WO2018066744A1 - System and method for controlling multidrone - Google Patents

System and method for controlling multidrone Download PDF

Info

Publication number
WO2018066744A1
WO2018066744A1 PCT/KR2016/012260 KR2016012260W WO2018066744A1 WO 2018066744 A1 WO2018066744 A1 WO 2018066744A1 KR 2016012260 W KR2016012260 W KR 2016012260W WO 2018066744 A1 WO2018066744 A1 WO 2018066744A1
Authority
WO
WIPO (PCT)
Prior art keywords
drone
virtual
drones
agent
information
Prior art date
Application number
PCT/KR2016/012260
Other languages
French (fr)
Korean (ko)
Inventor
조경은
김준오
치옥용
국윤창
Original Assignee
동국대학교 산학협력단
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.)
Filing date
Publication date
Priority to KR10-2016-0129075 priority Critical
Priority to KR1020160129075A priority patent/KR101941643B1/en
Application filed by 동국대학교 산학협력단 filed Critical 동국대학교 산학협력단
Publication of WO2018066744A1 publication Critical patent/WO2018066744A1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64CAEROPLANES; HELICOPTERS
    • B64C39/00Aircraft not otherwise provided for
    • B64C39/02Aircraft not otherwise provided for characterised by special use
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • B64D47/08Arrangements of cameras
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes
    • G09B9/02Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12Motion systems for aircraft simulators

Abstract

A multidrone control system according to an embodiment of the present invention comprises: a virtual drone agent for analyzing individual information of a pilot, individual information of a drone and real-time pilot monitoring information of the drone, and controlling the flight of the drone according to the analysis result; and a virtualization server for creating and managing a virtual drone agent that matches one-to-one with the drone, on the basis of previously registered drone information.

Description

Multi-drone control system and method

The present invention relates to a multi-drone control system and method, and more particularly, to determine the presence and manipulators individual information of the steering data and the drone of the drone one trillion kinds of terminals to block the risk factors in advance, or operating a multi-drone under limited conditions multi relates to a drone control system and method.

So-called drone drones means a vehicle that can perform the task through remote control or autopilot without a pilot on board. According to the UAV roadmap published by the US National Defense's Office (OSD, Office of the Secretary of Defense), drones a "without burning a human pilot, using the aerodynamic forces and flying through autonomous or remote control, disposable or reusable and it refers to a motorized craft capable of delivering a lethal or non-lethal cargo.

Start of drones has been used for military purposes for combat and reconnaissance recent jungyimyeo used in various fields such as agriculture, forest fire monitoring and evolution, shipping, logistics, communications, shoot, disaster coping, research and development in the private sector increasingly markets and regions It has widened out.

Why you are receiving this drone system is popular in many areas because of remote control may be possible to operate by attaching additional devices to the drones. Additional devices are small may be selected according to the temperature and the ambient light sensor, is required, as well as oxygen and carbon dioxide concentration sensor to GPS, camera, ultrasound equipment. A wireless communication drones can transmit the result of executing the task, such as picture or video to the earth, ground control system may determine or adjust a sensor value measured by telemetry (Telemetry).

The first object of the present invention is in no changes or modifications of existing drones and control programs, network disconnection and control programs and drones up even provides multi drone control system that can safely operate the drones.

The second challenge is to provide a multi-drone control system to block or operate a multi drones in restricted conditions, risk factors, taking into account the real-time monitoring of flight information in the instruction and information of the individual drones, control terminal of the drones and manipulators in advance.

The third challenge is less packet loss, and to provide a multi-drone control method for a certain mesh-up network construction of each point with a high connection reliability drones, virtualization server, and control terminal to the network construction required for the multi-drone and a multi-manipulator environment have.

Multi Drone according to one embodiment of the invention the control system manipulator in the individual information, drones individual information and virtual drone agent and prior to control the flight of the drone in accordance with the results analyzed in real time one trillion kinds of monitor information of the drone, and on the basis of the registered information drones and a virtualization server generating operation by the virtual drone agent matched to the one-to-one drone.

Wherein in accordance with another embodiment of the present invention, virtualization server, define a virtual space using GPS coordinates for the flight allow areas of the real space and the virtual drone agent, the drone individual information and the manipulator individual information and real-time flight monitoring the information and based on the virtual space to generate the drone simulator in real time.

The manipulators individual information in accordance with another embodiment of the present invention, the manipulator personal information, qualifications drone flight status, drones flying career, drones operated year of manipulators, drones travel times, drones flying accident history, drone flying competition entry history, drone flight test level, including at least one of the rating, and the drone of individual information, the name of the drones, manufacturer and operation performance ticket, renovated absence of aging and the degree of drones drones, the weight of the drone, size, wing number, with the pixels and the image quality of the camera, the maximum possible running distance, and includes at least one of battery life.

Wherein in accordance with another embodiment of the present invention, virtualization server, manages dividing the drone flight clearance zone accessible graded fly zone as drones rating.

Wherein according to another embodiment of the invention the virtual drone agent, it receives one another support the protocol from the virtualization server in real time according to a different command system by the manufacturer of the drone in order to interpret the command syntax of the another plurality of commercial drones.

The virtual in accordance with another embodiment of the present invention drone agent, as a result of analyzing the real-time one trillion kinds of monitor information of the drone, and real-time location information of the drone flying restricted areas leaving, collisions with other drones, fly zone involved, pre the flight control of the immature do not meet the established criteria for detecting at least one manipulator.

