KR20230168346A - Method and apparatus for providing an aerial disply - Google Patents

Abstract

A technology for providing an aerial display is disclosed. An operating method of a first aerial vehicle, comprising: receiving a formation formation command from a control device including first separation distance information and first relative position information for second aerial vehicles cooperatively holding a display device; transmitting the formation formation command to the second aerial vehicles; Receiving a first movement command including a first movement distance and a first movement direction of the formation from the control device; A method of operating a first aerial vehicle may be provided, including transmitting the first movement command to the second aerial vehicle.

Description

METHOD AND APPARATUS FOR PROVIDING AN AERIAL DISPLY}

The present invention relates to aerial display provision technology, and more specifically, to an aerial display provision technology that allows a display to be provided in the air using an aerial moving object.

With the advancement of information and communication technology, various wireless communication technologies can be developed. Representative wireless communication technologies may include long term evolution (LTE) and new radio (NR), which are defined in the 3rd generation partnership project (3GPP) standard. LTE may be a wireless communication technology among 4G (4th Generation) wireless communication technologies, and NR may be a wireless communication technology among 5G (5th Generation) wireless communication technologies.

In this wireless communication technology, aerial vehicles can be used in a variety of fields, from reconnaissance and search in military fields or disaster situations, to crop management in agriculture, forest fire monitoring and tracking, and delivery of goods. Such an aerial mobile object is capable of hovering in the air, so it is possible to float a display device in the air and provide video through the display device. For example, a small or medium-sized aerial vehicle may float an advertising banner display device in the air and provide an advertising banner through the advertising banner display device. As another example, a plurality of aerial moving objects may each be equipped with a light-emitting element and display a message in the air by emitting light from the light-emitting element. This method of providing a display using a plurality of aerial moving objects can be used in various places, such as public service advertisements and festival advertisements.

When such small and medium-sized aerial vehicles provide advertisements using advertising banners, they cannot provide large advertisements due to weight or volume constraints. In addition, when a plurality of airborne vehicles each have a light-emitting element and provide a message using the light-emitting element, a large message can be provided, but it may require a lot of cost.

The purpose of the present invention to solve the above problems is to provide a method and device for providing an aerial display that allows video content to be provided through the display device by floating the display device in the air through the cooperation of aerial moving objects.

A method of providing an aerial display according to a first embodiment of the present invention for achieving the above object is a method of operating a first aerial vehicle, and includes providing first separation distance information to second aerial vehicles holding a display device from a control device. and receiving a formation formation command including first relative position information; transmitting the formation formation command to the second aerial vehicles to form a formation including the second aerial vehicles; Receiving a first movement command including a first movement distance and a first movement direction of the formation from the control device; And it may include transmitting the first movement command to the second aerial vehicles to move the formation in the first movement direction to the first movement distance.

Here, the first movement distance may be a movement distance of the first aerial vehicle, and the first movement direction may be a movement direction of the first aerial vehicle.

Here, exchanging second separation distance information with the second aerial vehicles; Comparing the first separation distance information and the second separation distance information; If the first separation distance information and the second separation distance information are different, the method may further include correcting the separation distance between the first aerial vehicle and the second aerial vehicle.

Here, exchanging first location information and second separation distance information with the second aerial vehicles; estimating second relative location information from the first location information and the second separation distance information; Comparing the first relative location information and the second relative location information; If the first relative location information and the second relative location information are different, the method may further include correcting the relative positions of the first aerial vehicle and the second aerial vehicle.

Here, receiving a rotation command including the rotation direction and rotation angle of the center of the formation from the control device; calculating a second movement distance and a second movement direction for the second aerial vehicles according to the rotation direction and the rotation angle; And transmitting a second movement command including the second movement distance and the second movement direction to the second aerial vehicles to rotate the formation according to the rotation direction and the rotation angle. .

Here, receiving a formation adjustment command including third separation distance information and third relative position information for the second aerial vehicles from the control device; And it may further include the step of transmitting the formation adjustment command to the second aerial vehicles to adjust the formation including the second aerial vehicles.

Here, providing second location information of the first aerial vehicle to the second aerial vehicle; It may further include transmitting an antenna direction control signal including an antenna rotation direction and an antenna rotation angle to the second aerial vehicles to adjust the directions of the antennas of the second aerial vehicles.

Meanwhile, an aerial display providing device according to a first embodiment of the present invention for achieving the above object includes, as a first aerial moving object, a processor; a memory that communicates electronically with the processor; and instructions stored in the memory, wherein when the instructions are executed by the processor, the instructions are transmitted to the first aerial vehicle by the second aerial vehicle holding the display device from the control device. receive a formation formation command including first separation distance information and first relative position information; transmitting the formation formation command to the second aerial vehicles to form a formation including the second aerial vehicles; receive a first movement command including a first movement distance and a first movement direction of the formation from the control device; and transmitting the first movement command to the second aerial vehicles to cause the formation to move in the first movement direction and the first movement distance.

Here, the commands cause the first aerial vehicle to exchange second separation distance information with the second aerial vehicle; Compare the first separation distance information and the second separation distance information; If the first separation distance information and the second separation distance information are different, the operation may further cause correction of the separation distance between the first aerial vehicle and the second aerial vehicle.

Here, the commands cause the first aerial vehicle to exchange first location information and second separation distance information with the second aerial vehicles; estimating second relative position information from the first position information and the second separation distance information; compare the first relative location information and the second relative location information; If the first relative position information and the second relative position information are different, the operation may further cause correction of the relative positions of the first aerial vehicle and the second aerial vehicle.

Here, the commands include: the first aerial vehicle receives a rotation command including a rotation direction and rotation angle of the center of the formation from the control device; calculating a second movement distance and a second movement direction for the second aerial vehicles according to the rotation direction and the rotation angle; and transmitting a second movement command including the second movement distance and the second movement direction to the second aerial vehicles to further cause the formation to rotate according to the rotation direction and the rotation angle. there is.

Here, the commands include: the first aerial vehicle receives a formation adjustment command including third separation distance information and third relative position information with respect to the second aerial vehicles from the control device; and transmitting the formation adjustment command to the second aerial vehicles to further cause coordination of the formation including the second aerial vehicles.

Here, the commands cause the first aerial vehicle to provide second location information of the first aerial vehicle to the second aerial vehicles; In addition, the antenna direction control signal including the antenna rotation direction and the antenna rotation angle may be transmitted to the second aerial vehicles to further adjust the directions of the antennas of the second aerial vehicles.

According to the present application, aerial moving objects can float a display device in the air through collaboration and provide video through the display device. Additionally, according to the present application, the control device can control the aerial vehicles participating in collaboration through the leader aerial vehicle. In this way, according to the present application, the control device can control the aerial vehicles participating in collaboration through the leader aerial vehicle, thereby providing convenience in control.

Additionally, according to the present application, the control device can form a formation of aerial vehicles through a formation formation command. And, according to the present application, the control device can move a formation formed by aerial mobile objects through a formation movement command. Additionally, according to the present application, the control device can rotate a formation formed by aerial vehicles through a formation rotation command.

Additionally, according to the present application, aerial vehicles can calculate the distance between each other using a UWB communication device. In this way, aerial vehicles can calculate the separation distance using a UWB communication device, so the separation distance can be easily adjusted in real time.

1 is a conceptual diagram showing a first embodiment of an aerial display providing device.
Figure 2 is a block diagram showing a first embodiment of an aerial vehicle.
Figure 3 is a conceptual diagram showing a first embodiment of an aerial vehicle.
Figure 4 is a conceptual diagram showing a first embodiment of a leader-follower formation control method.
Figure 5 is a conceptual diagram showing a first embodiment of a method for measuring the separation distance and relative position between airborne moving objects.
6A and 6B are flowcharts showing a first embodiment of a method for providing a public display.
Figure 7 is a block diagram showing a first embodiment of a control device constituting an aerial display providing device and a flight controller of an aerial mobile object.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, a first component may be named a second component, and similarly, the second component may also be named a first component without departing from the scope of the present invention. The term and/or includes any of a plurality of related stated items or a combination of a plurality of related stated items.

In embodiments of the present application, “at least one of A and B” may mean “at least one of A or B” or “at least one of combinations of one or more of A and B.” Additionally, in embodiments of the present application, “one or more of A and B” may mean “one or more of A or B” or “one or more of combinations of one or more of A and B.”

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an idealized or excessively formal sense. No.

Throughout the specification, network refers to, for example, wireless Internet such as WiFi (wireless fidelity), mobile Internet such as WiBro (wireless broadband internet) or WiMax (world interoperability for microwave access), and GSM (global system for mobile communication). ) or 2G mobile networks such as code division multiple access (CDMA), 3G mobile networks such as wideband code division multiple access (WCDMA) or CDMA2000, high speed downlink packet access (HSDPA) or high speed uplink packet access (HSUPA). It may include a 3.5G mobile communication network, a 4G mobile communication network such as an LTE (long term evolution) network or an LTE-Advanced network, a 5G mobile communication network, and a 6G mobile communication network.

Throughout the specification, terminal refers to a mobile station, mobile terminal, subscriber station, portable subscriber station, user equipment, and access terminal. It may refer to the like, and may include all or part of the functions of a terminal, a mobile station, a mobile terminal, a subscriber station, a portable subscriber station, a user device, an access terminal, etc.

