer로 연결될 수 있다.The communication module searches the ground control system in the signaling server and requests connection. The ground control system searches the unmanned mobile vehicle in the signaling server and requests connection. If the requests are accepted, the communication module of the unmanned mobile vehicle and the ground control system peer Can be connected through -to-peer.

지상관제시스템은, 통신모듈로부터 수신한 통합정보에 수록된 영상정보를 기반으로 무인이동체의 임무지역을 파악하고, 무인이동체의 이동을 제어하며, 무인이동체에 임무명령을 전달할 수 있다.The ground control system can determine the mission area of the unmanned mobile vehicle based on the image information included in the integrated information received from the communication module, control the movement of the unmanned mobile vehicle, and transmit mission commands to the unmanned mobile vehicle.

지상관제시스템은, 통신모듈로부터 수신한 통합정보에 수록된 영상정보에 관제정보를 오버레이하여 표시할 수 있다.The ground control system may display the control information by overlaying the image information included in the integrated information received from the communication module.

통신모듈은, 영상정보의 영상품질을 조절하여 전송할 수 있다. 이때, 통신모듈은, 지상관제시스템으로부터 피드백된 QoS 레벨을 기초로 영상품을 조절할 수 있다.The communication module may adjust and transmit image quality of image information. At this time, the communication module may adjust the video product based on the QoS level fed back from the ground control system.

무인이동체는, 육상 무인이동체, 공중 무인이동체, 수상 무인이동체 중 하나일 수 있다.The unmanned mobile vehicle may be one of a land unmanned mobile vehicle, an airborne unmanned mobile vehicle, and a waterborne unmanned mobile vehicle.

한편, 본 발명의 다른 실시예에 따른, 무인이동체 운용 시스템은, 임무 지역에서 임무를 수행하는 무인이동체; 및 무인이동체에 임무정보를 전달하는 지상관제시스템;을 포함하고, 무인이동체는, 임무 지역을 촬영하여 영상정보를 생성하는 영상장치; 무인이동체의 관제정보를 생성하는 항법 제어장치; 및 영상장치에서 생성된 영상정보와 항법 제어장치에서 생성된 관제정보를 통합하여 지상관제시스템으로 송신하는 통신모듈;을 포함한다.On the other hand, according to another embodiment of the present invention, the unmanned mobile vehicle operating system includes an unmanned mobile vehicle performing a mission in a mission area; and a ground control system that transmits mission information to the unmanned mobile vehicle, wherein the unmanned mobile vehicle includes: an imaging device for generating image information by photographing the mission area; A navigation control device that generates control information of an unmanned mobile vehicle; and a communication module that integrates image information generated by the imaging device and control information generated by the navigation controller and transmits the information to the ground control system.

이상 설명한 바와 같이, 본 발명의 실시예들에 따르면, 무인이동체의 영상정보와 관제정보를 통합하여 RTC(Real-Time Communication) 기반으로 실시간으로 전송함으로써, 지상관제시스템에서 실시간 영상을 기반으로 관제가 가능해지고, 운용의 효율성이 증대된다.As described above, according to the embodiments of the present invention, by integrating video information and control information of an unmanned mobile vehicle and transmitting them in real time based on RTC (Real-Time Communication), control is performed based on real-time video in the ground control system. and increase operational efficiency.

도 1은 본 발명의 일 실시예에 따른 실시간 영상 데이터 통신 기반 무인이동체 운용 시스템을 도시한 도면,
도 2는 무인이동체의 RTC 모듈과 지상관제시스템의 RTC 모듈의 통신 연결 설정 과정을 나타낸 도면,
도 3은 무인이동체의 RTC 모듈과 지상관제시스템의 RTC 모듈이 정보를 실시간으로 송수신하는 것을 나타낸 도면,
도 4는 무인이동체의 RTC 모듈의 동작을 나타낸 도면,
도 5는 지상관제시스템의 RTC 모듈의 동작을 나타낸 도면,
도 6은 지상관제시스템의 영상/관제정보 가시화 기능을 나타낸 도면,
도 7은 영상정보의 영상품질 조절방법의 설명에 제공되는 흐름도, 그리고,
도 8에는 QoS의 레벨을 기초로, 영상정보의 품질을 조정하는 상황을 나타낸 도면이다.1 is a diagram showing an unmanned mobile vehicle operation system based on real-time video data communication according to an embodiment of the present invention;
2 is a diagram showing a communication connection setup process between an RTC module of an unmanned mobile vehicle and an RTC module of a ground control system;
3 is a diagram showing that the RTC module of the unmanned mobile vehicle and the RTC module of the ground control system transmit and receive information in real time;
4 is a diagram showing the operation of the RTC module of the unmanned mobile vehicle;
5 is a diagram showing the operation of the RTC module of the ground control system;
6 is a diagram showing the video / control information visualization function of the ground control system;
7 is a flowchart provided to explain a method for adjusting image quality of image information, and
8 is a diagram illustrating a situation in which the quality of video information is adjusted based on the QoS level.