The drone in accordance with another embodiment of the present invention, the virtual drone converts the Bluetooth signal is received from the agent, includes a bridge module for processing a Wi-Fi signal, the virtual drone agent asynchronously of one unit are sent through the Bluetooth communication command from the sends a continuous signal until the completion of the command is converted into WiFi data.

But receives and stores the image information acquired by the imaging device mounted on the drone in accordance with another embodiment of the invention, the drone and 1: at least one of an external storage device and the image output apparatus further comprising: being provided with a first do.

Other embodiments the bridge module from the imaging device is the first Wi-Fi, and connected with it as a communication scheme, the bridge module and the external storage device or image output device according to the present invention is via Bluetooth as the second communication method It is connected, by the bridge module is sent directly to the video information to the predetermined external storage device or image output device, to prevent the bridge module and overload between the virtualization servers.

Drone according to still another embodiment of the present invention is one trillion kinds of terminals, or a virtual drone receiving the flight command from the agent, and the software defined network, a communication unit for transmitting to the virtual drone agent monitoring information of the drone and the data received via the communication unit depending on the flight instruction received from the bridge module and the bridge module for processing the converted transmission mode by processing a (SDN) based on a control unit for controlling the drone flying.

The communication unit according to another embodiment of the present invention, is connected to the steering or the virtual terminal drone agent and a Bluetooth network, the bridge module is composed of a Bluetooth module to WiFi Data converter.

The bridge module in accordance with another embodiment of the present invention to convert the asynchronous command of one unit are sent through the Bluetooth communication in the steering terminal or the virtual drone agent as a Wi-Fi data, the continuous signal until the completion of the command, and send to the control unit.

Another embodiment of the present invention further comprises a camera for acquiring image information, and the bridge module is the image information acquired from the camera via Bluetooth the drones and 1: with an external storage device or a video display device with a 1 send.

Another embodiment of the present invention when the distance between the steering terminal or the virtual drone agent be far less than 3Km than 100m from the drone, and separating the multi-drone the main drones and the sub-drone, the main drones the steering terminal or is connected via the virtual drone agent and WiFi, the sub-drone is connected to the main drones and UWB (Ultra-wideband communication) -UWB (LTE or LTE-Direct Direct) of the mesh-up (up mesh) an asynchronous network, the share receives a command from the main drone.

Multi-drone control method according to still another embodiment of the present invention, and the virtualization server on the basis of the drone information registered in the pre-step of generating a virtual drone agent is matched with the drone one-to-one, wherein the virtual drone agent manipulator individual and information, analyzing the drone individual information and real-time one trillion kinds of monitor information of the drone, the method comprising the virtual drone agent forwards the flight control signal for controlling the flight of the drone in accordance with the analysis result to the communication section of the drone and the and the communication unit of the drone converting the flight control signal and a step of passing the bridge module provided in the drone.

The bridge module in accordance with another embodiment of the present invention, a continuously outgoing converts the asynchronous command of one unit of a Bluetooth signaling said flight control signal to the wi-fi signal until the completion of the asynchronous command.

The virtual drone agent and the connection between the virtual server in accordance with another embodiment of the present invention, through a MAC address (Mac Address) is connected by looking up the value of the key (key), WiFi / Local LAN / 3G / 4G / LTE of It is connected via at least one.

The virtual drone agent in accordance with another embodiment of the present invention, further comprising the step of dynamically generated or disposed of in a packet relaying daemon in response to the virtual drone agent and the connection between the steering station for the connection or disconnection of various drones .

Wherein according to another embodiment of the invention the virtual drone agent, When several drone at the same time access to the virtual drone agent, and a step of acquiring the first time a packet relaying daemon capture system further.

According to one embodiment of the present invention, without changing the existing drones and control program or renovated, network disconnection and control programs and drones can operate safely up even drones.

Further, according to one embodiment of the present invention, it is possible to consider the individual information, real-time monitoring flight information of the commands and drones the steering station of the drone and the manipulator block the risk factors in advance, or operating a multi-drone in a controlled condition.

In addition, according to one embodiment of the present invention, low packet loss for the network construction required for the multi-drone and a multi-manipulator environment, the connection stability is to build a high drones, virtualization server, and each point by a specific mesh-up network of the steering terminal for to implement a dynamic software-defined network.

1 is a diagram showing a general configuration of a multi-drone control system in accordance with one embodiment of the present invention.

Figure 2 is a chart showing the virtual space defined in accordance with an embodiment of the invention.

3 is a block diagram showing the configuration of the drone in accordance with an embodiment of the present invention.

Figure 4 is an exemplary view for explaining a communication technique for building a Local Area Network according to an embodiment of the invention.

5 is an exemplary view illustrating a construction technology for wide area network communications according to an embodiment of the invention.

6 is a view showing a schematic configuration of the dynamic software defined network according to an embodiment of the invention.

7 is a diagram showing the connections between the network module, according to an embodiment of the invention.

8 is a view for explaining an image transmission method of the mesh network based up in the embodiment;

Prior to describing the embodiments of the invention, to introduce, review the existing problems of the drone operating situation, the technical means of embodiments of the invention have been adopted in order to solve these problems in general.

The country to popularize the drone drone drone private spaces such as parks and airfields drones, but occurs as a mushroomed, development of a system to control or regulate the drones flying is nonexistent situations.

