WO2017034375A1 - Système de mise en application des règlements de la circulation mobile - Google Patents

Système de mise en application des règlements de la circulation mobile Download PDF

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Publication number
WO2017034375A1
WO2017034375A1 PCT/KR2016/009538 KR2016009538W WO2017034375A1 WO 2017034375 A1 WO2017034375 A1 WO 2017034375A1 KR 2016009538 W KR2016009538 W KR 2016009538W WO 2017034375 A1 WO2017034375 A1 WO 2017034375A1
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WIPO (PCT)
Prior art keywords
vehicle
unmanned aerial
aerial vehicle
unit
signal
Prior art date
Application number
PCT/KR2016/009538
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English (en)
Korean (ko)
Inventor
정남진
윤진태
Original Assignee
(주)삼성정보통신
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020150121291A external-priority patent/KR101594128B1/ko
Priority claimed from KR1020160065358A external-priority patent/KR101700396B1/ko
Application filed by (주)삼성정보통신 filed Critical (주)삼성정보통신
Publication of WO2017034375A1 publication Critical patent/WO2017034375A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • 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
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • 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
    • 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
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • 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
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
    • B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling

Definitions

  • Embodiment of the present invention relates to a mobile traffic control system capable of free unmanned traffic control regardless of time, place and distance using an unmanned aerial vehicle.
  • Embodiments of the present invention provide a mobile traffic control system capable of free unmanned traffic control regardless of time, place and distance.
  • drone charging stations installed in various facilities on the streets or automobile roads, or manager vehicles, allow the drones to be charged at any time, if necessary, to restrict the violation of regulations and identify emergency situations. It can be done without.
  • the drone can be returned to a distant ground location for battery charging, eliminating the hassle of having to be in close proximity at all times, and can increase the traffic regulations. Will be.
  • the central management server controls the law enforcement drones to track offenders and traffic offenders, and in case of an emergency, locate the location through the location information of the law enforcement drones. Accurately grasp and quickly take action.
  • FIG. 1 is a block diagram showing the configuration of a mobile traffic control system according to an embodiment of the present invention.
  • FIG. 2 is a view showing the external configuration of the unmanned aerial vehicle according to the embodiment of the present invention.
  • 3 and 4 are diagrams for explaining the traffic enforcement method of the unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 5 is a view showing the shooting and control range of the unmanned aerial vehicle according to the embodiment of the present invention.
  • FIG. 6 is a view showing for explaining a parking violation control method of the unmanned aerial vehicle according to the embodiment of the present invention.
  • FIG. 7 is a view showing the configuration of a charging station according to an embodiment of the present invention.
  • FIG. 8 is a diagram showing the configuration of a central management server according to an embodiment of the present invention.
  • the mobile traffic control system may automatically or manually fly based on flight control information on an input target point, a return point, and a stop flight altitude, and based on a traffic signal received from a traffic signal system.
  • An unmanned aerial vehicle for cracking down on speed violations and signal violations, photographing a subject of a violation, and transmitting a photographed image;
  • a terminal for receiving the flight control information and transmitting the received flight control information to the unmanned aerial vehicle, wirelessly or manually controlling the flight of the unmanned aerial vehicle, and receiving image information photographed from the unmanned aerial vehicle.
  • the unmanned aerial vehicle may include: a vehicle detection sensor unit configured to detect a vehicle entering and exiting a predetermined area according to a traffic signal received from the traffic signal system; A speed violation control unit for determining whether a speed violation of the vehicle is based on a signal detected by the vehicle detection sensor unit; A signal violation control unit for determining whether the vehicle violates a signal based on a traffic signal received from the traffic signal system and a signal detected by the vehicle detection sensor unit;
  • the camera may be installed to photograph the vehicle according to a violation determination result of the speed violation control unit and the signal violation control unit.
  • the vehicle detection sensor unit may include: first and second detection sensors for detecting a vehicle traveling in a first direction; And third and fourth detection sensors for detecting a vehicle traveling in a second direction opposite to the first direction.
  • the first and second detection sensors may include a first boundary detection line on the entry side of the vehicle and a second boundary detection line on the entry side of the vehicle, respectively to form the first boundary detection line and the second boundary detection line.
  • a first detection area between the lines and the third and fourth detection sensors respectively form a third boundary detection line on the entry side of the vehicle and a fourth boundary detection line on the entry side of the vehicle, respectively.
  • a second sensing region is defined between a boundary sensing line and the fourth boundary sensing line, wherein the first boundary sensing line and the second boundary sensing line are spaced apart by a first distance, and the third boundary sensing line is separated from the third boundary sensing line. 4
  • the boundary detection line may be spaced apart by the second distance.
  • the speed violation control unit may detect the first detection area based on the vehicle entry time detected through the first boundary detection line, the vehicle entry time detected through the second boundary detection line, and the first distance.
