WO2016089066A1 - Taking-off and landing system for drone, and operating method therefor - Google Patents

Taking-off and landing system for drone, and operating method therefor Download PDF

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Publication number
WO2016089066A1
WO2016089066A1 PCT/KR2015/012936 KR2015012936W WO2016089066A1 WO 2016089066 A1 WO2016089066 A1 WO 2016089066A1 KR 2015012936 W KR2015012936 W KR 2015012936W WO 2016089066 A1 WO2016089066 A1 WO 2016089066A1
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WIPO (PCT)
Prior art keywords
drone
landing
communication module
takeoff
base
Prior art date
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PCT/KR2015/012936
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French (fr)
Korean (ko)
Inventor
이병철
허영철
이청주
정용하
Original Assignee
이병철
허영철
이청주
정용하
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Application filed by 이병철, 허영철, 이청주, 정용하 filed Critical 이병철
Publication of WO2016089066A1 publication Critical patent/WO2016089066A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00 
    • A47G29/14—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/18—Visual or acoustic landing aids
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G29/00—Supports, holders, or containers for household use, not provided for in groups A47G1/00-A47G27/00 or A47G33/00 
    • A47G29/14—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels
    • A47G29/141—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels comprising electronically controlled locking means
    • A47G2029/149—Deposit receptacles for food, e.g. breakfast, milk, or large parcels; Similar receptacles for food or large parcels with appliances for preventing unauthorised removal of the deposited articles, i.e. food or large parcels comprising electronically controlled locking means with central server link

Definitions

  • the present invention relates to a take-off and landing system of a drone, and more particularly, to a system and a method of operating the drone transport logistics to the take-off and landing device possessed by the user.
  • drones unmanned aerial vehicles
  • the drone is a small unmanned aerial vehicle and is generally operated manually by receiving an operator's operation signal wirelessly.
  • the drone operation method is inefficient in that the operator must be present, and also poses a danger in that an accident may occur due to the operator's mistake.
  • the present invention has been made to solve the above problems, and an object of the present invention is to provide a drone take-off and landing system and a method of operating the same that can transport small and light logistics unmanned.
  • a first short range communication module 15 for wirelessly communicating with a drone approaching a base within a predetermined distance.
  • the takeoff and landing device provides a takeoff and landing device that transmits an ID of the base to a drone when the drone approaches a predetermined distance, and transmits a landing permission signal when receiving a landing intention signal from the drone.
  • the base can rotate between a folded state and a deployed state about a hinge H supported by the building.
  • the base may slide along a horizontal slider S supported by the building to protrude relative to the outer wall of the building or be inserted into the outer wall of the building.
  • the base may move to a position where the drone 30 may take off or land or place an article upon receiving a landing intention signal from the drone.
  • the base is provided with a satellite navigation position module 17 for receiving a signal of a navigation satellite to digitize its position, and periodically accumulates its position data, and the base is a point that is the center of the accumulated position data distribution. Can be updated with location information.
  • the take-off and landing device may indirectly transmit a plurality of waypoints (WPs) to the base as a landing guidance signal to a drone or by requesting a server.
  • WPs waypoints
  • the apparatus may further include a communication unit capable of communicating with a user terminal or a server.
  • the base (11) for the drone 30 to take off and land or place articles A storage unit for storing the ID of the base; And a first short-range communication module for wirelessly communicating with the drone approaching the base within a predetermined distance.
  • Memory for storing the ID and location information of the take-off and landing device to move;
  • a second near field communication module wirelessly communicating with the takeoff and landing device;
  • a satellite navigation device that receives a signal from a satellite and digitizes its location;
  • a control unit for controlling a flight;
  • the first short-range communication module transmits the ID of the base to the drone,
  • the second short range communication module transmits a landing intention signal to the takeoff and landing device when it is determined whether the ID of the base transmitted by the first short range communication module is the ID of the takeoff and landing device to be moved.
  • the landing and landing device When the landing and landing device receives a landing intention signal from a drone, the landing device transmits a landing permission signal to the drone.
  • the control unit provides a drone take-off and landing system, characterized in that for controlling the drone to land on the base according to the received landing guidance signal.
  • the takeoff and landing device is provided in plurality in a predetermined area,
  • the drone is flying within the predetermined area
  • the first short range communication module and the second short range communication module of the drone provided in the plurality of takeoff and landing devices in the predetermined region form a network.
  • the first local area communication module is an end device or a router
  • the second local area communication module is a coordinator of the network of the predetermined area
  • the network may be a star topology in which each first local area communication module is connected to the second local area communication module.
  • the takeoff and landing device and the drone are each provided in plurality in a predetermined area,
  • the plurality of drones fly within the predetermined area
  • a first short range communication module provided in the plurality of takeoff and landing devices and a second short range communication module of the plurality of drones form a network.
  • the first local area communication module and the second local area communication module are routers constituting a network of the predetermined area
  • the router of the first local area communication module may be a mesh topology connected to the routers of the second local area communication module of the plurality of drones in a predetermined region.
  • the first short range communication module and the second short range communication module may be ZigBee.
  • One drone of the plurality of drones may be configured as a coordinator in the network, and another drone may be connected to the coordinator drone.
  • a plurality of drones may be connected to the coordinator.
  • the drone may further include a telecommunication module capable of communicating with a server.
  • the present invention as a logistics transportation method using a drone take-off and landing system,
  • the user accesses the server 70 through the user terminal 50 and registers the ID and location information of the user's takeoff and landing device 10 to the server, or the landing and landing device 10 registers his ID and location information to the server. Steps,
  • the server transmitting the ID, or location information, or ID and location information of the take-off and landing device 10 to the drone 30 to transport the requested logistics, and
  • the drone 30 provides a logistics transport method comprising the step of transporting the logistics to the takeoff and landing device 10 based on the location information of the takeoff and landing device 10.
  • the drone 30 may periodically transmit its location and delivery status of the logistics to the server through the telecommunication module during transportation of the logistics.
  • the present invention provides a service providing method using a drone take-off and landing system
  • the server providing information of the goods recipient to the drone of the goods sender;
  • It provides a service providing method using a drone take-off and landing system comprising a; drone to move to the take-off and landing device of the article recipient.
  • a plurality of bases can be utilized as take-off and landing devices for drones, so that the drones can deliver logistics to a plurality of points.
  • personal logistics transportation can be automated.
  • FIG. 1 is a schematic view of the drone take-off and landing system according to the present invention
  • FIG. 2 and 3 is a view showing a drone take-off and landing device according to the invention
  • FIG. 4 is a view showing a method of operating a drone take-off and landing device according to the invention
  • 5 and 6 is a view showing a step of moving the drone to take off and landing on the drone take-off and landing device according to the invention.
  • FIG. 7 to 9 are diagrams showing the network configuration of the drone take-off and landing system according to the present invention.
  • FIG. 1 is a schematic view of a drone take-off and landing system according to the present invention
  • Figures 2 and 3 are views showing a drone take-off and landing device according to the present invention
  • Figure 4 is a view showing a step of the drone take off and landing on the drone take-off and landing device according to the present invention
  • Figure 5 is a view showing a method of operating a drone take-off and landing device according to the present invention.
  • each of the drone's take-off and landing devices 10 are installed at respective transport destinations, and the drone 30 carries the logistic and moves to the take-off and landing device 10 of the corresponding destination to lower the logistics. It is a basic feature that the transportation of is completed.
  • the drone take-off and landing device 10 is installed to protrude from the outer wall of the building (B).
  • the take-off and landing device 10 may be installed near a window of an office building, on a veranda of an apartment that is an apartment house, on an outer wall or a roof of a single building.
  • the takeoff and landing device When the takeoff and landing device is installed on the outer wall of the building B, it is fixedly installed to protrude from the outer wall, or as shown in Figs. Otherwise, it can be folded or drawn inside the building to avoid adversely affecting the exterior of the building or interfering with drones flying near it.
  • the movement of the takeoff and landing device may be performed manually by a user or automatically by installing an electric device or the like.
  • the timing of unfolding or folding may be determined by the user's operation or by the control of the controller.
  • Take-off and landing device 10 is installed on the outer wall adjacent to the window of the building (B) and the base 11 for providing a bottom surface for the drone to take off and land or drop the goods delivered by the drone, and the ID of the base
  • a storage unit 13 storing position information, a first near field communication module 15 wirelessly communicating with the drone 30 approaching the base within a predetermined distance, and receiving a signal of a navigation satellite.
  • Satellite positioning module 17 for digitizing the position, and at least a communication unit (not shown) for transmitting and receiving data with the user terminal 50 to be described later.
  • the base 11 provides a physical space in which the drone takes off and lands, or puts down the goods delivered by the drone, and provides a space in which the logistics are raised when transporting or receiving the logistics. As shown in FIGS. 2 and 3, the base 11 protrudes out of the building when the drone takes off and lands or is placed in the logistics, and is folded or pulled toward the building when the drone does not need to take off or land.
  • the storage unit 13 stores IDs and location information of the takeoff and landing device 10 in which the storage unit is installed.
  • the ID serves as a basis for identifying the takeoff and landing device, and the location information is, for example, the exact x, y, z coordinates of the base 11 of the takeoff and landing device 10.
  • the ID is uniquely assigned to each takeoff and landing device 10 and does not overlap each other, and the location information is information that is changed and updated according to the installation location of the takeoff and landing device.
  • the ID may be a unique number such as a MAC address of the communication unit of the take-off and landing device or the first short range communication module.
  • the ID is not immutable information and can be changed as necessary.
  • the location information may be entered manually after accurately measuring the installation location using another precise positioning device, but if you make a mistake or change the installation location of the takeoff and landing device, the logistics may be incorrectly delivered or an accident may occur during the drone's takeoff and landing process. It may be desirable to configure it to update automatically, as it may happen.
  • This position information is measured and updated by the satellite navigation position module 17 installed in the base.
  • the location information may be updated once at the time of initial installation, in view of the possibility that the signal may be disturbed due to noise of the satellite signal or reflection or shielding of the signal by other buildings, the satellite navigation location module 17 may be It is preferable to periodically store its own position data in the storage unit 13, and to store and store the point which is the center of the accumulated position data distribution as the position information of the base. Of course, after such an update process continues for a certain period of time, the update may be stopped when the center of the data distribution reaches a certain coordinate.
  • the location information may be stored or updated by a user after location measurement using a separate precision measurement satellite navigation apparatus.
  • the first local area communication module 15 is a device that communicates with the drone 30 to be near, and the ID, location information, and / or landing guidance signal of the takeoff and landing device 10, the second local area communication module ( And information transmitted by the second near field communication module of the drone.
  • the first short range communication module and the second short range communication module preferably use Zigbee and Dedicated Short Range Communications (DSRC), but other short-range wireless devices such as Wi-Fi, Bluetooth, NFC, and infrared communication may be used. It is also possible to apply communication technology.
  • DSRC Dedicated Short Range Communications
  • the communication unit may exchange data by wirelessly connecting a user terminal 50 such as a smartphone, a tablet, or a PC through a LAN cable or a USB cable or wirelessly via Bluetooth, Wi-Fi, or NFC. .
  • the communication unit may exchange data indirectly with a server through a user terminal or directly with a server operating a drone.
  • the communication unit may provide an ID and location information of the takeoff and landing device 10 to the user terminal 50, and the user terminal 50 may store such information in a server 70 which will be described later by ordinary communication means.
  • the user terminal 50 does not necessarily need to be one, and a plurality of user terminals 50 may be used at the same time, and a new device may be added or an existing device may be deleted.
  • the drone 30 of the present invention includes a memory (not shown) that stores ID and location information of a base to be moved, and a second wireless communication with the first local area communication module 15 of the takeoff and landing device 10. It includes a near field communication module (not shown), a satellite navigation device (not shown) for receiving a signal from a satellite to digitize its position, and a controller (not shown) for controlling the flight attitude and flight trajectory of the drone. In addition, it is possible to install a telecommunication module in the drone, and communicate through a telecommunication module (CDMA, GSM, LTE, etc.).