Moreover, most of one trillion kinds of programs offered by commercial off-the-shelf drone production company are used by smartphones, the state is a smartphone that is associated with drones case came to the, phone nature phone as well be with the external data network is completely blocked, the network changes this is due to a dangerous downside to drone flight operations because they lose control over one trillion kinds of drones as a terminal.

Thus, the drones operating in the current situation where the public is forced to rely on qualitative knowledge of the user, there is a risk that can be used as a tool for thinking and deliberate attacks caused by another's privacy, flight and crashed out of range of the drone.

Thus, embodiments of the present invention, we propose a technical means to block or operating conditions in a controlled risk factors in consideration of the real-time monitoring of the commands and flight information drone of individual information, control terminal of the drones and manipulators in advance.

In addition, embodiments of the present invention less the packet loss for the network construction required for the multi-drone and a multi-manipulator environments, the dynamic software-defined for a particular mesh up network construction of each point of the high drone, virtualization server, and control terminals connected stability the proposed network.

Hereinafter, to be described in detail embodiments of the invention with reference to the drawings. However, the details of the following description, well-known functions and which may obscure the subject matter of the present invention in the accompanying drawings or configurations will be omitted. In addition, the same components throughout the drawings are to be noted that denoted by the same reference numerals as possible.

1 is a view schematically showing the configuration of a multi-drone control system in accordance with one embodiment of the present invention.

1, a multi-drone control system in accordance with an embodiment of the present invention is configured to include a virtual server 100 and virtual drone agent 200.

Multi-drone control system of the present invention is composed of the described set (set) built using, convergence technique is difficult to implement as a single technology.

Virtualization server 100 first, to operate the virtual drone agent (200, 210, 230), and defining the virtual space for the allowed range of flight real space as shown in FIG.

Virtualization server 100 directly processes the packet and dynamic software defined network: in order to define the (Dynamic SDN Software define network), the server itself is equipped with a simulator AP (Access Point Simulator) module. It will be described in detail below for the dynamic software-defined network.

Virtualization server 100 generates a drone agent 200 in real time, receives the registered information and the individual manipulators drone individual information on the pre-drone manipulator.

Virtualization server 100, for example, can be implemented in a cloud system, the manipulator can store flight information policy of the individual information manipulators, drones individual information and local input when drones registered in the cloud server.

Here, the individual manipulators information may include personal information, drones flying eligibility, flying drones career manipulators of manipulators. In addition, individual information manipulator may further comprise a drone operated year, the number of drone operation, drones flying accident history, drone flying competition entry history, drone flight test level, at least one of the rating.

Then, the drone individual information, and the like (including the name, manufacturer, operating performance table, etc.) properties of the drone, modifications, and presence or absence of the aging degree of the drone drone. Further, drones individual information may include information such as the specifications of the specific drone that is, the weight of the drone, the size, number of blades, the maximum driving the pixel and the quality of the mounted camera available distance, the battery duration.

Flight information policy of the region may include a limited flight altitude and flight maximum speed limit.

In particular, the virtualization server 100 divides the multi-drone according to the above manipulator individual information and individual information such as a drone several ratings, may operate the differential control for the flight of the steering according to the terminal and the drone drone rates.

In this case, the virtual server 100 based on the individual information and the real-time flight information monitor of the drones and manipulators for registering the virtual flight section may generate the drone simulator in real time. It is also possible to destroy a simulator that drone as the withdrawal of drones in a virtualized fly zone.

To this end, the virtual server 100 may be displayed by imaging the actual flight of the drone shown virtualized flight section image can be represented by the display with information on the individual information and the real-time monitoring information of each of the drone.

The specific example, run Acrobat as a multi-drones, or fly into a plurality of drones in action unit, or train, and when you operate the multi-drones for the purpose of public / group of manipulators operation capabilities, specifications or performance of the drones similar drones, that is, by gathering together the control of the same grade drones, efficient and can run a more secure operating drones. At this time, depending on the level of a drone to remove the multi-drones on different virtual space to control the flight.

Also, when you operate the multi-drones for the purpose of long-distance flight, the battery duration key requirements for long-haul flights, the motor specifications, maximum mileage possible distance, the same grade between drones drones based on the driving ability of the manipulator is divided into grades thoughts may be operated.

In addition, by managing dividing the drone flight clearance areas accessible by rating drones fly zone to grades, it is possible to prevent the interference of drones in flight. Here, flying only a drone flight clearance zone to drones when divided into grades, towers or risk the more areas adjacent to the risks, such as the building permit to fly only for a high degree of drones, and the more relatively safe zone of low grade drones a can more safely and efficiently operate the drones by multi allowed.

Drone one trillion kinds of terminal 400 is the first virtual drone agent 200 via the AP of the virtual server (100) is coupled to matched to one. Also real-time location system (RTLS for GPS (indoor or combined, as in 2: a virtual namespace declaration service operates using Real time locating system) coordinates.

Virtual drone agent 200 converges the manipulator commands from one trillion kinds of terminal 400 is sent to the drone (300). Virtual Drone Agent 200 is a protocol definition to interpret the command syntax of several commercial drones. To this end, the virtual drone agent 200 may receive support from the protocol in real-time virtualization server 100, according to the different chain of command by the manufacturer of the drones.

The virtual drone agent 200 has an AD, DA protocol components to convert and transfer analog and digital signals.