이하에서는 도면을 참조하여 본 발명을 보다 상세하게 설명한다.Hereinafter, the present invention will be described in more detail with reference to the drawings.

본 발명의 실시예에서는 무인이동체 자율운용을 위한 실시간 영상 데이터 통신 방법을 제시한다. 구체적으로, 무인이동체가 임무를 수행을 하는 시나리오에서, 무인이동체의 카메라 영상정보와 관제정보를 통합하여 실시간으로 송수신하는 방법과 지상관제시스템에서 이 정보를 활용하는 방법을 제시한다.In an embodiment of the present invention, a real-time video data communication method for autonomous operation of an unmanned mobile vehicle is proposed. Specifically, in a scenario where an unmanned mobile vehicle performs a mission, a method of integrating camera image information and control information of an unmanned mobile vehicle to transmit/receive in real time and a method of utilizing this information in a ground control system are presented.

도 1은 본 발명의 일 실시예에 따른 실시간 영상 데이터 통신 기반 무인이동체 운용 시스템을 도시한 도면이다. 본 발명의 실시예에 따른 무인이동체 운용 시스템은, 도시된 바와 같이, 무인이동체(100)와 지상관제시스템(200)을 포함하여 구성된다.1 is a diagram illustrating an unmanned mobile vehicle operation system based on real-time video data communication according to an embodiment of the present invention. As shown, an unmanned mobile vehicle operating system according to an embodiment of the present invention includes an unmanned mobile vehicle 100 and a ground control system 200.

무인이동체는 육상 무인이동체인 UGV(Unmanned Ground Vehicle), 공중 무인이동체인 UAV(Unmanned Aerial Vehicle), 수상 무인이동체인 USV(Unmanned Surface Vehicle), ROV(Remotely Operated Vehicle), AUV(Autonomous Underwater Vehicle) 등으로 구현될 수 있다.Unmanned mobile vehicles include UGV (Unmanned Ground Vehicle), UAV (Unmanned Aerial Vehicle), USV (Unmanned Surface Vehicle), ROV (Remotely Operated Vehicle), AUV (Autonomous Underwater Vehicle), etc. can be implemented as

도 1에서 무인이동체(100)는 하나만 도시되어 있으나, 이를 다수로 구현할 수 있으며, 이 경우 자율협력 임무 수행이 가능해진다.Although only one unmanned vehicle 100 is shown in FIG. 1 , a plurality of them may be implemented, and in this case, an autonomous cooperation mission may be performed.

무인이동체(100)는, 도시된 바와 같이, 영상장치(110), RTC 모듈(120), 통신장치(130), 전자장치(140) 및 이동체(150)를 포함하여 구성된다.As shown, the unmanned mobile body 100 includes an imaging device 110, an RTC module 120, a communication device 130, an electronic device 140, and a mobile body 150.

이동체(150)는 무인이동체(100)의 몸체와 구동수단을 의미하는데, 무인이동체(100)의 종류에 따라 각기 다르게 구성되며, 다른 구성들(110~140)이 장착되는 본체로써 기능한다.The mobile body 150 refers to the body and driving means of the unmanned mobile body 100, and is configured differently depending on the type of the unmanned mobile body 100, and functions as a main body in which other components 110 to 140 are mounted.

영상장치(110)는 무인이동체(100)가 위치하고 있는 임무 지역을 촬영하여 영상정보를 생성한다.The imaging device 110 creates image information by capturing a mission area where the unmanned vehicle 100 is located.

전자장치(140)는 영상장치(110) 외에 무인이동체(100)가 임무수행을 위해 필요한 장치들(이를 테면, 센서, 매니퓰레이터 등)과 무인이동체의 관제정보를 생성하는 항법 제어장치를 포함한다.In addition to the imaging device 110, the electronic device 140 includes devices (eg, sensors, manipulators, etc.) necessary for the unmanned mobile vehicle 100 to perform its mission, and a navigation control device that generates control information of the unmanned mobile vehicle.