  • CDMA Code Division Multiple Access
  • GSM Global System for Mobile communications
  • LTE Long Term Evolution
  • the drone's memory stores the ID and location information of the takeoff and landing device 10 as a destination when the logistics are carried by unmanned flight, and this information is provided from the server 70 to be described later.
  • the drone also receives information from the server about the best waypoints from the origin WP S to near the destination WP F. Therefore, the drone flies to reach near the destination by flying based on the location information of the destination and the waypoint information which is the path to the destination.
  • the present invention does not exclude that route information corresponding to a location to be moved by region is previously stored in the drone's storage.
  • the drone has a built-in satellite navigation system that can convert its own position into x, y, z coordinate data.
  • the drone also has a built-in sensor to measure orientation. Therefore, as shown in FIG. 5, the drone may calculate the difference between its position coordinate and the position coordinate of the waypoint WP n to be moved next, and move to the corresponding position. After the drone is controlled by the control unit and moved to the corresponding position, it checks whether the two positions are within the error range by comparing their position coordinates with the corresponding waypoint (WP n ) coordinates.
  • the drone When passing through the waypoints one by one to the final waypoint (WP F ) near the destination, the drone receives the landing and landing device corresponding to the corresponding ID through the ID received through the second near field communication module from the nearby takeoff and landing device. ) Checks to see if it is a takeoff and landing device in the destination stored in memory and enters the landing process.
  • the first near field communication module 15 of the takeoff and landing device 10 transmits the ID of the takeoff and landing device to the second near field communication module of the drone.
  • the first near-field communication module 15 of the take-off and landing device 10 attempts to connect based on the signal of the second near-field communication module of the drone, and when the connection is made, the ID of the base (or take-off and landing device) to the second near-field communication module. Can be sent to.
  • the first near-field communication module 15 of the take-off and landing device 10 continuously generates a signal including its own ID regardless of the signal of the second near-field communication module so that the drone that reaches near the take-off and land device receives such a signal. You may.
  • takeoffs and landings near the destination can also send their ID to the drone.
  • the second near field communication module of the drone receives the ID of the base (or takeoff and landing device) transmitted by the first near field communication module, and the controller of the drone checks whether the received ID is the ID of the base to be moved. If the ID is a different ID than the base ID of the destination, the drone receives the ID again from another nearby takeoff and landing device, or checks the ID of another takeoff and landing device already received.
  • the drone When it is determined that the received ID is the landing and landing device as the destination, the drone transmits a landing intention signal to the first local area communication module of the corresponding landing and landing device through the second local area communication module.
  • the base landing and landing device When the destination takeoff and landing device receives the landing intention signal from the drone, like the takeoff and landing device shown in FIGS. 2 and 3, the base landing and landing device is in a deployed state from the folded state around the hinge H supported by the building. Rotate or slide the base along a horizontal slider S supported by the building to a position protruding with respect to the exterior wall of the building. Of course, in the case of a fixed base, this process can be omitted.
  • the landing and landing device transmits a landing permission signal to the second local area communication module through the first local area communication module.
  • the landing permission signal may include a landing guidance signal.
  • the landing guidance signal may be a plurality of waypoints (WPs) leading to the base.
  • the control unit of the drone receiving the landing permission signal receives the landing guidance signal.
  • the landing guidance signal may be directly transmitted through the first short-range communication module of the takeoff and landing device, may be stored in the memory of the drone, or may be transmitted through the server as the telecommunication module.
  • the control unit of the drone receiving the landing guidance signal controls the drone to land on the base according to the received landing guidance signal. That is, as shown in FIG. 6, the drone at the final waypoint WP F near the destination passes through a plurality of series of waypoints WP3, WP2, WP1 and WP0 that lead to landing again. Will land on the base. Since the process of moving the waypoint has been described above, redundant descriptions will be omitted.
  • Communication between the takeoff and landing device and the drone may be performed through a short range communication module as described above, but may also be a telecommunication module.
  • the user is provided with ID and location information data of the user's takeoff and landing device 10 using a user terminal 50 such as a smartphone, tablet or PC, and accesses the server 70 to register such data in the server. Release.
  • a user terminal 50 such as a smartphone, tablet or PC
  • the server 70 to register such data in the server.
  • it is recommended to prevent the error caused by the user's manual input by allowing the ID and location data to be packaged and sent directly to the server.
  • the information registration to the server may be registered in the server directly from the takeoff and landing device without going through the user terminal.
  • Logistics transport request may be made not only through the server but also through communication such as a telephone call, and in this case, a person who is requested to transport the goods by phone may input the details into the server.
  • the server transmits the ID and location information of the user's take-off and landing apparatus 10 to the drone 30 that will transport the logistics. Due to the mobility of the drone, the drone and the server may be far apart, so it is desirable to install a telecommunication module in the drone and to transmit data to the drone through the telecommunication module (CDMA, GSM, LTE, etc.).
  • CDMA Code Division Multiple Access
  • GSM Global System for Mobile communications
  • LTE Long Term Evolution
  • the drone transports the logistic to the user's takeoff and landing device 10 based on the received location information of the user.
  • the transport order is first designated as the optimal route, first moves along the waypoints near the destination received from the server to the waypoint WP F near the destination, and then landed by landing from the takeoff and landing device of the destination. After landing, take off the logistics and take off again to move to the next location.
  • the drone 30 periodically transmits its location and delivery status of the logistics to the server through the telecommunication module during the transportation of the logistics and updates them to the server.
  • a drone may send its location (waypoint) to a server as it passes through each waypoint, and the server may provide the delivery status to the user based on the drone.
  • FIG 7 and 8 are views showing the network configuration of the drone take-off and landing system according to the present invention.
  • a network may be configured by a short-range communication module of a drone and a landing device operating in the predetermined region.
  • Zigbee communication can theoretically be extended to 65536 nodes, which makes it suitable for the system of the present invention, which must manage at least tens to thousands of takeoff and landing devices by region.
  • Zigbee's theoretical communication range is 1.2km and the actual communication range is about 100m, which is much longer than Bluetooth or Wi-Fi, so it is not enough to construct a network in a place where a landing gear is densely located and in a sparsely populated countryside.
  • Zigbee communication supports both star networking and mesh networking, and is inexpensive and low-power communication device, according to the configuration of the system in the system of the present invention (region, number of take-off and density, number of drones) It is very useful to be able to configure various types of networks.
  • the time required for communication connection is only 30ms, so the drone and the landing gear of the destination can be immediately connected as a network, thus saving time for the drone to stay in the air.
  • one coordinator which is a full function device (FFD), a plurality of routers that are FFDs, and a plurality of end devices (redeced function devices), which are RFDs, may be installed.
  • FFD full function device
  • RFD redeced function devices
  • the coordinator and router which are FFDs, can communicate with a plurality of other devices within the Zigbee network, and the terminal device, which is an RFD, can communicate with only one FFD.
  • the coordinator can communicate with the outside of the Zigbee network, and only one coordinator exists on one Zigbee network.
  • the second short-range communication module of the drone is a Zigbee coordinator, and a plurality of takeoff and landing in the region
  • the first short-range communication module of the device is composed of an end device (or a router) connected to the second short-range communication module, and the network may be in the form of a star topology centering on the coordinator as shown in FIG. 7.
  • the first short range communication module of the plurality of takeoff and landing devices in the area and the second short range communication module of the plurality of drones are Zigbee routers, and each takeoff and landing As shown in FIG. 8 or 9, the first local area communication module of the device may configure a network in a mesh topology form connected to routers of the second local area communication module of the plurality of drones in the corresponding area.
  • the coordinator in the network configures one drone among a plurality of drones as a coordinator, and makes another drone connected to the coordinator drone, or configures a separate coordinator near a central location of the corresponding region as shown in FIG. 9. Thereafter, a plurality of drones may be connected to the form.
  • This network construction is typically done by a service provider who specializes in maintaining and operating drones and takeoffs on behalf of all, without having to force local people who are not familiar with drones and takeoffs to use them.
  • the drone can take advantage of the drone take-off and landing system without any inconvenience.
  • the present invention is not necessarily limited to the network and the Zigbee communication module of such a structure, and of course, other networks or communication modules of which a drone and a landing gear service can be used can be applied.
  • a service that allows users who wish to send or receive goods using drones and takeoffs to use them without having to learn or study how to use or operate the drones and takeoffs is provided as follows: Mobile phone customers do not need to understand the communication principle of the mobile phone).
  • users who use drone take-off and landing system can be classified into three categories as follows.
  • the sender of goods may be, for example, a local chicken shop or a pizza shop, and the recipient of goods may be a resident who makes food for delivery in an apartment.
  • the service provider installs the landing gear for a fee or free of charge in the recipient's building, and then updates the ID and the satellite navigation location information of the installed landing gear to the landing gear. Match the customer information of the recipient of the installed goods and the information of the take-off and landing device is registered in the service provider server.
  • the sender of the item asks the sender to send the item (which may match that of an apartment resident calling the chicken shop and delivering the chicken home)
  • the sender's terminal (telephone)
  • the recipient's phone number and related information will be displayed.
  • the sender will load the prepared item into the drone and enter the recipient's information into the drone.
  • the method of inputting the information of the goods recipient to the drone is that when the information of the goods receiver (telephone number, address) received at the terminal (telephone) is transmitted to the service provider server, the server receives the information of the goods receiver and the information registered in the server.
  • the drone arrives at the destination takeoff and landing device as described above, dropping the goods and moving to the next place.
  • a single sender may use one drone or two or more drones exclusively, as well as a structure in which multiple senders share several drones in common, and various structures may be necessary. It can be configured, and may be used by mixing several structures.
  • the recipient of the goods can use the takeoff and landing device by simply applying the service provider to the service provider (this is not very different from the structure of applying for the Internet service), and if the user wants to receive the goods, it is simply according to the existing living pattern. All you have to do is call the sender.
  • a drone can be used simply by applying for service from a service provider (which is not much different from hiring a delivery person), and if you want to send an item, Just as with giving an address, you only need to load the item and tell the drone the destination.
  • a service provider which is not much different from hiring a delivery person

Abstract

The present invention relates to a taking-off and landing system for a drone and, more specifically, to: a system in which a product is transported by a drone, in an unmanned way, to a device, possessed by a user, for enabling the drone to take-off and land; and an operating method therefor. The present invention comprises: a base (11) for providing a floor on which a drone (30) takes off and lands; a storage unit (13) for storing an ID of the base; and a first short range communication module (15) for wirelessly communicating with the drone accessing the base within a predetermined distance, wherein the first short range communication module transmits, to the drone, the ID of the base when the drone comes within a predetermined distance, and transmits a landing guide signal when a landing intention signal is received from the drone.

Description

드론 이착륙 시스템 및 그 운용 방법Drone takeoff and landing system and its operation method
본 발명은 드론의 이착륙 시스템에 관한 것으로, 보다 상세하게는 사용자가 보유한 이착륙 장치에 무인으로 드론이 물류를 운송하는 시스템과 그 운용 방법에 관한 것이다.The present invention relates to a take-off and landing system of a drone, and more particularly, to a system and a method of operating the drone transport logistics to the take-off and landing device possessed by the user.
최근 드론(무인비행체)이 상용화되면서 카메라 촬영 등 다양한 분야에서 드론이 활용되고 있다. 드론은 소형 무인비행체로서 운용자의 조작 신호를 무선으로 받아 수동으로 운용되는 것이 일반적이다.Recently, drones (unmanned aerial vehicles) have been commercialized, and drones have been used in various fields such as camera photography. The drone is a small unmanned aerial vehicle and is generally operated manually by receiving an operator's operation signal wirelessly.
하지만 이러한 드론의 운용 방식은 반드시 운용자가 함께 있어야 한다는 점에서 비효율적이고, 또한 운용자의 실수로 사고가 발생할 수 있다는 점에서 위험성을 함께 내포하고 있다.However, the drone operation method is inefficient in that the operator must be present, and also poses a danger in that an accident may occur due to the operator's mistake.
