KR20230126649A - Method and apparatus for controlling drone - Google Patents

Abstract

It relates to a drone control method and apparatus, and more particularly, to an invention that can easily measure boundary point coordinates with a drone when surveying a target area. The drone control method acquires boundary point coordinate information and map data of a target area from a terminal, recognizes the boundary point coordinates of the target area in the form of waypoints, and based on the boundary point coordinates recognized in the form of waypoints, the drone This is to control the operation to automatically fly over the target area.

Description

Drone control method and device thereof {METHOD AND APPARATUS FOR CONTROLLING DRONE}

The following embodiments relate to a control method and device for a drone, and more specifically, to an invention that can easily measure boundary point coordinates with a drone when surveying a target area.

Drones are one of the 4th industrial fields that have recently been attracting attention, and they are a business that combines cutting-edge technologies such as aviation, ICT, SW, and sensors. Drones can acquire new information by combining information from various fields with IOT, AI, and big data. Drones can be used in various fields such as construction, surveying, logistics, disaster relief, traffic observation, and agricultural control.

A drone control method according to an embodiment includes obtaining boundary point coordinate information and map data of a target area from a terminal, recognizing the boundary point coordinates of the target area in the form of waypoints, and recognizing the boundary point coordinates in the form of waypoints. Based on the boundary point coordinates, the method may include controlling a drone to automatically fly over the target area, and transmitting a result of the automatic flight to the terminal, wherein the result of the automatic flight is in the form of the waypoint. The boundary point coordinates indicated by may include imaged marker data.

The acquiring may further include receiving environment information corresponding to the target area from the terminal and obtaining sensor information from a sensor mounted on the drone, and the controlling may include the boundary point coordinate information. , Generating a flight control signal based on the environment information and the sensor information, and controlling the operation based on the flight control signal.

The method of claim 2 , wherein the generating of the flight control signal comprises determining flight direction information based on the boundary point coordinate information, the environment information, and the sensor information, the boundary point coordinate information, the environment information, and the sensor information. Determining flight speed information based on and determining flight altitude information based on the boundary point coordinate information, the environment information, and the sensor information.

Controlling the operation to automatically fly may include temporarily hovering the drone at the coordinates of the boundary points of the target area, and the measurement of the coordinates of the boundary points of the target area is completed or the boundary points of the target area When the measurement of coordinates is stopped, the drone may continue the hovering.

The hovering may include displaying, by the drone, a boundary point on the ground surface of the target area.

The marking on the target area may include marking a boundary point on the ground surface of the target area using a laser or a spraying object attached to the drone.

A control method of a terminal according to an embodiment includes generating a control signal to be transmitted to a drone and map data of a target area based on a user's selection input, generating the control signal and the map data for automatic flight of the drone. The method may include transmitting to the drone and acquiring an automatic flight result of the drone and displaying the obtained result on an interface of a terminal, wherein the control signal includes information on boundary point coordinates of the target area and a flight direction corresponding to the boundary point coordinates. It may include information about, and the automatic flight result may include marker data in which the boundary point coordinates displayed in the form of way points are imaged.

The generating step includes generating a control signal including at least one of a flight mode, automatic take-off and landing, destination movement, a status message, and an error message of the drone using a Ground Control System (GCS); and In response to a user selection input, the method may include converting address data (including PNU data) included in the map data into boundary point coordinates.

The interface of the terminal displays the map data in the form of a satellite map in response to the user selection input, provides an interface in the form of at least one button among a start button, a take-off and landing button, and an altitude control function button of the drone, and the drone A message interface can be provided to check status messages and error messages received from

A drone according to an embodiment acquires boundary point coordinate information and map data of a target area from a terminal, and a communication unit that transmits an automatic flight result to the terminal and recognizes the boundary point coordinates of the target area in the form of a waypoint, and a control module for controlling an operation so that the drone automatically flies over the target area based on the coordinates of the boundary points recognized in the form of waypoints, and the automatic flight result is the coordinates of the boundary points displayed in the form of waypoints. may contain imaged marker data.