Virtual drones agent 200, for example, a Parrot group (European companies), DJI group (a Chinese company), DIY (birch or other) depending on the signal according to the command Digital to Digital, Analog to Digital, Digital to Analog It converts the command data in the form.

Virtual drone agent 200 is one trillion kinds of information, control instruction data, control time and the drone (300) real-time monitored for such real-time flight, the location and status of, and virtual server 100 for real-time monitoring information of the steering terminal 400 It is delivered to.

In addition, the virtual drone agent 200 can check the registration information, the individual information of the manipulators and the like for the drone drone 300 from the virtualization server 100.

Specifically, the virtual drone agent 200 detects inexperienced flight control, etc. do not have a flight leaving the restricted area of ​​the drones (300), conflicts with other drones, restricted areas affected, pre-set criteria.

The flight restrictions could be restrictions about flying like a virtual space, as well as rules to be flown within the area, flight speed, flight height and the total flight distance settings.

One trillion kinds of information of the steering station 400 may include a steering signal such as a Roll, Pitch, Yaw, Power.

Virtual drone agent 200 converges the real-time location information of the drone in communication with the drone (200). The location information may include the altitude, longitude and latitude, and expressed in coordinates. In addition, the virtual drone agent 200 drone (300) the real-time location systems (RTLS) with the status information on the drone (200), camera, GPS / Navigation, the gyro sensor (Gyro), acceleration sensor (Accelerator), etc. the data can be acquired by receiving.

Virtual drone agent 200 if the more than one trillion kinds of command over flight, control terminal 400 of the drone (200) is detected, or the control to stay drones 200 in the flight allow zone, stops the flight and drone ( 200) to be able to land. This may be executed according to a control command received from the virtual server 100.

To the station and cluster control for the safety, security of a multi-drone drone 200 and control terminal 400 may be designed to preferentially execute a command of the virtual drone agent 200 than the command steering terminal 400 .

3 is a block diagram showing the configuration of the drone 300 according to an embodiment of the present invention.

3, the drone 300 according to an embodiment of the present invention, the control unit 310, communication unit 320, a bridge module (330), GPS module (340), GYRO / ACCEL module 350, camera module It is configured, including 360 and the subscriber identity module (370).

Controller 310 can perform data processing or operation, and can drive the operating system or application for the drones operation of the present invention can control a plurality of hardware or software components that are connected to the controller 310, including the various signals and, it is possible to control the operation of the other components of the drone.

Control the communication unit 320, a bridge module (330), GPS module (340), GYRO / ACCEL module 350, camera module 360 ​​and a subscriber identity module 370, and controls the flight of the drone (300). Controller 310 may transmit the position information and monitoring information of the authentication, or drone 300 drones 300 through the communication unit 320 to the virtualization server 100.

Controller 310 may be designed to follow in preference to the steered command receiving a received command from the virtual drone agent 200 in order to safely operate the multi-drone in accordance with the purpose of the present invention from one trillion kinds of terminal 400. Consequently, it is possible to block the dangerous one trillion kinds of command steering terminal 400.

Communication section 320 transmits the monitoring information for receiving commands from one trillion kinds of terminal 400 or a virtual drone agent 200, and a virtual drone drone agent 400. The

The communication unit 320 are connected in one trillion kinds of terminal 400 and typically a Bluetooth network, a bridge module 330, and 1: 1 is connected to the WiFi.

Bridge module 330 processes the data received via the communication unit 320 to the transmission mode conversion by processing based on software defined network (SDN). The software defined network (Software define network) is software for controlling, network devices as a technique for the software to control all of the physical network function may be modified in the manner desired by the designer.

Bridge module 330 is a WiFi Network Bridge to mash, and using the virtual drone agent 200 and a Bluetooth network, basically, the addition may use a UWB (Ultra-Wideband communication). For example, the bridge module 330 may be a module (Bluetooth module to WiFi Data converter) for converting the data in which Wi-Fi and Bluetooth.

Algorithm of the bridge module 330 to dynamically daemon address mapping (Dynamic Demon Address Mapping) and a shared map data (Mapping Data Sharing with others) and software vision configuration used to test the circuitry of the network modules (Vision composer) It includes.

Usually, the drone 300 there is the station to receive the continuous signal from the structural one trillion kinds of terminal 400, such a method has a high signal is no transmission failure occurs.

Accordingly, the present invention is to solve these problems by having a bridge module 330, and through the steering terminal 400 the bridge module 330, an asynchronous command of one unit sent by the conversion to the Wi-Fi data, drones 300 the control unit 310 until the completion of this command is emitting a continuous signal.

Specifically, with reference to Figure 4 To illustrate the communication building technology for local area networks, virtual drone agent 200 (or one trillion kinds of terminal 400) and when the distance between the drone (300) in a local area of ​​less than 10m, the virtual drone agent ( 200) (or one trillion kinds of terminal 400) and the drone (300) is connected via Bluetooth, drones 300 by processing the data received via Bluetooth from the bridge module 330 transmits the data to a WiFi network. Bridge module 330 may be equipped for each drone.

For example, control terminal 400 to send an asynchronous command on the first unit to be moved, the instruction for moving the 1m to NE direction [N: 100, E: 100, S: 0, W: 0, H : 0, R: 90] the case to send to the one-time communication section 320 via Bluetooth, the bridge module 330 to move the converted Bluetooth data to the Wi-Fi signal drone (300) is 1m (100cm) to the NE direction It is to place a continuous signal.