한편 전자상거래가 보편화됨에 따라 운송회사들은 전형적인 종래의 교통수단에 의존해 물류를 운송하고 있는 실정이다. 중량이 상당하거나 부피가 큰 물류의 경우에는 이러한 종래의 교통수단을 활용하는 것이 불가피하지만, 소형이면서 부피가 작은 물류의 경우에는 굳이 운송하는 인력을 활용할 필요가 없다.Meanwhile, as e-commerce is becoming more common, transport companies rely on typical conventional transportation to transport logistics. In the case of heavy or bulky logistics, it is unavoidable to use such conventional transportation, but in the case of small and bulky logistics, there is no need to utilize manpower to transport.
하지만 이러한 물류를 운송하는 경우에도 종래의 교통수단과 인력에 바탕을 둔 운송시스템을 적용하게 되면서, 많은 인력과 비용이 소요된다.However, in the case of transporting such a logistics, a transportation system based on the conventional means of transportation and manpower is applied, which requires a lot of manpower and cost.
아울러 소위 동네에서 배달하는 음식 서비스업의 경우, 음식을 배달하기 위해 수개의 주문된 음식을 싣고 오토바이로 동네를 한 바퀴 돌다 보면, 뒤늦게 배달하는 집에서는 항의를 하기 마련이고, 항의 받는 것을 피하기 위해 조급하게 오토바이를 운행하다가 사고로 이어지는 경우도 많았다.In addition, in the so-called local food service industry, if you load several ordered foods to deliver food, and go around the neighborhood by motorcycle, you will make a protest in the late delivery house and rush to avoid receiving a protest. Driving a motorcycle often led to an accident.
본 발명은 상기한 바와 같은 문제점을 해결하기 위해 안출된 것으로, 무인으로 소형 경량의 물류를 운송할 수 있는 드론 이착륙 시스템과 그 운용 방법을 제공하는 것을 목적으로 한다.The present invention has been made to solve the above problems, and an object of the present invention is to provide a drone take-off and landing system and a method of operating the same that can transport small and light logistics unmanned.
상기한 바와 같은 목적을 달성하기 위해 본 발명은, The present invention to achieve the object as described above,
드론(30)이 이착륙하거나 물품을 놓는 베이스(11); 상기 베이스의 아이디를 저장하는 저장부(13); 및 베이스에 소정의 거리 내로 접근한 드론과 무선으로 통신하는 제1근거리통신모듈(15);을 포함하는 이착륙 장치(10)로서, A base 11 on which the drone 30 takes off and lands or places an article; A storage unit 13 storing the ID of the base; And a first short range communication module 15 for wirelessly communicating with a drone approaching a base within a predetermined distance.
상기 이착륙 장치는 소정의 거리 내로 드론이 접근하는 경우 상기 베이스의 아이디를 드론에 송신하고, 상기 드론으로부터 착륙의도신호를 수신하는 경우 착륙허가신호를 송신하는 것을 특징으로 하는 이착륙 장치를 제공한다.The takeoff and landing device provides a takeoff and landing device that transmits an ID of the base to a drone when the drone approaches a predetermined distance, and transmits a landing permission signal when receiving a landing intention signal from the drone.
상기 베이스는 건물에 의해 지지되는 힌지(H)를 중심으로 접힘상태와 전개상태 사이를 회전 이동할 수 있다.The base can rotate between a folded state and a deployed state about a hinge H supported by the building.
상기 베이스는 건물에 의해 지지되는 수평의 슬라이더(S)를 따라 슬라이드 이동하여 건물의 외벽에 대해 돌출되거나 건물의 외벽으로 삽입될 수 있다.The base may slide along a horizontal slider S supported by the building to protrude relative to the outer wall of the building or be inserted into the outer wall of the building.
상기 베이스는 드론으로부터 착륙의도신호를 수신하는 경우 드론(30)이 이착륙하거나 물품을 놓는 수 있는 위치로 이동할 수 있다.The base may move to a position where the drone 30 may take off or land or place an article upon receiving a landing intention signal from the drone.
상기 베이스에는 항법용 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법위치모듈(17)이 설치되어 주기적으로 자신의 위치 데이터를 축적하고, 축적된 위치 데이터 산포의 중심이 되는 지점을 상기 베이스의 위치정보로 업데이트할 수 있다.The base is provided with a satellite navigation position module 17 for receiving a signal of a navigation satellite to digitize its position, and periodically accumulates its position data, and the base is a point that is the center of the accumulated position data distribution. Can be updated with location information.
상기 이착륙 장치는 착륙유도신호로서 베이스에 이르는 복수의 웨이포인트(WP)를 직접 드론에게, 또는 서버에 요청하여 간접적으로 송신할 수 있다.The take-off and landing device may indirectly transmit a plurality of waypoints (WPs) to the base as a landing guidance signal to a drone or by requesting a server.
사용자 단말 또는 서버와 통신할 수 있는 통신부를 더 구비할 수 있다.The apparatus may further include a communication unit capable of communicating with a user terminal or a server.
또한 본 발명은, 드론(30)이 이착륙하거나 물품을 놓는 베이스(11); 상기 베이스의 아이디를 저장하는 저장부; 및 베이스에 소정의 거리 내로 접근한 드론과 무선으로 통신하는 제1근거리통신모듈;을 포함하는 이착륙 장치 및In another aspect, the present invention, the base (11) for the drone 30 to take off and land or place articles; A storage unit for storing the ID of the base; And a first short-range communication module for wirelessly communicating with the drone approaching the base within a predetermined distance.
이동하고자 하는 이착륙 장치의 아이디와 위치정보를 저장하는 메모리; 이착륙 장치와 무선으로 통신하는 제2근거리통신모듈; 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법장치; 및 비행을 제어하는 제어부;를 포함하는 드론,Memory for storing the ID and location information of the take-off and landing device to move; A second near field communication module wirelessly communicating with the takeoff and landing device; A satellite navigation device that receives a signal from a satellite and digitizes its location; And a control unit for controlling a flight;
을 포함하는 드론 이착륙 시스템으로서,As a drone takeoff and landing system comprising:
상기 이착륙 장치에 대해 소정의 거리 내로 드론이 접근하는 경우, 상기 제1근거리통신모듈은 상기 베이스의 아이디를 드론에 송신하고, When the drone approaches the predetermined landing distance within the predetermined distance, the first short-range communication module transmits the ID of the base to the drone,
상기 제2근거리통신모듈은 상기 제1근거리통신모듈이 송신한 베이스의 아이디가 이동하고자 하는 이착륙 장치의 아이디인지 확인한 경우, 상기 이착륙장치에 착륙의도신호를 송신하고,The second short range communication module transmits a landing intention signal to the takeoff and landing device when it is determined whether the ID of the base transmitted by the first short range communication module is the ID of the takeoff and landing device to be moved.
상기 이착륙 장치는 드론으로부터 착륙의도신호를 수신하는 경우 상기 드론에게 착륙허가신호를 송신하고,When the landing and landing device receives a landing intention signal from a drone, the landing device transmits a landing permission signal to the drone.
상기 제어부는 수신된 착륙유도신호에 따라 상기 베이스에 착륙하도록 드론을 제어하는 것을 특징으로 하는 드론 이착륙 시스템을 제공한다.The control unit provides a drone take-off and landing system, characterized in that for controlling the drone to land on the base according to the received landing guidance signal.
상기 이착륙 장치는 소정 지역 내에서 복수 개 구비되고,The takeoff and landing device is provided in plurality in a predetermined area,
상기 드론은 상기 소정 지역 내에서 비행하며,The drone is flying within the predetermined area,
상기 소정 지역 내에서 상기 복수 개의 이착륙장치에 구비된 제1근거리통신모듈과 상기 드론의 제2근거리통신모듈은 네트워크를 형성하고,The first short range communication module and the second short range communication module of the drone provided in the plurality of takeoff and landing devices in the predetermined region form a network.
상기 제1근거리통신모듈이 종단기기(end device) 또는 라우터이고,The first local area communication module is an end device or a router,
상기 제2근거리통신모듈은 상기 소정 지역의 네트워크의 코디네이터이며,The second local area communication module is a coordinator of the network of the predetermined area,
상기 네트워크는 상기 제2근거리통신모듈을 중심으로 각 제1근거리통신모듈이 연결된 스타 토폴로지(star topology)일 수 있다.The network may be a star topology in which each first local area communication module is connected to the second local area communication module.
상기 이착륙 장치와 상기 드론은 소정 지역 내에서 각각 복수 개 구비되고,The takeoff and landing device and the drone are each provided in plurality in a predetermined area,
상기 복수 개의 드론은 상기 소정 지역 내에서 비행하며,The plurality of drones fly within the predetermined area,
상기 소정 지역 내에서 상기 복수 개의 이착륙장치에 구비된 제1근거리통신모듈과 상기 복수 개의 드론의 제2근거리통신모듈은 네트워크를 형성하고,Within the predetermined area, a first short range communication module provided in the plurality of takeoff and landing devices and a second short range communication module of the plurality of drones form a network.
상기 제1근거리통신모듈과 제2근거리통신모듈은 상기 소정 지역의 네트워크를 구성하는 라우터이고,The first local area communication module and the second local area communication module are routers constituting a network of the predetermined area,
상기 제1근거리통신모듈의 라우터는 소정 지역 내의 복수 개의 드론의 제2근거리통신모듈의 라우터와 각각 연결된 메쉬 토폴로지(mesh topology)일 수 있다.The router of the first local area communication module may be a mesh topology connected to the routers of the second local area communication module of the plurality of drones in a predetermined region.
상기 제1근거리통신모듈과 제2근거리통신모듈은 지그비일 수 있다.The first short range communication module and the second short range communication module may be ZigBee.
네트워크 내에서 복수 개의 드론 중 하나의 드론을 코디네이터로 구성하고, 다른 드론이 코디네이터 드론에 연결된 형태일 수 있다.One drone of the plurality of drones may be configured as a coordinator in the network, and another drone may be connected to the coordinator drone.
해당 지역의 중심 위치 부근에 별도의 코디네이터를 구성한 후, 복수 개의 드론이 상기 코디네이터에 연결된 형태일 수 있다.After forming a separate coordinator near the central location of the region, a plurality of drones may be connected to the coordinator.
상기 드론은 서버와 통신 가능한 원거리통신모듈을 더 구비할 수 있다.The drone may further include a telecommunication module capable of communicating with a server.
또한 본 발명은, 드론 이착륙 시스템을 이용하는 물류 운송 방법으로서,In addition, the present invention, as a logistics transportation method using a drone take-off and landing system,
사용자가 사용자단말(50)을 통해 서버(70)에 접속하여 사용자의 이착륙 장치(10)의 아이디와 위치정보를 서버에 등록하거나, 이착륙 장치(10)가 자신의 아이디와 위치정보를 서버에 등록하는 단계,The user accesses the server 70 through the user terminal 50 and registers the ID and location information of the user's takeoff and landing device 10 to the server, or the landing and landing device 10 registers his ID and location information to the server. Steps,
사용자가 직접 또는 사용자의 요청에 의해 서버(70)에 접속하여 물류의 운송을 요청하는 단계,Requesting transportation of logistics by the user accessing the server 70 directly or at the request of the user,
상기 서버에 물류의 요청이 접수된 경우, 운송이 요청된 물류를 운송할 드론(30)에 해당 이착륙 장치(10)의 아이디, 또는 위치정보, 또는 아이디와 위치정보를 전송하는 단계 및When the request for logistics is received by the server, transmitting the ID, or location information, or ID and location information of the take-off and landing device 10 to the drone 30 to transport the requested logistics, and
상기 드론(30)이 상기 해당 이착륙 장치(10)의 위치정보를 근거로 상기 물류를 해당 이착륙 장치(10)까지 운송하는 단계를 포함하는 것을 특징으로 하는 물류 운송 방법을 제공한다.The drone 30 provides a logistics transport method comprising the step of transporting the logistics to the takeoff and landing device 10 based on the location information of the takeoff and landing device 10.
