WO2018092971A1 - 무인기 제어 방법 및 이를 이용한 무인기 제어 장치 - Google Patents

무인기 제어 방법 및 이를 이용한 무인기 제어 장치 Download PDF

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Publication number
WO2018092971A1
WO2018092971A1 PCT/KR2016/014323 KR2016014323W WO2018092971A1 WO 2018092971 A1 WO2018092971 A1 WO 2018092971A1 KR 2016014323 W KR2016014323 W KR 2016014323W WO 2018092971 A1 WO2018092971 A1 WO 2018092971A1
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WIPO (PCT)
Prior art keywords
control
drone
area
setting
shift
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PCT/KR2016/014323
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English (en)
French (fr)
Korean (ko)
Inventor
이형석
이상렬
Original Assignee
한화테크윈 주식회사
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Publication of WO2018092971A1 publication Critical patent/WO2018092971A1/ko

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • 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
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • 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
    • B64U2101/45—UAVs specially adapted for particular uses or applications for releasing liquids or powders in-flight, e.g. crop-dusting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

Definitions

  • the present invention relates to a method for generating a drone flight path and a drone control device using the same, and more particularly, to a method for setting the acceleration and deceleration area before and after the control area of the control drone, and a drone control device using the same.
  • UAVs unmanned aerial vehicles
  • the drone may be used in fields such as aerial photography, delivery of goods, and leisure.
  • drones make it possible to easily control aerial control over a large range of cropland, such as helicopters and light aircraft, even on small farmland.
  • a method of controlling the opening degree of the nozzle discharging the control agent in conjunction with the flying speed of the drone may be used.
  • a sensor capable of precisely measuring the flight speed and the amount of control agent discharge of the drone, a nozzle capable of finely adjusting the discharge amount, and a control means for controlling the nozzle are required. Therefore, the manufacturing cost is greatly increased, and the weight and volume of the drone are increased.
  • the drone is not accurately aware of the flight speed, it is very likely to fail to control the amount of control, and if the drone does not automatically judge and generate calculation and control signals from external software connected to the drone, time difference will inevitably occur. In other words, you will behave in a way that is not appropriate for your situation.
  • the drone will have to fly at the same speed with the nozzle open to achieve a uniform amount of control.
  • the problem to be solved by the present invention is to set the speed change area before and after the designated control area to set a control path in which uniform control is achieved.
  • an apparatus for controlling a drone through wireless communication including a control area for designating a control area requiring control from a user;
  • a control path setting unit for setting a control path of the unmanned aerial vehicle in a flight area including the designated control area and a shift area outside the control area;
  • it may include a communication unit for transmitting the information on the control path to the drone.
  • the control path setting unit may set the control path such that the drone stops control outside the control area.
  • the drone control apparatus may further include a shift setting unit that sets a shift pattern of the drone in the shift area, and the communication unit may further transmit information about the set shift pattern to the drone.
  • the drone control apparatus may further include a speed change area setting unit for setting a speed change area outside the control area.
  • the interface unit may further receive a control speed, and the speed change area setting unit may set the speed change area based on the input control speed.
  • the communication unit further transmits a test flight command for the control path to the drone, receives the test flight information measured by the drone during the test flight, and the shift area setting unit transmits the shift based on the received test flight information. You can set the area.
  • the communication unit may receive flight information measured while the drone is in flight, and the shift area setting unit may set the shift area based on the received flight information.
  • the control path setting unit may divide a designated control area into a plurality of small areas, and set control paths of the drone in the plurality of small areas, respectively.
  • the interface unit may display a GIS map.
  • the interface unit may further receive the shift area from a user.
  • a method of controlling a drone the interface unit receiving a control area from a user; A control path setting unit setting a control path of an unmanned aerial vehicle in a flight area including the designated control area and a shift area outside the control area; And a communication unit transmitting information on the control path to the unmanned aerial vehicle.
  • the drone control method according to the embodiment may further include the step of setting the control path by the control path setting unit to stop the control when the drone outside the control area.