The communication unit receives environment information corresponding to the target area from the terminal, and the control module obtains sensor information from a sensor mounted on the drone, and based on the boundary point coordinate information, the environment information, and the sensor information, It is possible to generate a flight control signal and control the operation based on the flight control signal.

The control module determines flight direction information based on the boundary point coordinate information, the environment information, and the sensor information, determines flight speed information based on the boundary point coordinate information, the environment information, and the sensor information, and determines the boundary point information. Flight altitude information may be determined based on coordinate information, the environment information, and the sensor information.

The control module controls an operation so that the drone temporarily hovers at the boundary point coordinates of the target area, and when the measurement of the boundary point coordinates of the target area is completed or the measurement of the boundary point coordinates of the target area is stopped, The drone may continue the hovering.

The control module may control the drone to display a boundary point on the ground surface of the target area while the drone hovers.

The control module may control the drone to display a boundary point on the ground surface of the target area using a spraying object or a laser attached to the drone.

A terminal according to an embodiment includes a processor generating a control signal to be transmitted to a drone and map data of a target area based on a user's selection input, and a processor generating the control signal and the map data for automatic flight of the drone to the drone. and a communication unit for transmitting and obtaining an automatic flight result of the drone and a display for displaying information related to the drone and the map data, wherein the control signal corresponds to boundary point coordinate information and boundary point coordinates of the target area. The automatic flight result may include marker data in which the boundary point coordinates displayed in the form of waypoints are imaged.

The processor generates a control signal including at least one of a flight mode, automatic take-off and landing, destination movement, a status message, and an error message of the drone using a Ground Control System (GCS), and the user selects the input. In response, address data included in the map data, including PNU data, may be converted into boundary point coordinates.

The interface of the terminal displays the map data in the form of a satellite map in response to the user selection input, provides an interface in the form of at least one button among a start button, a take-off and landing button, and an altitude control function button of the drone, and the drone A message interface can be provided to check status messages and error messages received from

1 is a flowchart illustrating a drone control method according to an exemplary embodiment.
2 is a flowchart for explaining a method of operating a terminal according to an embodiment.
3 schematically illustrates a protocol for measuring GPS of a drone according to an embodiment.
4 schematically illustrates an interface of a terminal according to an embodiment.
5 schematically illustrates an interface of a terminal according to an embodiment.

Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only, and may be changed and implemented in various forms. Therefore, the form actually implemented is not limited only to the specific embodiments disclosed, and the scope of the present specification includes changes, equivalents, or substitutes included in the technical idea described in the embodiments.

Although terms such as first or second may be used to describe various components, such terms should only be construed for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

It should be understood that when an element is referred to as being “connected” to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, but one or more other features or numbers, It should be understood that the presence or addition of steps, operations, components, parts, or combinations thereof is not precluded.

In this document, "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C", and "A Each of the phrases such as "at least one of , B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in this specification, it should not be interpreted in an ideal or excessively formal meaning. don't

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted.

1 is a flowchart illustrating a drone control method according to an exemplary embodiment.

Although the operations of FIG. 1 may be performed in the order and manner shown, the order of some operations may be changed or some operations may be omitted without departing from the spirit and scope of the illustrated embodiments. Many of the operations shown in FIG. 1 may be performed in parallel or concurrently.

In step 110, the drone according to an embodiment may acquire boundary point coordinate information and intellectual study data of the target area from the terminal.

A drone is an unmanned aerial vehicle (UAV), which is a flying machine that can be controlled without a human being on board. Drones can be remotely controlled by external electronics or programmed to fly autonomously. The drone is equipped with a processor, camera, and sensor, and can perform aerial photography and video recording.