상기 드론(30)은 물류를 운송하는 동안 원거리통신모듈을 통해 자신의 위치와 물류의 배송 상태를 서버에 주기적으로 송신할 수 있다.The drone 30 may periodically transmit its location and delivery status of the logistics to the server through the telecommunication module during transportation of the logistics.
또한 본 발명은 드론 이착륙 시스템을 이용한 서비스 제공 방법으로서,In addition, the present invention provides a service providing method using a drone take-off and landing system,
서비스 제공자가 물품 수취인의 요청에 따라 이착륙장치를 설치하는 단계;Installing, by the service provider, a landing gear according to the request of the recipient of the goods;
설치된 이착륙장치와 물품 수취인의 정보를 서버에 등록하는 단계;Registering the information on the installed take-off and landing device and the goods recipient on the server;
물품 수취인이 물품 송부인에게 물품 송부를 요청하면, 서버에서 물품 송부인의 드론에게 물품 수취인의 정보를 제공하는 단계; 및When the goods recipient requests the goods sender to send the goods, the server providing information of the goods recipient to the drone of the goods sender; And
드론이 해당 물품 수취인의 이착륙장치로 이동하여 물품을 배달하는 단계;를 포함하는 드론 이착륙 시스템을 이용한 서비스 제공 방법을 제공한다.It provides a service providing method using a drone take-off and landing system comprising a; drone to move to the take-off and landing device of the article recipient.
본 발명에 의하면, 소형 경량의 물류를 드론으로 운송할 수 있어 인력과 비용을 절감할 수 있다.According to the present invention, it is possible to transport small and lightweight logistics in the drone can reduce the manpower and cost.
본 발명에 의하면, 복수의 베이스를 드론의 이착륙 장치로 활용하여 드론이 복수의 지점에 물류를 배송할 수 있다.According to the present invention, a plurality of bases can be utilized as take-off and landing devices for drones, so that the drones can deliver logistics to a plurality of points.
본 발명에 의하면, 개인 물류 운송을 자동화할 수 있다.According to the present invention, personal logistics transportation can be automated.
상술한 효과와 더불어 본 발명의 구체적인 효과는 이하 발명을 실시하기 위한 구체적인 사항을 설명하면서 함께 기술한다.In addition to the effects described above, the specific effects of the present invention will be described together with the following description of specifics for carrying out the invention.
도 1은 본 발명에 따른 드론 이착륙 시스템의 개요도,1 is a schematic view of the drone take-off and landing system according to the present invention,
도 2와 도 3은 본 발명에 따른 드론 이착륙 장치를 나타낸 도면,2 and 3 is a view showing a drone take-off and landing device according to the invention,
도 4는 본 발명에 따른 드론 이착륙 장치의 운용 방법을 나타낸 도면,4 is a view showing a method of operating a drone take-off and landing device according to the invention,
도 5와 도 6은 본 발명에 따른 드론 이착륙 장치에 드론이 이동하고 이착륙하는 단계를 나타낸 도면, 그리고5 and 6 is a view showing a step of moving the drone to take off and landing on the drone take-off and landing device according to the invention, and
도 7 내지 도 9는 본 발명에 따른 드론 이착륙 시스템의 네트워크 구성을 나타낸 도면이다.7 to 9 are diagrams showing the network configuration of the drone take-off and landing system according to the present invention.
이하, 본 발명의 바람직한 실시예를 첨부한 도면을 참조로 하여 상세히 설명한다. Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail.
본 발명은 이하에서 개시되는 실시예에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있으며, 단지 본 실시예는 본 발명의 개시가 완전하도록 하며 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위하여 제공되는 것이다.The present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, only this embodiment to make the disclosure of the present invention complete and to those skilled in the art to fully understand the scope of the invention It is provided to inform you.
도 1은 본 발명에 따른 드론 이착륙 시스템의 개요도, 도 2와 도 3은 본 발명에 따른 드론 이착륙 장치를 나타낸 도면, 도 4는 본 발명에 따른 드론 이착륙 장치에 드론이 이착륙하는 단계를 나타낸 도면, 그리고 도 5는 본 발명에 따른 드론 이착륙 장치의 운용 방법을 나타낸 도면이다.1 is a schematic view of a drone take-off and landing system according to the present invention, Figures 2 and 3 are views showing a drone take-off and landing device according to the present invention, Figure 4 is a view showing a step of the drone take off and landing on the drone take-off and landing device according to the present invention. And, Figure 5 is a view showing a method of operating a drone take-off and landing device according to the present invention.
[이착륙 장치][Takeoff and Landing Device]
본 발명에 따른 드론 이착륙 시스템은 개별적인 운송 목적지에 드론의 이착륙 장치(10)가 각각 설치되고, 드론(30)이 물류를 들고 해당하는 목적지의 이착륙 장치(10)에 이동하여 물류를 내려놓음으로써 물류의 운송이 완료되는 것을 기본적인 특징으로 한다.In the drone take-off and landing system according to the present invention, each of the drone's take-off and landing devices 10 are installed at respective transport destinations, and the drone 30 carries the logistic and moves to the take-off and landing device 10 of the corresponding destination to lower the logistics. It is a basic feature that the transportation of is completed.
드론의 이착륙 장치(10)는 건물(B)의 외벽에 돌출되게 설치된다. 가령 이착륙 장치(10)는 오피스 빌딩의 창문 근처, 공동주택인 아파트의 베란다, 단독건물의 외벽이나 옥상에 설치될 수 있다.The drone take-off and landing device 10 is installed to protrude from the outer wall of the building (B). For example, the take-off and landing device 10 may be installed near a window of an office building, on a veranda of an apartment that is an apartment house, on an outer wall or a roof of a single building.
이착륙 장치가 건물(B)의 외벽에 설치되는 경우에는 고정형으로 외벽에 대해 돌출된 형태로 설치되거나, 도 2와 도 3에 도시된 바와 같이 드론(30)의 이착륙이 필요할 때에는 펼쳐지거나 돌출되고 그 외에는 접히거나 건물 내측으로 인입되어 건물 외관에 악영향을 미치거나 근처를 지나는 드론의 비행에 방해가 되지 않도록 할 수 있다. 이러한 이착륙 장치의 이동은 사용자에 의해 수동으로, 또는 전동 장치 등을 설치하여 자동으로 이루어질 수 있다. 또한 사용자의 조작에 의해 또는 제어장치의 제어에 의해 펼쳐지거나 접히는 시기가 결정될 수 있다.When the takeoff and landing device is installed on the outer wall of the building B, it is fixedly installed to protrude from the outer wall, or as shown in Figs. Otherwise, it can be folded or drawn inside the building to avoid adversely affecting the exterior of the building or interfering with drones flying near it. The movement of the takeoff and landing device may be performed manually by a user or automatically by installing an electric device or the like. In addition, the timing of unfolding or folding may be determined by the user's operation or by the control of the controller.
본 발명에 따른 이착륙 장치(10)는 건물(B)의 창문에 인접한 외벽에 설치되며 드론이 이착륙하거나 드론이 배송하는 물품 등을 내려놓는 바닥면을 제공하는 베이스(11)와, 상기 베이스의 아이디 및 위치 정보를 저장하는 저장부(13)와, 베이스에 소정의 거리 내로 접근한 드론(30)과 무선으로 통신하는 제1근거리통신모듈(15)과, 항법용 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법위치모듈(17)과, 적어도 후술할 사용자단말(50)과 데이터를 주고받는 통신부(미도시)를 구비한다.Take-off and landing device 10 according to the present invention is installed on the outer wall adjacent to the window of the building (B) and the base 11 for providing a bottom surface for the drone to take off and land or drop the goods delivered by the drone, and the ID of the base And a storage unit 13 storing position information, a first near field communication module 15 wirelessly communicating with the drone 30 approaching the base within a predetermined distance, and receiving a signal of a navigation satellite. Satellite positioning module 17 for digitizing the position, and at least a communication unit (not shown) for transmitting and receiving data with the user terminal 50 to be described later.
베이스(11)는 드론이 이착륙하거나 드론이 배송하는 물품 등을 내려놓는 물리적인 공간을 제공하며, 물류를 운송 보내거나 운송받을 때에는 물류가 올려지는 공간을 제공하게 된다. 베이스(11)는 도 2와 도 3에 도시된 바와 같이 드론이 이착륙하거나 물류가 놓여져 있는 상태에서는 건물 외측으로 돌출되고, 드론의 이착륙이 필요 없거나 물류가 없는 상태에서는 건물 쪽으로 접히거나 인입된다.The base 11 provides a physical space in which the drone takes off and lands, or puts down the goods delivered by the drone, and provides a space in which the logistics are raised when transporting or receiving the logistics. As shown in FIGS. 2 and 3, the base 11 protrudes out of the building when the drone takes off and lands or is placed in the logistics, and is folded or pulled toward the building when the drone does not need to take off or land.
저장부(13)는 해당 저장부가 설치된 이착륙 장치(10)의 아이디와 위치정보가 저장된다. 아이디는 해당 이착륙 장치를 식별하기 위한 근거가 되고, 위치정보는 가령 해당 이착륙 장치(10)의 베이스(11)의 정확한 x,y,z 좌표이다. 아이디는 이착륙 장치(10)마다 고유하게 부여되어 서로 중복되지 않고, 위치정보는 이착륙 장치의 설치 위치에 따라 변경되어 업데이트되는 정보이다. 아이디는 이착륙 장치의 통신부 또는 제1근거리통신모듈의 MAC주소와 같은 고유번호일 수 있다. 아이디는 불변의 정보인 것은 아니며, 필요에 따라 변경 가능함은 물론이다. 위치정보는 다른 정밀한 위치 측정 장치를 사용하여 설치 위치를 정확히 측정한 후 수동으로 입력될 수도 있지만, 입력을 잘못 하거나 이착륙 장치의 설치 위치를 변경할 경우에는 물류가 잘못 배송되거나 드론의 이착륙 과정에서 사고가 일어날 수 있으므로, 자동적으로 업데이트되도록 구성하는 것이 바람직하다.The storage unit 13 stores IDs and location information of the takeoff and landing device 10 in which the storage unit is installed. The ID serves as a basis for identifying the takeoff and landing device, and the location information is, for example, the exact x, y, z coordinates of the base 11 of the takeoff and landing device 10. The ID is uniquely assigned to each takeoff and landing device 10 and does not overlap each other, and the location information is information that is changed and updated according to the installation location of the takeoff and landing device. The ID may be a unique number such as a MAC address of the communication unit of the take-off and landing device or the first short range communication module. The ID is not immutable information and can be changed as necessary. The location information may be entered manually after accurately measuring the installation location using another precise positioning device, but if you make a mistake or change the installation location of the takeoff and landing device, the logistics may be incorrectly delivered or an accident may occur during the drone's takeoff and landing process. It may be desirable to configure it to update automatically, as it may happen.
이러한 위치정보는 해당 베이스에 설치된 위성항법위치모듈(17)에 의해 계측되어 업데이트된다. 위치정보는 최초 설치 시 1회 업데이트 되도록 할 수도 있지만, 위성 신호의 잡음이나 기타 건물에 의한 신호의 반사나 차폐 등으로 인해 신호가 교란될 수 있는 가능성을 염두하여, 위성항법위치모듈(17)이 주기적으로 자신의 위치 데이터를 저장부(13)에 축적하고, 저장부(13)에서는 이렇게 축적된 위치 데이터 산포의 중심이 되는 지점을 상기 베이스의 위치정보로서 업데이트하여 저장하도록 하는 것이 바람직하다. 물론 이러한 업데이트 과정이 일정 기간 지속된 후 데이터 산포의 중심이 특정 좌표로 수렴하게 되는 시점에 이르면 업데이트를 중지할 수도 있다. This position information is measured and updated by the satellite navigation position module 17 installed in the base. Although the location information may be updated once at the time of initial installation, in view of the possibility that the signal may be disturbed due to noise of the satellite signal or reflection or shielding of the signal by other buildings, the satellite navigation location module 17 may be It is preferable to periodically store its own position data in the storage unit 13, and to store and store the point which is the center of the accumulated position data distribution as the position information of the base. Of course, after such an update process continues for a certain period of time, the update may be stopped when the center of the data distribution reaches a certain coordinate.