  • a first speed violation control unit for measuring a speed of the vehicle passing through the vehicle and determining whether the vehicle violates the speed of the vehicle passing through the first detection area by comparing the measured vehicle speed with a preset reference speed; And measuring the speed of the vehicle passing through the second sensing region based on the vehicle entry time detected through the third boundary detection line, the vehicle entry time detected through the fourth boundary detection line, and the second distance.
  • a second speed violation control unit for determining whether the vehicle has violated the speed of the vehicle passing through the second detection area by comparing the measured vehicle speed with a preset reference speed.
  • the signal violation control unit may further include a first signal violation for determining whether a vehicle passing through the first detection area along the first direction is detected using the first boundary detection line and the second boundary detection line. Intermittent portion; And a second signal violation control unit for determining whether a vehicle passing through the second detection region along the second direction is present using the third boundary detection line and the fourth boundary detection line.
  • the camera unit so as to enable simultaneous shooting in the first direction and the second direction, one camera or a camera installed to have a photographing angle of 180 °, so as to shoot for each of the first direction and the second direction, respectively.
  • the camera may include two cameras, and the photographing operation may be executed according to a determination result of the speed violation control unit and the signal violation control unit.
  • the first wireless communication unit may include a first communication unit for receiving a traffic signal from the traffic signal system in real time; And transmit location information of the unmanned aerial vehicle, power information, connection state information with the traffic signal system, and image information photographed through the camera unit to the terminal, respectively, and a target point, a return point, and a stop flight of the unmanned aerial vehicle. And a second communication unit for receiving automatic flight control information on altitude, a manual flight control signal for manually controlling the flight of the unmanned aerial vehicle, and an interruption mode control signal for setting the violation control mode setting unit, respectively, from the terminal. can do.
  • the terminal may further include a flight control information input unit for inputting automatic flight control information about a target point, a return point, and a stop flight altitude of the unmanned aerial vehicle;
  • a manual flight operation unit for manually switching a flight control mode of the unmanned aerial vehicle and outputting a manual flight control signal for manually controlling a flight of the unmanned aerial vehicle according to an operator's operation;
  • a manual flight control signal, and a second wireless communication unit for transmitting the control mode control signal for setting the violation control mode setting unit to the unmanned aerial vehicle, respectively.
  • the terminal may control the unmanned aerial vehicle to move along a predetermined path and photograph a parked vehicle, and may detect a vehicle number from a vehicle of the photographed image and crack down on the vehicle in violation of the vehicle.
  • the mobile traffic control system may further include a charging station including a landing platform provided with a landing space and a power supply unit formed at a lower portion of the landing platform to supply power for charging the drone landing on the landing platform.
  • a charging station including a landing platform provided with a landing space and a power supply unit formed at a lower portion of the landing platform to supply power for charging the drone landing on the landing platform.
  • the charging station may include a landing induction unit for inducing landing of the unmanned aerial vehicle to the landing platform and fixing the unmanned aerial vehicle landing on the landing platform.
  • the unmanned aerial vehicle may further include a safety drop controller configured to detect a free fall due to an uncontrolled state of the unmanned aerial vehicle, and to reduce the free fall speed when a free fall of the unmanned aerial vehicle is detected.
  • a safety drop controller configured to detect a free fall due to an uncontrolled state of the unmanned aerial vehicle, and to reduce the free fall speed when a free fall of the unmanned aerial vehicle is detected.
  • system may further include a central management server for centrally controlling flight of a plurality of unmanned aerial vehicles and control of vehicle speed and signal violations.
  • any part of the specification is to “include” any component, this means that it may further include other components, except to exclude other components unless otherwise stated.
  • the terms “... unit”, “module”, etc. described in the specification mean a unit for processing at least one function or operation, which may be implemented in hardware or software or a combination of hardware and software. .
  • FIG. 1 is a block diagram showing the configuration of a mobile traffic control system according to an embodiment of the present invention.
  • the mobile traffic control system 1000 is a system for mobile traffic control in conjunction with a traffic signal system 100, and includes an unmanned aerial vehicle 1100 and a terminal 1300.
  • the apparatus may further include at least one of the charging station 1700 and the central management server 1700.
  • FIG. 2 is a view showing the external configuration of the unmanned aerial vehicle according to the embodiment of the present invention.
  • FIG. 2 illustrates an external configuration of an unmanned aerial vehicle
  • FIGS. 3 and 4 are illustrated to explain a method for controlling traffic of an unmanned aerial vehicle
  • FIG. 5 is a photographing and control range of an unmanned aerial vehicle according to an exemplary embodiment of the present invention
  • 6 is illustrated to explain a method for controlling a parking violation of an unmanned aerial vehicle.
  • the unmanned aerial vehicle 1100 is manufactured in the form of a drone, and automatically or manually flows according to flight control information on a target point, a return point, and a stop flight altitude input from the terminal 1300, and On the basis of the traffic signal received from the traffic signal system 100, the speed violation and the signal violation of the vehicle may be cracked down, the violation target vehicle may be photographed, and the photographed image may be transmitted to the terminal 1300.