  • a method of controlling a drone includes: setting, by a shift pattern setting unit, a shift pattern of the drone in the shift area; And transmitting, by the communication unit, the information on the set shift pattern to the drone.
  • the drone control method according to the embodiment may further include setting, by the shift area setting unit, a shift area outside the control area.
  • the drone control method may further include receiving an input of the control speed by the interface unit, and the setting of the speed change area may set the speed change area based on the input control speed.
  • a method of controlling a drone includes: transmitting, by the communication unit, a test flight command for the control path to the drone; And receiving, by the communication unit, test flight information measured by the drone during a test flight from the drone.
  • the method may further include setting the speed change area, and setting the speed change area based on the received test flight information.
  • a method of controlling a drone further includes: receiving, by the communication unit, flight information measured while the drone is in flight, and setting the speed change area based on the received flight information. Can be set.
  • the setting of the control path of the drone may include: dividing the designated control area into a plurality of small areas by the control path setting unit; And setting, by the control path setting unit, control paths of the drone in the plurality of small areas, respectively.
  • the drone control method according to the embodiment may further include displaying, by the interface unit, a GIS map.
  • the drone control method according to the embodiment may further include the interface unit receiving the transmission area from the user.
  • the drone In the control area, the drone can move at a uniform speed and control can be performed in a uniform amount.
  • FIG. 1 is a view showing the overall configuration of the drone control system according to an embodiment of the present invention.
  • FIG. 2 is a view showing the configuration of a drone controlled by a drone control apparatus according to an embodiment of the present invention.
  • FIG. 3 is a block diagram showing the configuration of a drone control apparatus according to an embodiment of the present invention.
  • FIG. 4 is a view showing an interface unit of the drone control device according to an embodiment of the present invention.
  • FIG 5 is a view illustrating a situation in which a control area is designated in the drone control device according to an embodiment of the present invention.
  • FIG. 6 is a view showing a situation in which a control path is set in a control area of the drone control device according to an embodiment of the present invention.
  • FIG. 7 is a diagram illustrating a situation in which a speed change area is set before and after a control area of the drone control device according to an embodiment of the present invention.
  • FIG. 8 is a view showing an interface unit of the drone control device according to another embodiment of the present invention.
  • FIG. 9 is a diagram illustrating a situation in which a control area of a drone control device according to another embodiment of the present invention is designated.
  • FIG. 10 is a diagram illustrating a situation in which a control area of the drone control device according to another embodiment of the present invention is divided into a plurality of small areas.
  • FIG. 11 is a diagram illustrating a situation in which control paths are set in a plurality of small areas of the drone control device according to another embodiment of the present invention.
  • FIG. 12 is a flowchart of a drone control method according to an embodiment of the present invention.
  • FIG. 13 is a flowchart illustrating a method of setting a shift area in a drone control method according to another embodiment of the present invention.
  • FIG. 14 is a flowchart illustrating a control path setting method of the drone control method according to another embodiment of the present invention.
  • FIG. 15 is a block diagram illustrating a configuration of a computing device capable of implementing a drone control device according to an embodiment of the present invention.
  • FIG. 1 is a view showing the overall configuration of the drone control system 1 according to an embodiment of the present invention.
  • the drone control system 1 includes a drone 2 and a drone control device 3.
  • the drone 2 is a vehicle capable of radio control. Commonly manufactured RC (Remote Control) drones (quadopters), such as this. In one embodiment of the present invention, it is preferable to use the unmanned aerial vehicle 2 capable of controlling. A more detailed description of the drone 2 will be described later with reference to FIG. 2.
  • the drone control device 3 is a device for controlling the operation of the drone 2, and is mainly referred to as a ground control unit (GCU) or a ground control station (GCS) because it controls the drone 2 floating in the air on the ground. .
  • GCU ground control unit
  • GCS ground control station
  • the drone 3 may be connected to the drone 2 by wireless communication to exchange signals and data with each other. Therefore, the drone control apparatus 3 may control the operation of the drone 2 as desired by transmitting a signal for controlling the drone 2, and, on the contrary, receives the measured data from the drone 2 and receives the drone 2. It can also be used to plan a plan's operation.
