WO2020230964A1

WO2020230964A1 - Device for displaying flight area on ground and operation method therefor

Info

Publication number: WO2020230964A1
Application number: PCT/KR2019/014048
Authority: WO
Inventors: 박준연; 박지현; 변지숙; 송의석; 이건우; 정창용; 제보은
Original assignee: 주식회사 어플라이
Priority date: 2019-05-13
Filing date: 2019-10-24
Publication date: 2020-11-19
Also published as: KR20200130976A; KR102200182B1

Abstract

A device for displaying a flight area on the ground and an operation method therefor are disclosed. The device for displaying a flight area on the ground according to an embodiment may comprise: a light generator for projecting an image by using light beams; and a controller for controlling the light generator, wherein, in flight, the controller controls the light generator to project a predetermined image onto a predetermined location on the ground.

Description

Device for displaying flight area on the ground and method of operation thereof

As a technology for an unmanned aerial vehicle, in particular, it relates to an unmanned aerial vehicle displaying a flight area on the ground, and an operating method thereof.

Drones are equipped with various sensors depending on the purpose of navigation, control and use. For example, drones are equipped with GPS, geomagnetic sensors, and inertial navigation devices for navigation, and use radar, LiDAR, and cameras to avoid obstacles at close range, surveillance and reconnaissance, and monitoring of specific targets.

In addition, in order to monitor a specific target using a drone, a technology that allows a drone to autonomously run without direct control is being developed.

On the other hand, as the use of drones increases, problems such as a fall accident occur. Accordingly, in recent years, various technologies have been developed to prevent damage to humans and objects from a fall of a drone.

An object of the present invention is to provide an apparatus for displaying a flight area on the ground and a method of operating the same.

According to an aspect, an apparatus for displaying a flight area on the ground includes: a light generating unit that projects an image using a beam; And a control unit for controlling the light generation unit, and the control unit may control the light generation unit to project a predetermined image to a predetermined position on the ground during flight.

The apparatus for displaying the flight area on the ground may further include a sensor unit for generating sensor information by detecting at least one of altitude, speed, acceleration, and attitude.

The controller may determine whether to project an image of the light generator based on the sensor information.

The controller may calculate the fall position or fall angle of the unmanned aerial vehicle based on the sensor information.

The controller may control the light generator to project a predetermined image based on the calculated fall position or fall angle.

The light generating unit includes a projector that projects a beam and at least one motor connected to the projector, and the control unit calculates a projection angle to project a predetermined image based on the calculated fall position or fall angle, and controls the motor based on the projection angle. I can.

The controller may determine at least one of a beam width, a beam intensity, and a focus of the light generator based on the sensor information.

According to another aspect, the method of informing the flight area by a device for displaying a flight area on the ground including a light generating unit for projecting an image using a beam and a control unit for controlling the light generating unit includes altitude, speed, and acceleration of the unmanned flight unit. And generating sensor information by detecting at least one of a posture. And controlling the light generator to project a predetermined image to a predetermined position on the ground during flight based on the sensor information.

A device that displays the flight area on the ground has an effect of notifying people on the ground that the unmanned flight device is in flight by displaying the flight area on the ground. In addition, there is an effect of preventing accidents caused by a fall of the unmanned aerial vehicle by people avoiding the area or paying attention in the area.

1 is a block diagram of an apparatus for displaying a flight area on the ground according to an exemplary embodiment.

2 is an exemplary view illustrating a method of projecting a beam by an apparatus for displaying a flight area on the ground according to an example.

3 is an exemplary diagram for explaining a method of projecting a beam by an apparatus for displaying a flight area on the ground according to another example.

4 is a configuration diagram of a light generator according to an embodiment.

5 is a flowchart illustrating a method of projecting a beam by an apparatus for displaying a flight area on the ground according to an exemplary embodiment.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, embodiments of an apparatus for displaying a flight area on the ground and an operation method thereof will be described in detail with reference to the drawings.