  • the unmanned aerial vehicle 1100 is a flight device unit 1110, flight control unit 1120, flight information providing unit 1130, object detection sensor unit 1140, vehicle detection sensor unit 1150, speed violation enforcement The unit 1160, the signal violation control unit 1170, the camera unit 1180, the enforcement mode setting unit 1190, the first wireless communication unit 1200, the landing control unit 1230, the power charging unit 1240, and the safety drop It may include at least one of the controller 1250.
  • the flight device 1110 may be installed to perform a flight operation of the unmanned aerial vehicle 1100.
  • the flight device 1110 may include a propeller, a motor for providing rotational force to the propeller, and a battery for providing power to the motor.
  • the configuration of the flight device 110 may include all components known as mechanical components for the flight operation of the unmanned aerial vehicle 1100.
  • the flight controller 1120 may control the flight operation of the flight device 1110 according to the flight control information received from the terminal 1300. For example, when flight control information such as a target point, a return point, and a stop flight altitude is input from the terminal 1300, the flight control unit 1120 receives the target point, the return point, and the unmanned aerial vehicle 1100. The mechanical operation of the flight device 1110 may be controlled to automatically fly according to the stationary flight altitude.
  • the operator when there is a difficulty in the automatic flight of the unmanned aerial vehicle 1100, the operator directly enters the target point, the return point and the stop flight altitude through the terminal 1300 to perform the flight of the unmanned aerial vehicle 1100 You can control it manually.
  • the flight information providing unit 1130 may grasp the current position, altitude, and horizontal state of the unmanned aerial vehicle 1100 and provide it to the flight control unit 1120.
  • the flight information providing unit 1130 may grasp the current position information of the unmanned aerial vehicle 1100 by using a GPS (Global Navigation System) or a GIS (Geographic Information System), and may detect an altitude sensor and a horizontal sensor. The sensor may determine the current altitude and the degree of inclination of the unmanned aerial vehicle 1100.
  • the flight information providing unit 1130 detects the flight status of the unmanned aerial vehicle 1100 identified as described above, so that the unmanned aerial vehicle 1100 can be accurately moved according to the input flight control information, and the current position during the stop flight. Make sure you maintain your altitude accurately.
  • the present embodiment is not limited to the specific types of the altitude sensing sensor and the horizontal sensing sensor, and may include all known sensors capable of sensing altitude and level between flights of the unmanned aerial vehicle 1100.
  • the object detecting sensor unit 1140 may detect an object existing within a predetermined distance from the unmanned aerial vehicle 1100 and provide the detected information to the flight control unit 1120.
  • the object detecting sensor unit 1140 detects an object present in the vicinity of the unmanned aerial vehicle 1100 to prevent a collision with an external object during the flight of the unmanned aerial vehicle 1100, and the flight control unit 1120 By notifying the unmanned aerial vehicle 1100 to enable a stable flight.
  • the object detecting sensor unit 1140 may be installed to face the four sides along the side of the unmanned aerial vehicle 1100.
  • the vehicle detecting sensor unit 1150 may be installed to detect a vehicle entering and exiting a predetermined area according to a traffic signal received from the traffic signal system 100.
  • the vehicle detection sensor unit 1150 may include first to fourth detection sensors 1151, 1152, 1153, and 1154 installed under the unmanned aerial vehicle 1100.
  • the first to fourth sensing sensors 1151, 1152, 1153, and 1154 may be formed of an infrared sensor, an ultrasonic sensor, or multiple sensors including an infrared sensor and an ultrasonic sensor.
  • the first and second detection sensors 1151 and 1152 may detect the vehicle 10a traveling along the first direction 1152a.
  • the first and second detection sensors 1151 and 1152 may include a first boundary detection line 1152b on the entry side of the vehicle 10a and a second boundary detection line 1152c on the entry side of the vehicle.
  • the first sensing region 1152d between the first boundary sensing line 1152b and the second boundary sensing line 1152c may be defined.
  • the first boundary detection line 1152b and the second boundary detection line 1152c may be spaced apart from each other at a first distance.
  • the vehicle detection sensor unit 1150 may include the first boundary detection line 1152b and the second boundary formed from the first and second detection sensors 1151 and 1152 with respect to the first direction 1152a.
  • the sensing line 1152c detects when the vehicle 10a enters and exits the first sensing region 1152d, and whether the vehicle 10a exists in the first sensing region 1152d. Can be detected.
  • the third and fourth detection sensors 1153 and 1154 may detect the vehicle 10b traveling along the second direction 1154a.
  • the third and second detection sensors 1153 and 1154 may include a third boundary detection line 1154b on the entry side of the vehicle 10b and a second boundary detection line 1154c on the entry side of the vehicle.
  • the second sensing region 1154d may be defined between the third boundary sensing line 1154b and the fourth boundary sensing line 1154c, respectively.
  • the third boundary detection line 1154b and the second boundary detection line 1154c may be spaced apart from each other by a second distance.