Here, a desktop computer, a laptop computer, a tablet PC, a wireless phone, a mobile phone, a smart phone, and a smart watch capable of communicating with a terminal. (smart watch), smart glass, e-book reader, PMP (portable multimedia player), portable game console, navigation device, digital camera, DMB (digital multimedia broadcasting) player, digital voice digital audio recorder, digital audio player, digital picture recorder, digital picture player, digital video recorder, digital video player ), etc. can be used.

Throughout the specification, base station refers to an access point, radio access station, node B, evolved node B, base transceiver station, and MMR ( It may refer to a mobile multihop relay)-BS, etc., and may include all or part of the functions of a base station, access point, wireless access station, Node B, eNodeB, transmitting and receiving base station, and MMR-BS.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. In order to facilitate overall understanding when describing the present invention, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

1 is a conceptual diagram showing a first embodiment of an aerial display providing device.

Referring to FIG. 1, an aerial display providing device may include aerial mobile objects 100-1 to 100-4, a display device 110, and a control device 120. Here, the aerial vehicles 100-1 to 100-4 may form a group and fly in formation. At this time, the shape of the formation may take the form of a specific figure. For example, if the display device 110 has a rectangular shape, it may have a corresponding rectangular shape.

Here, four aerial vehicles (100-1 to 100-4) are formed to form a cluster, but this is not limited to this, and more than two to less than 20 aerial vehicles can form a small to medium-sized cluster, and is limited to this. No, the number of airborne vehicles may be less or more than this. These aerial vehicles (100-1 to 100-4) can fly in formation. In addition, one of the aerial vehicles 100-1 to 100-4 may be the leader aerial vehicle 100-1, and the rest may be follower aerial vehicles 100-2 to 100-4. ) can be.

Aerial vehicles (100-1 to 100-4) can increase mission performance efficiency through collaboration. Here, collaboration may mean sharing and performing the same task. Alternatively, collaboration can refer to expanding the geographic scope of the same work. In the process of performing missions through such collaboration, aerial mobile devices 100-1 to 100-4 may communicate with each other through direct device-to-device (D2D) communication. Here, D2D communication may refer to a method in which geographically proximate aerial vehicles 100-1 to 100-4 directly communicate with each other without going through the control device 120.

Meanwhile, there may be a lot of research on technology in which aerial vehicles (100-1 to 100-4) collaborate to transport objects. In particular, studies on aerial vehicles (100-1 to 100-4) transporting objects simply using ropes have been focused on small helicopters since the early 2000s. Recently, much research has been conducted on how aerial vehicles (100-1 to 100-4) equipped with robot manipulators not only transport objects but also perform complex forms of collaboration.

In this way, technologies in which aerial vehicles (100-1 to 100-4) collaborate to transport objects may have been successful in many cases in the laboratory. However, actual commercialization of technologies in which aerial vehicles (100-1 to 100-4) collaborate to transport objects cannot be found. The reason why technologies for transporting objects through collaboration between aerial vehicles (100-1 to 100-4) have not been commercialized is because they are not accurate in estimating the relative positions of aerial vehicles (100-1 to 100-4). It can be. In the laboratory, experimenters can conduct experiments by accurately estimating the relative positions of aerial moving objects (100-1 to 100-4) through systems such as MOCAP (motion capture). However, in an actual use environment, the airborne mobile objects (100-1 to 100-4) cannot accurately estimate their relative positions.

In an LED (light-emitting diode) show using aerial vehicles (100-1 to 100-4), the aerial vehicles (100-1 to 100-4) use real time kinematic (RTK-GPS) to accurately estimate their relative positions. -global positioning system) can be used. However, RTK-GPS receivers can be expensive. Additionally, the control device 120 and the aerial vehicles 100-1 to 100-4 may be constantly connected to transmit RTK-GPS correction signals. Additionally, there may be a disadvantage that the error increases depending on the distance between the aerial vehicles 100-1 to 100-4 and the control device 120. In order to overcome these shortcomings, in the present application, the aerial vehicles (100-1 to 100-4) use an ultra wide band (UWB) communication device to communicate with other aerial vehicles (100-1 to 100-4). The separation distance can be measured.

In one example, the aerial vehicles 100-1 to 100-4 may perform data communication through UWB communication and measure the distance from each other. Here, UWB communication technology may be a short-distance communication technology using ultra-wideband frequencies. For example, UWB communication may be a communication technique that exchanges data by transmitting and receiving impulses with distributed energy density in a wide frequency band of several GHz or more. UWB communication devices may have less interference with existing communication systems. In addition, UWB communication devices can have high precision in measuring separation distances, so they can be used in various places such as smart tags.

Accordingly, the aerial vehicles 100-1 to 100-4 use each UWB communication device to transfer data between the aerial vehicles 100-1 to 100-4 as well as to communicate with the aerial vehicles 100-1 to 100. -4) It may be possible to measure the distance between the two. Additionally, each of the aerial vehicles 100-1 to 100-4 may asynchronously exchange location information of the other aerial vehicles 100-1 to 100-4 using a UWB communication device. Accordingly, the aerial vehicles 100-1 to 100-4 can estimate their relative positions using the separation distance and location information between the other aerial vehicles 100-1 to 100-4.

Figure 2 is a block diagram showing a first embodiment of an aerial vehicle.

Referring to FIG. 2, the aerial vehicle 200 includes a communication unit 201, a flight controller (FC) 202, a mission processing unit 203, a UWB communication circuit 204, and a UWB communication data processing unit 205. , may include a sensor 206, a propulsion device 207, an actuator 208, and a power management unit 209.

The aerial vehicle 200 may communicate with the control device 210 using the communication unit 201. The communication unit 201 may communicate with the control device 210 according to WiFi, Bluetooth, or other wireless communication standards. In one example, the flight control unit 202 and/or the mission execution processor 203 may input and output data according to the MAVLink (micro air vehicle link) protocol. The MAVlink protocol can provide a variety of micro services such as session management, mission upload, parameter request, etc., as well as airborne vehicles and message types. The communication unit 201 can transmit such MAVLink data to the control device 210 according to wireless communication standards. Additionally, the communication unit 201 can receive such MAVLink data from the control device 210. In particular, among the MAVLink data, the aerial vehicle 200 may receive control data according to the TCP (transmission control protocol) protocol from the control device 210. Additionally, among the MAVLink data, the aerial vehicle 200 may transmit image data or sensor data to the control device 210 according to the user datagram protocol (UDP) or TCP protocol.

The flight controller 202 may control the propulsion device 207 and/or the actuator 208 to adjust the flight speed and/or direction of the aerial vehicle 200. The flight control unit 202 may control the propulsion device 207 and/or the actuator 208 according to control data received from the control device 210 through the communication unit 201. In addition, the flight control unit 202 controls the propulsion device 207 and/or the actuator 208 based on the sensor signal detected by the sensor 206 to stably maintain the attitude of the aerial vehicle 200. .

The mission performance processing unit 203 may provide computing resources necessary for the aerial vehicle 200 to perform its mission. The mission performance of the mission processing unit 203 may be performed through a control command from the control device 210, or may be performed according to preprogramming. Here, the mission may include specific tasks such as monitoring video capture and sensor data acquisition, as well as monitoring and setting functions such as attitude control and navigation, internal status monitoring such as batteries, flight starting point (wapoint) setting, and geofence setting. You can. In addition, the mission is to perform communication with the control device 210, mediate communication between the control device 210 and the UWB communication data processing unit 205, provide control data to the flight control unit 202, and obtain data from the control unit 202. ), storage of log data, etc.

The UWB communication circuit 204 and the UWB communication data processing unit 205 can configure a UWB communication device and perform UWB communication with other aerial vehicles. As an example, UWB communication performed by the UWB communication circuit 204 and the UWB communication data processing unit 205 may enable both data communication with other aerial vehicles and measurement of a separation distance with other aerial vehicles. As an example, a UWB communication device may be a medium access control (MAC) layer communication device that includes a primitive session management function. UWB communication devices can perform direct device-to-device communication (D2D communication) that does not include a network concept.

UWB communication devices can communicate with other airborne vehicles in an asynchronous manner. The UWB communication circuit 204 may receive transmission data from the UWB communication data processor 205, modulate the received transmission data, and output it as a wireless signal. Additionally, the UWB communication circuit 204 can receive signals from other airborne vehicles, demodulate the received signals, and provide the demodulated received data to the UWB communication data processing unit 205. The UWB communication circuit 204 can be implemented using a commercially available UWB communication integrated circuit chip.

The UWB communication data processing unit 205 can transmit transmission data to other aerial vehicles and receive data from other aerial vehicles through the UWB communication circuit 204. The UWB communication data processing unit 205 may be connected to a higher level device such as the flight control unit 202 and/or the mission execution processing unit 203 through serial communication. The UWB communication data processing unit 205 may be connected to the UWB communication circuit 204 through inter-chip communication such as a serial peripheral interface (SPI).

The UWB communication data processing unit 205 can interpret messages received through serial communication and provide basic media access control (MAC) functions for data transmission and reception to set communication parameters to the UWB communication circuit 204. The UWB communication data processing unit 205 can manage a list of other aerial mobile devices capable of UWB communication in order to enable collaboration between public mobile devices and support a primitive form of session management for UWB communication. When transmitting and receiving data through the UWB communication circuit 204, the UWB communication data processing unit 205 can not only transmit and receive general data, but also transmit and receive data to be shared by airborne vehicles in the form of appending it to a distance measurement frame. . As will be described later, the UWB communication data processing unit 205 can support custom protocols and Mavlink protocols, and can provide Mavlink microservices to which a modified session management method is applied suitable for collaboration between aerial vehicles.