A terminal is a device capable of installing and executing applications related to a server, and may provide an interface to a user. The interface may be provided by the terminal itself. For example, it may be provided by the OS (Operation System) of the terminal or may be provided by an application installed in the terminal. Also, the interface may be provided by the server, and the terminal may simply receive and display the interface provided from the server.

The drone may acquire boundary point coordinate information and intellectual study data of the target area through communication with the user's terminal. The drone and terminal may include a communication unit (not shown). The short-range wireless communication unit includes a Bluetooth communication unit, a Bluetooth Low Energy (BLE) communication unit, a Near Field Communication unit, a WLAN (Wi-Fi) communication unit, a Zigbee communication unit, an infrared (IrDA, It may include an infrared data association (IR) communication unit, a Wi-Fi Direct (WFD) communication unit, an ultra wideband (UWB) communication unit, an Ant+ communication unit, etc., but is not limited thereto. The wireless communication unit may include, but is not limited to, a cellular network communication unit, an Internet communication unit, a computer network (eg, LAN or WAN) communication unit, and the like.

Boundary point coordinates mean that cadastral-related matters are expressed in the form of coordinates. Boundary point coordinates mean registering x, y coordinates and code maps of the boundary points of the target area by introducing the concept of mathematical coordinates in order to compensate for the disadvantages of cadastral maps or forest maps.

The map data may be data including a lot number address corresponding to a target area, a road name address, an administrative district, and the like. In addition, the map data may include digitally converted data of intellectual study of the target area. For example, the Naver Reverse Geocoding API provides a service that converts coordinates into address information on Naver Maps. The terminal can obtain domestic legal dong, administrative dong, lot address, road name address information corresponding to specific coordinates from the Naver Reverse Geocoding API. Using the Naver Reverse Geocoding API on the terminal, click a desired point to obtain the coordinates and the address of the land at the corresponding coordinates. The terminal can obtain a PNU (Parcel Number Unit) code suitable for each address by using the Naver Reverse Geocoding API that received the address.

The terminal may obtain the boundary point coordinate information and the boundary point coordinate list using the PNU code. For example, the Vworld 2D Data API 2.0 Reference API can receive a PNU code and provide boundary point coordinates. The terminal may input the PNU code obtained from the Naver Reverse Geocoding API to the Vworld 2D Data API 2.0 Reference API to obtain boundary point coordinate information and a boundary point coordinate list of the target area as shown in Equation 1 below. The present disclosure is not limited to the API of the described embodiment, and other APIs capable of acquiring address information and boundary point coordinate information may be used.

A drone according to an embodiment may receive environment information corresponding to a target area from a terminal. For example, the environment information may include terrain information about obstacles such as trees, hills, and telephone poles existing in the target area. When the drone flies in the sky over the target area, the drone may receive terrain information that is an obstacle to the flight path from the terminal.

A drone according to an embodiment may obtain sensor information from a sensor mounted on the drone. For example, the sensor mounted on the drone may include a wind direction sensor, a wind speed detection sensor, a precipitation detection sensor, a temperature/humidity sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a gyroscope sensor, a position sensor (eg , GPS), a proximity sensor, and an RGB sensor (illuminance sensor). Since a person skilled in the art can intuitively infer the function of each sensor from its name, a detailed description thereof may be omitted. The drone may acquire sensor information about the wind direction, wind speed, and precipitation information of the target area from the sensor. The drone may use the acquired sensor information to modify the flight path of the target area and transmit the sensor information to the terminal.

In step 120, the drone according to an embodiment may recognize the coordinates of boundary points of the target area in the form of waypoints. The way point form may mean recognizing boundary point coordinates stored in the form of (x, y) coordinates as an intermediate path form of a target area. In addition, it may mean receiving from a terminal in the form of a way point and recognizing it as a predetermined location. For example, when a drone sets a flight path, it can recognize boundary point coordinates as a point it must pass.

In step 130, the drone according to an embodiment may control an operation so that the drone automatically flies over the target area based on the coordinates of the boundary points recognized in the form of waypoints.