  • the drone control device 3 may be a terminal capable of wireless communication made exclusively for the purpose, but if it is a general commercial device capable of wireless communication, the drone control device 3 may be used as the drone control device 3 by installing software or an application. Therefore, you can download, install and use applications or software.
  • Wireless modems such as 3G and LTE are installed to enable wireless communication between devices or to use wireless communication networks. It may be a device.
  • the application can be downloaded, installed and used, and wireless communication is possible by connecting to the AP using WLAN, Wibro, and the like, and wearable devices such as tablet PCs and smart watches capable of capturing images or images can be used. no.
  • FIG. 2 is a view showing the configuration of the drone 2 controlled by the drone control apparatus 3 according to an embodiment of the present invention.
  • the drone 2 controlled by the drone control device 3 has a shape of a general drone 2, but it may be confirmed that a configuration for control is further provided. have.
  • the drone 2 will basically include a float (not shown) with wings and a motor for flight, a controller (not shown) with an arithmetic processor for controlling the entire drone 2, and the like, and supplying power. It may include a drone communication unit (not shown) for communication with a power supply source (not shown), such as a battery for the drone control device (3).
  • the drone communication unit may be configured with a 3G modem or an LTE modem, and may use other ZigBee, WLAN, Bluetooth, and the like.
  • the drone 2 controlled by the drone control apparatus 3 of this invention includes the structure for control. Therefore, a control nozzle 21 capable of opening and closing adjustment, and a control agent storage unit (not shown) connected to the control nozzle 21 and capable of storing the control agent.
  • the unmanned aerial vehicle 2 can perform control by adjusting the opening and closing of the nozzle 21, controlling the spreading of the preservative, while flying while keeping the preservative in the preservative storage unit.
  • the nozzle 21 is opened, the control agent is discharged from the control agent storage portion through the nozzle 21, and when the nozzle 21 is closed, the discharge is stopped.
  • the drone 2 may further include a sensor (not shown) to collect flight information.
  • the sensor may include a wind speed sensor, an acceleration sensor, a gyro sensor, and a speed sensor, but the type thereof is not limited thereto.
  • the drone 2 may collect information on wind speed, flight acceleration, inclination, speed, etc. obtained during the flight.
  • an encoder may be provided in the support portion to collect movement information of the drone 2 from the driving information of the support portion.
  • the collected information may be stored in a storage medium included in the drone 2, or may be transmitted to the drone control device 3 through the drone 2 communication unit 32.
  • the drone 2 receives a control signal from the drone control device 3 to perform a flight according to the content of the control signal or to control the opening and closing of the nozzle 21 to perform control through the flight.
  • FIG. 3 is a block diagram showing the configuration of the drone control apparatus 3 according to an embodiment of the present invention.
  • the drone control device 3 includes a communication unit 32, a shift pattern setting unit 33, a control path setting unit 34, a shift area setting unit 35, and an interface unit 31. You can check it.
  • the interface unit 31 is a component that receives the control area 40 from the user and receives other information.
  • the interface unit 31 may provide a user interface using a display device to the user for inputting the above information.
  • the interface unit 31 may display a Geographic Information System (GIS) map by using a display device. It is to provide a graphical user interface (GUI) so that the user can specify the control area 40 more simply and easily.
  • GUI Geographic Information System
  • the interface unit 31 may receive the shift area 44, the control speed, the type and location of the obstacles 311, 312, 313, and 314, the control altitude, and the like, a graphic interface for receiving the input is also displayed. can do.
  • the display device of the interface unit 31 may be a device that is easy to carry and move, such as a smartphone, a tablet PC, a laptop, but is not limited thereto. It may be a device that is not easy to move, such as a video wall.
  • the interface unit 31 may not provide a touch function.
  • an input unit is separately provided.
  • the most commonly used input means include a mouse, a keyboard, a joystick, a remote controller, and the like.