The sensor 206 may acquire information about the interior or surroundings of the aerial vehicle 200 or measure physical quantities. The sensor 206 may include one or more of an image sensor, that is, a camera, an infrared sensor, a gyro sensor and/or an acceleration sensor, radar, lidar, a global positioning system (GPS) sensor, an ultrasonic sensor, a barometer, a magnetometer, and a rangefinder. there is. The propulsion device 207 may be an engine or motor that provides propulsion to change the position and/or direction of the aerial vehicle 200. The actuator 208 can vary the propulsion force of the propulsion device 207. The actuator 208 may be a transmission, servo actuator, or transmission, and may be provided separately for one or more of a propeller, flap, rudder, and tail blade depending on the type of propulsion device 208. The power management unit 209 may monitor the battery status of the aerial vehicle 200 and manage energy consumption.

Figure 3 is a conceptual diagram showing a first embodiment of an aerial vehicle.

Referring to FIG. 3, the aerial vehicle may include a flight control unit 301, a UWB antenna 302, and a hook 303. Here, the flight control unit 301 may use a real-time hovering thrust control method and may use a UWB communication device. The flight control unit 301 can transmit telemetry to other airborne vehicles on a one-to-one basis using the UWB antenna 302 of the UWB communication device. Alternatively, the flight controller 301 may broadcast and deliver telemetry to other airborne vehicles using the UWB antenna 302 of the UWB communication device.

Meanwhile, the flight control unit 301 can measure the separation distance from other airborne vehicles using the UWB antenna 302 of the UWB communication device. In this way, the flight control unit 301 of the aerial vehicle may be able to transmit data between the aerial vehicles as well as measure the separation distance between the aerial vehicles using the UWB antenna 302 of the UWB communication device. Additionally, the flight control unit 301 of the aerial vehicle can asynchronously exchange location information of opposing aerial vehicles using the UWB antenna 302 of the UWB communication device. Accordingly, the flight control unit 301 of the aerial vehicle can estimate the relative positions of the opposing aerial vehicles using the separation distance and position information between the aerial vehicles.

The UWB antenna 302 of the UWB communication device may be installed on the front part of the aerial vehicle. Since UWB communication is prone to being blocked by obstacles or even the body of the airborne vehicle itself, a situation may arise where the posture of the UWB antenna 302 must be changed for smooth communication. This application may propose a method of changing the antenna position by changing the yaw of the aerial vehicle for smooth UWB communication in the formation control method. For this purpose, the UWB antenna 302 of the UWB communication device may be installed on the front part of the aerial vehicle.

Meanwhile, the aerial vehicle is equipped with a hook 303, and the display device can be levitated in the air in cooperation with other aerial vehicles by hanging a rope 310 on the hook 303. As an example, the aerial vehicle can levitate the display device in the air by hanging a rope 310 on one side of one of the corners of the display device and dragging it. In this way, the aerial vehicle can use the string 310 to levitate the display device in the air. At this time, the center of gravity of each aerial vehicle may be aligned with the center of gravity of the battery. Accordingly, the aerial vehicle may be provided with a hook 303 for hanging the line 310 around the battery. As a result, the rope 310 can be tied to the hook 303 located at the center of gravity of each aerial vehicle.

Referring again to FIG. 1, the display device 110 may be a liquid crystal display (LCD), an organic light emitting diode (OLED), or the like. Additionally, the display device 110 may be at least one of a rigid display panel, a flexible display panel, or a transparent display panel. Additionally, the display device 110 may be a banner or an LED curtain. This display device 110 may be in a mesh form that is relatively less affected by wind.

Meanwhile, the control device 120 can control flight and mission performance while communicating with the aerial vehicles 100-1 to 100-4, and capture images and images from the aerial vehicles 100-1 to 100-4. /Or sensor data may be received. For communication between the control device 120 and each of the aerial vehicles 100-1 to 100-4, WiFi or Bluetooth may be used, mobile communication may be used, or other wireless communication may be used.

The control protocol through which the control device 120 controls the aerial vehicles 100-1 to 100-4 through such wireless communication is the MAVLink protocol, which can be said to be a de facto standard used for aerial vehicles. This can be utilized. Data packets transmitted and received through the MAVLink protocol may have a very simple structure, thereby minimizing computing resources and energy consumption of the airborne mobile devices 100-1 to 100-4. The control device 120 and each aerial vehicle (100-1 to 100-4) individually uses a system ID (identifier), component ID, and message ID in a data packet according to the MAVLink protocol. Airborne moving objects can be identified and data can be transmitted and received. Among the data transmitted and received between the control device 120 and each aerial vehicle 100-1 to 100-4, control data may be transmitted using the TCP protocol, and video data or sensor data may be transmitted using the UDP or TCP protocol. However, the present invention may not be limited thereto.

Such a control device 120 may select one of the aerial vehicles 100-1 to 100-4 and designate it as the leader aerial vehicle. As an example, the control device 120 may measure received signal strengths by receiving reference signals from the aerial vehicles 100-1 to 100-4, and select the aerial vehicle 100-1 having the greatest received signal strength. can be designated as the leader aerial vehicle. The control device 120 may notify the designated leader aerial vehicle 100-1 of the fact that it has been designated as the leader aerial vehicle.

In this way, the control device 120 may transmit a leader designation notification signal including the identifier (ID) of the leader aerial vehicle 100-1 to the designated leader aerial vehicle 100-1. Then, the leader aerial vehicle 100-1 may receive a leader designation notification signal including the identifier of the leader aerial vehicle 100-1 from the control device 120. Accordingly, the leader aerial vehicle 100-1 can recognize the fact that it has been designated as a leader through a leader designation notification signal. As another example, the control device 120 may communicate with any one of the aerial vehicles 100-1 to 100-4, and other aerial vehicles 100-2 to 100-4. ) cannot communicate with. In this case, the control device 120 may designate any aerial mobile object 100-1 capable of communication as the leader.

Meanwhile, the control device 120 may select at least one aerial vehicle from among the aerial vehicles 100-2 to 100-4 and designate it as a follower aerial vehicle. As an example, the control device 120 may designate the aerial vehicles 100-2 to 100-4 excluding the leader aerial vehicle 100-1 as follower aerial vehicles. As another example, the control device 120 selects at least one aerial vehicle whose received signal strength of the reference signal from the aerial vehicles 100-2 to 100-4 excluding the leader aerial vehicle 100-1 is a follower aerial vehicle. It can be specified as . As another example, the control device 120 may communicate with any one of the aerial vehicles 100-1 to 100-4, and other aerial vehicles 100-2 to 100- 4) Unable to communicate with. In this case, the control device 120 may designate any one communicable aerial vehicle 100-1 as the leader, and designate the remaining aerial vehicles 100-2 to 100-4 as followers.

The control device 120 may notify the designated follower aerial vehicles 100-2 to 100-4 of the fact that they have been designated as follower aerial vehicles. That is, the control device 120 may transmit a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 to the designated follower aerial vehicles 100-2 to 100-4. Then, the follower aerial vehicles 100-2 to 100-4 may receive a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 from the control device 120. Accordingly, the follower aerial vehicles 100-2 to 100-4 can recognize the fact of follower designation through a follower designation notification signal.

Here, the control device 120 notifies the designated follower aerial vehicles 100-2 to 100-4 directly of the fact that they have been designated as follower aerial vehicles, but the notification may also be made via the leader aerial vehicle 100-1. That is, the control device 120 may transmit a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 to the leader aerial vehicle 100-1.

Then, the leader aerial vehicle 100-1 may receive a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 from the control device 120. In addition, the leader aerial vehicle 100-1 may transmit a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 to the follower aerial vehicles 100-2 to 100-4. . The follower aerial vehicles 100-2 to 100-4 may receive a follower designation notification signal including the identifiers of the follower aerial vehicles 100-2 to 100-4 from the leader aerial vehicle 100-1. Accordingly, the follower aerial vehicles 100-2 to 100-4 can recognize the fact of follower designation through a follower designation notification signal.

Thereafter, the leader aerial vehicle 100-1 sends an antenna direction control signal including at least one of the position information, antenna rotation direction, or antenna rotation angle of the leader aerial vehicle 100-1 to the follower aerial vehicle 100-2 to 100-4). Then, the follower aerial vehicles 100-2 to 100-4 may receive an antenna direction control signal from the leader aerial vehicle 100-1. Accordingly, the follower aerial vehicles 100-2 to 100-4 may perform a yaw rotation operation to direct the UWB antenna of the UWB communication device toward the leader aerial vehicle 100-1. As a result, the UWB antennas of the follower aerial vehicles 100-2 to 100-4 may be directed toward the leader aerial vehicle 100-1.

Meanwhile, the control device 120 may generate a formation formation command for the aerial vehicles 100-1 to 100-4 according to the user's operation and transmit it to the leader aerial vehicle 100-1. At this time, the formation formation command may include formation type information, and may include separation distance information and relative position information between the airborne mobile units 100-1 to 100-4. Accordingly, the leader aerial vehicle 100-1 may receive a formation formation command from the control device 120.