A drone according to an embodiment may generate a flight control signal based on boundary point coordinate information, environment information, and sensor information. The drone may generate a flight control signal by determining flight direction information, flight speed information, and flight altitude information based on boundary point coordinate information, environment information, and sensor information.

For example, when a drone receives boundary point coordinate information and environment information of a target area from a terminal, a control module (not shown) of the drone may generate a flight control signal for controlling the drone. In addition, the control module of the drone may generate a flight control signal by receiving sensor information from a sensor mounted on the drone regarding elements that may be obstacles to flight. The flight control signal may be a signal designating a flight path for measuring boundary point coordinates of a target area. The control module of the drone may generate a flight control signal specifying a flight path by determining a flight direction, a flight speed, and a flight altitude in order to survey boundary point coordinates of the target area.

The term "module" may refer to a unit including one or a combination of two or more of, for example, hardware, software, or firmware. “Module” may be used interchangeably with terms such as, for example, unit, logic, logical block, component, or circuit. A “module” may be a minimum unit or part of an integrally formed part. A “module” may be a minimal unit or part thereof that performs one or more functions. A “module” may be implemented mechanically or electronically. For example, a "module" is any known or future developed application-specific integrated circuit (ASIC) chip, field-programmable gate arrays (FPGAs), or programmable-logic device that performs certain operations. may contain at least one.

A drone according to an embodiment may control an operation based on a flight control signal. For example, the control module of the drone may transmit a flight control signal to an operating unit (not shown) of the drone. The operating unit (eg, including a motor, wings, etc.) of the drone may fly over the target area based on the received flight control signal.

A drone according to an embodiment may control an operation of the drone so that the drone temporarily hovers at the coordinates of the boundary point of the target area. In addition, when the measurement of the coordinates of the boundary points of the target area is completed or the measurement of the coordinates of the boundary points of the target area is stopped, the drone may control an operation of the drone to continue hovering. Hovering refers to a state in which a drone does not move while maintaining a constant altitude. For example, when the drone arrives at the boundary point coordinates displayed in the form of a waypoint, it can show the user that it is above the boundary point coordinates by performing hovering at the boundary point coordinates of the target area.

While hovering, the drone may display boundary points on the ground surface of the target area. In addition, the drone may mark a boundary point on the ground surface of the target area with a spray object or a laser attached to the drone.

For example, assuming that a laser is mounted on a drone, the drone may arrive at the boundary point coordinates and shoot the laser onto the ground surface at the boundary point coordinates while hovering. A user who observes the target area can measure the coordinates of the boundary points by observing the laser projected on the ground surface. As another example, coordinates of boundary points may be physically displayed on the ground surface by mounting a spraying object on a drone. The spraying object may include an arrow with paint on it. In the present disclosure, the method of displaying boundary point coordinates on the ground surface is not limited to the described embodiment.

In step 140, the drone according to an embodiment may transmit an automatic flight result to the terminal. The automatic flight result may include marker data in which boundary point coordinates displayed in the form of way points are imaged. The imaged marker data means data capable of displaying the coordinates of the measured boundary points in the interface of the terminal.

2 is a flowchart for explaining a method of operating a terminal according to an embodiment.

The operations of FIG. 2 may be performed in the order and manner shown, but the order of some operations may be changed or some operations may be omitted without departing from the spirit and scope of the illustrated embodiments. Many of the operations shown in FIG. 2 may be performed in parallel or concurrently.

The description with reference to FIG. 1 may be equally applied to the description with reference to FIG. 2 , and redundant content may be omitted.

In operation 210, the terminal according to an embodiment may generate a control signal and map data of the target area with the drone based on the user's selection input.

The control signal may include boundary point coordinate information of the target area and flight direction information corresponding to the boundary point coordinates.

The terminal may generate a control signal including at least one of a drone flight mode, automatic take-off and landing, destination movement, a status message, and an error message using a Ground Control System (GCS).