이러한 위치정보는 앞서 언급한 바와 같이 별도의 정밀계측 위성항법장치를 이용하여 위치측정된 후 사용자에 의해 저장되거나 업데이트 될 수도 있음은 물론이다.As mentioned above, the location information may be stored or updated by a user after location measurement using a separate precision measurement satellite navigation apparatus.
제1근거리통신모듈(15)은 근처에 오게 되는 드론(30)과 통신하는 장치로서, 해당 이착륙 장치(10)의 아이디, 위치 정보, 및/또는 착륙유도신호를 드론의 제2근거리통신모듈(미도시)에 송신하고, 또한 드론의 제2근거리통신모듈이 송신하는 정보를 수신할 수 있다.The first local area communication module 15 is a device that communicates with the drone 30 to be near, and the ID, location information, and / or landing guidance signal of the takeoff and landing device 10, the second local area communication module ( And information transmitted by the second near field communication module of the drone.
제1근거리통신모듈과 제2근거리통신모듈은 지그비(Zigbee)와 단거리 전용 통신(Dedicated Short Range Communications, DSRC)을 이용하는 것이 바람직하지만, 이 외에도 Wi-Fi, 블루투스, NFC, 적외선 통신 등 기타 근거리 무선통신기술을 적용하는 것 역시 가능하다.The first short range communication module and the second short range communication module preferably use Zigbee and Dedicated Short Range Communications (DSRC), but other short-range wireless devices such as Wi-Fi, Bluetooth, NFC, and infrared communication may be used. It is also possible to apply communication technology.
통신부(미도시)는 스마트폰, 태블릿, PC와 같은 사용자단말(50)과 LAN 케이블이나 USB 케이블을 통해 유선으로 또는 블루투스, Wi-Fi, NFC 등을 통해 무선으로 접속하여 데이터를 주고 받을 수 있다. 또한 통신부는 사용자단말을 통해 서버와 간접적으로 데이터를 주고 받거나 드론을 운용하는 서버와 직접적으로 데이터를 주고 받을 수 있다. 통신부는 사용자단말(50)에 해당 이착륙 장치(10)의 아이디와 위치정보를 제공할 수 있고, 사용자단말(50)은 통상의 통신수단으로 이러한 정보를 후술할 서버(70)에 저장할 수 있다. 이러한 사용자단말(50)은 반드시 하나일 필요는 없고 복수개가 동시에 사용될 수 있으며, 새로운 기기의 추가나 기존 기기의 삭제도 가능하다.The communication unit (not shown) may exchange data by wirelessly connecting a user terminal 50 such as a smartphone, a tablet, or a PC through a LAN cable or a USB cable or wirelessly via Bluetooth, Wi-Fi, or NFC. . In addition, the communication unit may exchange data indirectly with a server through a user terminal or directly with a server operating a drone. The communication unit may provide an ID and location information of the takeoff and landing device 10 to the user terminal 50, and the user terminal 50 may store such information in a server 70 which will be described later by ordinary communication means. The user terminal 50 does not necessarily need to be one, and a plurality of user terminals 50 may be used at the same time, and a new device may be added or an existing device may be deleted.
[드론][drone]
본 발명의 드론(30)은, 이동하고자 하는 베이스의 아이디와 위치정보를 저장하는 메모리(미도시)와, 상기 이착륙 장치(10)의 제1근거리통신모듈(15)과 무선으로 통신하는 제2근거리통신모듈(미도시)와, 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법장치(미도시)와, 드론의 비행 자세와 비행 궤적을 제어하는 제어부(미도시)를 포함한다. 또한 드론에 원거리통신모듈을 설치하고, 원거리통신모듈(CDMA, GSM, LTE 등)을 통해 통신을 할 수도 있다.The drone 30 of the present invention includes a memory (not shown) that stores ID and location information of a base to be moved, and a second wireless communication with the first local area communication module 15 of the takeoff and landing device 10. It includes a near field communication module (not shown), a satellite navigation device (not shown) for receiving a signal from a satellite to digitize its position, and a controller (not shown) for controlling the flight attitude and flight trajectory of the drone. In addition, it is possible to install a telecommunication module in the drone, and communicate through a telecommunication module (CDMA, GSM, LTE, etc.).
드론의 메모리에는 무인 비행을 하여 물류를 운송할 때 목적지인 이착륙 장치(10)의 아이디와 위치정보가 저장되며, 이러한 정보는 후술할 서버(70)로부터 제공받는다. 또한 드론은 출발지(WPS)에서 목적지 근처(WPF)에 이르는 최적의 웨이포인트들의 정보도 서버로부터 제공받는다. 따라서 드론은 이러한 목적지의 위치정보와 목적지를 향하는 경로인 웨이포인트들의 정보를 근거로 비행을 하여 목적지 근처에 도달하기 위한 비행을 하게 된다. 물론 본 발명은 지역별로 이동해야 할 위치에 대응하는 경로 정보가 드론의 저장소에 미리 저장되는 것을 배제하지는 않는다.The drone's memory stores the ID and location information of the takeoff and landing device 10 as a destination when the logistics are carried by unmanned flight, and this information is provided from the server 70 to be described later. The drone also receives information from the server about the best waypoints from the origin WP S to near the destination WP F. Therefore, the drone flies to reach near the destination by flying based on the location information of the destination and the waypoint information which is the path to the destination. Of course, the present invention does not exclude that route information corresponding to a location to be moved by region is previously stored in the drone's storage.
드론에는 위성항법장치가 내장되어 있어서 드론 자신의 위치를 x,y,z 좌표 데이터로 변환할 수 있다. 또한 드론에는 방위를 측정할 수 있는 센서가 내장되어 있다. 따라서 도 5에 도시된 바와 같이 드론은 자신의 위치좌표와 다음으로 이동해야 할 웨이포인트(WPn)의 위치좌표의 차이를 산출하여 해당 위치로 이동할 수 있다. 드론이 제어부에 의해 제어되어 해당 위치로 이동한 후에는 다시 자신의 위치좌표와 해당 웨이포인트(WPn) 좌표를 비교하여 두 위치가 오차범위 내로 들어오는지 확인한다. 확인한 결과 오차범위를 벗어나 있는 경우에는 다시 해당 웨이포인트(WPn)로 이동하는 제어를 하게 되고, 오차범위 내에 있는 경우에는 해당 웨이포인트(WPn)의 다음 웨이포인트(WPn+1)의 위치좌표로 이동하는 제어를 계속하게 된다.The drone has a built-in satellite navigation system that can convert its own position into x, y, z coordinate data. The drone also has a built-in sensor to measure orientation. Therefore, as shown in FIG. 5, the drone may calculate the difference between its position coordinate and the position coordinate of the waypoint WP n to be moved next, and move to the corresponding position. After the drone is controlled by the control unit and moved to the corresponding position, it checks whether the two positions are within the error range by comparing their position coordinates with the corresponding waypoint (WP n ) coordinates. If it is out of the error range, the control moves back to the corresponding waypoint (WP n ), and if it is within the error range, the position of the next waypoint (WP n + 1 ) of the corresponding waypoint (WP n ) The control to move to the coordinates is continued.
이렇게 하나씩 웨이포인트를 지나서 목적지 근처에 있는 최종 웨이포인트(WPF)에 오게 되면, 드론은 근처에 있는 이착륙 장치로부터 제2근거리통신모듈을 통해 수신한 아이디를 통해 해당 아이디에 해당하는 이착륙 장치(10)가 메모리에 저장된 목적지의 이착륙 장치인지 여부를 확인하고 착륙하는 과정에 돌입한다.When passing through the waypoints one by one to the final waypoint (WP F ) near the destination, the drone receives the landing and landing device corresponding to the corresponding ID through the ID received through the second near field communication module from the nearby takeoff and landing device. ) Checks to see if it is a takeoff and landing device in the destination stored in memory and enters the landing process.
[드론 이착륙 시스템]Drone takeoff and landing system
목적지 근처에 드론이 도착하면, 이착륙 장치(10)의 제1근거리통신모듈(15)은 드론의 제2근거리통신모듈에 해당 이착륙 장치의 아이디를 송신한다. 이때 이착륙 장치(10)의 제1근거리통신모듈(15)은 드론의 제2근거리통신모듈의 신호에 근거하여 연결을 시도하고 연결이 이루어지면 베이스(또는 이착륙 장치)의 아이디를 제2근거리통신모듈에 전송할 수 있다. 또는 이착륙 장치(10)의 제1근거리통신모듈(15)이 제2근거리통신모듈의 신호에 상관없이 지속적으로 자신의 아이디가 포함된 신호를 발생시켜 이착륙 장치 근처에 도달한 드론이 그러한 신호를 받도록 할 수도 있다.When the drone arrives near the destination, the first near field communication module 15 of the takeoff and landing device 10 transmits the ID of the takeoff and landing device to the second near field communication module of the drone. At this time, the first near-field communication module 15 of the take-off and landing device 10 attempts to connect based on the signal of the second near-field communication module of the drone, and when the connection is made, the ID of the base (or take-off and landing device) to the second near-field communication module. Can be sent to. Alternatively, the first near-field communication module 15 of the take-off and landing device 10 continuously generates a signal including its own ID regardless of the signal of the second near-field communication module so that the drone that reaches near the take-off and land device receives such a signal. You may.
목적지 근처에 다른 이착륙 장치도 또한 드론에게 자신의 아이디를 전송할 수 있음은 물론이다.Of course, other takeoffs and landings near the destination can also send their ID to the drone.
드론의 제2근거리통신모듈은 상기 제1근거리통신모듈이 송신한 베이스(또는 이착륙 장치)의 아이디를 수신하고, 드론의 제어부는 이렇게 수신된 아이디가 이동하고자 하는 베이스의 아이디인지 확인한다. 이렇게 확인한 아이디가 목적지인 베이스의 아이디가 아닌 다른 아이디라면, 드론은 근처의 다른 이착륙 장치로부터 다시 아이디를 전송 받거나, 이미 전송받은 다른 이착륙 장치의 아이디를 더 확인한다.The second near field communication module of the drone receives the ID of the base (or takeoff and landing device) transmitted by the first near field communication module, and the controller of the drone checks whether the received ID is the ID of the base to be moved. If the ID is a different ID than the base ID of the destination, the drone receives the ID again from another nearby takeoff and landing device, or checks the ID of another takeoff and landing device already received.
수신한 아이디가 목적지인 이착륙 장치임이 확인되면, 드론은 상기 제2근거리통신모듈을 통해 해당 이착륙 장치의 제1근거리통신모듈에 착륙의도신호를 송신한다.When it is determined that the received ID is the landing and landing device as the destination, the drone transmits a landing intention signal to the first local area communication module of the corresponding landing and landing device through the second local area communication module.
목적지인 이착륙 장치는 드론으로부터 착륙의도신호를 수신 받게 되면, 도 2와 도 3의 위에 도시된 이착륙 장치와 같이, 베이스가 건물에 의해 지지되는 힌지(H)를 중심으로 접힘상태로부터 전개상태로 회전 이동하거나, 베이스가 건물에 의해 지지되는 수평의 슬라이더(S)를 따라 건물의 외벽에 대해 돌출되는 위치로 슬라이드 이동한다. 물론 고정형 베이스인 경우에는 이러한 과정은 생략될 수 있다.When the destination takeoff and landing device receives the landing intention signal from the drone, like the takeoff and landing device shown in FIGS. 2 and 3, the base landing and landing device is in a deployed state from the folded state around the hinge H supported by the building. Rotate or slide the base along a horizontal slider S supported by the building to a position protruding with respect to the exterior wall of the building. Of course, in the case of a fixed base, this process can be omitted.
다음으로 이착륙 장치는 다시 제1근거리통신모듈을 통해 제2근거리통신모듈에 착륙허가신호를 송신한다. 이러한 착륙허가신호는 착륙유도신호를 포함할 수 있다. 여기서 착륙유도신호는 베이스에 이르는 복수의 웨이포인트(WP)일 수 있다.Next, the landing and landing device transmits a landing permission signal to the second local area communication module through the first local area communication module. The landing permission signal may include a landing guidance signal. The landing guidance signal may be a plurality of waypoints (WPs) leading to the base.