  • the interface unit 31 may include a touch sensor.
  • the touch sensor is integrally mounted together with the interface unit 31, and detects the touch generated by the interface unit 31 to detect coordinates, the number and intensity of touches, and the like, and detect the detected result. It transmits to the control path
  • a separate touch pad may be provided unless a touch sensor is separately included.
  • the touch may be performed using a finger, but is not limited thereto, and may be performed using a stylus pen equipped with a tip through which a minute current may flow.
  • the control path setting unit 34 is a component for setting the control paths 52, 61, 62, 63, and 64 in the flight area.
  • the flight area is an area including a control area 40 designated by a user in the interface unit 31 and a shift area 44 formed before and after the control area 40. Therefore, the control path setting unit 34 is connected to the speed change area setting unit 35 and the interface unit 31 in order to receive the information on the designated control area 40 and the speed change area 44.
  • the control area 40 is an area where control is to be performed while the drone 2 is flying, and the user designates the control area 40 through the drone control device 3.
  • the control path setting unit 34 generates control paths 52, 61, 62, 63, and 64 to which the drone 2 should fly in the flight area.
  • the control paths 52, 61, 62, 63, and 64 are set by the control path setting unit 34, the control paths 52, 61, 62, 63, and 64 are transferred to the communication unit 32 and transmitted to the drone 2, and the drone 2 receives the received control. Fly along the paths 52, 61, 62, 63, 64.
  • control path set by the control path setting unit 34 becomes a continuous line or a closed curve.
  • control route setting unit 34 may set a waypoint 51, 53, 54, which is a point at which the drone 2 takes a specific action at a specific position, on the control route.
  • the control path setting unit 34 moves the control area 40 into a plurality of small areas 431, 432, 433, and 434 when the obstacles 311, 312, 313, and 314 are located near the designated control area 40.
  • the control paths 52, 61, 62, 63, and 64 can be set independently for each of the small regions 431, 432, 433, and 434.
  • the action that the unmanned aerial vehicle 2 can do at the waypoints 51, 53, 54 includes nozzle 21 opening and nozzle 21 closing. Accordingly, the drone 2 may open or close the nozzle 21 while passing through the waypoints 51, 53, and 54 so that the control is performed only in the control region 40.
  • the shift region setting unit 35 is a component for setting the shift region 44.
  • the speed change area 44 means an area where the drone 2 accelerates or decelerates to reach a constant speed. Since the drone 2 of the present invention aims to perform a uniform amount of control by flying at a constant speed at all points of the control area 40, the drone 2 at least before reaching the boundary of the control area 40. The speed of (2) needs to reach the desired control speed. Therefore, the speed change area 44 is provided before and after the control area 40 so that the drone 2 is accelerated or decelerated.
  • the speed change area setting unit 35 sets the speed change area 44 before and after the control area 40.
  • the front and rear of the transmission area 44 is the control path (52, 61, 62, 63, 64) in the control area 40 is set by the control path setting unit 34, the control path (52, 61) , 62, 63, 64 are shown in the direction parallel to the control area 40 in the direction parallel to.
  • the shift area setting unit 35 calculates the distance to which the drone 2 should move in order to reach a desired control speed based on the acceleration / deceleration capability of the drone 2 already known, and calculates the calculated distance in the shift area.
  • the width is set to (44).
  • the speed change area setting unit 35 may control the user's desired control speed through the interface unit 31 in addition to the shifting capability and the basic target control speed of the drone 2, which are already known in order to calculate the distance that the drone 2 should move. Can be used by directly input.
  • the shift area setting unit 35 may update the shift area 44 already set by using the test flight information obtained during the test flight or the flight information obtained during the flight by the drone 2.
  • the test flight information or flight information includes information such as the current wind speed measured by the sensor included in the drone 2, the speed of the drone 2, and the like.
  • the set speed change area 44 is positioned before and after the control area 40 and is referred to as a flight area of the drone 2 including the speed change area 44 and the control area 40. Since the drone 2 must fly within the speed change area 44, the path to be moved is set by the control path setting unit 34 and the direction of movement thereof is also set.