On the other hand, with reference to Fig. 5 To explain the construction technology for wide area network communications, in FIG. 5 operates one main drone (380) and the rest of the multiple sub-drone (390) via the asynchronous network mesh up. Main drone serves to receive an instruction from one trillion kinds of terminal 400 or a virtual drone agent 200, and share a radio wave to the received command to the sub-drone (390).

If the distance between the drone of the 300 and control terminal 400 or the virtual drone agent 200 days ranged within 3km more than 100m, one trillion kinds of terminal 400 or a virtual drone agent 200 and the main drone 380 WiFi a is connected through.

And it is connected to the main drone (380) and the sub-drone 390 UWB-UWB (Direct LTE or LTE-Direct) of the mesh-up (mash up) an asynchronous network.

To this drone 300, it is equipped with a UWB communication module, and share the location information, flight schedule between drone.

Referring back to Figure 3, GPS module 340 acquires the position information of the drone (300). Location information may include the altitude, longitude and latitude information.

GYRO / ACCEL module 350 measures the dynamic force such as acceleration, vibration, impact of the drone (300) measures the orientation change, drones 300.

Camera module 360 ​​is photographing an image in accordance with the picture or video recording command is received by the controller 310.

A subscriber identity module 370 is configured to authenticate as the drone 300, the virtualization server 100, the ID information of the drone (300) using a virtual drone agent 200 stored.

On the other hand, establish a specific mesh up a network of multi-drone control system of the present invention the virtual drone to increase the connection reliability to reduce packet loss agent 200 and the drone (300) between the virtual drone agent 200 and one trillion kinds of terminal 400 It offers a dynamic, software-defined network for.

Figure 6 is a diagram showing a schematic configuration of a dynamic software defined network according to an embodiment of the present invention, Figure 7 is a diagram showing the connections between the network module, according to an embodiment of the invention.

And use the WiFi or WiFi Direct network configuration and the only way to ensure the bandwidth of the network as a management technique of the current drone or robot. This network is one way: ensure stability in one connection, but there is a problem due to the disconnection of the external network.

To solve this problem, and the present invention can detect the abnormality of the drone, with guaranteed bandwidth, employing a plurality of different network type as shown in Figs. 6 and 7 and applied to the operating policy, external network connection to configure the dynamic software-defined network available the necessary information in real time.

6, the dynamic software defined network according to an embodiment of the present invention is connected to a multi-drone 510, a bridge module 530, a virtual drone agent 550, a virtualization server 570 and control terminal 590, It denotes a.

Connection B between the drone 510 in Figure 6 and the bridge module 530, such as the maximum bandwidth to be reserved for the existing high-quality video, as well as manipulation of the drones. Therefore, to maintain the same WiFi / WiFi-D manner as before.

One trillion kinds of terminal 590 is to access a virtual drone agent 550 virtual drone agent 550 and one trillion kinds When configuring the connection D between the terminal 590, virtual drone agent 550 is automatically virtual drone agent 550 and thereby obtaining information through the connection a between the virtualization servers 570. The information includes individual information of the individual information and the manipulators of drones. There is, then, to look up the key value (key) through a virtual drone agent 550 and one trillion kinds of connection terminal D and MAC address (Mac Address) of between 590. A method of network connections between virtual drone agent 550 and the virtual server 570 is not limited to such as WiFi / Local LAN / 3G / 4G / LTE.

For the connection or disconnection of various drone the virtual drone agent 550 dynamically generate or discard the packet relay daemon (demon) (or number) according to the connection D between the virtual drone agent 550 and one trillion kinds of terminals (590) do.

Connection C between the bridge module 530, and virtual drone agent 550 must satisfy the following two conditions: First, the steering transmission information so that the predetermined time delay within a predetermined time, and transmits in accordance with the storage location of the high-capacity content data specified. Here one trillion kinds of information refers to the flight information monitors.

Virtual drone agent 550 and one of the bridge module (530) for the N connections, the virtual drone agent 550, and a packet relaying generate a virtual drone agent 550 via the connection A between the virtualization servers 570 this daemon and the bridge module 530 is connected.

If you have multiple drone approaching at the same time, the way to get a packet that matches the relay daemon will be implemented in the way contended first time. Basically uses a Bluetooth (Bluetooth) network. To connect a commercially available ready-made drone being operated (Access point) AP uses Bluetooth to WiFi Bridge.

Connection D between the virtual drone agent 550 and one trillion kinds of terminal 590 is made through a program provided by the manufacturer for conventional and does not require a separate or additional modifications installation. D is connected to the base, and this, Wi-Fi, can also be used WiFi-D in accordance with the switching of the manufacturer. However, it is not necessary to use the network and (5G) of bandwidth because there is no need to directly receive video content.

That is, the present invention provides a technique for using the mesh up to accept the drones and the control program (or application) that the manufacturer provide the configuration of the foreign network with, and therefore not to the existing real-time broadcast of a content created by the drones content transmission method that may be implemented.

The introduction of this dynamic, software-defined network architecture is built for each bridge by an optimized network. Maintaining the existing network that has already been applied to the ready-made drones, but the network bridge module and network switches are added thereto to build up a new mesh network.