Here, the separation distance information may be a displacement vector that uses one aerial moving object as a starting point and another aerial moving object as an end point. Additionally, the relative position information may include a relative difference between the position information of one aerial vehicle in three-dimensional space and the position information of another aerial vehicle in three-dimensional space. In other words, the relative position information is the relative difference between the position information on the Z-axis (vertical axis) in the three-dimensional space of one aerial vehicle and the position information on the Z-axis (vertical axis) in the three-dimensional space of another aerial vehicle, whichever one The relative difference between the position information on the Y-axis (horizontal axis) in the three-dimensional space of an aerial vehicle and the position information on the Y-axis (horizontal axis) in the three-dimensional space of another aerial vehicle and the X-axis in the three-dimensional space of one of the aerial vehicles It may include a relative difference between location information on the (vertical axis) and location information on the

In addition, the leader aerial vehicle 100-1 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4. The formation formation command can be delivered one-to-one or by broadcast to the follower aerial vehicles (100-2 to 100-4). Then, the follower aerial vehicles 100-2 to 100-4 receive formation information from the leader aerial vehicle 100-1, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles ( A formation formation command containing relative position information between 100-1 to 100-4) can be received. At this time, the aerial vehicles 100-1 to 100-4 may share location information. Accordingly, the follower aerial vehicles 100-2 to 100-4 move and form a formation using the separation distance information and relative position information in the formation formation command received based on the position of the leader aerial vehicle 100-1. can be formed.

At this time, the leader aerial vehicle 100-1 may need to move. In this case, the leader aerial vehicle 100-1 includes the formation type information of the received formation formation command, the separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100- 4) Movement distance, movement direction, movement speed or final target positions to be moved by each of the leader aerial vehicle 100-1 and the follower aerial vehicle 100-2 to 100-4 based on the relative position information between them. At least one of them can be calculated. Here, the final target position can be given as (x, y, z) values in three dimensions.

In addition, the leader aerial vehicle 100-1 is a formation including at least one of the movement distance, movement direction, movement speed, or final target position calculated for each of the follower aerial vehicles 100-2 to 100-4. Formation telemetry can be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation formation telemetry may include formation shape information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4.

Thereafter, the leader aerial vehicle 100-1 moves to the final target location according to at least one of the movement distance, movement direction, movement speed, or final target location calculated for itself of the leader aerial vehicle 100-1. It is possible to reach the target position and maintain a hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100-4. ), formation formation telemetry including at least one of relative position information, each movement distance, each movement direction, each movement speed, or each final target position can be received one-to-one or through broadcast. there is.

In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information of the received formation formation telemetry, separation distance information between the aerial vehicles 100-1 to 100-4, and Move to the final target position based on at least one of the relative position information between (100-1 to 100-4), each movement distance, each movement direction, each movement speed, or each final target position. It is possible to maintain a hovering state by reaching . As a result, when the formation formation command is executed, the aerial vehicles 100-1 to 100-4 are spaced apart from each other with the leader aerial vehicle 100-1 as the center and the follower aerial vehicles 100-2 to 100-4) can be spaced apart to form a formation. At this time, the aerial vehicles 100-1 to 100-4 can share location information with each other, and accordingly, the aerial vehicles 100-1 to 100-4 continuously check the separation distance between each other to determine the necessary You can adjust it by moving it accordingly.

Meanwhile, the control device 120 may generate a formation movement command for the formation to move the formation formed by the aerial vehicles 100-1 to 100-4 and transmit it to the leader aerial vehicle 100-1. At this time, the formation movement command may be at least one of a levitation movement command, a vertical movement command, a forward and backward movement command, or a left and right movement command. Accordingly, the leader aerial vehicle 100-1 may receive a formation movement command from the control device 120. This formation movement command may use the current position of the leader aerial vehicle 100-1 as a starting point, and may be a displacement vector using the final target position as an end point. That is, the formation movement command may include the movement direction and movement distance of the leader aerial vehicle 100-1.

Then, the leader aerial vehicle 100-1 provides formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicle 100-1 to 100-4 according to the received formation movement command. ) Based on the relative position information between the leader aerial vehicle (100-1) and the follower aerial vehicle (100-2 to 100-4), at least one of the movement distance, movement direction, movement speed, or final target position to be moved. One can be calculated.

In addition, the leader aerial vehicle 100-1 calculates each movement distance, each movement direction, each movement speed, or each final target position for each of the follower aerial vehicles 100-2 to 100-4. Formation movement telemetry including at least one of the following can be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation movement telemetry may include formation shape information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4.

Thereafter, the leader aerial vehicle 100-1 sets the final target according to at least one of the movement distance, movement direction, movement speed, or final target position calculated for itself of the leader aerial vehicle 100-1 according to the formation movement command. You can move to a location, reach the final target location, and maintain a hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100-4. ), formation movement telemetry including at least one of relative position information, each movement distance, each movement direction, each movement speed, or each final target position can be received one-to-one or through broadcast. there is.

In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information of the received formation movement telemetry, separation distance information between the aerial vehicles 100-1 to 100-4, and Move to the final target position based on at least one of the relative position information between (100-1 to 100-4), each movement distance, each movement direction, each movement speed, or each final target position. It is possible to maintain a hovering state by reaching . As a result, when a formation movement command is executed, the aerial vehicles 100-1 to 100-4 can move while maintaining a formation with the leader aerial vehicle 100-1 at a corresponding movement distance.

Accordingly, the formation formed by the aerial vehicles 100-1 to 100-4 can move a certain distance while maintaining the formation form along the Z-axis (vertical axis) when a levitation movement command is executed. In addition, the formation formed by the aerial vehicles 100-1 to 100-4 can move a certain distance while maintaining the formation form along the Y-axis (horizontal axis) when a vertical movement command is executed. In addition, the formation formed by the aerial vehicles 100-1 to 100-4 can move a certain distance while maintaining the formation form along the X-axis (vertical axis) when a forward/backward movement command or a left/right movement command is executed.

As a result, when a levitation movement command is executed, the display device 110 can maintain a levitating state by moving the Z-axis (vertical axis) a certain distance. Additionally, when a vertical movement command is executed, the display device 110 may maintain a levitating state by moving a certain distance along the Y-axis (horizontal axis). Additionally, when a forward/backward movement command or a left/right movement command is executed, the display device 110 may move a certain distance along the X-axis (vertical axis) and maintain a levitating state.

Thereafter, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 may asynchronously exchange location information using each UWB communication device. In addition, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 measure the separation distance between the aerial vehicles 100-1 to 100-4 using respective UWB communication devices. can do. Accordingly, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 use the separation distance and location information between the aerial vehicles 100-1 to 100-4 to The relative positions of (100-1 to 100-4) can be estimated. Additionally, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 may compare the estimated relative positions with the target relative positions and correct them to the target relative positions in different cases. In this way, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 can correct their relative positions by exchanging location information and separation distance information with other aerial vehicles with which they can communicate. However, as an example, the leader aerial vehicle 100-1 may proactively correct such a relative position as described below, but may not be limited to this.

As an example, when the relative position estimated for the follower aerial vehicles 100-2 to 100-4 is different from the target relative position, the leader aerial vehicle 100-1 provides formation type information, aerial vehicle 100-1 to 100-4) and/or relative position information between the aerial vehicles 100-1 to 100-4, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100. -4) At least one of the correction movement distance to be moved, the correction movement direction, the correction movement speed, or the correction final target position can be calculated.

And, the leader aerial vehicle 100-1 calculates each of the follower aerial vehicles 100-2 to 100-4 by calculating each corrected movement distance, each corrected movement direction, each corrected movement speed, or each corrected movement speed. Formation correction movement telemetry including at least one of the correction final target positions may be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation correction movement telemetry may include formation shape information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4. .

Afterwards, the leader aerial vehicle 100-1 is at least one of the correction movement distance, correction movement direction, correction movement speed, or correction final target position calculated for itself of the leader aerial vehicle 100-1 according to the formation correction movement command. According to one, it can move to the final target position for correction, reach the final target location for correction, and maintain the hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100-4. ) One-to-one or broadcast formation correction movement telemetry including at least one of relative position information, each correction movement distance, each correction movement direction, each correction movement speed, or each correction final target position. It can be received through.

In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information of the received formation movement telemetry, separation distance information between the aerial vehicles 100-1 to 100-4, and To the corrected final target position based on at least one of relative position information between (100-1 to 100-4), each corrected movement distance, each corrected movement direction, each corrected movement speed, or each corrected final target position. You can move to reach the final target position for correction and maintain the hovering state. As a result, when a formation correction movement command is executed, the aerial vehicles 100-1 to 100-4 can move while maintaining a formation with the corresponding correction movement distance centered on the leader aerial vehicle 100-1. there is.

As described above, the leader aerial vehicle 100-1 adjusts the corrected movement distance, corrected movement direction, corrected movement speed or correction of the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4. Out-of-range separation distances can be corrected by calculating at least one of the final target positions. In contrast, the aerial vehicles 100-1 to 100-4 share each other's location information in real time and measure the separation distance in real time based on the shared location information, thereby correcting each other's relative positions and distances. . The aerial vehicles 100-1 to 100-4 can move according to the corrected relative positions and separation distances to maintain the formation precisely.

Meanwhile, the control device 120 may generate a formation rotation command to rotate the formation formed by the aerial vehicles 100-1 to 100-4 and transmit it to the leader aerial vehicle 100-1. At this time, the rotation command may be at least one of a yaw rotation command, a pitch rotation command, or a roll rotation command. This rotation command may include the rotation direction and rotation angle of the center of the formation formed by the aerial vehicles 100-1 to 100-4. Accordingly, the leader aerial vehicle 100-1 may receive a formation rotation command from the control device 120.