RTC 모듈(120)과 통신장치(130)는 지상관제시스템(200)과 통신하기 위한 수단으로, 전자는 논리적인 통신 인터페이스를 후자는 물리적인 통신 인터페이스를 각각 제공한다.The RTC module 120 and the communication device 130 are means for communicating with the ground control system 200, and the former provides a logical communication interface and the latter a physical communication interface, respectively.

RTC 모듈(120)은 영상장치(110)에서 생성된 영상정보와 항법 제어장치에서 생성된 관제정보를 통합하여, 지상관제시스템(200)으로 전송한다.The RTC module 120 integrates the image information generated by the imaging device 110 and the control information generated by the navigation control device and transmits them to the ground control system 200 .

지상관제시스템(200)은 무인이동체(100)의 원격제어와 임무통제를 위한 시스템으로, 도시된 바와 같이, RTC 모듈(210), 통신장치(220) 및 지상관제장치(230)를 포함하여 구성된다.The ground control system 200 is a system for remote control and mission control of the unmanned mobile vehicle 100, and as shown, includes an RTC module 210, a communication device 220, and a ground control device 230. do.

RTC 모듈(210)과 통신장치(220)는 무인이동체(100)와 통신하기 위한 수단으로, 전자는 논리적인 통신 인터페이스를 후자는 물리적인 통신 인터페이스를 각각 제공한다.The RTC module 210 and the communication device 220 are means for communicating with the unmanned mobile vehicle 100, and the former provides a logical communication interface and the latter a physical communication interface, respectively.

RTC 모듈(210)은 무인이동체(100)로부터 영상정보와 관제정보를 수신하고, 후술할 지상관제장치(230)에 의해 생성되는 제어정보와 임무정보를 무인이동체(100)로 전송한다.The RTC module 210 receives image information and control information from the unmanned mobile vehicle 100 and transmits control information and mission information generated by the ground control device 230 to the unmanned mobile vehicle 100 .

지상관제장치(230)는 RTC 모듈(210)을 통해 수신되는 영상정보와 관제정보를 관리자가 임무지역 모니터링 가능하도록 표시하고, 제어정보와 임무정보를 생성하여 RTC 모듈(210)을 통해 무인이동체(100)로 전송한다.The ground control device 230 displays the image information and control information received through the RTC module 210 so that the manager can monitor the mission area, generates control information and mission information, and uses the RTC module 210 to display the unmanned mobile vehicle ( 100).

무인이동체(100)의 RTC 모듈(120)와 지상관제시스템(200)의 RTC 모듈(210) 간의 실시간 통신 방법에 대해, 이하에서 도 2와 도 5를 참조하여 상세히 설명한다.A real-time communication method between the RTC module 120 of the unmanned mobile vehicle 100 and the RTC module 210 of the ground control system 200 will be described in detail with reference to FIGS. 2 and 5 below.

도 2는 무인이동체(100)의 RTC 모듈(120)과 지상관제시스템(200)의 RTC 모듈(210)의 통신 연결 설정 과정을 나타낸 도면이다.FIG. 2 is a diagram illustrating a process of establishing a communication connection between the RTC module 120 of the unmanned mobile vehicle 100 and the RTC module 210 of the ground control system 200.

무인이동체(100)의 RTC 모듈(120)과 지상관제시스템(200)의 RTC 모듈(210)은, 도 2에 도시된 바와 같이, 클라이언트 A와 클라이언트 B로써 시그널링 서버를 통해 Peer-to-Peer로 연결된다.As shown in FIG. 2, the RTC module 120 of the unmanned mobile vehicle 100 and the RTC module 210 of the ground control system 200 are peer-to-peer through a signaling server as clients A and B. Connected.

구체적으로, 클라이언트 A[무인이동체(100)의 RTC 모듈(120)]와 클라이언트 B[지상관제시스템(200)의 RTC 모듈(210)]는 시그널링 서버에 시그널링 메시지를 전송하고 세션정보를 받아 Peer-to-Peer로 연결된다.Specifically, client A [RTC module 120 of unmanned mobile vehicle 100] and client B [RTC module 210 of ground control system 200] transmit a signaling message to the signaling server and receive session information to peer- It is connected as a to-peer.