Conventionally used the Router (WiFi Router) as a Bluetooth to WiFi bridge module, such as the present invention. Router is a network equipment for connection to another wireless network for connecting with an external network. However, it is difficult to practically use this issue as a high packet loss rate and stuttering, there is a problem, what more can not be used to limit the number of concurrent users of bandwidth.

On the other hand, one of the main purposes of operating a multi-drones can kkopeul the creation of content. The type of the current image that can be captured using one drone is a method of recording the omnidirectional image using a wide-angle image or a 360-degree camera.

However, when the purpose of making or documentary film, and the need to simultaneously record pictures in different directions, wherein a large-scale image data generated is the limit of the storage space occurs, or may result in an overload of the network. Thus the invention provides a method that does not remove the software defined by the dynamic image data through a network-based multi-drone control techniques independently, maintaining the quality of the image to be transmitted, and further affect the drone operation.

8 is a view for explaining an image transmission method of the mesh network based up in the embodiment;

The present invention extracts the video information directly from the network bridge 830 for the respective drone one trillion kinds without overloading the server 810 to control / operate a multi-drone through the same network duplication shown in Figure 8, each of the image may be directly transferred to the specified storage device (storage 840) or monitor (850).

And it sends out the image data received by the Bluetooth network, the bridge 830 in the network of the mesh-up directly to a device (the storage server 840 or monitor 850). At this time, it is directly sent to the image to be sent on multiple drone (820) to the desired device in each of the bridge 830. The Thus, without the load on the server 810 or the network that operates the multi-drone (820), and an image it received from each of the drone (820) to process variance.

More specifically, connecting one of the Bluetooth channels of each network bridge from a server connected to the USB form of a Bluetooth module, and the USB can be stored and connected to the imaging device or a storage device (storage). In addition, it is possible to monitor the camera image data through them. Separate storage network as the server, as shown in Figure 8 the configuration (e. G., Storage), to be able to handle large multi-picture information.

Figure 8 is but one of the storage shown, alternatively drones and 1 may be used to connect the storage device with a first bridge to a network 830. The As a result of differences in the way in which the recording to the storing device mounted to the drone may monitor a user video information which each of the drone shot in real time, it may be selectively storing image information.

Fig from the drone of the camera shown in Fig. 8 by the network bridge 830 are connected via WiFi, a storage device 850 from the network bridge 830 are respectively connected via Bluetooth.

Therefore, when using this technique, a network bridge, and to avoid bottlenecks between the server and, by raising the packet processing capability of the network bridge to the image, such as the next 8K, 16K, as existing systems without upgrading the entire system It can be used.

Description will now be given to the dynamic software-defined multi-drone control method for a network-enabled according to an embodiment of the invention.

First, the virtual server based on the drone information registered in advance and generates the virtual drone agent is matched with the one-to-one drone.

Next, the virtual drone agent analyzes the manipulator individual information, the individual information and the drones one trillion kinds of real-time monitoring information of the drone.

Next, the virtual drone agent to produce a flight control signal for controlling the flight of the drone in accordance with the analysis result is transmitted to the first communication method.

Next, the first conversion, but an asynchronous command on the first unit of the communication system to a signal of a second communication scheme and continue the outgoing signals of the second communication system until the completion of the asynchronous command.

The drone and the virtual drone agent is coupled to a Bluetooth network, a first communication scheme, the first communication mode is converted into a WiFi signal as the second communication method.

Here, the virtual drone agent and the connection between the virtualization servers, via a MAC address (Mac Address) is connected by looking up the value of the key (key), it is connected via at least one of WiFi / Local LAN / 3G / 4G / LTE.

Then, the virtual drone agent may be dynamically generated or discarded by the packet relay daemon in response to the virtual drone agent and the connection between the steering station for the connection or disconnection of various drones.

In addition, the virtual drone agent can acquire the packet relaying daemon When several drone at the same time access to the virtual drone agent, time priority capture method.

According to this same embodiment of the invention, the virtual drone agents and via a real-time control center implemented in a virtualization server, as well as drone operating records the drone flying, and stores the history, it is possible to run for extracting a stored record.

In addition, the introduction of real-name system, by granting a drone drone virtual agents and virtual server drones fly only if this authentication, it is also possible to apply the system as a complement to flying drones system.

Furthermore, because by the virtualization server, virtual drone agents, using each point by a specific mesh network-up method of the communication unit and the bridge module of the drone, enables the operation of the drone from a remote location. Due to this technology, for example, it can be used as a control center role in content creation, such as movies and broadcast from a remote location and airplane operations.

In addition, as well as flight restrictions and control of drones, it is possible to prevent the manipulators accidents caused by collision between immature drones of other manipulators in advance, you can take advantage of one trillion kinds of drones on the training of non-professional study.

On the other hand, embodiments of the present invention can be realized as a code which the computer can read in a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system.

Examples of the computer-readable recording medium involves the implementation in the form of ROM, RAM, CD-ROM, magnetic tapes, floppy disks, optical data storage devices. Further, the computer-readable recording medium is distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional (functional) programs, codes, and code segments for accomplishing the present invention can be easily construed by programmers skilled in the art to which the invention pertains.

With respect to the present invention at least looked at the center of the various embodiments. One of ordinary skill in the art to the present invention will be appreciated that the present invention may be implemented in a scope not departing from the essential characteristics of the invention in a modified form. The exemplary embodiments should be considered in a descriptive sense only and not for purposes of limitation. The scope of the invention, not by the detailed description given in the appended claims, and all differences within the equivalent scope will be construed as being included in the present invention.