Meanwhile, the rotation of the formation formed by the aerial vehicles 100-1 to 100-4 cannot be achieved due to the respective rotations of the aerial vehicles 100-1 to 100-4, and each aerial vehicle 100- It can be achieved by moving 1 to 100-4). Accordingly, the leader aerial vehicle 100-1 provides formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and aerial vehicles 100-1 to 100- according to the received formation rotation command. 4) Based on the relative position information between the leader aerial vehicle 100-1 and the follower aerial vehicle 100-2 to 100-4, each of the movement distance, movement direction, movement speed, or final target position must be moved. At least one can be calculated.

In addition, the leader aerial vehicle 100-1 calculates each movement distance, each movement direction, each movement speed, or each final target position for each of the follower aerial vehicles 100-2 to 100-4. Formation rotation telemetry including at least one of the following can be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation rotation telemetry may include formation shape information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4.

Thereafter, the leader aerial vehicle 100-1 sets the final target according to at least one of the movement distance, movement direction, movement speed, or final target position calculated with respect to the leader aerial vehicle 100-1 according to the formation rotation command. You can move to a location, reach the final target location, and maintain a hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100-4. ), formation rotation telemetry including at least one of relative position information, each movement distance, each movement direction, each movement speed, or each final target position can be received one-to-one or through broadcast. there is.

In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information of the received formation rotation telemetry, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles. Move to the final target position based on at least one of the relative position information between (100-1 to 100-4), each movement distance, each movement direction, each movement speed, or each final target position. It is possible to maintain a hovering state by reaching . As a result, the aerial vehicles 100-1 to 100-4 can move while maintaining formation around the leader aerial vehicle 100-1 when a formation rotation command is executed.

Accordingly, the formation formed by the aerial vehicles 100-1 to 100-4 can be rotated around the Z-axis (vertical axis) and maintain a constant rotation angle when a yaw rotation command is executed. Additionally, the formation formed by the aerial vehicles 100-1 to 100-4 may maintain a constant rotation angle by rotating around the Y-axis (transverse axis) when a pitch rotation command is executed. Additionally, the formation formed by the aerial vehicles 100-1 to 100-4 may maintain a constant rotation angle by rotating around the X-axis (vertical axis) when a roll rotation command is executed.

As a result, the display device 110 can be rotated around the Z-axis (vertical axis) and maintain a constant rotation angle when a yaw rotation command is executed. Additionally, when a pitch rotation command is executed, the display device 110 may maintain a constant rotation angle by rotating around the Y-axis (horizontal axis). Additionally, when a roll rotation command is executed, the display device 110 may maintain a constant rotation angle by rotating around the X-axis (vertical axis).

Thereafter, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 may asynchronously exchange location information using each UWB communication device. Additionally, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 can measure the separation distance using their respective UWB communication devices.

Accordingly, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 use the separation distance and location information between the aerial vehicles 100-1 to 100-4 to The relative positions of (100-1 to 100-4) can be estimated. Additionally, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 may compare the estimated relative positions with the target relative positions and correct them to the target relative positions in different cases. In this way, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4 can correct their relative positions by exchanging location information and separation distance information with other aerial vehicles with which they can communicate. However, as an example, the leader aerial vehicle 100-1 may proactively correct such a relative position as described below, but may not be limited to this.

As an example, when the relative position estimated for the follower aerial vehicles 100-2 to 100-4 is different from the target relative position, the leader aerial vehicle 100-1 provides formation type information, aerial vehicle 100-1 to 100-4) and the relative position information between the aerial vehicles 100-1 to 100-4, the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4. ) can calculate at least one of the correction movement distance to be moved, the correction movement direction, the correction movement speed, or the correction final target position.

And, the leader aerial vehicle 100-1 calculates each of the follower aerial vehicles 100-2 to 100-4 by calculating each corrected movement distance, each corrected movement direction, each corrected movement speed, or each corrected movement speed. Formation correction rotation telemetry including at least one of the correction final target positions may be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation correction rotation telemetry may include formation shape information, separation distance information between the aerial vehicles 100-1 to 100-4, and relative position information between the aerial vehicles 100-1 to 100-4. .

Afterwards, the leader aerial vehicle 100-1 is at least one of the corrected movement distance, corrected movement direction, corrected movement speed, or corrected final target position calculated with respect to itself of the leader aerial vehicle 100-1 according to the formation correction rotation command. According to one, it can move to the final target position for correction, reach the final target location for correction, and maintain the hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles 100-1 to 100-4. ) One-to-one or broadcast formation correction rotation telemetry including at least one of relative position information, each correction movement distance, each correction movement direction, each correction movement speed, or each correction final target position. It can be received through.

In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information of the received formation rotation telemetry, separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles. To the corrected final target position based on at least one of relative position information between (100-1 to 100-4), each corrected movement distance, each corrected movement direction, each corrected movement speed, or each corrected final target position. You can move to reach the final target position for correction and maintain the hovering state.

As a result, when the formation correction rotation command is executed, the aerial vehicles 100-1 to 100-4 can move while maintaining their formation with the corresponding corrected movement distance centered on the leader aerial vehicle 100-1. there is. As described above, the leader aerial vehicle 100-1 adjusts the corrected movement distance, corrected movement direction, corrected movement speed or correction of the leader aerial vehicle 100-1 and the follower aerial vehicles 100-2 to 100-4. Out-of-range separation distances can be corrected by calculating at least one of the final target positions. In contrast, the aerial vehicles 100-1 to 100-4 share each other's location information in real time, measure the separation distance in real time based on the shared location information, and adjust the separation distance appropriately by moving.

Meanwhile, the control device 120 may generate a formation adjustment command to confirm or reduce the formation formed by the aerial vehicles 100-1 to 100-4 and transmit it to the leader aerial vehicle 100-1. At this time, the formation adjustment command may be at least one of a formation expansion command or a formation reduction command. At this time, the formation adjustment command may include formation type information, and may include adjustment separation distance information and adjustment relative position information between the aerial vehicles 100-1 to 100-4. Accordingly, the leader aerial vehicle 100-1 may receive a formation adjustment command from the control device 120.

Here, the adjusted separation distance information may be a displacement vector that uses one aerial moving object as a starting point and another aerial moving object as an end point. Additionally, the adjusted relative position information may include a relative difference between the position information of one aerial vehicle in three-dimensional space and the position information of another aerial vehicle in three-dimensional space. In other words, the adjusted relative position information is the relative difference between the position information on the Z-axis (vertical axis) in three-dimensional space of one aerial vehicle and the position information on the Z-axis (vertical axis) in three-dimensional space of another aerial vehicle. The relative difference between the positional information on the Y-axis (horizontal axis) in the three-dimensional space of the aerial vehicle and the positional information on the Y-axis (horizontal axis) in the three-dimensional space of the other aerial vehicle, and the It may include a relative difference between location information on the axis (ordinate axis) and location information on the

In addition, the leader aerial vehicle 100-1 includes formation type information, adjusted separation distance information between the aerial vehicles 100-1 to 100-4, and adjusted relative position information between the aerial vehicles 100-1 to 100-4. The formation adjustment command including can be transmitted one-to-one or by broadcast to the follower aerial vehicles (100-2 to 100-4). Then, the follower aerial vehicles 100-2 to 100-4 receive formation information from the leader aerial vehicle 100-1, adjusted separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicles. A formation adjustment command containing relative adjustment position information between (100-1 to 100-4) can be received. At this time, the aerial vehicles 100-1 to 100-4 may share location information. Accordingly, the follower aerial vehicles 100-2 to 100-4 move using the adjusted separation distance information and adjusted relative position information in the formation adjustment command received based on the position of the leader aerial vehicle 100-1. This allows you to expand or contract the formation.

In contrast, the leader aerial vehicle 100-1 includes the formation type information of the received formation adjustment command, the adjusted separation distance information between the aerial vehicles 100-1 to 100-4, and the aerial vehicle 100-1 to 100-4. ) The movement distance, movement direction, movement speed or final target positions to be moved by each of the leader aerial vehicle 100-1 and the follower aerial vehicle 100-2 to 100-4 based on the relative position information between them. At least one of them can be calculated. Here, the final target position can be given as (x, y, z) values in three dimensions.

In addition, the leader aerial vehicle 100-1 is a formation including at least one of the movement distance, movement direction, movement speed, or final target position calculated for each of the follower aerial vehicles 100-2 to 100-4. Adjusted telemetry can be generated and transmitted one-to-one or broadcast to each corresponding follower aerial vehicle (100-2 to 100-4). This formation coordination telemetry may include formation type information, coordinated separation distance information between the aerial vehicles 100-1 to 100-4, and coordinated relative position information between the aerial vehicles 100-1 to 100-4. there is.

Thereafter, the leader aerial vehicle 100-1 moves to the final target location according to at least one of the movement distance, movement direction, movement speed, or final target location calculated for itself of the leader aerial vehicle 100-1. You can reach the target location and maintain a hovering state. At this time, the leader aerial vehicle 100-1 may provide location information to the follower aerial vehicles 100-2 to 100-4 in real time.

Then, each of the follower aerial vehicles 100-2 to 100-4 may receive the location information of the leader aerial vehicle 100-1 from the leader aerial vehicle 100-1. In addition, each of the follower aerial vehicles 100-2 to 100-4 includes formation type information, adjusted separation distance information between the aerial vehicles 100-1 to 100-4, and aerial vehicles 100-1 to 100- 4) Receiving formation coordination telemetry one-to-one or through broadcast, including at least one of the relative position information, each movement distance, each movement direction, each movement speed, or each final target position. can do.

