WO2021054782A1 - Véhicule aérien sans pilote et procédé permettant d'effectuer un vol de diagnostic avant l'exécution d'un vol - Google Patents

Véhicule aérien sans pilote et procédé permettant d'effectuer un vol de diagnostic avant l'exécution d'un vol Download PDF

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Publication number
WO2021054782A1
WO2021054782A1 PCT/KR2020/012653 KR2020012653W WO2021054782A1 WO 2021054782 A1 WO2021054782 A1 WO 2021054782A1 KR 2020012653 W KR2020012653 W KR 2020012653W WO 2021054782 A1 WO2021054782 A1 WO 2021054782A1
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WIPO (PCT)
Prior art keywords
flight
aerial vehicle
unmanned aerial
data
unmanned
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PCT/KR2020/012653
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English (en)
Korean (ko)
Inventor
허종범
박준호
노경식
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삼성전자 주식회사
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Publication of WO2021054782A1 publication Critical patent/WO2021054782A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/60—Testing or inspecting aircraft components or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests

Definitions

  • Various embodiments of the present disclosure relate to an unmanned flying apparatus and method for performing a diagnostic flight before a flight is performed.
  • An unmanned aerial vehicle is a vehicle designed to perform a designated mission while flying in the air without a pilot on board.
  • the unmanned aerial vehicle may include various names such as drone and unmanned aircraft system.
  • the unmanned aerial vehicle may include an unmanned ground vehicle in a broad sense.
  • the unmanned aerial vehicle may be remotely controlled by wirelessly communicating with a remote control device through a computer device mounted therein.
  • the unmanned aerial vehicle may perform flight through an external computer program.
  • the flying device can perform flight according to predetermined flight-related information without the user's control.
  • a computer program capable of communicating with the unmanned aerial vehicle or an application of a portable device is used to transmit flight-related information for mission execution to the unmanned aerial vehicle to perform the flight of the unmanned aerial vehicle.
  • the conventional unmanned aerial vehicle may detect an abnormal situation such as a motor, a battery, or a sensor during flight, and may perform measures such as emergency landing or reducing a load according to the abnormal situation. Detection and action of abnormal situations during flight cannot prevent accidents related to safety, such as a fall, in the event of a serious defect that may affect flight.
  • the unmanned flight apparatus and method may determine whether a state in which flight can be performed through diagnostic flight before performing flight.
  • An unmanned flight device for performing diagnostic flight before flight includes a flight body, a sensor module including a plurality of sensors, a communication module for wireless communication with an external device, and a processor electrically connected to the sensor module and the communication module. And a memory electrically connected to the processor, wherein the processor receives flight-related information from the external device through the communication module, and performs a flight according to the flight-related information. Is set to collect data for comparison with the confirmed data by performing a diagnostic flight, analyzing the collected data according to the diagnostic flight performance, and determining whether to perform a flight based on the analyzed data You can decide.
  • the method of performing diagnostic flight before flight includes: receiving, by an unmanned flight device, information related to flight from an external device through a communication module, and performing flight according to the received flight related information.
  • Checking data related to the state of the unmanned aerial vehicle in existence collecting data for comparison with the checked data through the diagnostic flight, analyzing the collected data according to the execution of the diagnostic flight, and the analysis It may include the step of determining whether to perform the flight of the unmanned aerial vehicle based on the obtained data.
  • An apparatus and method for performing diagnostic flight before flight relates to a method and apparatus for determining whether or not an unmanned flight apparatus can fly for performing a mission.
  • the apparatus and method according to various embodiments may diagnose whether an unmanned aerial vehicle can perform flight according to designated flight-related information, and perform a flight for mission execution only when the diagnosis is completed.
  • the apparatus and method for performing diagnostic flight before flight prevents the flight from performing when it is determined that flight performance is impossible for the mission of the unmanned flight device to perform a mission, thereby preventing human and material damage due to a serious defect. Can be minimized.
  • FIG. 1 shows a configuration of an unmanned aerial vehicle according to various embodiments.