  • the vehicle detection sensor unit 1150 may include the third boundary detection line 1154b and the fourth boundary formed from the third and fourth detection sensors 1153 and 1154 in the second direction 1154a.
  • the sensing line 1154c detects when the vehicle 10b enters and exits the second sensing region 1154d, and whether the vehicle 10b exists in the second sensing region 1154d. Can be detected.
  • the speed violation control unit 1160 may determine whether the vehicle violates speed in the first and second directions 1152a and 1154a based on the signal detected by the vehicle detection sensor unit 1150. To this end, the speed violation control unit 1160 may include a first speed violation control unit 1161 and a second speed violation control unit 1162.
  • the first speed violation control unit 1161 may include a vehicle entry time detected through the first boundary detection line 1152b and a vehicle entry time detected through the second boundary detection line 1152c and the first.
  • the speed of the vehicle passing through the first sensing region 1152d is measured based on the distance, and the measured vehicle speed is compared with a preset reference speed to determine the speed of the vehicle 1152d passing through the first sensing region 1152d. You can determine whether you are violating speed.
  • the vehicle 10a passing through the first sensing region 1152d traveling along the first direction 1152a by subtracting the vehicle entry time from the vehicle entry time and dividing by the first distance. Can measure the speed (km / h). At this time, the unit of distance and time are calculated to be unified.
  • the second speed violation control unit 1162 may include a vehicle entry time detected through the third boundary detection line 1154b, a vehicle entry time detected through the fourth boundary detection line 1154c, and the second distance.
  • the speed of the vehicle passing through the second sensing region 1154d is measured, and the speed of the vehicle passing through the second sensing region 1154d is compared by comparing the measured vehicle speed with a preset reference speed. You can judge.
  • the vehicle 10 which passes through the second sensing region 1154d traveling along the second direction 1154a by subtracting the vehicle entry time from the vehicle entry time and dividing by the first distance. Can be measured (km / h). At this time, the unit of distance and time are calculated to be unified.
  • the signal violation control unit 1170 may determine whether the vehicle has a signal violation based on the traffic signal received from the traffic signal system 100 and the signal detected by the vehicle detection sensor unit 1150, respectively. To this end, the signal violation control unit 1170 may include a first signal violation control unit 1171 and a second signal violation control unit 1172.
  • the first signal violation control unit 1171 may use the first boundary detection line 1152b and the second boundary detection line 1152c along the first direction 1152a in the first detection area 1152d. It is possible to determine the presence of the vehicle passing through.
  • the first signal violation control unit 1171 detects whether the vehicle has passed through the first detection region 1152d while receiving a stop signal (red light signal) among the traffic signals from the traffic signal system 100. When a vehicle passing through the first sensing region 1152d is detected, the vehicle is photographed through the camera unit 1180.
  • the second signal violation control unit 1172 uses the third boundary detection line 1153b and the fourth boundary detection line 1142c along the second direction 1154a in the third detection area 1154d. It is possible to determine the presence of the vehicle passing through.
  • the fourth signal violation control unit 1172 detects whether the vehicle has passed the second detection area 1154d while receiving a stop signal (red light signal) among the traffic signals from the traffic signal system 100. When a vehicle passing through the second sensing region 1154d is detected, the vehicle is photographed through the camera unit 1180.
  • the camera unit 1180 is installed on a lower surface of the unmanned aerial vehicle 1100 and installed to have a photographing angle of 180 ° to enable simultaneous photographing in the first direction 1152a and the second direction 1154a.
  • One camera or two cameras installed to photograph each of the first direction 1152a and the second direction 1154a may be included.
  • the camera unit 1180 installed as described above may be installed to photograph the vehicle according to a violation determination result of the speed violation control unit 1160 and the signal violation control unit 1170.
  • the camera unit 1180 may change the first direction 1152a in response to an overspeed detection signal received from the first speed violation control unit 1161 and the second speed violation control unit 1162, respectively. Accordingly, the vehicle 10a passing through the first sensing region 1152d and the vehicle 10b passing through the second sensing region 1154d along the second direction 1154a may be respectively photographed.
  • the camera unit 1180 travels along the first direction 1152a in response to a vehicle detection signal received from the first signal violation control unit 1171 and the second signal violation control unit 1172, respectively.
  • the vehicle 10a and the vehicle 10b traveling along the second direction 1154a may be respectively photographed.
  • the camera unit 1180 is provided with a photographing angle of 180 ° as shown in FIG. 5 to simultaneously photograph the first direction 1152a and the second direction 1154a. You can run
  • the interruption mode setting unit 1190 may activate the speed violation control unit 1160 or the signal violation control unit 1170 according to the control mode setting signal received from the terminal 1300. For example, when receiving the interruption mode setting signal for activating the speed violation control unit 1160 through the terminal 1300, the speed violation control unit 1160 may be operated, and the signal violation control may be performed. When the interruption mode setting signal for activating the unit 1170 is received, the signal violation control unit 1170 may be operated.