  • the shift pattern setting unit 33 is a component for setting the shift pattern in the shift area 44.
  • a shift pattern can be set. Possible shift patterns of the drone 2 may include continuous linear acceleration / deceleration, sudden exponential acceleration / deceleration, etc., but may vary according to the acceleration / deceleration capability of the drone 2.
  • the set shift pattern is transmitted to the communication unit 32 and transmitted to the drone 2 to accelerate / decelerate according to the shift pattern transmitted in the shift area 44.
  • control path setting unit 34 the shift region setting unit 35, and the shift pattern setting unit 33 should be logically operable
  • a central processing unit (CPU), a micro controller unit (MCU), a microprocessor, and an FPGA may be used.
  • a semiconductor device capable of logical operation such as a field programmable gate array may be used, but is not limited thereto.
  • the communication unit 32 is a component that allows the drone 2 and the drone control device 3 to transmit and receive control signals or other information through wireless communication.
  • the communication unit 32 transmits the control path and the shift pattern received from the control path setting unit 34 and the shift pattern setting unit 33 to the drone 2, and the test flight information, flight information, etc. obtained from the drone 2. It can be transmitted to the control path setting unit 34 to be used as reference in the judgment.
  • the communication unit 32 may be configured as a 3G modem or an LTE modem, and other ZigBee, WLAN, Bluetooth, etc. may be used, but is not limited thereto.
  • the drone control device 3 of the present invention includes a HDD (Hard Disk Drive), a SDD (Solid State Drive), and a CF (Compact).
  • a storage unit (not shown) configured as a storage medium such as Flash) may be further included, but the storage medium is not limited thereto.
  • FIG 4 is a view showing the interface unit 31 of the drone control device 3 according to an embodiment of the present invention.
  • the drone control apparatus 3 of the present invention is a smartphone device including a liquid crystal as a display device in one embodiment.
  • the interface unit 31 of the drone 3 may display the GIS map information through the display device.
  • a map including a mountain at the top and bottom and a rectangular field at the center is displayed.
  • FIG 5 is a view showing a situation in which the control area 40 is designated in the drone control device 3 according to an embodiment of the present invention.
  • the user may set the control area 40 by using the interface unit 31.
  • the vertices 41 of the area to be designated by the user may be designated and set in order by using a selecting means 42 connected with a touch or an input device, or select and drag the vertex 41. It may be selected by dragging and dropping, and the boundary of the region to be directly designated may be drawn by the trace of the selecting means 42, but the method is not limited thereto.
  • the vertex 41 is dragged and dropped using the selection means 42 to set the rectangular control area 40 on the field.
  • the inner region divided by the boundary connecting each vertex 41 becomes the control region 40, and therefore, the control region 40 is preferably formed in a polygon.
  • the boundary of the designated control region 40 is represented by a dashed-dotted line.
  • the user may further input a target control speed through the interface unit 31, but the control speed input interface is not shown.
  • FIG. 6 is a view showing a situation in which a control path is set in the control area 40 of the drone control device 3 according to an embodiment of the present invention.
  • the interface unit 31 When the interface unit 31 receives the control area 40 from the user, the interface unit 31 transmits the information on the specified control area 40 to the control path setting unit 34.
  • the control path setting unit 34 may set the control path 52 in any direction with respect to the received control area 40 while covering the control area 40 without leaving the drone 2 efficiently.
  • a control path 52 is generated. If the drone 2 flies a short distance while frequently accelerating / decelerating, the drone 2 may not fly efficiently. Thus, the drone 2 is formed in a direction parallel to the long direction of the designated control path 52 as shown in FIG. 6. Although it is preferable to generate the control path 52 with a plurality of line segments, the method of generating the control path 52 is not limited thereto.
  • Both ends of the control path 52 may be designated as a waypoint 51 to be a point at which the nozzle 21 is opened or closed.