  • FIG. 2 shows a program module (platform structure) of an unmanned aerial vehicle according to various embodiments.
  • FIG. 3 is a block diagram of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • FIG. 4 is a flowchart illustrating a method of determining whether or not a flight is possible through a diagnosis flight before a flight is performed according to various embodiments of the present disclosure.
  • FIG. 5 is a flowchart of performing a diagnostic flight according to various embodiments of the present disclosure.
  • FIG. 6 is a flowchart illustrating whether an unmanned aerial vehicle and an external device can fly through diagnostic flight according to various embodiments of the present disclosure.
  • FIG. 7A illustrates data on thrust of a motor of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • FIG. 7B illustrates data on thrust of a motor of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • FIG. 8 illustrates data on an initial discharge rate of a battery of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • 9A illustrates data on acceleration of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • 9B illustrates data on acceleration of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • FIG. 10 is an exemplary view of a control screen in an external device according to a method of performing a diagnostic flight before flight according to various embodiments of the present disclosure.
  • a device configured to means “suitable for,” “having the ability to,” “to,” or changed to, depending on the situation, for example, in hardware or software. ,” “made to,” “can do,” or “designed to” can be used interchangeably.
  • the expression “a device configured to” may mean that the device “can” along with other devices or parts.
  • a processor configured (or configured) to perform A, B, and C means a dedicated processor (eg, an embedded processor) for performing the operation, or by executing one or more software programs stored in a memory device.
  • UAV unmanned aerial vehicle
  • FIG. 1 shows a configuration of an unmanned aerial vehicle according to various embodiments.
  • the unmanned aerial vehicle 100 or the electronic device includes one or more processors (eg, AP) 110, a communication module 120, an interface 150, an input device 160, and a sensor module 140.
  • processors eg, AP
  • the processor 110 may control a plurality of hardware or software components connected to the processor by driving an operating system or an application program, for example, and may perform various data processing and operations.
  • the processor may generate a flight command for an electronic device by driving an operating system or an application program.
  • the processor 110 may generate a movement command using data received from the camera module 180 or the sensor module 140 or the communication module 120.
  • the processor 110 may generate a movement command by calculating the acquired relative distance of the subject, and may generate an altitude movement command of the unmanned photographing apparatus based on the vertical coordinates of the subject, and You can create horizontal and azimuth commands.
  • the communication module 120 may include, for example, a cellular module 121, a WiFi module 122, a Bluetooth module 123, a GNSS module 124, an NFC module 125, and an RF module 127. have.
  • the communication module 120 may receive a control signal from an electronic device, and transmit state information of an unmanned aerial vehicle and image data information to another unmanned aerial vehicle.
  • the RF module 127 may transmit and receive communication signals (eg, RF signals).
  • the RF module 127 may include, for example, a transceiver, a power amp module (PAM), a frequency filter, a low noise amplifier (LNA), or an antenna.
  • PAM power amp module
  • LNA low noise amplifier
  • the GNSS module 124 may output location information (longitude, latitude, altitude, GPS speed, GPS heading) such as latitude, longitude, altitude, speed, and heading information while the unmanned aerial vehicle is moving.
  • the location information may be calculated by measuring the exact time and distance through the GNSS module 124.
  • the GNSS module 124 may acquire not only the location of latitude, longitude, and altitude, but also 3D speed information and accurate time.
  • the unmanned aerial vehicle may transmit information for checking a real-time movement state of the unmanned photographing device to the unmanned aerial vehicle through a communication module.
  • the interface 150 is a device for inputting and outputting data to and from other unmanned aerial vehicles. For example, using USB 151 or optical interface 152, RS-232 153, and RJ45 154, commands or data input from other external devices are transferred to other component(s) of the unmanned aerial vehicle. It may transmit or output commands or data received from other component(s) of the unmanned aerial vehicle to a user or other external device.
  • the input device 160 may include, for example, a touch panel 161, a key 162, and an ultrasonic input device 163.