1 is a block diagram of an unmanned aerial vehicle according to an embodiment.

Referring to FIG. 1, an apparatus 100 for displaying a flight area on the ground may include a light generating unit 110 and a control unit 120.

According to an example, the light generator 110 may project an image using a beam. For example, the light generation unit 110 projects a predetermined image such as a CRT (Cathode Ray Tube) projector, an LCD (Liquid Crystal Display) projector, a DLP (Digital Light Processing) projector, a laser projector, a logo light, a laser pointer, etc. It may include at least one of displayable devices.

According to an example, the controller 120 may control the light generating unit 110 to project a predetermined image to a predetermined position on the ground during flight.

As an example, the controller 120 may control the light generator 110 by determining whether to project a predetermined image. For example, the controller 120 may determine whether to project a predetermined image according to the altitude of the device 100 that displays the flight area on the ground. For example, the controller 120 may determine to project a predetermined image only when the altitude is higher than or equal to a predetermined altitude, and thus control the light generation unit 110.

As an example, it can be seen that the predetermined image is an image indicating that the device 100 that displays the flight area on the ground in the sky is in flight or the flight area of the device 100 that displays the flight area on the ground. It can be an image. For example, a predetermined image may be composed of figures, characters, symbols, and the like.

According to an example, the apparatus 100 for displaying a flight area on the ground may further include a sensor unit (not shown) that generates sensor information by sensing at least one of altitude, speed, acceleration, and attitude. For example, the sensor unit may include at least one of a global positioning system (GPS) and an inertial measurement device (IMU). The inertial measurement device may sense linear acceleration using one or more accelerometers and sense rotational speed using one or more gyroscopes.

According to an example, the controller 120 may determine whether the light generator 110 projects an image based on sensor information. For example, the control unit 120 can know the altitude of the unmanned airfield * 100 from the sensor information, and based on the altitude, the light generator 110 can be turned on/off or the beam projection can be turned on/off. have.

According to an example, the controller 120 may calculate a fall position of the device 100 that displays a flight area on the ground based on sensor information. For example, when the device 100 for displaying the flight area on the ground is in a stationary state in the air, the control unit 120 displays the flight area on the ground when an abnormality occurs. It can be assumed that the device 100 will fall vertically below.

For another example, when the device 100 for displaying the flight area on the ground is flying at a predetermined speed in a predetermined direction at a predetermined altitude, the device 100 for displaying the flight area on the ground when an abnormality occurs It can fall freely in the direction of parabolic motion according to the law of motion. Accordingly, when an abnormality occurs, the controller 120 may estimate that the device 100 for displaying the flight area on the ground will fall to a point distant from the current position by a predetermined distance in a predetermined direction.

According to another example, the controller 120 may calculate a fall angle based on sensor information of the device 100 that displays the flight area on the ground. For example, the controller 120 may calculate 0 ^o as a fall angle based on a vertical direction when falling from a stop state. In addition, the controller 120 may calculate a fall angle in a direction in which the angle increases as the flight speed of the apparatus 100 for displaying the flight area on the ground increases. On the other hand, the controller 120 may calculate a fall angle in a direction in which the angle decreases as the altitude of the apparatus 100 for displaying the flight area on the ground increases. The fall angle according to speed or altitude may be determined according to the law of parabolic motion according to free fall.

For example, the controller 120 may calculate a fall position or fall angle in real time using sensor information. Alternatively, the controller 120 may store information on a fall position or fall angle according to an altitude, speed, acceleration, etc. of the device 100 that displays a flight area on the ground, and the corresponding information according to sensor information Can be read.

According to an example, the controller 120 may control the light generating unit 110 to project a predetermined image based on the calculated fall position or fall angle. Referring to FIG. 2, as an example, as shown in FIG. 2(a), the unmanned flight device 210 including a device for displaying a flight area on the ground may be located in the air in a stationary state. When an abnormality occurs, the unmanned aerial vehicle 210 may fall vertically down. Accordingly, the controller 120 may control the light generating unit 110 to project a predetermined image 215 in the vertical downward direction of the unmanned aerial vehicle 210.