도 3에는 무인이동체(100)의 RTC 모듈(120)과 지상관제시스템(200)의 RTC 모듈(210)이 시그널링 서버에서 서로를 검색하고 연결을 요청하며, 요청들을 서로 수락하여 세션정보를 받아 Peer-to-Peer로 연결된 이후에, 영상정보와 관제정보를 실시간으로 송수신하는 것을 나타내었다.3, the RTC module 120 of the unmanned mobile vehicle 100 and the RTC module 210 of the ground control system 200 search each other in the signaling server, request a connection, accept the requests each other, receive session information, and connect the Peer After being connected by -to-Peer, it shows that video information and control information are transmitted and received in real time.

도 4는 무인이동체(100)의 RTC 모듈(120)의 동작을 나타낸 도면이다. 무인이동체(100)의 RTC 모듈(120)은, 도시된 바와 같이, 항법 제어장치와 연동하여 관제정보를 수신하고 제어명령을 전달하고, 임무장치와 연동하여 임무정보를 전달하며, 영상장치(110)에서 생성된 영상정보를 수신한다.4 is a diagram showing the operation of the RTC module 120 of the unmanned mobile vehicle 100. As shown, the RTC module 120 of the unmanned mobile vehicle 100 receives control information and transmits control commands in conjunction with the navigation control device, transmits mission information in conjunction with the mission device, and transmits mission information in conjunction with the imaging device 110 ) Receives the image information generated in.

도 5는 지상관제시스템(200)의 RTC 모듈(210)의 동작을 나타낸 도면이다. 지상관제시스템(200)의 RTC 모듈(210)은, 도시된 바와 같이, 지상관제장치(230)와 연동하여, 무인이동체의 이동을 제어하며, 무인이동체로부터 수신한 영상정보와 관제정보를 표시하며, 무인이동체에 임무명령을 전달한다.5 is a diagram illustrating the operation of the RTC module 210 of the ground control system 200. As shown, the RTC module 210 of the ground control system 200 controls the movement of the unmanned mobile body in conjunction with the ground control device 230, displays image information and control information received from the unmanned mobile body, and , transmits mission commands to unmanned mobile vehicles.

도 6은 지상관제시스템(200)의 영상/관제정보 가시화 기능을 나타낸 도면이다. 도시된 바와 같이, 지상관제시스템(200)의 지상관제장치(230)는 RTC 모듈(210)을 통해 무인이동체(100)로부터 수신한 통합정보에 수록되어 있는 영상정보에 관제정보를 오버레이하여 표시한다.6 is a diagram showing a video/control information visualization function of the ground control system 200. As shown, the ground control device 230 of the ground control system 200 overlays control information on image information included in integrated information received from the unmanned mobile vehicle 100 through the RTC module 210 and displays the control information. .

도 6에는 무인이동체(100)가 다수여서 수신되는 영상정보의 개수가 다수인 경우를 상정하였다.In FIG. 6, it is assumed that the number of received image information is multiple because there are multiple unmanned mobile vehicles 100.

한편, 무인이동체(100)의 RTC 모듈(120)은 카메라(110)에서 생성된 영상정보의 영상품질을 조절하여 전송할 수 있는데, 이 과정을 도 7에 도시하였다. 도 7은 영상정보의 영상품질 조절방법의 설명에 제공되는 흐름도이다.Meanwhile, the RTC module 120 of the unmanned mobile vehicle 100 may adjust and transmit image quality of image information generated by the camera 110, and this process is illustrated in FIG. 7 . 7 is a flowchart provided to explain a method for adjusting image quality of image information.

영상 품질 조절을 위해, 수신단 클라이언트인 지상관제시스템(200)의 RTC 모듈(210)은 QoS(전송율, 지연, 에러율 정보)를 수집한다(S310). 다음, 지상관제시스템(200)의 RTC 모듈(210)은 수집한 QoS 레벨을 무인이동체(100)의 RTC 모듈(120)로 전달한다(S320).For video quality control, the RTC module 210 of the ground control system 200, which is a receiving end client, collects QoS (transmission rate, delay, and error rate information) (S310). Next, the RTC module 210 of the ground control system 200 transfers the collected QoS level to the RTC module 120 of the unmanned mobile vehicle 100 (S320).