  • the touch panel 161 may use at least one of, for example, a capacitive type, a pressure sensitive type, an infrared type, or an ultrasonic type.
  • the touch panel 161 may further include a control circuit.
  • the key 162 may include, for example, a physical button, an optical key, or a keypad.
  • the ultrasonic input device 163 may detect ultrasonic waves generated by an input tool through a microphone, and check data corresponding to the sensed ultrasonic waves.
  • the unmanned aerial vehicle may receive a control input of the unmanned aerial vehicle through the input device 160. For example, when the physical power key is pressed, the unmanned aerial vehicle can be powered off.
  • the sensor module 140 includes a gesture sensor 140A capable of detecting a motion and/or gesture of a subject, a gyro sensor 140B capable of measuring an angular velocity of an unmanned photographing device in flight, Barometer (140C) capable of measuring atmospheric pressure changes and/or barometric pressure, magnetic sensor (terrestrial magnetism sensor, compass sensor) (140D) capable of measuring the Earth's magnetic field, and unmanned flight in flight
  • the acceleration sensor (140E) which measures the acceleration of the device
  • the grip sensor (140F) the proximity sensor (140G)
  • 140G which measures the proximity state of an object, and the distance.
  • an ultrasonic sensor that can measure the data
  • an RGB sensor 140H
  • an optical sensor that can calculate the location by recognizing the topography or pattern of the floor (OFS, optical flow)
  • user authentication For the biometric sensor 140I, a temperature-humidity sensor (140J) that can measure temperature and humidity, an illuminance sensor that can measure illuminance (140K), and a UV (which can measure ultraviolet rays) ultra violet) may include some or all of the sensors 140M.
  • the sensor module 140 may calculate the posture of the unmanned aerial vehicle.
  • the attitude information of the unmanned aerial vehicle can be shared with the movement module control.
  • the memory 130 may include an internal memory and an external memory. It is possible to store commands or data related to at least one other component of the unmanned aerial vehicle.
  • the memory 130 may store software and/or a program.
  • the program may include a kernel, middleware, an application programming interface (API), and/or an application program (or “application”).
  • the audio module 155 may bidirectionally convert sound and electrical signals, for example. It may include a speaker and a microphone, and may process input or output sound information.
  • the indicator 196 may display a specific state, for example, an operating state, or a charging state of the unmanned aerial vehicle or a part thereof (eg, a processor). Alternatively, the flight status and operation mode of the unmanned aerial vehicle may be displayed.
  • the power management module 195 may manage the power of the unmanned aerial vehicle, for example.
  • the power management module 195 may include a power management integrated circuit (PMIC), a charging IC, or a battery 197 or a fuel gauge.
  • PMIC power management integrated circuit
  • the PMIC may have a wired and/or wireless charging method.
  • the wireless charging method includes, for example, a magnetic resonance method, a magnetic induction method, or an electromagnetic wave method, and may further include an additional circuit for wireless charging, such as a coil loop, a resonance circuit, or a rectifier. have.
  • the battery gauge may measure the remaining amount of the battery, voltage, current, or temperature during charging.
  • the battery 197 may include, for example, a rechargeable battery and/or a solar cell.
  • the camera module 180 may be configured in an unmanned aerial vehicle or when the unmanned aerial vehicle includes a gimbal, it may be configured in the gimbal module 195.
  • the camera module 180 may include a lens, an image sensor, an image processing unit, and a camera control unit.
  • the camera controller may adjust a composition with a subject and/or a camera angle (shooting angle) by adjusting the vertical, left and right angles of the camera lens based on composition information and/or camera control information output from the processor 110.
  • the image sensor may include a row driver, a pixel array, and a column driver.
  • the image processing unit may include an image pre-processing unit, an image post-processing unit, a still image codec, a moving image codec, and the like.
  • the image processing unit may be included in the processor.
  • the camera controller may control focusing and tracking.
  • the camera module 180 may perform a photographing operation in a photographing mode.
  • the camera module 180 may be affected by the movement of the unmanned aerial vehicle. It may be located on the gimbal module 195 in order to minimize the change in photographing of the camera module 180 according to the movement of the unmanned aerial vehicle.