For example, a ground control system can be implemented in software by combining Dronekit-Android Opensource and Naver Map API. Dronekit-Android Opensource can check the drone's current information, change the flight mode, and provide the ability to adjust the altitude. In addition, it may be possible to control the automatic take-off and landing of the drone, assign a mission to move it to the destination, and control the servo function at the destination. Naver Map API (or Naver Dynamic Mobile Map API) is a map engine that can provide various overlays such as shadows, markers, information windows, and shapes, as well as map types such as general maps, satellite maps, and cadastral editing maps. In addition, it controls the position of the camera looking at the map, or it includes the latitude and longitude coordinate system class, so it can be displayed on the map by inputting the coordinates.

The terminal can check the current information of the drone using the ground control system. In addition, the terminal can change the flight mode of the drone, control automatic take-off and landing, adjust the altitude, and move to the destination by assigning tasks to the drone, and control the servo function of the drone.

The drone may convert address data (eg, PNU data) included in map data into boundary point coordinates in response to a user selection input.

In step 220, the terminal according to an embodiment may transmit a control signal and map data for automatic flight of the drone to the drone.

In step 230, the terminal according to an embodiment may obtain a result of the automatic flight of the drone and display it on an interface of the terminal.

The automatic flight result may include data obtained by converting boundary point coordinates displayed in the form of way points into imaged marker forms.

The interface of the terminal may display map data in the form of a satellite map in response to a user selection input. The interface of the terminal may provide an interface in the form of at least one button among a start button, a take-off and landing button, and an altitude control function button of the drone. The interface of the terminal may provide a message interface to check the status message and error message received from the drone.

3 schematically illustrates a protocol for measuring GPS of a drone according to an embodiment.

A drone according to an embodiment may measure GPS using a network RTK method. For example, a control module of a drone may use a virtual reference station (VRS) method among network RTK methods. In network RTK, reference station data is stored in a server through LAN/WAN communication, and the location of a virtual reference point can be created by transmitting the location (rover) to be surveyed to the server. The server can generate corrected RTCM real-time data using the position of the virtual reference point and transmit it to the rover for surveying.

Referring to FIG. 3 , the network RTK method may be implemented using Network Transport of RTCM via Internet Protocol (NTRIP) 300 . NTRIP (300) is a protocol that provides GNSS data in a streaming manner through the Internet. NTRIP (300) NTRIP Source (e.g., NTRIP Source 1 (311), ??, NTRIP Source N (312)), a GNSS fixed reference station that generates RTK data streams, and GNSS data from NTRIP Source to NTRIP Caster (330) Transmitting NTRIP Server (eg NTRIP Server 1(321), ??, NTRIP Server N(322)), NTRIP Server as an HTTP server and NTRIP Client (eg NTRIP Client 1(341), ??, NTRIP Client N( 342)), it is composed of NTRIP Caster 330, which serves as a broadcaster, and NTRIP Client, which uses data using NTRIP 300.

4 schematically illustrates an interface of a terminal according to an embodiment.

The description referring to FIGS. 1 and 2 may be equally applied to FIG. 4 , and redundant content may be omitted.

Referring to FIG. 4, the interface 400 of the terminal according to an embodiment receives a map, arranges it in the form of a satellite map, and implements a cadastral editing function to turn ON/OFF so that the cadastral editing map is overlapped on the satellite map. can provide

The interface 400 of the terminal includes the current battery voltage, flight mode, altitude, speed, angle (YAW) of the drone and the number of satellites captured by the GPS module through the user interface (UI) bar 410 at the top of the drone. information can be provided.

The information window 420 at the upper left of the interface 400 of the terminal may provide a message window informing of current status information of the drone. For example, when the flight of a drone is changed from a manual mode directly controlled by a terminal to an automatic mode, status information indicating that the flight mode of the drone is changed to the automatic mode may be provided. As another example, information such as an error message when an error occurs in the flight of the drone or flight is impossible due to an obstacle may be provided.