  • the speed violation control unit 1160 and the speed are received.
  • the violation control unit 1160 may all operate.
  • the vehicle detection sensor unit 1150 and the vehicle detection sensor unit 1150 may be appropriately controlled according to the traffic signal received from the traffic signal system 100. It can work in conjunction.
  • the first wireless communication unit 1200 may wirelessly communicate the unmanned aerial vehicle 1100 with the traffic signal system 100 and the terminal 1300 by using wireless communication.
  • the first wireless communication unit 1200 may include a first communication unit 1210 and a second communication unit 1220.
  • the first communication unit 1210 may receive a traffic signal from the traffic signal system 100 in real time.
  • the traffic signal may include a stop signal, a traffic signal, a left turn signal, a warning signal, and the like.
  • the second communication unit 1220 may include location information of the unmanned aerial vehicle 1100, power information, connection state information with the traffic signal system 100, and image information photographed through the camera unit 1180. It may be transmitted to the terminal 1300.
  • the second communication unit 1220 may automatically control flight information about a target point, a return point, and a stop flight altitude of the unmanned aerial vehicle 1100, and a manual flight control signal for manually controlling a flight of the unmanned aerial vehicle 1100.
  • the control mode control signal for setting the violation control mode setting unit 1190 may be received from the terminal 1300, respectively.
  • the second communication unit 1220 is connected in communication with the central management server 1500 receives a control signal related to flight and / or crackdown from the central management server 1500, the unmanned aerial vehicle to the central management server 1500 At least one of location information, power information, connection state information with the traffic signal system 100, and image information photographed through the camera unit 1180 may be transmitted.
  • the landing control unit 1230 controls the landing of the unmanned aerial vehicle 1100 to the landing platform of the charging station 1700, which is based on the landing guidance signal emitted from the charging station 1700 to the landing platform on the charging station 1700.
  • the landing of the unmanned aerial vehicle 1100 may be controlled.
  • the charging station 1700 emits a plurality of light signals corresponding to the position and size of the landing platform
  • the landing control unit 1230 includes a light receiving unit and a flight control unit and emits a plurality of light signals from the charging station 1700. Receive the signal and control the flight so that the drone 1100 safely lands on the landing platform on the charging station 1700.
  • an electromagnet is provided at the end of the leg of the unmanned aerial vehicle 1100, and when power is landed on a metal body formed in various facilities or a vehicle roof in addition to the charging station 1700, power is applied to the electromagnet to the metal body by magnetic force.
  • the legs may be fixed, and the landing control unit 1230 controls the electromagnet provided at the end of the leg of the unmanned aerial vehicle 1100 when the unmanned aerial vehicle 1100 lands on a metal body such as various facilities or a vehicle roof or the charging station 1700.
  • the magnetic force can be fixed to the unmanned aerial vehicle 1100 in various facilities, vehicle roofs, etc.
  • the power charging unit 1240 includes a battery capable of charging and discharging, and performs charging of the battery using power supplied from the charging station 1700, wherein charging power transmission may be performed through a wired connection or wireless power transmission. Charging power transfer may be achieved in a manner. If a wireless power transmission method is applied, various wireless power transmissions, such as an electromagnetic inductive coupling or a resonant magnetic coupling, may be performed between the power charging unit 1240 and the charging station 1700 of the unmanned aerial vehicle 1100. The method can be selected and applied as needed.
  • the power charging unit 1240 may be controlled by the terminal 1300 or the central management server 1500, the terminal 1300 or the central management server 1500 monitors the battery charging state of the unmanned aerial vehicle 1100, When charging is required, battery charging may be performed by landing the unmanned aerial vehicle 1100 on the nearby charging station 1700 to control the power charging unit 1240.
  • the unmanned aerial vehicle 1100 may further include a safety drop controller 1250 for a safe fall. If the unmanned aerial vehicle 1100 falls freely to the ground due to a failure of the unmanned aerial vehicle 1100, control deviation or inability to control, the unmanned aerial vehicle 1100 may be destroyed, and a second accident due to the fall of the unmanned aerial vehicle 1100 may occur. May occur.
  • the safety drop controller 1250 may operate when the unmanned aerial vehicle 1100 falls freely in an accident to support the unmanned aerial vehicle 1100 falling safely.
  • the safety drop control unit 1250 operates according to a control signal of the terminal 1300 or the central management server 1500, or detects the inability to control itself due to a failure, control departure or non-receipt of the control signal, or automatically detects a free fall. Detects and reduces the free fall speed of the drone 1100.
  • the safety drop controller 1250 may include an abnormal state detector (not shown) for detecting a free fall, a failure, and an uncontrollable state of the unmanned aerial vehicle 1100.