As another example, as shown in FIG. 2(b), the unmanned aerial vehicle 220 including a device displaying a flight area on the ground may fly at a predetermined speed in a predetermined direction at a predetermined altitude. In this case, The flight device 220 may fall to a point away from the current position by a predetermined distance in a predetermined direction. Accordingly, the controller 120 may calculate the fall position or fall angle of the unmanned aerial vehicle 220 when an abnormality occurs, and based on this, control the light generation unit 110 to project a predetermined image 225 have.

According to an embodiment, the control unit 120 may determine at least one of a beam width, a beam intensity, and a focus of the light generator 110 based on sensor information.

As an example, in FIG. 3, a method of controlling the light generating unit 110 by the controller 120 is described on the assumption that the altitude of the unmanned aerial vehicle is increased. For example, as shown in Fig. 3(a), the unmanned aerial vehicle 310 including a device displaying a flight area on the ground can project a predetermined image 315 on the ground, and at this time, the beam width May be the first beam width 313. On the other hand, when the unmanned aerial vehicle 310 rises, a predetermined image 325 may be projected with the second beam width 323 as shown in FIG. 3(b).

For example, when the unmanned aerial vehicle 310 maintains the same beam width and ascends, a predetermined image area may increase in proportion to the altitude squared. In addition, due to this, the brightness of the projected image can be reduced by a square factor. Accordingly, in order to maintain the same brightness of the image, the controller 120 may increase the beam intensity by controlling the light generator 110 according to the elevation of the image. In addition, since the focus of the beam may vary according to the elevation of the beam, the controller 120 may control the light generating unit 110 to adjust the focus according to the altitude.

According to another example, when the unmanned aerial vehicle 310 including a device for displaying the flight area on the ground maintains the beam width and ascends, the area of the image increases, and thereby, the image is transferred to the area outside the expected fall area. Can be projected. Accordingly, the controller 120 may reduce the beam width by controlling the light generation unit 110 according to the elevation of the altitude. In addition, when the beam width is reduced, the area of the image is narrowed and the brightness of the image can be increased.The controller 120 controls the light generator 110 to adjust the beam intensity based on the beam width. I can.

According to another example, when the unmanned aerial vehicle 310 including a device for displaying a flight area on the ground falls, the flight of the unmanned aerial vehicle 310 such as altitude, speed, and acceleration of the unmanned aerial vehicle 310 The expected fall range may vary depending on external conditions such as wind direction and strength, as well as conditions. Accordingly, the control unit 120 may calculate the predicted fall range based on any one of information on the flight status and external status of the unmanned aerial vehicle. In addition, the controller 120 may determine the beam width based on the predicted fall range, and control the light generator 110 based on this to adjust the beam width.

4 is a configuration diagram of a light generator according to an embodiment.

Referring to FIG. 4, the light generation unit 400 may include a projector 410 that projects a beam and one or more motors 420 connected to the projector.

As described with reference to FIG. 2, the unmanned aerial vehicle 220 including a device for displaying a flight area on the ground may fly at a predetermined speed in a predetermined direction at a predetermined altitude, and in this case, the unmanned flight device ( 220) may fall to a point distant from the current position in a predetermined direction. Accordingly, the controller 120 may calculate the fall position or fall angle of the unmanned aerial vehicle 220 when an abnormality occurs, and based on this, control the light generation unit 110 to project a predetermined image 225 have.

According to an example, the controller 120 may determine a first angle 231 to project an image by calculating a fall position or a fall angle. Also, the controller 120 may control the projection angle of the projector 410 by controlling the motor 420 based on the first angle 231. However, when the unmanned aerial vehicle 220 moves in a predetermined direction, the posture may be inclined by a predetermined angle. As shown in FIG. 2(b), the unmanned aerial vehicle 220 may fly while inclined by the second angle 233. Accordingly, when the control unit 120 controls the motor 420 based on only the first angle 231 to control the projection angle of the projector 410, the position at which the image is projected may be different.