착륙허가신호를 수신한 드론의 제어부는 착륙유도신호를 수신받는다. 착륙유도신호는 이착륙 장치의 제1근거리통신모듈을 통해 직접 전달받을 수도 있고, 드론의 메모리에 기 저장되어 있을 수 있으며, 원거리통신모듈로 서버를 통해 전달받을 수도 있다. 착륙유도신호를 수신한 드론의 제어부는 수신된 착륙유도신호에 따라 상기 베이스에 착륙하도록 드론을 제어한다. 즉 도 6에 도시된 바와 같이, 목적지 근처에 있는 최종 웨이포인트(WPF)에 있던 드론은, 다시 착륙을 유도하는 복수 개의 일련의 웨이포인트(WP3, WP2, WP1, WP0)를 거쳐 이착륙 장치의 베이스 상에 착륙하게 된다. 웨이포인트를 이동하는 과정은 앞서 설명한 바 있으므로 중복되는 설명은 생략하기로 한다.The control unit of the drone receiving the landing permission signal receives the landing guidance signal. The landing guidance signal may be directly transmitted through the first short-range communication module of the takeoff and landing device, may be stored in the memory of the drone, or may be transmitted through the server as the telecommunication module. The control unit of the drone receiving the landing guidance signal controls the drone to land on the base according to the received landing guidance signal. That is, as shown in FIG. 6, the drone at the final waypoint WP F near the destination passes through a plurality of series of waypoints WP3, WP2, WP1 and WP0 that lead to landing again. Will land on the base. Since the process of moving the waypoint has been described above, redundant descriptions will be omitted.
이착륙 장치와 드론 사이의 통신은 위와 같이 근거리통신모듈을 통해 이루어질 수도 있지만, 원거리통신 모듈로도 가능함은 물론이다.Communication between the takeoff and landing device and the drone may be performed through a short range communication module as described above, but may also be a telecommunication module.
[드론 이착륙 시스템을 이용한 물류 운송 방법][Logistics Transportation Method Using Drone Takeoff and Landing System]
이하 본 발명의 드론 이착륙 시스템을 이용한 물류 운송 방법에 대해 설명한다.Hereinafter will be described a logistics transport method using a drone take-off and landing system of the present invention.
먼저 사용자는 스마트폰, 태블릿 또는 PC와 같은 사용자단말(50)을 사용하여 사용자의 이착륙 장치(10)의 아이디와 위치정보 데이터를 제공받고, 서버(70)에 접속하여 이러한 데이터를 서버에 등록해 놓는다. 서버에 등록할 때에는 아이디와 위치정보 데이터가 패키지화 되어 직접 서버로 전송되도록 함으로써 사용자가 수동으로 입력함으로 인해 발생하는 오류를 방지하는 것이 좋다. 물론 이러한 서버로의 정보 등록은 사용자 단말을 거치지 않고 이착륙 장치에서 직접 서버에 등록되도록 할 수도 있다.First, the user is provided with ID and location information data of the user's takeoff and landing device 10 using a user terminal 50 such as a smartphone, tablet or PC, and accesses the server 70 to register such data in the server. Release. When registering on the server, it is recommended to prevent the error caused by the user's manual input by allowing the ID and location data to be packaged and sent directly to the server. Of course, the information registration to the server may be registered in the server directly from the takeoff and landing device without going through the user terminal.
다음으로 사용자가 필요할 때, 가령 음식을 배달시키거나 의류와 같이 가벼운 물건을 배송받고자 하는 경우에는 사용자단말(50)을 통해 서버(70)에 접속하여 물류의 운송을 요청한다. 물류의 운송 요청은 서버뿐만 아니라 전화 통화 등의 통신을 통해서도 이루질 수 있으며, 이럴 때에는 전화로 물품의 운송을 요청받은 사람이 그 내역을 서버에 입력할 수 있을 것이다. Next, when the user needs to deliver food or light items such as clothing, the user requests the transportation of the logistics by accessing the server 70 through the user terminal 50. Logistics transport request may be made not only through the server but also through communication such as a telephone call, and in this case, a person who is requested to transport the goods by phone may input the details into the server.
서버는, 물류의 요청이 접수된 경우, 물류를 운송하게 될 드론(30)에 해당 사용자의 이착륙장치(10)의 아이디와 위치정보를 전송한다. 드론의 이동성으로 인해 드론과 서버는 멀리 떨어져 있을 수 있으므로, 드론에 원거리통신모듈을 설치하고, 원거리통신모듈(CDMA, GSM, LTE 등)을 통해 드론으로 데이터가 전송될 수 있도록 하는 것이 바람직하다.When the request for logistics is received, the server transmits the ID and location information of the user's take-off and landing apparatus 10 to the drone 30 that will transport the logistics. Due to the mobility of the drone, the drone and the server may be far apart, so it is desirable to install a telecommunication module in the drone and to transmit data to the drone through the telecommunication module (CDMA, GSM, LTE, etc.).
그러면 드론은 전송받은 사용자의 위치정보를 근거로 해당 물류를 상기 사용자의 이착륙장치(10)까지 운송하게 된다. 운송 순서는 먼저 최적의 경로로 지정되어 서버로부터 전송 받은 목적지 근처까지의 웨이포인트들을 따라 목적지 근처의 웨이포인트(WPF)로 먼저 이동하고, 다음으로 목적지의 이착륙 장치로부터 착륙을 유도받아 착륙한다. 착륙 후에는 물류를 놓고 다시 이륙하여 다음 장소로 이동하는 것이다.Then, the drone transports the logistic to the user's takeoff and landing device 10 based on the received location information of the user. The transport order is first designated as the optimal route, first moves along the waypoints near the destination received from the server to the waypoint WP F near the destination, and then landed by landing from the takeoff and landing device of the destination. After landing, take off the logistics and take off again to move to the next location.
이 때 드론(30)은 물류를 운송하는 동안 원거리통신모듈을 통해 자신의 위치와 물류의 배송 상태를 서버에 주기적으로 송신하도록 하여 이를 서버에 업데이트하는 것이 바람직하다. 가령 드론이 각 웨이포인트를 거칠 때마다 자신의 위치(웨이포인트)를 서버에 송신할 수 있고, 서버는 이를 바탕으로 배송 상태를 사용자에게 제공할 수 있다.At this time, it is preferable that the drone 30 periodically transmits its location and delivery status of the logistics to the server through the telecommunication module during the transportation of the logistics and updates them to the server. For example, a drone may send its location (waypoint) to a server as it passes through each waypoint, and the server may provide the delivery status to the user based on the drone.
[드론 이착륙 시스템의 네트워크 구성][Network Configuration of Drone Takeoff and Landing System]
도 7과 도 8은 본 발명에 따른 드론 이착륙 시스템의 네트워크 구성을 나타낸 도면이다. 7 and 8 are views showing the network configuration of the drone take-off and landing system according to the present invention.
본 발명의 드론 이착륙 시스템을 소정 지역 내에서 사용할 경우, 소정 지역 내에 운용되는 이착륙 장치와 드론의 근거리 통신모듈로 네트워크를 구성할 수 있다.When the drone take-off and landing system of the present invention is used in a predetermined region, a network may be configured by a short-range communication module of a drone and a landing device operating in the predetermined region.
근거리 통신모듈 중, 지그비 통신은 이론상 65536 노드까지 확장할 수 있기 때문에, 지역별로 최소 수십에서 수천의 이착륙장치를 관리해야 하는 본 발명의 시스템에 적용하기에 적합하다. 또한 지그비의 이론적인 통신 범위는 1.2km에 달하고 실질적인 통신 범위는 100m 정도로서, 블루투스나 와이파이보다 훨씬 통신 가능 거리가 길기 때문에, 이착륙장치가 밀집된 도시에서는 물론 띄엄띄엄 위치하는 시골에서도 네트워크를 구성하기에 부족함이 없다. Of the short range communication modules, Zigbee communication can theoretically be extended to 65536 nodes, which makes it suitable for the system of the present invention, which must manage at least tens to thousands of takeoff and landing devices by region. In addition, Zigbee's theoretical communication range is 1.2km and the actual communication range is about 100m, which is much longer than Bluetooth or Wi-Fi, so it is not enough to construct a network in a place where a landing gear is densely located and in a sparsely populated countryside. There is no
또한 지그비 통신은 스타 네트워킹이나 메쉬 네트워킹 등을 모두 지원하고, 가격이 저렴하며 저전력 통신기기이므로, 본 발명의 시스템에서 시스템의 구성(지역의 범위, 이착륙장치의 개수 및 밀도, 드론의 개수)에 따라 다양한 형태의 네트워크를 구성할 수 있어 매우 유용하다.In addition, since Zigbee communication supports both star networking and mesh networking, and is inexpensive and low-power communication device, according to the configuration of the system in the system of the present invention (region, number of take-off and density, number of drones) It is very useful to be able to configure various types of networks.
아울러 통신 연결시 소요시간이 30ms 밖에 소요되지 아니하여 드론과 목적지의 이착륙장치가 네트워크로서 즉각적으로 접속될 수 있어 드론이 공중에서 체류해야 할 시간을 아낄 수 있다.In addition, the time required for communication connection is only 30ms, so the drone and the landing gear of the destination can be immediately connected as a network, thus saving time for the drone to stay in the air.
나아가 이착륙 유도에 필요한 정보의 크기는 그리 크지 않기 때문에, 통신속도가 250kbps밖에 되지 않는 지그비의 데이터 송수신 속도는 드론의 착륙을 유도함에 있어서 전혀 문제가 되지 않는다.Furthermore, since the information required for guided takeoff and landing is not so large, Zigbee's data transmission and reception speed of only 250kbps is not a problem in inducing drones to land.
하나의 지그비 네트워크 내에는 FFD(full function device)인 하나의 코디네이터와, FFD인 복수개의 라우터와, RFD(redeced function device)인 복수개의 종단기기(end device)를 설치할 수 있다.In one Zigbee network, one coordinator, which is a full function device (FFD), a plurality of routers that are FFDs, and a plurality of end devices (redeced function devices), which are RFDs, may be installed.
FFD인 코디네이터와 라우터는, 해당 지그비 네트워크 내에서 복수의 다른 장치(device)와 통신 가능하고, RFD인 종단기기는 오직 하나의 FFD와 통신 가능하다. 또한 지그비 네트워크를 벗어난 외부와 통신이 가능한 FFD는 코디네이터뿐이며, 하나의 지그비 네트워크 상에는 하나의 코디네이터만 존재한다.The coordinator and router, which are FFDs, can communicate with a plurality of other devices within the Zigbee network, and the terminal device, which is an RFD, can communicate with only one FFD. In addition, only the coordinator can communicate with the outside of the Zigbee network, and only one coordinator exists on one Zigbee network.
이러한 지그비 네트워크를 본 발명의 드론 이착륙 시스템에 적용한다면, 가령 소정 지역 내에 복수 개의 이착륙장치와 하나의 드론이 운용될 경우, 드론의 제2근거리통신모듈은 지그비의 코디네이터이고, 해당 지역 내의 복수 개의 이착륙장치의 제1근거리통신모듈은 상기 제2근거리통신모듈에 연결된 종단기기(또는 라우터)로 구성하며, 상기 네트워크는 도 7에 도시된 바와 같이 상기 코디네이터를 중심으로 한 스타 토폴로지 형태일 수 있다.If the Zigbee network is applied to the drone takeoff and landing system of the present invention, for example, when a plurality of takeoff and landing devices and one drone are operated in a predetermined region, the second short-range communication module of the drone is a Zigbee coordinator, and a plurality of takeoff and landing in the region The first short-range communication module of the device is composed of an end device (or a router) connected to the second short-range communication module, and the network may be in the form of a star topology centering on the coordinator as shown in FIG. 7.