Claims (19)

  1. Manipulator individual information, the individual information and virtual drone drone agent for controlling the flight of the drone in accordance with the results analyzed in real time to monitor one trillion kinds of information of the drone, and; And
    Based on the drone information registered in advance by operating the virtualization server for generating the virtual drone agent is matched with the one-to-one drone; containing, multi-drone control system.
  2. According to claim 1,
    The virtualization server,
    Define the virtual space using the GPS coordinates on the fly zones allowed the real space,
    The virtual agent drone, the drone individual information and the individual information manipulators and real-time flight information monitoring and multi-drone control system, for generating the drone simulator in real time based on the virtual space.
  3. According to claim 1,
    The manipulator individual information,
    Including personal information, drones flying eligibility of manipulators, manipulators of drones flying career, driving drone year, the number of drone operation, drones flying accident history, drone flying competition entry history, drone flight test level, at least one of the rating,
    The drone individual information, the name of the drone, a manufacturer, operation performance table, old age and the degree of alteration or not, the pixels and the image quality, the maximum travel of the weight, size, blade number, the mounted camera of the drone of the drone of the drone possible distance, battery multi-drone control system which includes at least one of duration.
  4. According to claim 1,
    The virtualization server,
    Managed by dividing the drone flight clearance areas accessible by rating drones fly zone to grades, multi drone control system.
  5. According to claim 1,
    The virtual drone agent,
    Receiving support for the protocol from the virtualization server in real time according to a different command system by the manufacturer of the drone in order to interpret one another command syntax for the plurality of different commercial drones, multi-drone control system.
  6. According to claim 1,
    The virtual drone agent,
    Analysis of real-time one trillion kinds of monitoring information of the drones, real-time location information of the drones, flight restricted zone exit, the collision with the other drones, fly zone involvement, at least one of the flight control immaturity of the manipulators do not meet the predetermined criteria to detect multi-drone control system.
  7. According to claim 1,
    The drones,
    By having a bridge module converts the Bluetooth signal is received from the virtual drone agent to process a WiFi signal, a time to complete the command to convert the asynchronous command of one unit are sent through the Bluetooth communication in the virtual drone agent as a Wi-Fi data to, multi-drone control system to send a continuous signal.
  8. According to claim 1,
    But it receives and stores the image information acquired by the imaging device mounted on the drone, the drone and 1: external storage device and a video display control system further comprises a multi-drone, to at least one of a device which is provided to one.
  9. A method according to any one of claim 7 or claim 8,
    From the image taking device and the bridge module of the first and the Wi-Fi connection through which a communication system, the bridge module and the external storage device or the video output device is connected via Bluetooth as the second communication mode,
    The bridge module is the image information by the pre-sent directly to the specified external storage device or video display device, the bridge module, and Multi-drone control system, to prevent overload between the virtualization servers.
  10. Communication unit for receiving the flight command from one trillion kinds of terminals, or a virtual drone agent, sent to the virtual drone agent monitoring information of the drone;
    Bridge module for processing the data received via the communication unit to the transmission mode conversion by processing based on software defined network (SDN); And
    A control unit for controlling the drone flying according to a flight command received from the bridge module, configured to include, drones.
  11. 11. The method of claim 10,
    Wherein the communication unit,
    Is connected to the steering or the virtual terminal drone agent and a Bluetooth network, the bridge module is constituted by Bluetooth to WiFi Data converter module, drones.
  12. 11. The method of claim 10,
    It said bridge module includes:
    It converts the asynchronous command of one unit are sent through the Bluetooth communication in the steering terminal or the virtual drone agent as WiFi data, to send a signal lasting until the completion of the command to the control unit, drones.
  13. 11. The method of claim 10,
    Further comprising a camera for obtaining image information, and
    The bridge module is the image information acquired from the camera via Bluetooth and the drone 1: transfer to the external storage device or the video output device having a first, drones.
  14. 11. The method of claim 10,
    If the drones from the distance between the steering terminal or the virtual drone agent be far less than 3Km than 100m, and separating the multi-drone drone the main and sub-drone,
    The main drone is connected through the steering terminal or the virtual drone agent and WiFi,
    The sub-drone is connected to the main drones and UWB (Ultra-wideband communication) -UWB (LTE or LTE-Direct Direct) of the mesh-up (up Mesh) asynchronous network, sharing receives commands from the main drones, drones .
  15. A step of virtual server based on the information registered in advance drone creating a virtual agent that is matched to the drone drone one-to-one;
    Wherein the virtual drone agent analyzes the manipulator individual information, the individual information and the drones one trillion kinds of real-time monitoring information of the drone;
    Wherein the agent is a virtual drone deliver flight control signal for controlling the flight of the drone in accordance with the analysis result to the communication section of the drone; And
    And the communication unit of the drone converting said flight control signals, including the step of passing the bridge module provided in the drone, multi-drone control method.
  16. 16. The method of claim 15,
    It said bridge module includes:
    It said flight control signal and converts the asynchronous command of one unit of the Bluetooth signals manner as WiFi signal until the completion of the asynchronous command continuous, multi-drone control method for a calling.
  17. 16. The method of claim 15,
    The virtual connection between the agents and the drones virtualized servers,
    MAC address (Mac Address) the key (key) is connected by looking up values, WiFi / Local, multi-drone control method which is connected via at least one of the LAN / 3G / 4G / LTE through.
  18. 16. The method of claim 15,
    The virtual drone agent,
    For the connection or disconnection of the virtual number of drone drone agent and further comprising the step of dynamically generated or disposed of in a packet relaying daemon according to the connection between the steering station, multi-drone control method.
  19. 16. The method of claim 15,
    The virtual drone agent,
    When several drone simultaneously access to the virtual drone agent, time priority capture method, the multi-drone control method further comprising the step of acquiring the packet relaying daemon.
PCT/KR2016/012260 2016-10-06 2016-10-28 System and method for controlling multidrone WO2018066744A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR10-2016-0129075 2016-10-06
KR1020160129075A KR101941643B1 (en) 2016-10-06 2016-10-06 System and method for control of multi drone