In addition, each of the follower aerial vehicles (100-2 to 100-4) includes the formation type information of the received formation coordination telemetry, the adjusted separation distance information between the aerial vehicles (100-1 to 100-4), and the aerial vehicle. Adjustment between 100-1 to 100-4 moves to the final target position based on at least one of the relative position information, each movement distance, each movement direction, each movement speed, or each final target position. It is possible to reach the target position and maintain a hovering state. As a result, when the formation adjustment command is executed, the aerial vehicles 100-1 to 100-4 adjust the follower aerial vehicles 100-1 to their respective adjusted separation distances centered on the leader aerial vehicle 100-1. 2 to 100-4) can be spaced apart to expand or contract the formation. At this time, the aerial vehicles 100-1 to 100-4 can share location information with each other, and accordingly, the aerial vehicles 100-1 to 100-4 continuously check the adjusted separation distance between each other. You can adjust it by moving it as needed.

As a result, the separation distance between the aerial vehicles 100-1 to 100-4 in the formation formed by the aerial vehicles 100-1 to 100-4 can be widened when the formation expansion command is executed. Accordingly, the tension of the string increases and the display device 120 can maintain a flat state. In contrast, the separation distance between the aerial vehicles 100-1 to 100-4 in the formation formed by the aerial vehicles 100-1 to 100-4 may be reduced when a formation reduction command is executed. Accordingly, as the tension of the string decreases, the display device 120 may maintain the stretched state.

Figure 4 is a conceptual diagram showing a first embodiment of a leader-follower formation control method.

Referring to FIG. 4, in the leader-follower formation control method, the leader aerial vehicle 401 uses the location information of the leader aerial vehicle 401 and the movement distances and movement speeds of the follower aerial vehicles 402 to 404. Control telemetry including at least one of the final target positions or separation distances may be transmitted to the follower aerial vehicles 402 to 404 in a broadcast manner. Then, the follower aerial vehicles 402 to 404 may use at least one of the location information of the leader aerial vehicle 401 and the movement distances, movement speeds, final target positions, or separation distances of the follower aerial vehicles 402 to 404. Control telemetry including one can be received in a broadcast manner. Here, the control telemetry may be at least one of formation movement telemetry, formation rotation telemetry, or formation coordination telemetry.

In contrast, the leader aerial vehicle 401 includes at least one of the location information of the leader aerial vehicle 401 and the movement distance, movement speed, final target position, or separation distance of each of the follower aerial vehicles 402 to 404. Control telemetry can be transmitted to each of the follower aerial vehicles 402 to 404 in a one-to-one manner. Then, each of the follower aerial vehicles 402 to 404 receives at least one of the location information of the leader aerial vehicle 401 and the corresponding moving distance, moving speed, final target position, or separation distance from the leader aerial vehicle 301. Control telemetry including can be received in a one-to-one manner.

Meanwhile, the follower aerial vehicles 402 to 404 include at least the location information of the leader aerial vehicle 401 and the movement distances, movement speeds, final target positions, or separation distances of the follower aerial vehicles 402 to 404. Control telemetry including one can be received through broadcast. Alternatively, the follower aerial vehicles 402 to 404 may use at least one of the location information of the leader aerial vehicle 401 and the movement distance, movement speed, final target position, or separation distance of each of the follower aerial vehicles 402 to 404. Control telemetry including can be received in a one-to-one manner.

At this time, when each of the follower aerial vehicles 402 to 404 receives formation movement telemetry as control telemetry, the location information and separation distance of the leader aerial vehicle 401 of the received formation movement telemetry, It may move to the final target location according to at least one of the movement speed or the final target location, reach the final target location, and maintain the hovering state.

Accordingly, when the levitation movement command received from the control device is executed, the formation formed by the aerial mobile objects 401 to 404 can move a certain distance along the Z-axis (vertical axis) and maintain the formation form. Additionally, the formation formed by the aerial vehicles 401 to 404 can maintain the formation by moving a certain distance along the Y-axis (horizontal axis) when a vertical movement command received from the control device is executed. Additionally, the formation formed by the aerial vehicles 401 to 404 may maintain the formation by moving a certain distance along the X-axis (vertical axis) when a forward/backward movement command or left/right movement command received from the control device is executed.

Meanwhile, when each of the follower aerial vehicles 402 to 404 receives formation rotation telemetry as control telemetry, the position information and separation distance of the leader aerial vehicle 401 of the received formation rotation telemetry, It may move to the final target location according to at least one of the movement speed or the final target location, reach the final target location, and maintain the hovering state.

Accordingly, the formation formed by the aerial vehicles 401 to 404 can be rotated around the Z-axis (vertical axis) and maintain a constant rotation angle when a yaw rotation command received from the control device is executed. Additionally, the formation formed by the aerial vehicles 401 to 404 may maintain a constant rotation angle by rotating around the Y-axis (transverse axis) when a pitch rotation command received from the control device is executed. Additionally, the formation formed by the aerial vehicles 401 to 404 may maintain a constant rotation angle by rotating around the X-axis (vertical axis) when a roll rotation command received from the control device is executed.

Meanwhile, each of the follower aerial vehicles 402 to 404 may receive formation coordination telemetry from the leader aerial vehicle 401 as control telemetry. In addition, each of the follower aerial vehicles 402 to 404 includes at least the location information of the leader aerial vehicle 401 included in the received formation coordination telemetry and the corresponding movement distance, movement speed, final target position, or separation distance. Depending on one, you can move to the final target location, reach the final target location, and maintain the hovering state.

As a result, the separation distance between the aerial vehicles 401 to 404 in the formation formed by the aerial vehicles 401 to 404 can be widened when the formation expansion command is executed. Accordingly, the tension of the string increases and the display device can maintain a flat state. In contrast, the separation distance between the aerial vehicles 401 to 404 in the formation formed by the aerial vehicles 401 to 404 may be reduced when a formation reduction command is executed. Accordingly, as the tensile force of the string decreases, the display device may remain stretched.

As such, in the leader-follower type formation control method, when the control device wants to move the formation formed by the aerial vehicles 401 to 404, it can transmit a formation movement command to the leader aerial vehicle 401. Accordingly, the leader aerial vehicle 401 can receive a formation movement command from the control device, and can move the formation a certain distance according to the received formation movement command.

In addition, the leader aerial vehicle 401 includes formation movement telemetry that includes at least one of the position information of the leader aerial vehicle 401 and the separation distance, movement speed, or final target position of each of the follower aerial vehicles 402 to 404. Can be transmitted to the follower aerial vehicles 402 to 404. Then, the follower aerial vehicles 402 to 404 receive the formation movement telemetry and refer to the position information, separation distance, movement speed, or final target location of the leader aerial vehicle 401 included in the received formation movement telemetry. Thus, it is possible to move around the leader aerial vehicle 401. Accordingly, the formation formed by the aerial vehicles 401 to 404 can move.

Meanwhile, in the leader-follower type formation control method, when it is desired to rotate the formation formed by the aerial vehicles 401 to 404, the control device may transmit a formation rotation command to the leader aerial vehicle 401. Here, the formation rotation command may be at least one of a yaw rotation command, a pitch rotation command, and a roll rotation command.

Accordingly, the leader aerial vehicle 401 can receive a formation rotation command from the control device and can move a certain distance according to the received formation rotation command. In addition, the leader aerial vehicle 401 includes formation rotation telemetry that includes at least one of the position information of the leader aerial vehicle 401 and the separation distance, movement speed, or final target position of each of the follower aerial vehicles 402 to 404. Can be transmitted to the follower aerial vehicles 402 to 404. Then, the follower aerial vehicles 402 to 404 receive the formation rotation telemetry and refer to the position information, separation distance, movement speed, or final target position of the leader aerial vehicle 401 included in the received formation rotation telemetry. Thus, it is possible to move around the leader aerial vehicle 401. Accordingly, the formation formed by the aerial vehicles 401 to 404 can rotate.

Meanwhile, in the leader-follower type formation control method, the control device may transmit a formation adjustment command to the leader aerial vehicle 401 when it is desired to expand or contract the formation formed by the aerial vehicles 401 to 404. Accordingly, the leader aerial vehicle 401 can receive a formation adjustment command from the control device and move a certain distance according to the received formation adjustment command. In addition, the leader aerial vehicle 401 includes formation coordination telemetry that includes at least one of the position information of the leader aerial vehicle 401 and the separation distance, movement speed, or final target position of each of the follower aerial vehicles 402 to 404. Can be transmitted to the follower aerial vehicles 402 to 404. Then, the follower aerial vehicles 402 to 404 receive the formation coordination telemetry and refer to the position information, separation distance, movement speed, or final target position of the leader aerial vehicle 401 included in the received formation coordination telemetry. Thus, it is possible to move around the leader aerial vehicle 401. Accordingly, the formation formed by the aerial vehicles 401 to 404 may be expanded or contracted.

Meanwhile, in the leader-follower formation control method, the leader aerial vehicle 401 uses the location information of the leader aerial vehicle 401 and the movement distances, movement speeds, and final target positions of the follower aerial vehicles 402 to 404. Or after transmitting control telemetry including at least one of the separation distances to the follower aerial vehicles 402 to 404, the leader aerial vehicle 401 sends an antenna direction control signal including location information of the leader aerial vehicle 401. It can be transmitted to follower aerial vehicles 402 to 404.