According to another example, the control unit 120 may obtain the attitude information of the unmanned aerial vehicle through the sensor unit, through which the second angle 233 may be known. Accordingly, the controller 120 may control the projection angle of the projector 410 by controlling the motor 420 based on the first angle 231 and the second angle 233. Through this, the controller 120 may correct an error in which the position at which the image is projected may vary due to the posture of the unmanned aerial vehicle.

Referring to FIG. 5, a device displaying a flight area on the ground may generate sensor information by detecting at least one of altitude, speed, acceleration, and attitude of the unmanned aerial vehicle (510). For example, an apparatus for displaying a flight area on the ground may include a sensor unit that generates sensor information by detecting at least one of altitude, speed, acceleration, and posture. For example, the sensor unit may include at least one of a global positioning system (GPS) and an inertial measurement device (IMU). The inertial measurement device may sense linear acceleration using one or more accelerometers and sense rotational speed using one or more gyroscopes.

Thereafter, the device for displaying the flight area on the ground may control the light generating unit 520 to project a predetermined image to a predetermined position on the ground during flight based on the sensor information. According to an example, the device displaying the flight area on the ground may determine whether to project an image of the light generator based on sensor information. In addition, according to an example, the device for displaying the flight area on the ground may calculate the fall position or fall angle of the unmanned aerial vehicle based on sensor information. Thereafter, the apparatus for displaying the flight area on the ground may control the light generating unit to project a predetermined image based on the calculated fall position or fall angle.

One aspect of the present invention may be implemented as a computer-readable code in a computer-readable recording medium. Codes and code segments implementing the above program can be easily inferred by a computer programmer in the art. The computer-readable recording medium may include any type of recording device storing data that can be read by a computer system. Examples of computer-readable recording media may include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, and the like. Further, the computer-readable recording medium can be distributed over a computer system connected by a network, and written and executed in computer-readable code in a distributed manner.

So far, the present invention has been looked at around its preferred embodiments. Those of ordinary skill in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Accordingly, the scope of the present invention is not limited to the above-described embodiments, and should be construed to include various embodiments within the scope equivalent to those described in the claims.

The apparatus for displaying the above-described flight area on the ground can be applied to various unmanned flight apparatuses.

Claims

In the device for displaying the flight area on the ground,

A light generating unit that projects an image using a beam; And

It includes a control unit for controlling the light generating unit,

The control unit

A device for displaying a flight area on the ground, which controls the light generating unit to project a predetermined image on the ground during flight.
The method of claim 1,

The unmanned flight device further comprises a sensor unit for generating sensor information by detecting at least one of altitude, speed, acceleration, and posture, and displaying a flight area on the ground.
The method of claim 2,

The control unit determines whether to project an image of the light generating unit based on the sensor information, and displays a flight area on the ground.
The method of claim 2,

The controller calculates a fall position or fall angle of the unmanned aerial vehicle based on the sensor information, and displays a flight area on the ground.
The method of claim 4,

The control unit controls the light generating unit to project the predetermined image based on the calculated fall position or fall angle, and displays a flight area on the ground.
The method of claim 4,

The light generator includes a projector for projecting a beam and at least one motor connected to the projector,

The control unit

Calculate a projection angle to project the predetermined image based on the calculated fall position or fall angle,

A device for displaying a flight area on the ground, which controls the motor based on the projection angle.
The method of claim 2,

The control unit determines at least one of a beam width, a beam intensity, and a focus of the light generator based on the sensor information.
In the method for displaying a flight area on the ground, an apparatus for displaying a flight area including a light generating unit for projecting an image using a beam and a control unit for controlling the light generating unit,

Generating sensor information by detecting at least one of altitude, speed, acceleration, and posture of the unmanned aerial vehicle; And

And controlling the light generating unit to project a predetermined image to a predetermined position on the ground during flight based on the sensor information.