Publications (1)

Publication Number Publication Date
WO2018066744A1 true WO2018066744A1 (en) 2018-04-12

Family

ID=61831530

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2016/012260 WO2018066744A1 (en) 2016-10-06 2016-10-28 System and method for controlling multidrone

Country Status (2)

Country Link
KR (1) KR101941643B1 (en)
WO (1) WO2018066744A1 (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160105233A1 (en) * 2014-02-17 2016-04-14 Ubiqomm, LLC Broadband access system via drone/uav platforms
US20160203723A1 (en) * 2015-01-09 2016-07-14 Botlink System and method of collision avoidance in unmanned aerial vehicles
US20160236638A1 (en) * 2015-01-29 2016-08-18 Scope Technologies Holdings Limited Accident monitoring using remotely operated or autonomous aerial vehicles
US9438311B1 (en) * 2015-08-25 2016-09-06 Logitech Europe S.A. Power efficient mesh network
US20160260332A1 (en) * 2014-05-12 2016-09-08 Unmanned Innovation, Inc. Unmanned aerial vehicle authorization and geofence envelope determination

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20150117879A (en) * 2014-04-11 2015-10-21 부산대학교 산학협력단 Unmanned Aerial Vehicle Control System based on Mobile Communication
KR101636478B1 (en) 2014-05-12 2016-07-06 고려대학교 산학협력단 Method for controlling hand-over in drone network
KR101695254B1 (en) * 2015-02-10 2017-01-12 한화테크윈 주식회사 Surveillance and Tracking system

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160105233A1 (en) * 2014-02-17 2016-04-14 Ubiqomm, LLC Broadband access system via drone/uav platforms
US20160260332A1 (en) * 2014-05-12 2016-09-08 Unmanned Innovation, Inc. Unmanned aerial vehicle authorization and geofence envelope determination
US20160203723A1 (en) * 2015-01-09 2016-07-14 Botlink System and method of collision avoidance in unmanned aerial vehicles
US20160236638A1 (en) * 2015-01-29 2016-08-18 Scope Technologies Holdings Limited Accident monitoring using remotely operated or autonomous aerial vehicles
US9438311B1 (en) * 2015-08-25 2016-09-06 Logitech Europe S.A. Power efficient mesh network

Also Published As

Publication number Publication date
KR20180038231A (en) 2018-04-16
KR101941643B1 (en) 2019-01-23

Similar Documents

Publication Publication Date Title
Howard UAV command, control & communications
US6671589B2 (en) Method and apparatus to support remote and automatically initiated data loading and data acquisition of airborne computers using a wireless spread spectrum aircraft data services link
US7761544B2 (en) Method and apparatus for internal and external monitoring of a transportation vehicle
EP2314508B1 (en) Unmanned aircraft system and method of operating same
ES2272901T3 (en) System, method and control apparatus for aircraft emergency safety.
US7756145B2 (en) Methods and apparatus providing an airborne e-enabled architecture as a system of systems
EP2997768B1 (en) Adaptive communication mode switching
Nunna et al. Enabling real-time context-aware collaboration through 5G and mobile edge computing
US20180004201A1 (en) Flight management system for uavs
US9652990B2 (en) Systems and methods for monitoring unmanned aerial vehicles
CN202976376U (en) Forest fire monitoring and emergency command system based unmanned aerial vehicle
CN203278900U (en) Space-air-ground integrated Beidou emergency command system
JP2000515249A (en) Built-in mission avionics data link system
CN101811578A (en) Special photoelectric nacelle of power patrol unmanned helicopter
CN101667032A (en) Vision-based target tracking system using unmanned helicopter
WO2005062859A3 (en) A system and process for providing improved aircraft operational safety
US8195151B2 (en) Method and apparatus for integrating and communicating data link information from an aircraft to a ground station using a portable communications system
CN105745587B (en) Virtual tour system and method using unmanned aerial vehicles to achieve
US6549162B1 (en) Method and apparatus for transmitting real time data from aircraft to ground stations using a data protocol over a satellite system
CN104615145A (en) UAV (unmanned aerial vehicle), and UAV control system and method
CN101004861A (en) System for monitoring moving target on place of aerodrome
CN202694592U (en) Comprehensive management network platform of civil unmanned aerial vehicle
CN101192350B (en) Airplane anti-collision and navigation system and method for actively launching three-dimensional stereo flight information
CN102637023A (en) Remote unmanned aerial vehicle cluster control method and system based on 3G (the 3rd Generation Telecommunication) and GPRS (General Packet Radio Service) cell phone communication
US8751061B2 (en) Navigation aid system for a drone

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16918365

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase in:

Ref country code: DE