그러면, 무인이동체(100)의 RTC 모듈(120)은 피드백된 QoS 레벨을 기초로 영상정보의 영상품질을 조절한다(S330). 도 8에는 QoS의 레벨을 기초로, 영상정보의 품질을 조정하는 상황을 나타내었다.Then, the RTC module 120 of the unmanned mobile vehicle 100 adjusts the video quality of the video information based on the feedback QoS level (S330). 8 shows a situation in which the quality of video information is adjusted based on the QoS level.

지금까지, 무인이동체 자율운용을 위한 실시간 영상 데이터 통신 방법에 대해 바람직한 실시예를 들어 상세히 설명하였다.So far, a method for real-time video data communication for autonomous operation of an unmanned mobile vehicle has been described in detail with a preferred embodiment.

위 실시예에서는, 임무수행을 위한 무인이동체의 전자장치, 통신장치의 통합구성을 기반으로 하여 지상관제장치에서 무인이동체의 눈인 카메라 영상정보를 주요사항으로 항법정보를 통합하여 구성할 수 있는 실시간 영상 데이터 통신 시스템을 제시하였다.In the above embodiment, based on the integrated configuration of the electronic device and communication device of the unmanned mobile vehicle for mission performance, real-time image information that can be configured by integrating navigation information as the main item of the camera image information, which is the eye of the unmanned mobile vehicle in the ground control device A data communication system was presented.

이를 통해, 영상정보를 기반으로 무인이동체를 제어하고 임무명령을 전달하고 영상정보와 무인이동체 센서, 항법 데이터 및 제어 정보를 통합하여 실시간 전송하여 지상관제의 효율성 증대가 가능하다.Through this, it is possible to increase the efficiency of ground control by controlling unmanned vehicles based on image information, delivering mission commands, and integrating and transmitting image information, unmanned vehicle sensors, navigation data and control information in real time.

한편, 본 실시예에 따른 장치와 방법의 기능을 수행하게 하는 컴퓨터 프로그램을 수록한 컴퓨터로 읽을 수 있는 기록매체에도 본 발명의 기술적 사상이 적용될 수 있음은 물론이다. 또한, 본 발명의 다양한 실시예에 따른 기술적 사상은 컴퓨터로 읽을 수 있는 기록매체에 기록된 컴퓨터로 읽을 수 있는 코드 형태로 구현될 수도 있다. 컴퓨터로 읽을 수 있는 기록매체는 컴퓨터에 의해 읽을 수 있고 데이터를 저장할 수 있는 어떤 데이터 저장 장치이더라도 가능하다. 예를 들어, 컴퓨터로 읽을 수 있는 기록매체는 ROM, RAM, CD-ROM, 자기 테이프, 플로피 디스크, 광디스크, 하드 디스크 드라이브, 등이 될 수 있음은 물론이다. 또한, 컴퓨터로 읽을 수 있는 기록매체에 저장된 컴퓨터로 읽을 수 있는 코드 또는 프로그램은 컴퓨터간에 연결된 네트워크를 통해 전송될 수도 있다.Meanwhile, it goes without saying that the technical spirit of the present invention can also be applied to a computer-readable recording medium containing a computer program for performing the functions of the apparatus and method according to the present embodiment. In addition, technical ideas according to various embodiments of the present invention may be implemented in the form of computer readable codes recorded on a computer readable recording medium. The computer-readable recording medium may be any data storage device that can be read by a computer and store data. For example, the computer-readable recording medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, and the like. In addition, computer readable codes or programs stored on a computer readable recording medium may be transmitted through a network connected between computers.

또한, 이상에서는 본 발명의 바람직한 실시예에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적 사상이나 전망으로부터 개별적으로 이해되어져서는 안될 것이다.In addition, although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those skilled in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

100 : 무인이동체
110 : 영상장치(카메라)
120 : RTC 모듈
130 : 통신장치
140 : 전자장치
150 : 이동체
200 : 지상관제시스템
210 : RTC 모듈
220 : 통신장치
230 : 지상관제장치100: unmanned mobile
110: imaging device (camera)
120: RTC module
130: communication device
140: electronic device
150: mobile body
200: ground control system
210: RTC module
220: communication device
230: ground control device

Claims (8)