다음으로 소정 지역 내에 복수 개의 이착륙장치와 복수 개의 드론이 운용될 경우, 해당 지역 내의 복수 개의 이착륙장치의 제1근거리통신모듈과 복수 개의 드론의 제2근거리통신모듈은 지그비의 라우터이고, 각각의 이착륙장치의 제1근거리통신모듈은 도 8 또는 도 9에 도시된 바와 같이 해당 지역 내의 복수 개의 드론의 제2근거리통신모듈의 라우터와 각각 연결된 메쉬 토폴로지(mesh topology) 형태의 네트워크를 구성할 수 있다. Next, when a plurality of takeoff and landing devices and a plurality of drones are operated in a predetermined area, the first short range communication module of the plurality of takeoff and landing devices in the area and the second short range communication module of the plurality of drones are Zigbee routers, and each takeoff and landing As shown in FIG. 8 or 9, the first local area communication module of the device may configure a network in a mesh topology form connected to routers of the second local area communication module of the plurality of drones in the corresponding area.
여기서 도 8과 같이 네트워크 내의 코디네이터는 복수 개의 드론 중 하나의 드론을 코디네이터로 구성하고, 다른 드론이 코디네이터 드론에 연결된 형태가 되도록 하거나, 도 9와 같이 해당 지역의 중심 위치 부근에 별도의 코디네이터를 구성한 후, 복수 개의 드론이 상기 여기에 연결된 형태가 되도록 할 수도 있다.Here, as shown in FIG. 8, the coordinator in the network configures one drone among a plurality of drones as a coordinator, and makes another drone connected to the coordinator drone, or configures a separate coordinator near a central location of the corresponding region as shown in FIG. 9. Thereafter, a plurality of drones may be connected to the form.
이러한 네트워크 구축은 일반적으로 드론과 이착륙장치의 사용이 익숙치 않은 지역 사람들에게 이들의 사용법을 숙지해야 함을 강요할 필요 없이, 드론과 이착륙장치를 전문적으로 유지 관리하고 운용하는 서비스 제공자가 모든 것을 대행함으로써, 드론으로 물건을 운반해주어야 할 사람과 이착륙장치로 물건을 받을 사람이 별다른 불편함 없이 드론 이착륙 시스템을 이용하도록 도울 수 있다.This network construction is typically done by a service provider who specializes in maintaining and operating drones and takeoffs on behalf of all, without having to force local people who are not familiar with drones and takeoffs to use them. For example, the drone can take advantage of the drone take-off and landing system without any inconvenience.
하지만 본 발명이 반드시 이러한 구조의 네트워크와 지그비 통신모듈에 국한되는 것은 아니며, 드론과 이착륙장치 서비스를 원활하게 이용할 수 있는 다른 구조의 네트워크나 통신모듈도 적용할 수 있음은 물론이다.However, the present invention is not necessarily limited to the network and the Zigbee communication module of such a structure, and of course, other networks or communication modules of which a drone and a landing gear service can be used can be applied.
[드론 이착륙 시스템을 이용한 서비스 제공 방법][Service provision method using drone takeoff and landing system]
앞서 설명한 바와 같이, 드론과 이착륙장치를 이용하여 물건을 보내거나 받기를 원하는 사용자들이 드론과 이착륙장치의 사용법이나 작동원리를 익히거나 공부할 필요 없이 이를 사용하도록 해 주는 서비스는 다음과 같이 제공된다(이는 이동전화 이용고객이 이동전화의 통신 원리를 이해할 필요가 없는 것과 마찬가지이다).As described above, a service that allows users who wish to send or receive goods using drones and takeoffs to use them without having to learn or study how to use or operate the drones and takeoffs is provided as follows: Mobile phone customers do not need to understand the communication principle of the mobile phone).
먼저 드론 이착륙시스템을 이용하는 사용자를 다음과 같이 3가지로 분류할 수 있다.First, users who use drone take-off and landing system can be classified into three categories as follows.
1) 드론 및 이착륙장치 운영자(서비스 제공자)1) Drone and takeoff gear operator (service provider)
2) 물품 송부인(드론 사용자)2) Sender of Goods (Drone User)
3) 물품 수취인(이착륙장치 사용자)3) Goods Recipient (Takeoff Landing Device User)
여기서 물품 송부인은, 가령 동네 치킨가게나 피자가게일 수 있고, 물품 수취인은 가령 아파트에서 배달음식을 시키는 거주자일 수 있다.Here, the sender of goods may be, for example, a local chicken shop or a pizza shop, and the recipient of goods may be a resident who makes food for delivery in an apartment.
서비스의 제공 방법에 대해 이하 살펴보면, 서비스 제공자는 사전에 물품 수취인의 건물에 유상 혹은 무상으로 이착륙장치를 설치한 후, 설치된 이착륙장치의 아이디와 위성항법 위치정보를 이착륙장치에 업데이트하고, 해당 이착륙장치를 설치한 물품수취인의 고객정보와 해당 이착륙장치의 정보를 매칭시켜 서비스 제공자 서버에 등록한다.In the following description of the service providing method, the service provider installs the landing gear for a fee or free of charge in the recipient's building, and then updates the ID and the satellite navigation location information of the installed landing gear to the landing gear. Match the customer information of the recipient of the installed goods and the information of the take-off and landing device is registered in the service provider server.
이 상태에서 물품 수취인이 물품 송부인에게 물품의 송부를 요청하면(이는 아파트 주민이 치킨가게에 전화를 걸어 집으로 치킨을 배달시키는 것과 매칭된다고 할 수 있음), 물품 송부인의 단말기(전화기)에 물품 수취인의 전화번호와 관련 정보가 나타나게 되고, 주문한 물품이 준비되면 물품 송부인은 준비된 물품을 드론에 싣고 물품 수취인의 정보를 드론에 입력한다. 물품 수취인의 정보를 드론에 입력하는 방법은, 단말기(전화기)에 수신된 물품 수취인의 정보(전화번호, 주소)가 서비스 제공자 서버에 송신되면, 서버에서는 해당 물품 수취인의 정보와 서버에 등록된 정보를 매칭시켜 해당 물품 수취인이 가지고 있는 이착륙장치의 아이디와 위치정보 및 해당 이착륙장치까지 이르는 최적의 웨이포인트들의 정보를 다시 단말기(전화기)에 제공하고, 물품 송부인이 다시 해당 단말기와 드론 사이의 근거리 통신을 통해 물품 수취인의 이착륙장치 관련 정보를 드론에 입력하게 된다. 물론 이러한 정보의 입력 예는 하나의 실시예이며, 본 발명이 드론에 관련 웨이포인트 정보들이 저장되어 있거나 하는 다른 실시예의 적용을 배제하는 것은 아니다.In this state, if the recipient of the item asks the sender to send the item (which may match that of an apartment resident calling the chicken shop and delivering the chicken home), the sender's terminal (telephone) The recipient's phone number and related information will be displayed. When the order is ready, the sender will load the prepared item into the drone and enter the recipient's information into the drone. The method of inputting the information of the goods recipient to the drone is that when the information of the goods receiver (telephone number, address) received at the terminal (telephone) is transmitted to the service provider server, the server receives the information of the goods receiver and the information registered in the server. Matching the ID and location information of the takeoff and landing device and the information of the best waypoints to the takeoff and landing device back to the terminal (telephone), and the sender of the goods again near the terminal and the drone Through communication, information about the recipient's takeoff and landing device is input to the drone. Of course, the example of inputting such information is one embodiment, and the present invention does not exclude the application of another embodiment in which relevant waypoint information is stored in the drone.
이러한 방식에 의해 배송 명령이 이루어지면 드론은 앞서 설명한 바와 같이 목적지 이착륙장치에 도착하여 물건을 내려놓고 다음 장소로 이동하게 된다.When the delivery order is made in this way, the drone arrives at the destination takeoff and landing device as described above, dropping the goods and moving to the next place.
이러한 서비스 구조에 의하면, 하나의 물품 송부인이 하나의 드론 또는 두개 이상의 드론을 독점적으로 사용하는 구조는 물론, 여러 물품 송부인이 여러 드론을 공동으로 사용하는 구조도 가능하며, 필요에 따라 다양한 구조를 구성할 수 있고, 여러 구조를 혼합하여 사용할 수도 있다.According to such a service structure, a single sender may use one drone or two or more drones exclusively, as well as a structure in which multiple senders share several drones in common, and various structures may be necessary. It can be configured, and may be used by mixing several structures.
구매자가 여러가지 이유로 기존에 설치된 이착륙장치의 위치를 변경할 때, 스스로 관련 업무를 진행할 필요 없이 서비스 제공자에게 이를 위탁하는 것 역시 가능하다(이는 인터넷 서비스 사용자가 컴퓨터의 위치를 변경할 때 인터넷 서비스 회사를 부르는 것과 별반 차이가 없다).When a buyer changes the location of an existing takeoff and landing gear for a variety of reasons, it is also possible to entrust it to a service provider without having to do any work on their own (this is the same as calling an Internet service company when an Internet service user changes the location of a computer). There is no difference).
이러한 구조에 의하면, 물품 수취인은 단순히 서비스 제공자에게 서비스 제공을 신청하는 것만으로 이착륙장치를 사용할 수 있으며(이는 인터넷 서비스를 신청하는 구조와 크게 다르지 않음), 물품을 받고자 하는 경우 기존의 생활패턴대로 단지 물품 송부인에게 전화를 하기만 하면 된다.According to this structure, the recipient of the goods can use the takeoff and landing device by simply applying the service provider to the service provider (this is not very different from the structure of applying for the Internet service), and if the user wants to receive the goods, it is simply according to the existing living pattern. All you have to do is call the sender.
반대로 물품 송부인의 경우에도, 단순히 서비스 제공자에게 서비스 제공을 신청하는 것만으로 드론을 사용할 수 있으며(이는 배달원을 고용하는 것과 크게 다르지 않음), 물품을 보내고자 하는 경우, 기존에 배달원에게 물건을 주고 주소를 알려주는 것과 마찬가지로, 드론에게 물품을 싣고 드론에게 목적지를 알려주기만 하면 된다.Conversely, for a sender of goods, a drone can be used simply by applying for service from a service provider (which is not much different from hiring a delivery person), and if you want to send an item, Just as with giving an address, you only need to load the item and tell the drone the destination.
이상과 같이 본 발명에 대해서 예시한 도면을 참조로 하여 설명하였으나, 본 명세서에 개시된 실시예와 도면에 의해 본 발명이 한정되는 것은 아니며, 본 발명의 기술사상의 범위 내에서 당업자에 의해 다양한 변형이 이루어질 수 있음은 자명하다. 아울러 앞서 본 발명의 실시예를 설명하면서 본 발명의 구성에 따른 작용 효과를 명시적으로 기재하여 설명하지 않았을 지라도, 해당 구성에 의해 예측 가능한 효과 또한 인정되어야 함은 당연하다.As described above with reference to the drawings illustrated for the present invention, the present invention is not limited by the embodiments and drawings disclosed herein, various modifications by those skilled in the art within the scope of the technical idea of the present invention It can be accomplished. In addition, even if the above described embodiments of the present invention while not explicitly described and described the operation and effect according to the configuration of the present invention, it is obvious that the effect predictable by the configuration is also to be recognized.
상술한 발명이 산업상 이용가능함은 자명하다.Obviously, the above-described invention can be used industrially.

Claims (18)

  1. 드론(30)이 이착륙하거나 물품을 놓는 베이스(11); 상기 베이스의 아이디를 저장하는 저장부(13); 및 베이스에 소정의 거리 내로 접근한 드론과 무선으로 통신하는 제1근거리통신모듈(15);을 포함하는 이착륙 장치(10)로서, A base 11 on which the drone 30 takes off and lands or places an article; A storage unit 13 storing the ID of the base; And a first short range communication module 15 for wirelessly communicating with a drone approaching a base within a predetermined distance.
    상기 이착륙 장치는 소정의 거리 내로 드론이 접근하는 경우 상기 베이스의 아이디를 드론에 송신하고, 상기 드론으로부터 착륙의도신호를 수신하는 경우 착륙허가신호를 송신하는 것을 특징으로 하는 이착륙 장치.The take-off and landing device transmits the ID of the base to the drone when the drone approaches within a predetermined distance, and transmits the landing permission signal when receiving the landing intention signal from the drone.