  • FIG. 7 is a view showing a situation where the speed change area 44 is set before and after the control area 40 of the drone control device 3 according to an embodiment of the present invention.
  • the shift area setting unit 35 receives the information on the set control path 52 and sets the shift area 44 before and after the designated control area 40.
  • the shift area 44 may be formed before and after the control area 40 in a direction parallel to the control path 52 as described above in the description of the shift area setting unit 35.
  • the distance for the drone 2 to reach the target speed through acceleration / deceleration is calculated on the basis of the target control speed to be the width of the speed change area 44.
  • the speed change area 44 is indicated by a dotted line.
  • the interface unit 31 may display the control path 52 and the shift area 44, and the direction may be indicated by an arrow, and the control path setting unit 34 may have the drone 2 fly.
  • the waypoint 53 to start and the waypoint to end the flight can be set.
  • the waypoint 53 to start the flight is preferably located at the position closest to the current position of the drone 2, but is not limited thereto.
  • control path 52 goes down from the left to the right and then descends a predetermined distance downward, and then again moves from the right to the left, and repeatedly descends a predetermined distance downward. It is set to.
  • the waypoints 53 and 54 are set so that the drone 2 can change direction.
  • the drone control device 3 transmits the completed control path 52 and the shift pattern to the drone 2 through the communication unit 32, and the drone 2 starts starting point 53 of the received control path 52. Start the flight along the control route.
  • the nozzle 21 is opened / closed to control the control, and the drone 2 in the control area 40 controls the control path. Fly at constant velocity along (52).
  • FIG. 8 is a view showing the interface unit 31 of the drone control device 3 according to another embodiment of the present invention.
  • Obstacles 311, 312, 313, 314 may generally include telephone poles, electric wires, high-rise buildings, high terrain, etc., but obstacles 311, 312, 313, 314 are not limited thereto.
  • Information about the obstacles 311, 312, 313, and 314 may be included in the GIS map, but may be directly input by the user through the interface unit 31.
  • FIG. 9 is a view showing a situation in which the control region 40 of the drone control device 3 according to another embodiment of the present invention is designated.
  • the user selects the vertex 41 to set the control region 40 to be controlled.
  • FIG. 10 is a view showing a situation in which the control region 40 of the drone control apparatus 3 according to another embodiment of the present invention is divided into a plurality of small regions 431, 432, 433, and 434.
  • the control path setting unit 34 of the drone 3 preferentially transmits information on the obstacles 311, 312, 313, and 314 from the interface unit 31 or the storage unit.
  • the designated control area 40 is divided into a plurality of small areas 431, 432, 433, and 434 in which obstacles 311, 312, 313, and 314 may not be located in the peripheral area.
  • the plurality of small regions 431, 432, 433, 434 may be divided such that the obstacles 311, 312, 313, 314 are not positioned before and after the long direction of each of the small regions 431, 432, 433, 434. . Since the control paths 61, 62, 63, and 64 will be set in the long direction, the control area 61 will be set before and after the direction parallel to the control path so that the speed change area 44 is not set. This is because the obstacles 311, 312, 313, and 314 are preferably positioned at positions perpendicular to the 62, 63, and 64.
  • the area division method is not limited to this.
  • control region 40 is divided into four small regions 431, 432, 433, and 434.
  • FIG. 11 is a view showing a situation in which control paths 61, 62, 63, and 64 are set in a plurality of small areas 431, 432, 433, and 434 of the drone control apparatus 3 according to another embodiment of the present invention. to be.
  • the control path setting unit 34 determines the divided small areas 431, 432, 433, and 434 as the respective control areas 40, and controls the control paths for each of the small areas 431, 432, 433, and 434. 61, 62, 63, 64). Therefore, a total of four control paths are generated in FIG. 11.
  • the shift area setting unit 35 sets the shift area 44 before and after the control area 40, and sets the shift path with respect to the set shift area 44, thereby setting the set control paths 61, 62, 63, 64.
  • the complete control route is established.
  • the operation of setting the transmission area 44 is performed independently for each of the small areas 431, 432, 433, and 434.