The interface 400 of the terminal may include a map function control button or a drone control button at the lower left 430 and the lower right 440 . The terminal may provide functions displayed on buttons in response to a user's selection input on the interface of the terminal.

The interface 400 of the terminal may display a target area 450 selected by the user and a marker 451 for boundary point coordinates in response to a user's selection input. Also, the interface 400 of the terminal may display the address of the target area 450 selected by the user in the address bar 452 . The marker may be the coordinates of a boundary point of a point where the drone first moves.

The drone control button may include at least one of a take-off altitude button, a flight mode button, an ARM button, a hovering button, a mission transmission button, a mission stop button, and a mission start/restart button. The map function control button may include at least one of a satellite map button, a cadastral map button, a map lock button, a boundary point button, a NEXT button, a guide button, and a clear button.

The take-off height button is a button to set the take-off height of the drone, the flight mode button is a manual/automatic flight mode selection button, the ARM button is an automatic start take-off and landing control button, and the hover button is a button to control the hovering of the drone. The mission transfer button, mission stop button, and mission start/restart button are buttons that give a mission to drive to the coordinates of the boundary point for the target area selected by the user on the map, and control to start, stop, and restart the mission. The mission start, stop, and restart buttons may include a setting to set the flight mode to auto flight mode by default.

The satellite map button is a button for changing the map type in the interface 400 of the terminal, the cadastral map button is a button for controlling functions of the cadastral map provided by a website or software, and the map lock button is a button for controlling the movement of the map. This button restricts selection input. The boundary point button is a button that provides boundary point coordinates for the target area selected by the user, and the NEXT button is a button for changing the location of the marker displayed on the terminal display or setting the desired boundary point coordinates as a destination by repeatedly clicking. am. The guide button is a button that changes the drone's flight mode to guide mode so that it automatically flies to a designated destination. Unlike the automatic flight mode provided by the flight mode button, this button provides the function of automatically flying by setting a desired point or destination. The CLEAR button is a button that initializes the user's selection input. When the user's selection input for the target area 450 is initialized, address information displayed in the address bar 452 and markers 451 displayed on the map may all be initialized.

A control signal to be transmitted to the drone can be generated through the drone control button and the map function control button. For example, when a user selects a target area 450, selects a mission starting point for a drone to perform a mission as a marker 451, and sets the take-off altitude and flight mode of the drone, the terminal generates a control signal and , control signals can be transmitted to the drone. When transmission of the control signal to the drone is completed, a notification window such as "Mission upload complete" may be provided through the information window 420 .

When the user clicks the mission start button, the flight mode of the drone is changed to an automatic flight mode, and the drone can automatically fly to a location marked with the marker 451 . When the drone arrives at the destination indicated by the marker 451, it can hover for several seconds, and the marker can be displayed at the next boundary point coordinate position 451-1. The drone may automatically fly and move to the position 451-1 of the newly displayed marker. When the drone flies to the last point and flies all the boundary point coordinates of the target area, the drone transmits a signal indicating that the flight is completed to the terminal and waits for the next command while hovering.

When the user clicks the mission stop button, the drone's flight mode is changed to loitering mode, and the drone can wait for the next command while loitering at the location where the flight mode is changed. When the user clicks the restart mission button, the drone changes back to automatic flight mode and can move to the coordinates of the next demarcation point. The loitering mode may refer to a mode in which the drone measures GPS while loitering in the sky.

In the present disclosure, the buttons providing functions in the interface of the terminal are not limited to the described embodiments, the number and location of the buttons are not limited as shown in FIG. 4, and the functions provided by the terminal are also limited to the above-described functions. it is not going to be In addition, information necessary for drone flight and information necessary for measuring coordinates of boundary points of a target area are not limited to the described embodiments.

5 schematically illustrates an interface of a terminal according to an embodiment.

The description with reference to FIG. 4 may be equally applied to FIG. 5, and redundant content may be omitted.