  • the safety drop controller 1250 may include a drop line that operates when the unmanned aerial vehicle 1100 falls free because the abnormal state is detected by the abnormal state detection unit. Specifically, when the unmanned aerial vehicle 1100 free fall, the falling line is extended by the control signal to reduce the free fall speed of the unmanned aerial vehicle 1100. By preventing the free fall of the unmanned aerial vehicle 1100 in this manner, it is possible to prevent damage of the unmanned aerial vehicle 1100 in advance and to prevent the secondary accident caused by the falling accident.
  • the wireless communication method according to the embodiment of the present invention may include a wireless communication method such as short-range wireless communication such as Bluetooth and mobile communication for remote control.
  • a wireless communication method such as short-range wireless communication such as Bluetooth and mobile communication for remote control.
  • the present invention is not limited to a specific example of the wireless communication method, infrared (Infrared Ray) communication, RF (Radio Frequency) communication, Wireless LAN (Wireless LAN), Wi-Fi (Wi-Fi), Bluetooth and ZigBee ( Of course, all known short range wireless communication methods including Zigbee) and wireless communication such as 3G and 4G for long distance communication can be applied.
  • the terminal 1300 may be a mobile terminal capable of accessing the Internet such as a smart phone or a tablet PC, and controls all flight operations of the unmanned aerial vehicle 1100 and processes information received from the unmanned aerial vehicle 1100.
  • a dedicated application can be installed.
  • the terminal 1300 receives the flight control information, transmits the input flight control information to the unmanned aerial vehicle 1100, wirelessly or manually controls the flight of the unmanned aerial vehicle 1100, and the unmanned aerial vehicle
  • the captured image information may be received from 1100.
  • the terminal 1300 may include a flight control information input unit 1310, a manual flight operation unit 1320, and a second wireless communication unit 1330.
  • the flight control information input unit 1310 may input automatic flight control information about a target point, a return point, and a stop flight altitude of the unmanned aerial vehicle 1100.
  • the flight control information input unit 1310 inputs information such as a method of avoiding surrounding objects when the unmanned aerial vehicle 1100 moves, a speed violation and a signal violation control mode, a start and end time of a crackdown, a return point and a method, and the like. And check it.
  • the manual flight operation unit 1320 may manually switch the flight control mode of the unmanned aerial vehicle 1100 and output a manual flight control signal for manually controlling the flight of the unmanned aerial vehicle 1100 according to an operator's operation. have.
  • the orientation of the vehicle detection sensor unit 1150 of the unmanned aerial vehicle 1100 may vary depending on the location and lane, the first to fourth detection sensors 1151 and 1152 through the manual flight operation unit 1320. , 1153 and 1154 may be rotatable at an angle.
  • the manual flight operation unit 1320 is provided with an adjustment item of the vehicle detection sensor unit 1150, the image of the current situation is outputted during the preparation step of the cracking through the screen of the terminal 1300, the vehicle detection sensor
  • the current location information of the unit 1150 may be displayed to allow an operator to more easily adjust the unmanned aerial vehicle 1100.
  • the state information of the unmanned aerial vehicle 1100 may be viewed through the screen of the terminal 1300.
  • the terminal 1300 may be configured to view the interworking state of the unmanned aerial vehicle 1100 and the traffic signal system 100, the power state of the unmanned aerial vehicle 1100, and the like.
  • the second wireless communication unit 1330 uses wireless communication to communicate information about the location of the unmanned aerial vehicle 1100, power information, connection state information with the traffic signal system 100, and the camera unit 1180. Each of the captured image information may be received from the unmanned aerial vehicle 1100.
  • the second wireless communication unit 1330 transmits the automatic flight control information, the manual flight control signal, and the interruption mode control signal for setting the violation control mode setting unit 1190 to the unmanned aerial vehicle 1100, respectively. Can be.
  • the terminal 1300, the unmanned aerial vehicle 1100 is a predetermined path (start point P1, end point P2) as shown in FIG.
  • the vehicle may be controlled to photograph the stopped vehicle, and the vehicle number may be recognized from the vehicle of the photographed image to control the stopped vehicle. Images taken by the unmanned aerial vehicle 1100 may be stored and searched by region, date, time, and the like through the terminal 1300.
  • FIG. 7 is a view showing the configuration of a charging station according to an embodiment of the present invention.
  • the unmanned aerial vehicle 1100 includes a power charging unit 1240 capable of performing battery charging through the charging station 1700, in which the power charging unit 1240 may be selected according to a wired or wireless manner. Can be.
  • the charging station 1700 may be mounted in various facilities already provided on a street or an automobile road.
  • the charging station 1700 may be mounted in a traffic light facility on an automobile road, or may be mounted in a speeding camera facility on the road. It can be installed in various facilities such as street lights or telephone poles.
  • the charging station 1700 may be mounted on a roof of a manager vehicle such as an intermittent member or the like, and may be movable.
  • charging station 1700 may also relay communications between unmanned aerial vehicle 1100 and central management server 1500, where charging station 1700 is a type of wireless communication base station with a range of communication coverage from charging station 1700. It may also support communication of the unmanned aerial vehicle 1100 located within.