  • the control path setting for the flying area is also performed for each of the small areas 431, 432, 433, and 434. Is done independently. It is not a problem that the shift region 44 of one small region invades the other small region.
  • the drone control device 3 transmits the control signal and the control path related information so as to perform flight and control along the control path set by the drone 2 through the communication unit 32.
  • the control region 40 is divided into a plurality of small regions 431, 432, 433, and 434, it is necessary to designate that the small regions 431, 432, 433, and 434 fly sequentially.
  • the drone control device 3 may complete the control of the divided plurality of small regions 431, 432, 433, 434 in a clockwise order, but the direction may be counterclockwise.
  • the order of control may be preferentially controlled such that the small areas 431, 432, 433, 434 located upward on the map are not limited thereto.
  • FIG. 12 is a flowchart of a method for controlling the drone 2 according to an embodiment of the present invention.
  • the drone control apparatus 3 receives a control area through the interface unit 31 (S100).
  • the interface unit 31 may display the GIS map through a display device so that the user may select the area by using an input means in the area on the map to more intuitively designate the control area 40, and control the desired control. You can also enter the speed.
  • the information on the control area 40 designated through the interface unit 31 is transmitted to the control path setting unit 34 and the speed change area setting unit 35 to set the control path 52 and the speed change area setting unit.
  • the shift area 44 having a width based on the target control speed is set before and after the control area 40, and the completed control path to which the shift paths 55 and 56 are added is the control path setting part 34. It is set by).
  • the completed control path in the completed flight area is set by the drone 3 (S200).
  • the drone control apparatus 3 may further include setting a shift pattern in the shift area 44 through the shift area setting unit 35.
  • the information on the completed control path is transmitted to the drone 2 through the communication unit 32 (S300).
  • the drone 2 controls the included driving unit and performs a flight on the corresponding control path.
  • the unmanned aerial vehicle 2 executes a designated command at the waypoint 51 included in the control path, so that the control area 40 is sprayed at a constant velocity control agent through the opening of the nozzle 21, and the speed change area 44 is applied. Control interruption by closing the nozzle 21 with deceleration.
  • FIG. 13 is a flowchart showing in detail a method of setting a shift region 44 of a method of controlling a drone 2 according to another embodiment of the present invention.
  • the drone control device 3 may set the shift region 44 by using the information obtained through the test flight.
  • the drone control device 3 transmits a test flight command to the drone 2 through the communication unit 32 together with the information on the control path (S400).
  • the test flight command is a command to collect information on the actual situation by flying according to the preset contents for some of the control paths set for the drone 2.
  • the drone 2 having received the test flight command flies from the starting waypoint of the control area 40 to the next waypoint in the transmitted control path.
  • the drone 2 is accelerated along the set acceleration area, and flows at the same speed from the start waypoint of the control area 40 to the next waypoint and measures wind speed information and speed information through a sensor.
  • Test flight information including the measured wind speed information, speed information is transmitted to the drone control device 3 through the drone 2 communication unit 32 of the drone (S500).
  • the communication unit 32 of the drone control device 3 transmits the received test flight information to the speed change area setting unit 35 and the control path setting unit 34 and controls the new speed change area 44 and the control unit based on the transmitted information.
  • the drone (2) by receiving the wind speed information and the control speed information reached by the actual drone (2) during the test flight to adjust the width of the deceleration area and the acceleration area appropriately to maintain a constant control speed in subsequent flights.
  • the drone (2) In addition to transmitting the newly set transmission area 44 and the control path information to the drone (2), and transmits a control signal for the control flight for the entire control path, the drone (2) to perform the control ( S700).
  • the test flight is performed and the process of updating the control path is repeated each time the drone 2 performs one flight without changing the direction in one direction, thereby changing the direction of the control flight.
  • Each time it is made it is possible to update the transmission area 44 and the control path suitable for the current situation.
  • the drone 2 measures and transmits flight information in real time so that the drone control device 3 sets up a new transmission area 44 and control paths, passes it back to the drone 2, and applies it to the next flight. Be prepared to cope with change.