  2. 청구항 1에 있어서,The method according to claim 1,
    상기 베이스는 건물에 의해 지지되는 힌지(H)를 중심으로 접힘상태와 전개상태 사이를 회전 이동하는 것을 특징으로 하는 이착륙 장치.The base is a landing and landing apparatus, characterized in that the rotational movement between the folded state and the deployed state around the hinge (H) supported by the building.
  3. 청구항 1에 있어서,The method according to claim 1,
    상기 베이스는 건물에 의해 지지되는 수평의 슬라이더(S)를 따라 슬라이드 이동하여 건물의 외벽에 대해 돌출되거나 건물의 외벽으로 삽입되는 것을 특징으로 하는 이착륙 장치.And the base slides along a horizontal slider (S) supported by the building to protrude against the outer wall of the building or to be inserted into the outer wall of the building.
  4. 청구항 2 또는 청구항 3에 있어서, The method according to claim 2 or 3,
    상기 베이스는 드론으로부터 착륙의도신호를 수신하는 경우 드론(30)이 이착륙하거나 물품을 놓는 수 있는 위치로 이동하는 것을 특징으로 하는 이착륙 장치.And the base moves to a position where the drone (30) can take off or land or place an article upon receiving a landing intention signal from the drone.
  5. 청구항 1 내지 청구항 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 베이스에는 항법용 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법위치모듈(17)이 설치되어 주기적으로 자신의 위치 데이터를 축적하고,The base is provided with a satellite navigation position module 17 for receiving a signal of a navigation satellite to digitize its position, and periodically accumulates its position data,
    축적된 위치 데이터 산포의 중심이 되는 지점을 상기 베이스의 위치정보로 업데이트하는 것을 특징으로 하는 이착륙 장치.A landing and landing apparatus, characterized in that for updating the position of the center of the accumulated position data distribution with the position information of the base.
  6. 청구항 1 내지 청구항 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    상기 이착륙 장치는 착륙유도신호로서 베이스에 이르는 복수의 웨이포인트(WP)를 송신하는 것을 특징으로 하는 이착륙 장치.The take-off and landing device transmits a plurality of waypoints (WPs) to the base as a landing guidance signal.
  7. 청구항 1 내지 청구항 3 중 어느 한 항에 있어서,The method according to any one of claims 1 to 3,
    사용자 단말 또는 서버와 통신할 수 있는 통신부를 더 구비하는 이착륙 장치.A takeoff and landing device further comprising a communication unit capable of communicating with a user terminal or a server.
  8. 드론(30)이 이착륙하거나 물품을 놓는 베이스(11); 상기 베이스의 아이디를 저장하는 저장부; 및 베이스에 소정의 거리 내로 접근한 드론과 무선으로 통신하는 제1근거리통신모듈;을 포함하는 이착륙 장치 및A base 11 on which the drone 30 takes off and lands or places an article; A storage unit for storing the ID of the base; And a first short-range communication module for wirelessly communicating with the drone approaching the base within a predetermined distance.
    이동하고자 하는 이착륙 장치의 아이디와 위치정보를 저장하는 메모리; 이착륙 장치와 무선으로 통신하는 제2근거리통신모듈; 위성의 신호를 수신하여 자신의 위치를 수치화하는 위성항법장치; 및 비행을 제어하는 제어부;를 포함하는 드론,Memory for storing the ID and location information of the take-off and landing device to move; A second near field communication module wirelessly communicating with the takeoff and landing device; A satellite navigation device that receives a signal from a satellite and digitizes its location; And a control unit for controlling a flight;
    을 포함하는 드론 이착륙 시스템으로서,As a drone takeoff and landing system comprising:
    상기 이착륙 장치에 대해 소정의 거리 내로 드론이 접근하는 경우, 상기 제1근거리통신모듈은 상기 베이스의 아이디를 드론에 송신하고, When the drone approaches the predetermined landing distance within the predetermined distance, the first short-range communication module transmits the ID of the base to the drone,
    상기 제2근거리통신모듈은 상기 제1근거리통신모듈이 송신한 베이스의 아이디가 이동하고자 하는 이착륙 장치의 아이디인지 확인한 경우, 상기 이착륙장치에 착륙의도신호를 송신하고,The second short range communication module transmits a landing intention signal to the takeoff and landing device when it is determined whether the ID of the base transmitted by the first short range communication module is the ID of the takeoff and landing device to be moved.
    상기 이착륙 장치는 드론으로부터 착륙의도신호를 수신하는 경우 상기 드론에게 착륙허가신호를 송신하고,When the landing and landing device receives a landing intention signal from a drone, the landing device transmits a landing permission signal to the drone.
    상기 제어부는 수신된 착륙유도신호에 따라 상기 베이스에 착륙하도록 드론을 제어하는 것을 특징으로 하는 드론 이착륙 시스템.And the controller controls the drone to land on the base according to the received landing guidance signal.
  9. 청구항 8에 있어서,The method according to claim 8,
    상기 이착륙 장치는 소정 지역 내에서 복수 개 구비되고,The takeoff and landing device is provided in plurality in a predetermined area,
    상기 드론은 상기 소정 지역 내에서 비행하며,The drone is flying within the predetermined area,
    상기 소정 지역 내에서 상기 복수 개의 이착륙장치에 구비된 제1근거리통신모듈과 상기 드론의 제2근거리통신모듈은 네트워크를 형성하고,The first short range communication module and the second short range communication module of the drone provided in the plurality of takeoff and landing devices in the predetermined region form a network.
    상기 제1근거리통신모듈이 종단기기(end device) 또는 라우터이고,The first local area communication module is an end device or a router,
    상기 제2근거리통신모듈은 상기 소정 지역의 네트워크의 코디네이터이며,The second local area communication module is a coordinator of the network of the predetermined area,
    상기 네트워크는 상기 제2근거리통신모듈을 중심으로 각 제1근거리통신모듈이 연결된 스타 토폴로지(star topology)인 드론 이착륙 시스템.The network is a drone take-off and landing system having a star topology in which each first near field communication module is connected to the second near field communication module.
  10. 청구항 8에 있어서,The method according to claim 8,
    상기 이착륙 장치와 상기 드론은 소정 지역 내에서 각각 복수 개 구비되고,The takeoff and landing device and the drone are each provided in plurality in a predetermined area,
    상기 복수 개의 드론은 상기 소정 지역 내에서 비행하며,The plurality of drones fly within the predetermined area,
    상기 소정 지역 내에서 상기 복수 개의 이착륙장치에 구비된 제1근거리통신모듈과 상기 복수 개의 드론의 제2근거리통신모듈은 네트워크를 형성하고,Within the predetermined area, a first short range communication module provided in the plurality of takeoff and landing devices and a second short range communication module of the plurality of drones form a network.
    상기 제1근거리통신모듈과 제2근거리통신모듈은 상기 소정 지역의 네트워크를 구성하는 라우터이고,The first local area communication module and the second local area communication module are routers constituting a network of the predetermined area,
    상기 제1근거리통신모듈의 라우터는 소정 지역 내의 복수 개의 드론의 제2근거리통신모듈의 라우터와 각각 연결된 메쉬 토폴로지(mesh topology)인 드론 이착륙 시스템.And a router of the first local area communication module is a mesh topology connected to routers of the second local area communication module of a plurality of drones in a predetermined area.
  11. 청구항 10에 있어서,The method according to claim 10,
    네트워크 내에서 복수 개의 드론 중 하나의 드론을 코디네이터로 구성하고, 다른 드론이 코디네이터 드론에 연결된 형태인 드론 이착륙 시스템.A drone take-off and landing system in which one drone of a plurality of drones is configured as a coordinator in a network, and another drone is connected to the coordinator drone.
  12. 청구항 10에 있어서,The method according to claim 10,
    해당 지역의 중심 위치 부근에 별도의 코디네이터를 구성한 후, 복수 개의 드론이 상기 코디네이터에 연결된 형태인 드론 이착륙 시스템.A drone take-off and landing system in which a plurality of drones are connected to the coordinator after forming a separate coordinator near a central location of the region.
  13. 청구항 8 내지 청구항 12에에 있어서,The method according to claim 8 to 12,
    상기 제1근거리통신모듈과 제2근거리통신모듈은 지그비인 이착륙 장치.The first local area communication module and the second local area communication module is a Zigbee landing and landing device.
  14. 청구항 8에 있어서,The method according to claim 8,
    상기 이착륙 장치는 사용자 단말 또는 서버와 통신할 수 있는 통신부를 더 구비하는 드론 이착륙 시스템. The takeoff and landing device further includes a communication unit capable of communicating with a user terminal or a server.
  15. 청구항 8 또는 청구항 14에 있어서,The method according to claim 8 or 14,
    상기 드론은 원거리통신모듈을 더 구비하는 드론 이착륙 시스템.The drone take off and landing system further comprising a telecommunication module.
  16. 드론 이착륙 시스템을 이용하는 물류 운송 방법으로서,As a logistics transportation method using a drone takeoff and landing system,
    사용자가 사용자단말(50)을 통해 서버(70)에 접속하여 사용자의 이착륙 장치(10)의 아이디와 위치정보를 서버에 등록하거나, 이착륙 장치(10)가 자신의 아이디와 위치정보를 서버에 등록하는 단계,The user accesses the server 70 through the user terminal 50 and registers the ID and location information of the user's takeoff and landing device 10 to the server, or the landing and landing device 10 registers his ID and location information to the server. Steps,
    사용자가 직접 또는 사용자의 요청에 의해 서버(70)에 접속하여 물류의 운송을 요청하는 단계,Requesting transportation of logistics by the user accessing the server 70 directly or at the request of the user,
    상기 서버에 물류의 요청이 접수된 경우, 운송이 요청된 물류를 운송할 드론(30)에 해당 이착륙 장치(10)의 아이디, 또는 위치정보, 또는 아이디와 위치정보를 전송하는 단계 및When the request for logistics is received by the server, transmitting the ID, or location information, or ID and location information of the take-off and landing device 10 to the drone 30 to transport the requested logistics, and
    상기 드론(30)이 상기 해당 이착륙 장치(10)의 위치정보를 근거로 상기 물류를 해당 이착륙 장치(10)까지 운송하는 단계를 포함하는 것을 특징으로 하는 물류 운송 방법.And the drone (30) transporting the logistics to the corresponding takeoff and landing device (10) based on the location information of the takeoff and landing device (10).
  17. 청구항 16에 있어서,The method according to claim 16,
    상기 드론(30)은 물류를 운송하는 동안 원거리통신모듈을 통해 자신의 위치와 물류의 배송 상태를 서버에 주기적으로 송신하는 것을 특징으로 하는 물류 운송 방법.The drone (30) is a logistics transport method, characterized in that during the transport of the logistics periodically transmits its location and delivery status of the logistics through the telecommunications module to the server.
  18. 청구항 8의 드론 이착륙 시스템을 이용한 서비스 제공 방법으로서,A service providing method using the drone take-off and landing system of claim 8,
    서비스 제공자가 물품 수취인의 요청에 따라 이착륙장치를 설치하는 단계;Installing, by the service provider, a landing gear according to the request of the recipient of the goods;
    설치된 이착륙장치와 물품 수취인의 정보를 서버에 등록하는 단계;Registering the information on the installed take-off and landing device and the goods recipient on the server;
    물품 수취인이 물품 송부인에게 물품 송부를 요청하면, 서버에서 물품 송부인의 드론에게 물품 수취인의 정보를 제공하는 단계; 및When the goods recipient requests the goods sender to send the goods, the server providing information of the goods recipient to the drone of the goods sender; And
    드론이 해당 물품 수취인의 이착륙장치로 이동하여 물품을 배달하는 단계;를 포함하는 드론 이착륙 시스템을 이용한 서비스 제공 방법.And a drone moving to the take-off and landing device of the goods receiver to deliver the goods.
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