  • the mobile traffic control system includes a charging station 1700 at various places such as various facilities on a street or an automobile road, and the drone 1100 controls an offender or a vehicle on a street or an automobile road or makes an emergency.
  • the charging station 1700 can be charged at a nearby charging station 1700 from time to time to determine whether or not a situation has occurred. do.
  • the charging station 1700 includes at least one of a landing platform 1710, a power supply 1720, and a landing induction 1730.
  • the landing platform 1710 is a landing space of the unmanned aerial vehicle 1100 and basically may be formed on the upper surface of the body of the charging station 1700 corresponding to the size of the unmanned aerial vehicle 1100.
  • the landing platform 1710 may be provided with a seating groove in which the leg is seated corresponding to the leg position of the unmanned aerial vehicle 1100 when the unmanned aerial vehicle 1100 lands.
  • the landing guide 1730 guides the landing of the unmanned aerial vehicle 1100 with the landing platform 1710 and fixes the unmanned aerial vehicle 1100 landing on the landing platform 1710.
  • Various methods may be applied to fix the unmanned aerial vehicle 1100 in which the landing induction unit 1730 lands on the landing platform 1710.
  • the landing induction unit 1730 may be a drone fixed part of an electromagnet in which a magnetic field is formed according to power application.
  • the unmanned aerial vehicle 1100 to the landing platform 1710 may be fixed to the metal leg of the unmanned aerial vehicle 1100 by magnetic force when landing.
  • the drone fixing part of the landing induction part 1730 may be installed on the upper surface or the lower surface of the landing platform 1710, and preferably may correspond to the seating groove of the landing platform 1710.
  • the top surface of the seating groove of the landing platform 1710 may be formed of a metal body, and the drone 1100 may be operated by an electromagnet provided at the leg end of the drone 1100 in addition to the drone fixing part of the landing guide 1730. It may be fixed on the seating groove.
  • the landing guidance unit 1730 may also include a guidance signal emitter that emits a landing guidance signal in an upward direction of the landing platform 1710 to guide the landing to the landing platform 1710 of the unmanned aerial vehicle 1100.
  • a guidance signal emitter that emits a landing guidance signal in an upward direction of the landing platform 1710 to guide the landing to the landing platform 1710 of the unmanned aerial vehicle 1100.
  • the guidance signal emitter includes a plurality of optical signal emitters corresponding to the size of the landing platform 1710, and emits an optical signal upward of the landing platform
  • the landing controller 1230 of the unmanned aerial vehicle 1100 By controlling the landing flight based on the light signal emitted from the landing induction unit 1730, the unmanned aerial vehicle 1100 may land on the landing platform 1710 safely and accurately.
  • the power supply 1720 is formed on the upper or lower surface of the landing platform 1710 to supply power for charging the drone landing on the landing platform 1710.
  • the power supply for charging may be selectively applied to a wired method or a wireless method as needed.
  • the power supply 1720 includes a power supply electrode formed on an upper surface of the landing platform 1710.
  • the supply electrode can be used to supply power to the offending drone.
  • a conductive pattern formed on the surface as an electrode may be applied, or a plug and socket method may be applied.
  • various wireless power transmission methods such as electromagnetic inductive coupling or resonant magnetic coupling are applied according to a wireless power transmission method applied to the power charging unit 1240 of the unmanned aerial vehicle 1100. If necessary, the power supply unit 1720 of the charging station 1700 may be selected and applied.
  • the charging station 1700 may further include a wireless communication relay unit 1740.
  • the wireless communication relay unit 1740 may include a plurality of charging stations 1700 which are distributed and distributed in a network form in various regions as a type of wireless communication base station. And relays wireless communication between the unmanned aerial vehicle 1100 and the central management server 1500 located within the wireless communication coverage.
  • each wireless communication relay unit 1740 provided in the plurality of charging stations 1700 may perform IoT communication with each other using low power Bluetooth (BLE) and various short range wireless communication.
  • BLE low power Bluetooth
  • the charging station 1700 may be installed on various facilities on a street or an automobile road, or may be installed on a vehicle roof or a loading box of a manager or a chopper. Since the charging stations 1700 are distributed and distributed in various places, the unmanned aerial vehicle 1100 can perform charging without space constraints, and the central management server 1500 located at a remote location can control the unmanned aerial vehicle 1100. It may also perform a wireless communication relay function.
  • the charging station 1700 according to the present invention is applied to various types of drones having various purposes and functions in addition to the unmanned aerial vehicle 1100 according to the present invention, drones required for battery charging during flight to perform drone operation by landing. It will be possible to maximize the efficiency of.
  • FIG. 8 is a diagram illustrating a configuration of a central management server according to an embodiment of the present invention.
  • the central management server 1500 is a server that centrally checks and manages the flight status and the crackdown situation of each unmanned aerial vehicle 1100.
  • Each unmanned aerial vehicle 1100 is controlled by the terminal 1300 for manually or automatically wirelessly controlling a flight, but may also be controlled by the central management server 1500.