Then, the follower aerial vehicles 402 to 404 can receive location information and an antenna direction control signal from the leader aerial vehicle 401. Accordingly, the follower aerial vehicles 402 to 404 perform a yaw rotation motion to direct the UWB antenna of the UWB communication device toward the leader aerial vehicle 401 based on the location information of the leader aerial vehicle 401. It can be done. As a result, the UWB antennas of the follower aerial vehicles 402 to 404 may be directed toward the leader aerial vehicle 401.

Figure 5 is a conceptual diagram showing a first embodiment of a method for measuring the separation distance and relative position between airborne moving objects.

Referring to FIG. 5, in the method of measuring the separation distance and relative position between aerial vehicles, the first aerial vehicle 510 among the two aerial vehicles 510 and 520 operates as an initiator that transmits a message first. The second aerial vehicle 520 may act as a responder that responds to the signal received from the initiator. The shared data buffer of the first aerial vehicle 510 may store shared data to be shared with other aerial vehicles. The shared data buffer of the second aerial mobile device 520 may also store shared data to be shared with other aerial mobile devices.

The first aerial vehicle 510 may transmit a start message including a start frame and waiting time information to the second aerial vehicle 520. The second aerial vehicle 520 may receive a start message from the first aerial vehicle 510 . Accordingly, the second aerial vehicle 520 may generate a response message attaching the shared data of the shared data buffer to the response frame and transmit the generated response message to the first aerial vehicle 510. . Then, the first aerial vehicle 510 can receive a response message from the second aerial vehicle 520. Accordingly, the first aerial vehicle 510 can calculate the separation distance by calculating the round trip time. Additionally, the first aerial vehicle 510 may generate a reporting frame including the calculated separation distance. The first aerial vehicle 510 may generate a report message attaching the shared data in the shared data buffer to the report frame and transmit the generated report message to the second aerial vehicle 520 . Then, the second aerial vehicle 520 can receive a report message from the first aerial vehicle 510. The second aerial vehicle 520 may obtain the separation distance from the report message.

6A and 6B are flowcharts showing a first embodiment of a method for providing a public display.

Referring to FIGS. 6A and 6B, in the method of providing an aerial display, aerial mobile objects 1 to 4 may transmit a reference signal to the control device (S601). Then, the control device can receive reference signals from aerial vehicles 1 to 4 and measure the received signal strengths of the received reference signals. The control device may designate aerial vehicle 1 with the highest received signal strength as the leader aerial vehicle, and designate aerial vehicle 2 to 4, excluding the aerial vehicle designated as the leader aerial vehicle, as follower aerial vehicle (S602). As another example, the control device may designate at least one aerial vehicle whose received signal strength of the reference signal is above a certain level among the aerial vehicles 2 to 4 excluding the aerial vehicle 1 designated as the leader aerial vehicle as a follower aerial vehicle. As another example, the control device can communicate with aerial vehicles 1 to 4 and cannot communicate with other aerial vehicles 2 to 4. In this case, the control device may designate communicable aerial vehicle 1 as the leader. Additionally, the control device may designate other aerial vehicles 2 to 4 as followers.

Afterwards, the control device may transmit a leader designation notification signal to aerial mobile object 1 (S603). Then, aerial vehicle 1 can receive a leader designation notification signal from the control device. Accordingly, aerial vehicle 1 can recognize the fact that it has been designated as a leader through a leader designation notification signal. Meanwhile, the control device may transmit a follower designation notification signal including the identifiers of the aerial vehicles 2 to 4 to the aerial vehicle 1 (S604). Then, aerial mobile object 1 can receive a follower designation notification signal including the identifiers of aerial mobile objects 2 to 4 from the control device. And, aerial mobile object 1 may transmit a follower designation notification signal to aerial mobile objects 2 to 4 (S605). Aerial vehicles 2 to 4 may receive a follower designation notification signal from leader aerial vehicle 1. Accordingly, aerial vehicles 2 to 4 can recognize the fact of follower designation through a follower designation notification signal.

Meanwhile, the control device may generate a formation formation command for aerial vehicles 1 to 4 and transmit it to aerial vehicle 1 (S606). At this time, the formation formation command may include formation type information, and may include separation distance information and relative position information between aerial vehicles 1 to 4. Accordingly, aerial vehicle 1 can receive a formation formation command from the control device.

In addition, the aerial vehicle 1 sends a formation formation command including formation type information, separation distance information between the aerial vehicles 1 to 4, and relative position information between the aerial vehicles 1 to 4 one-to-one or by broadcasting to the aerial vehicles 2 to 4. Can be transmitted (S607). Then, the aerial vehicles 2 to 4 may receive a formation formation command from the aerial vehicle 1 including formation type information, separation distance information between the aerial vehicles 1 to 4, and relative position information between the aerial vehicles 1 to 4. At this time, aerial vehicles 1 to 4 can share location information. Accordingly, aerial vehicles 2 to 4 can form a formation by moving using the separation distance information and relative position information in the formation formation command received based on the position of aerial vehicle 1 (S608).

Meanwhile, the control device may generate a formation movement command for the formation to move the formation formed by the aerial vehicles 1 to 4 and transmit it to the aerial vehicle 1 (S609). At this time, the formation movement command may be at least one of a levitation movement command, a vertical movement command, a forward and backward movement command, or a left and right movement command. Accordingly, aerial vehicle 1 can receive a formation movement command from the control device. This formation movement command may be a displacement vector with the current position of airborne vehicle 1 as the starting point and the final target position as the end point.

Then, in accordance with the received formation movement command, aerial mobile unit 1 determines where each of aerial mobile units 1 to 4 should move based on the formation type information, the separation distance information between aerial mobile units 1 to 4, and the relative position information between aerial mobile units 1 to 4. At least one of the moving distance, moving direction, moving speed, or final target position can be calculated.

In addition, aerial vehicle 1 generates formation movement telemetry including at least one of each movement distance, each movement direction, each movement speed, or each final target position calculated for each of aerial vehicles 2 to 4. This can be delivered one-to-one or broadcast to each of the corresponding aerial vehicles 2 to 4 (S610). This formation movement telemetry may include formation type information, separation distance information between aerial vehicles 1 to 4, and relative position information between aerial vehicles 1 to 4.

Afterwards, aerial vehicle 1 moves to the final target location according to at least one of the movement distance, direction of movement, movement speed, or final target location calculated for itself according to the formation movement command, reaches the final target location, and maintains the hovering state. You can. At this time, aerial vehicle 1 can provide location information to aerial vehicle 2 to 4 in real time.

Then, each of the aerial vehicles 2 to 4 can receive the location information of the aerial vehicle 1 from the aerial vehicle 1. In addition, each of the aerial vehicles 2 to 4 includes formation type information, separation distance information between the aerial vehicles 1 to 4, relative position information between the aerial vehicles 1 to 4, each movement distance, each movement direction, each movement speed, or each Formation movement telemetry including at least one of the final target positions can be received one-to-one or through broadcast.

In addition, each of the aerial vehicles 2 to 4 includes formation type information of the received formation movement telemetry, separation distance information between the aerial vehicles 1 to 4, relative position information between the aerial vehicles 1 to 4, each movement distance, and each movement. Based on at least one of the direction, each movement speed, and each final target position, the device may move to the final target location, reach the final target location, and maintain a hovering state. As a result, when the formation movement command is executed, the aerial vehicles 1 to 4 can move while maintaining their formation with the aerial vehicle 1 at the corresponding movement distance (S611).

Meanwhile, the control device may generate a formation rotation command to rotate the formation formed by the aerial vehicles 1 to 4 and transmit it to the aerial vehicle 1 (S612). At this time, the rotation command may be at least one of a yaw rotation command, a pitch rotation command, or a roll rotation command. Accordingly, aerial vehicle 1 can receive a formation rotation command from the control device.

Meanwhile, the rotation of the formation formed by the aerial vehicles 1 to 4 cannot be achieved by the individual rotation of the aerial vehicles 1 to 4, but can be achieved by the movement of each aerial vehicle 1 to 4. Accordingly, in accordance with the received formation rotation command, each of the aerial vehicles 1 to 4 must move based on the formation shape information, the separation distance information between the aerial vehicles 1 to 4, and the relative position information between the aerial vehicles 1 to 4. At least one of the moving distance to be moved, the moving direction, the moving speed, or the final target position can be calculated.

In addition, aerial vehicle 1 generates formation rotation telemetry including at least one of each movement distance, each movement direction, each movement speed, or each final target position calculated for each of aerial vehicles 2 to 4. This can be delivered one-to-one or broadcast to each of the corresponding aerial vehicles 2 to 4 (S613). This formation rotation telemetry may include formation shape information, separation distance information between aerial vehicles 1 to 4, and relative position information between aerial vehicles 1 to 4.

Afterwards, aerial vehicle 1 moves to the final target position according to at least one of the movement distance, movement direction, movement speed, or final target position calculated for itself according to the formation rotation command, reaches the final target position, and maintains the hovering state. You can. At this time, aerial vehicle 1 can provide location information to aerial vehicle 2 to 4 in real time. Then, each of the aerial vehicles 2 to 4 can receive the location information of the aerial vehicle 1 from the aerial vehicle 1. In addition, each of the aerial vehicles 2 to 4 includes formation type information, separation distance information between the aerial vehicles 1 to 4, relative position information between the aerial vehicles 1 to 4, each movement distance, each movement direction, each movement speed, or each Formation rotation telemetry including at least one of the final target positions can be received one-to-one or through broadcast.