FIG. 5 shows an interface 500 of a terminal for measuring boundary point coordinates of a target area 550 at a point different from that in FIG. 4 . The marker 551 for the boundary point coordinates may be moved to another location according to a user's selection input.

Although not shown in the drawing, a drone according to an embodiment includes a main body unit equipped with a control module for controlling the operation of the drone for land boundary point surveying based on a control signal transmitted from a terminal, and a plurality of propellers connected to the main body unit. It may include a wing portion provided with. For example, the drone may be a hexacopter that uses a Pixhawk4 as a control module and operates based on RTK GPS information. The drone and terminal can communicate through a hotspot-to-WIFI connection between Pixhawk and Android.

The drone according to an embodiment may include a telemetry module, a power management board, a receiving module, a buzzer, a switch, an RTK GPS module and a WI-FI module, a gimbal, and a laser in the main body, and the above-described modules can be connected to the control module. For example, a telemetry module, a power module, a reception module, etc. may be connected to and controlled by the Pixhawk as a control module. At the bottom of the main body, the battery is connected and assembled to be connected to the Pixhawk as a power module, and a line connected to the power management board is additionally attached to the lower part to connect the gimbal, so that current is supplied to the gimbal. You can attach lasers together. At this time, the RTK GPS antenna may be positioned on a straight line so that the error between the location of the RTK GPS module and the point pointed by the laser is reduced.

The embodiments described above may be implemented as hardware components, software components, and/or a combination of hardware components and software components. For example, the devices, methods and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate (FPGA). array), programmable logic units (PLUs), microprocessors, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and software applications running on the operating system. A processing device may also access, store, manipulate, process, and generate data in response to execution of software. For convenience of understanding, there are cases in which one processing device is used, but those skilled in the art will understand that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it can include. For example, a processing device may include a plurality of processors or a processor and a controller. Other processing configurations are also possible, such as parallel processors.

Software may include a computer program, code, instructions, or any combination thereof, which configures a processing device to operate as desired or which, independently or collectively, causes a processing device to operate. can command Software and/or data may be any tangible machine, component, physical device, virtual equipment, computer storage medium or device, intended to be interpreted by or provide instructions or data to a processing device. , or may be permanently or temporarily embodied in a transmitted signal wave. Software may be distributed on networked computer systems and stored or executed in a distributed manner. Software and data may be stored on computer readable media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. Computer readable media may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiment or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or the components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

Claims (19)