임무 지역을 촬영하여 영상정보를 생성하는 영상장치;
무인이동체의 관제정보를 생성하는 항법 제어장치; 및
영상장치에서 생성된 영상정보와 항법 제어장치에서 생성된 관제정보를 통합하여 지상관제시스템에 실시간으로 송신하는 통신모듈;을 포함하는 것을 특징으로 하는 무인이동체.
An imaging device that generates image information by photographing the mission area;
A navigation control device that generates control information of an unmanned mobile vehicle; and
An unmanned mobile vehicle comprising: a communication module that integrates image information generated by the imaging device and control information generated by the navigation control device and transmits them to the ground control system in real time.
 청구항 1에 있어서,
통신모듈은,
시그널링 서버에서 지상관제시스템를 검색하고 연결을 요청하고,
지상관제시스템은,
시그널링 서버에서 무인이동체를 검색하고 연결을 요청하며,
요청들이 수락되면,
무인이동체의 통신모듈과 지상관제시스템가 Peer-to-Peer로 연결되는 것을 특징으로 하는 무인이동체.
The method of claim 1,
The communication module is
Signaling server searches ground control system and requests connection,
ground control system,
The signaling server searches for unmanned vehicles and requests connection,
When requests are accepted,
An unmanned mobile vehicle characterized in that the communication module of the unmanned mobile vehicle and the ground control system are connected peer-to-peer.
 청구항 1에 있어서,
지상관제시스템은,
통신모듈로부터 수신한 통합정보에 수록된 영상정보를 기반으로 무인이동체의 임무지역을 파악하고, 무인이동체의 이동을 제어하며, 무인이동체에 임무명령을 전달하는 것을 특징으로 하는 무인이동체.
The method of claim 1,
ground control system,
An unmanned mobile vehicle characterized in that it identifies the mission area of the unmanned mobile vehicle based on the image information contained in the integrated information received from the communication module, controls the movement of the unmanned mobile vehicle, and transmits mission commands to the unmanned mobile vehicle.
 청구항 3에 있어서,
지상관제시스템은,
통신모듈로부터 수신한 통합정보에 수록된 영상정보에 관제정보를 오버레이하여 표시하는 것을 특징으로 하는 무인이동체.
The method of claim 3,
ground control system,
An unmanned mobile vehicle characterized in that the image information recorded in the integrated information received from the communication module is displayed by overlaying the control information.
 청구항 1에 있어서,
통신모듈은,
영상정보의 영상품질을 조절하여 전송하는 것을 특징으로 하는 무인이동체.
The method of claim 1,
The communication module is
An unmanned mobile vehicle characterized in that the image quality of image information is adjusted and transmitted.
 청구항 5에 있어서,
통신모듈은,
지상관제시스템으로부터 피드백된 QoS 레벨을 기초로 영상품질을 조절하는 것을 특징으로 하는 무인이동체.
The method of claim 5,
The communication module is
An unmanned mobile vehicle characterized in that the video quality is adjusted based on the QoS level fed back from the ground control system.
 청구항 1에 있어서,
무인이동체는,
육상 무인이동체, 공중 무인이동체, 수상 무인이동체 중 하나인 것을 특징으로 하는 무인이동체.
The method of claim 1,
unmanned vehicles,
An unmanned mobile vehicle, characterized in that it is one of a land unmanned mobile vehicle, an airborne unmanned mobile vehicle, and a waterborne unmanned mobile vehicle.
 임무 지역에서 임무를 수행하는 무인이동체; 및
무인이동체에 임무정보를 전달하는 지상관제시스템;을 포함하고,
무인이동체는,
임무 지역을 촬영하여 영상정보를 생성하는 영상장치;
무인이동체의 관제정보를 생성하는 항법 제어장치; 및
영상장치에서 생성된 영상정보와 항법 제어장치에서 생성된 관제정보를 통합하여 지상관제시스템에 실시간으로 송신하는 통신모듈;을 포함하는 것을 특징으로 하는 무인이동체 운용 시스템.
unmanned vehicles performing missions in the mission area; and
Including; ground control system that transmits mission information to unmanned vehicles;
unmanned vehicles,
An imaging device that generates image information by photographing the mission area;
A navigation control device that generates control information of an unmanned mobile vehicle; and
An unmanned mobile vehicle operating system comprising: a communication module that integrates image information generated by the imaging device and control information generated by the navigation control device and transmits them to the ground control system in real time.
KR1020210131047A 2021-10-01 2021-10-01 Real-time video data communication method for autonomous operation of unmanned moving vehicles KR20230047782A (en)

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