In addition, each of the aerial vehicles 2 to 4 includes formation type information of the received formation rotation telemetry, separation distance information between the aerial vehicles 1 to 4, relative position information between the aerial vehicles 1 to 4, each movement distance, and each movement. Based on at least one of the direction, each movement speed, and each final target position, the device may move to the final target location, reach the final target location, and maintain a hovering state. As a result, when the formation rotation command is executed, the aerial vehicles 1 to 4 can rotate while maintaining the formation around the aerial vehicle 1 (S614).

Accordingly, the formation formed by the aerial vehicles 1 to 4 can be rotated around the Z axis (vertical axis) when a yaw rotation command is executed and maintain a constant rotation angle. Additionally, the formation formed by the aerial vehicles 1 to 4 can maintain a constant rotation angle by rotating around the Y axis (transverse axis) when a pitch rotation command is executed. Additionally, the formation formed by the aerial vehicles 1 to 4 can maintain a constant rotation angle by rotating around the X-axis (vertical axis) when a roll rotation command is executed.

Meanwhile, the control device may generate a formation adjustment command to confirm or reduce the formation formed by the aerial vehicles 1 to 4 and transmit it to the aerial vehicle 1 (S615). At this time, the formation adjustment command may be at least one of a formation expansion command or a formation reduction command. At this time, the formation adjustment command may include formation type information, adjustment separation distance information between aerial vehicles 1 to 4, and adjustment relative position information. Accordingly, aerial vehicle 1 can receive a formation adjustment command from the control device.

Here, the adjusted separation distance information may be a displacement vector that uses one aerial moving object as a starting point and another aerial moving object as an end point. Additionally, the adjusted relative position information may include a relative difference between the position information of one aerial vehicle in three-dimensional space and the position information of another aerial vehicle in three-dimensional space. In other words, the adjusted relative position information is the relative difference between the position information on the Z-axis (vertical axis) in three-dimensional space of one aerial vehicle and the position information on the Z-axis (vertical axis) in three-dimensional space of another aerial vehicle. The relative difference between the positional information on the Y-axis (horizontal axis) in the three-dimensional space of the aerial vehicle and the positional information on the Y-axis (horizontal axis) in the three-dimensional space of the other aerial vehicle, and the It may include a relative difference between location information on the axis (ordinate axis) and location information on the

In addition, aerial vehicle 1 provides formation coordination telemetry including formation type information, coordinated separation distance information between aerial vehicles 1 to 4, and coordinated relative position information between aerial vehicles 1 to 4 on a one-to-one basis to aerial vehicles 2 to 4. Alternatively, it can be delivered by broadcasting (S616). Then, aerial vehicles 2 to 4 may receive a formation adjustment command from aerial vehicle 1 including formation type information, adjusted separation distance information between aerial vehicles 1 to 4, and adjustment relative position information between aerial vehicles 1 to 4. At this time, aerial vehicles 1 to 4 can share location information. Accordingly, aerial vehicles 2 to 4 can expand or contract the formation by moving using the adjusted separation distance information and the adjusted relative position information in the formation adjustment command received based on the position of aerial vehicle 1 (S617).

Figure 7 is a block diagram showing a first embodiment of a control device constituting an aerial display providing device and a flight controller of an aerial mobile object.

Referring to FIG. 7, a control device or a flight controller 700 of an aerial vehicle may include at least one processor 710, a memory 720, and a transceiver device 730 that is connected to a network and performs communication. Additionally, the control device or flight controller 700 of the aerial vehicle may further include an input interface device 740, an output interface device 750, a storage device 760, etc. Each component included in the control device or the flight controller 700 of the aerial vehicle is connected by a bus 770 and can communicate with each other. However, each component included in the control device or the flight controller 700 of the aerial vehicle may be connected through an individual interface or individual bus centered on the processor 710, rather than the common bus 770. For example, the processor 710 may be connected to at least one of the memory 720, the transmission/reception device 730, the input interface device 740, the output interface device 750, and the storage device 760 through a dedicated interface. .

The processor 710 may execute a program command stored in at least one of the memory 720 and the storage device 760. The processor 710 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Each of the memory 720 and the storage device 760 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory 720 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

Methods according to the present invention 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., singly or in combination. Program instructions recorded on a computer-readable medium may be specially designed and constructed for the present invention or may be known and usable by those skilled in the computer software art. Examples of computer-readable media may include hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions may include machine language code such as that created by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The above-described hardware device may be configured to operate with at least one software module to perform the operations of the present invention, and vice versa.

Additionally, the above-described method or device may be implemented by combining all or part of its components or functions, or may be implemented separately.

Although the present invention has been described above with reference to preferred embodiments, those skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that you can do it.

Claims (13)

A method of operating a first aerial vehicle, comprising:
Receiving a formation formation command including first separation distance information and first relative position information for second aerial vehicles holding the display device from the control device;
transmitting the formation formation command to the second aerial vehicles to form a formation including the second aerial vehicles;
Receiving a first movement command including a first movement distance and a first movement direction of the formation from the control device; and
A method of operating a first aerial vehicle comprising transmitting the first movement command to the second aerial vehicles to move the formation in the first movement direction and the first movement distance. In claim 1,
The first movement distance is a movement distance of the first aerial vehicle, and the first movement direction is a movement direction of the first aerial vehicle, a method of operating a first aerial vehicle. In claim 1,
exchanging second separation distance information with the second aerial vehicle;
Comparing the first separation distance information and the second separation distance information;
If the first separation distance information and the second separation distance information are different, the method of operating a first aerial vehicle further comprising correcting the separation distance between the first aerial vehicle and the second aerial vehicle. In claim 1,
exchanging first location information and second separation distance information with the second aerial vehicles;
estimating second relative location information from the first location information and the second separation distance information;
Comparing the first relative location information and the second relative location information;
A method of operating a first aerial vehicle further comprising correcting the relative positions of the first aerial vehicle and the second aerial vehicle when the first relative location information and the second relative location information are different. In claim 1,
Receiving a rotation command including a rotation direction and rotation angle of the center of the formation from the control device;
calculating a second movement distance and a second movement direction for the second aerial vehicles according to the rotation direction and the rotation angle; and
Further comprising transmitting a second movement command including the second movement distance and the second movement direction to the second aerial vehicles to rotate the formation according to the rotation direction and the rotation angle. How an aerial vehicle operates. In claim 1,
Receiving a formation adjustment command including third separation distance information and third relative position information for the second aerial vehicles from the control device; and
A method of operating a first aerial vehicle further comprising the step of transmitting the formation adjustment command to the second aerial vehicles to adjust the formation including the second aerial vehicles. In claim 1,
providing second location information of the first aerial vehicle to the second aerial vehicle; and
A method of operating a first aerial vehicle further comprising transmitting an antenna direction control signal including an antenna rotation direction and an antenna rotation angle to the second aerial vehicles to adjust the directions of the antennas of the second aerial vehicles. As a first aerial vehicle,
processor;
a memory that communicates electronically with the processor; and
Contains instructions stored in the memory,
When the instructions are executed by the processor, the instructions cause the first aerial vehicle to:
Receiving a formation formation command including first separation distance information and first relative position information for second aerial vehicles holding the display device from the control device;
transmitting the formation formation command to the second aerial vehicles to form a formation including the second aerial vehicles;
receive a first movement command including a first movement distance and a first movement direction of the formation from the control device; and
A first aerial vehicle operative to transmit the first movement command to the second aerial vehicles to cause the formation to move in the first direction of movement and the first movement distance. In claim 8,
The commands are such that the first aerial vehicle,
exchanging second separation distance information with the second aerial vehicles;
Compare the first separation distance information and the second separation distance information;
If the first separation distance information and the second separation distance information are different, the first aerial vehicle operates to further cause correction of the separation distance of the first aerial vehicle and the second aerial vehicle. In claim 8,
The commands are such that the first aerial vehicle,
exchanging first location information and second separation distance information with the second aerial vehicles;
estimating second relative position information from the first position information and the second separation distance information;
compare the first relative location information and the second relative location information;
operative to further cause correction of the relative positions of the first aerial vehicle and the second aerial vehicle if the first relative position information and the second relative location information are different. In claim 8,
The commands are such that the first aerial vehicle,
receive a rotation command including a rotation direction and rotation angle of the center of the formation from the control device;
calculating a second movement distance and a second movement direction for the second aerial vehicles according to the rotation direction and the rotation angle; and
operative to transmit a second movement command including the second movement distance and the second movement direction to the second aerial vehicles to further cause the formation to rotate according to the rotation direction and the rotation angle. 1 Aerial vehicle. In claim 8,
The commands are such that the first aerial vehicle,
Receiving a formation adjustment command including third separation distance information and third relative position information for the second aerial vehicles from the control device; and
A first aerial vehicle operative to transmit the formation coordination command to the second aerial vehicles to further cause coordination of the formation including the second aerial vehicles. In claim 8,
The commands are such that the first aerial vehicle,
providing second location information of the first aerial vehicle to the second aerial vehicles; and
A first aerial vehicle operative to transmit an antenna direction control signal including an antenna rotation direction and an antenna rotation angle to the second aerial vehicles to further cause adjustment of the direction of the antennas of the second aerial vehicles.

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