obtaining boundary point coordinate information and map data of a target area from a terminal;
Recognizing the coordinates of boundary points of the target area in the form of waypoints;
controlling a drone to automatically fly over the target area based on the boundary point coordinates recognized in the form of the waypoint; and
Transmitting the automatic flight result to the terminal
including,
The result of the automatic flight is
The boundary point coordinates displayed in the way point form include imaged marker data,
How to control your drone.
According to claim 1,
The step of obtaining
receiving environment information corresponding to the target area from the terminal; and
Acquiring sensor information from a sensor mounted on the drone
Including more,
The control step is
generating a flight control signal based on the boundary point coordinate information, the environment information, and the sensor information; and
Controlling the operation based on the flight control signal
Including, drone control method.
According to claim 2,
Generating the flight control signal
determining flight direction information based on the boundary point coordinate information, the environment information, and the sensor information;
determining flight speed information based on the boundary point coordinate information, the environment information, and the sensor information; and
Determining flight altitude information based on the boundary point coordinate information, the environment information, and the sensor information
Including, drone control method.
According to claim 1,
The step of controlling the operation to automatically fly
Temporarily hovering by the drone at the coordinates of the boundary point of the target area
including,
When the measurement of the coordinates of the boundary points of the target area is completed or the measurement of the coordinates of the boundary points of the target area is stopped, the drone continues the hovering.
According to claim 4,
The hovering step is
Displaying, by the drone, a boundary point on the ground surface of the target area
Including, drone control method.
According to claim 5,
The step of marking the target area is
Marking a boundary point on the ground surface of the target area with a spraying object or a laser attached to the drone
Including, drone control method.
generating a control signal to be transmitted to the drone and map data of a target area based on a user's selection input;
transmitting the control signal and the map data for automatic flight of the drone to the drone; and
obtaining a result of the automatic flight of the drone and displaying it on an interface of a terminal;
including,
The control signal is
Includes boundary point coordinate information of the target area and information about a flight direction corresponding to the boundary point coordinates,
The result of the automatic flight is
The boundary point coordinates displayed in the form of way points include imaged marker data,
Terminal control method.
According to claim 7,
The generating step is
generating a control signal including at least one of a flight mode, automatic take-off and landing, destination movement, a status message, and an error message of the drone using a Ground Control System (GCS); and
Converting address data (including PNU data) included in the map data into boundary point coordinates in response to the user selection input
Including, the control method of the terminal.
According to claim 7,
The interface of the terminal is
Displaying the map data in the form of a satellite map in response to the user selection input;
Providing an interface in the form of at least one button among a start button, a take-off and landing button, and an altitude control function button of the drone;
Providing a message interface to check the status message and error message received from the drone,
Terminal control method.
A computer program stored in a computer readable recording medium to be combined with hardware to execute the method of any one of claims 1 to 9.
a communication unit that obtains boundary point coordinate information and map data of a target area from a terminal and transmits an automatic flight result to the terminal; and
A control module for recognizing the coordinates of the boundary points of the target area in the form of waypoints and controlling an operation so that the drone automatically flies over the target area based on the coordinates of the boundary points recognized in the form of waypoints.
including,
The result of the automatic flight is
The drone, wherein the boundary point coordinates displayed in the way point form include imaged marker data
According to claim 11,
the communication department
receiving environment information corresponding to the target area from the terminal;
The control module
Acquiring sensor information from a sensor mounted on the drone;
A drone that generates a flight control signal based on the boundary point coordinate information, the environment information, and the sensor information, and controls the operation based on the flight control signal.
According to claim 12,
The control module
Determine flight direction information based on the boundary point coordinate information, the environment information, and the sensor information;
Determine flight speed information based on the boundary point coordinate information, the environment information, and the sensor information;
A drone that determines flight altitude information based on the boundary point coordinate information, the environment information, and the sensor information.
According to claim 11,
The control module
Control an operation so that the drone temporarily hovers at the boundary point coordinates of the target area;
When the measurement of the coordinates of the boundary points of the target area is completed or the measurement of the coordinates of the boundary points of the target area is stopped, the drone continues the hovering.
According to claim 14,
The control module
Controlling the drone to display a boundary point on the ground surface of the target area while the drone hovers.
According to claim 15,
The control module
Controlling the drone to mark a boundary point on the ground surface of the target area with a spraying object or a laser attached to the drone.
A processor generating a control signal to be transmitted to the drone and map data of a target area based on a user's selection input;
a communication unit configured to transmit the control signal and the map data for the automatic flight of the drone to the drone and obtain a result of the automatic flight of the drone; and
A display displaying information related to the drone and the map data
including,
The control signal is
Includes boundary point coordinate information of the target area and information about a flight direction corresponding to the boundary point coordinates,
The result of the automatic flight is
The boundary point coordinates displayed in the form of way points include imaged marker data.
According to claim 17,
The processor
Using a Ground Control System (GCS), a control signal including at least one of a flight mode, automatic take-off and landing, destination movement, a status message, and an error message of the drone is generated;
In response to the user selection input, converting address data (including PNU data) included in the map data into boundary point coordinates.
According to claim 17,
The interface of the terminal is
Displaying the map data in the form of a satellite map in response to the user selection input;
Providing an interface in the form of at least one button among a start button, a take-off and landing button, and an altitude control function button of the drone;
Providing a message interface to check the status message and error message received from the drone,
Terminal.

Images