  • FIG. 14 is a flowchart illustrating a control path setting method of the method for controlling the drone 2 according to another embodiment of the present invention.
  • the designated control region 40 is divided into a plurality of small regions 431, 432, 433, and 434 (S210), and a control path 61, for the divided plurality of small regions 431, 432, 433, and 434.
  • 62, 63, and 64 may be set independently of each other (S220) so that they are delivered to the drone 2.
  • the drone control apparatus may be implemented with, for example, the computing device illustrated in FIG. 15.
  • the computing device 700 may be, but is not limited to, mobile handheld devices (smart phone, tablet computer, etc.), laptop or notebook computer, distributed computer system, computing grid or server.
  • the computing device 700 may include a processor 701 and a memory 703 and storage 708 that communicate with each other or with other elements via a bus 740.
  • the bus 740 may be connected to the display 732, one or more input devices 733, or one or more output devices 734.
  • the bus 740 is connected with a wide range of subsystems.
  • the bus 740 may include a memory bus, a memory controller, a peripheral bus, a local bus, and a combination thereof.
  • Processor to CPU 701 optionally includes cache memory 702, which is local storage for temporarily storing instructions, data, or computer addresses.
  • the processor 701 executes instructions (or software modules) recorded on a computer readable storage medium such as memory 703 or storage 708.
  • the computer readable storage medium may store software modules (eg, 33, 34, 35) implementing particular embodiments, and the processor 701 may execute the stored software modules.
  • the memory 703 may include a random access memory (RAM) 304, a read-only component (ROM) 305, and a combination thereof.
  • RAM random access memory
  • ROM read-only component
  • a bios (or firmware) having basic routines necessary for booting in the computing device 300 may be included in the memory 303.
  • Storage 708 is used to store operating system 709, executable files (EXEC, 710), data 711, API application 712, and the like.
  • the storage 708 may include a hard disk drive, an optical disk drive, a solid-state memory device (SSD), or the like.
  • Computing device 700 may include an input device 733 (eg, 31).
  • a user may enter commands and / or information into the computer device 700 via the input device 733.
  • Examples of the input device 733 include a keyboard, a mouse, a touch pad, a joystick, a game pad, a microphone, an optical scanner, a camera, and the like.
  • the input device 733 may be connected to the bus 740 via an input interface 723 that includes a serial port, parallel port, game port, USB, and the like.
  • computing device 700 is connected to network 730.
  • the computing device 700 is connected with other devices via a network 730.
  • network interface 720 e.g., 32
  • receives communication data in the form of one or more packets e.g., IP packets
  • computing device 700 processes the processor 701.
  • Store the received communication data for Similarly, the computing device 700 stores the transmitted communication data in the form of one or more packets on the memory 703, and the network interface 720 transmits the communication data to the network 730.
  • the network interface 720 may include a network interface card, a modem, and the like.
  • Examples of the network 730 include the Internet, a wide area network (WAN), a local area network (LAN), a telephone network, direct connection communication, and the like, and may employ a wired and / or wired communication scheme.
  • the execution result of the software module by the processor 701 may be displayed on the display 732 (eg, 31).
  • the display 732 include a liquid crystal display (LCD), an organic liquid crystal display (OLED), a cathode ray tube (CRT), a plasma display panel (PDP), and the like.
  • the display 732 is connected to the bus 740 via a video interface 722, and data transmission between the display 732 and the bus 740 may be controlled by the graphics controller 721.
  • the computing device 700 may include one or more output devices 734, such as audio speakers, printers, and the like.
  • the output device is coupled to bus 740 via output interface 724.
  • the output interface 724 may be, for example, a serial port, a parallel port, a game port, a USB, or the like.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Pest Control & Pesticides (AREA)
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  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Insects & Arthropods (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/KR2016/014323 2016-11-21 2016-12-07 무인기 제어 방법 및 이를 이용한 무인기 제어 장치 WO2018092971A1 (ko)

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