  • the central management server 1500 can control the unmanned aerial vehicle 1100 that is performing the law violations in various regions, for example, the central management server 1500 can capture images from the drones 1100 of various regions. Receives and analyzes various violations or emergencies, and holds location information on a plurality of charging stations 170 distributed in various areas, and monitors the charging status of the unmanned aerial vehicle 1100, and requires charging. It may be directed to perform charging at an adjacent charging station 1700 with respect to the aircraft 1100.
  • the central management server 200 lands on the charging station 1700 through the fixed unmanned aerial vehicle 1100 to crack down on various legal violations or identify emergency situations, and when an offender or a violation of law is found, the unmanned aerial vehicle ( 1100 may be controlled to track the offender or the vehicle to shoot the image or determine the location.
  • the central management server 1500 includes a traffic law violation monitoring unit 1510 and the control unit 1520, in addition to various configurations may be included.
  • the traffic law violation monitoring unit 1510 receives images from the unmanned aerial vehicle 1100, stores and analyzes them, and simultaneously monitors people or vehicles that violate various laws, and if necessary, moves away from the unmanned aerial vehicle 1100. It is also possible to monitor and analyze violations of the law by receiving images from various CCTV cameras installed on the road or in the motorway.
  • the control unit 1520 controls the flight, photography, charging, etc. of the unmanned aerial vehicle 1100.
  • the unmanned aerial vehicle 1100 controls a plurality of unmanned aerial vehicles 1100 arranged in various zones to control violations of the law in the monitoring area.
  • the control unit 1520 holds location information of a plurality of charging stations 1700 distributed and monitors the charging state of the battery of the unmanned aerial vehicle 1100 while charging the unmanned aerial vehicle 1100 that needs to be charged to the nearest charging station 1700. Control to fly.
  • control unit 1520 lands on the charging station 1700 and controls a variety of laws or violations through the unmanned aerial vehicle 1100 fixed or detects an emergency situation, when a criminal or a violation vehicle is found, the unmanned aerial vehicle 1100 ) Can control the flight and determine its location to track and shoot offenders or vehicles.
  • information about the location of the unmanned aerial vehicle 1100 and the captured image are transmitted to the central management server 1500.
  • the vehicle 500 of the manager or the chopper may be provided with a terminal 1300 that controls not only the charging station 1700 but also the flight, charging, and regulation violation of the unmanned aerial vehicle 1100.
  • the terminal 1300 may be implemented as a mobile terminal carried by an administrator or an interruptor.
  • the chopper or the manager may control the drone 1100 through the terminal 1300 to manage crackdowns or charging of drones.
  • the terminal 1300 may manage the unmanned aerial vehicle 1100 more effectively in cooperation with the central management server 1500.
  • the drone 1100 may not only land on the charging station 1700, but may also be fixed by landing on a metal body formed on roofs of various facilities or manager vehicles.
  • the electromagnet When the electromagnet is provided and landed on the metal body formed on the roof of various facilities or the manager's vehicle, power may be applied to the electromagnet so as to be fixed to the metal body by magnetic force to control the violation of laws and the occurrence of emergency situations .
  • the central management server 1500 may centrally control the plurality of unmanned aerial vehicles 1100 to monitor the situation of a street or an automobile road by region. Therefore, when the offenders violating various laws and regulations are monitored, the unmanned aerial vehicle 1100 located in the adjacent area can cooperate with each other to continuously track the offenders or violations of the law when a violation is found. Understand what happened.

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Abstract

Un système de mise en application des règlements de la circulation mobile selon un mode de réalisation de la présente invention comprend : un véhicule aérien sans pilote pouvant effectuer un vol automatiquement ou manuellement en fonction d'informations de commande de vol sur des points cible d'entrée, des points de retour, et des altitudes de vol d'arrêt, mettant en application les excès de vitesse et les infractions à la signalisation commis par des véhicules sur la base de signaux de circulation reçus en provenance d'un système de signalisation routière, capturant des images des véhicules ayant commis les infractions, et transmettant les images capturées ; et un terminal permettant de recevoir l'entrée des informations de commande de vol et transmettant celles-ci au véhicule aérien sans pilote, commandant sans fil le vol du véhicule aérien sans pilote automatiquement ou manuellement, et recevant des informations d'images capturées du véhicule aérien sans pilote.
PCT/KR2016/009538 2015-08-27 2016-08-26 Système de mise en application des règlements de la circulation mobile WO2017034375A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020150121291A KR101594128B1 (ko) 2015-08-27 2015-08-27 이동식 교통 단속 시스템
KR10-2015-0121291 2015-08-27
KR10-2016-0065358 2016-05-27
KR1020160065358A KR101700396B1 (ko) 2016-05-27 2016-05-27 법규 위반 단속 드론, 드론 충전 스테이션 및 법규 위반 단속 시스템

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WO2017034375A1 true WO2017034375A1 (fr) 2017-03-02

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