  • the movement control module 170 may control the posture and movement of the unmanned aerial vehicle by using position and posture information of the unmanned aerial vehicle.
  • the movement control module 190 may control a roll, pitch, yaw, and throttle of the unmanned aerial vehicle according to the acquired position and attitude information.
  • the movement control module 170 controls the autonomous flight operation based on the hovering flight operation and autonomous flight commands (distance movement, altitude movement horizontal and azimuth commands, etc.) provided to the processor, and flight movement control according to the received user input command.
  • the movement module may be a quadcopter, and may include a plurality of movement control modules (microprocessor unit, MPU) 174, a motor driving module 173, a motor module 170, and a propeller 171.
  • MPU movement control modules
  • the movement control module (MPU) 174 may output control data for rotating the propeller 171 in response to flight operation control.
  • the motor driving module 173 may convert motor control data corresponding to the output of the movement control module into a driving signal and output it.
  • the motor may control the rotation of the corresponding propeller 171 based on the driving signal of the corresponding motor driving module 173.
  • the gimbal module 190 may include a gimbal control module 195, sensors 193 and 192, a motor driving module 191, and a motor 196.
  • the camera module 180 may be included in the gimbal module 190.
  • the gimbal module 190 may generate compensation data according to the motion of the unmanned aerial vehicle.
  • the compensation data may be data for controlling at least a portion of the pitch or roll of the camera module 180.
  • the roll motor and the pitch motor may compensate for the roll and pitch of the camera module 180 according to the movement of the unmanned aerial vehicle.
  • the camera module is mounted on the gimbal module 190 and stabilizes the camera module 180 in an upright state by offsetting the motion caused by the rotation (eg, pitch and roll) of the unmanned aerial vehicle (eg, multicopter). I can make it.
  • the gimbal module 190 enables the camera module 180 to maintain a constant inclination regardless of the movement of the unmanned aerial vehicle, so that a stable image can be captured.
  • the gimbal control module 195 may include a sensor module including a gyro sensor 193 and an acceleration sensor 192.
  • the gimbal control module 195 analyzes the measured values of sensors including the gyro sensor 193 and the acceleration sensor 192 to generate a control signal of the gimbal motor driving module 191, and controls the motor of the gimbal module 190. It can be driven.
  • FIG. 2 is a diagram illustrating a program module (platform structure) of an unmanned aerial vehicle according to various embodiments.
  • the unmanned aerial vehicle 200 may include an application platform 210 and a flight platform 220.
  • the unmanned aerial vehicle 200 includes at least one application platform 210 for driving the unmanned aerial vehicle and providing a service by receiving a control signal in connection with wireless, and a flight platform 220 for controlling flight according to a navigation algorithm. It may include more than one. Here, it may be the unmanned aerial vehicle 100 of FIG. 1 of the unmanned aerial vehicle 200.
  • the application platform 210 may perform communication control (connectivity), image control, sensor control, charging control, operation change according to a user application, and the like of components of the unmanned aerial vehicle.
  • the application platform 210 can be executed by a processor.
  • the flight platform 220 may execute a flight, attitude control and navigation algorithm of the unmanned aerial vehicle.
  • the flight platform 220 may be executed in a processor or a movement control module.
  • the application platform 210 may transmit a control signal to the flight platform 220 while performing communication, image, sensor, charging control, and the like.
  • the processor (110 in FIG. 1) may acquire an image of a photographed subject through the camera module (180 in FIG. 1 ).
  • the processor 110 may analyze the acquired image to generate a command for flight control of the unmanned aerial vehicle 100.
  • the processor 110 may generate information about the size of a subject to be acquired, a moving state, a relative distance and altitude between the photographing device and the subject, and azimuth angle information.
  • the processor 110 may generate a follow control signal of the unmanned aerial vehicle using the calculated information.
  • the flight platform 220 may control the movement control module based on the received control signal to fly the unmanned aerial vehicle (position and movement control of the unmanned aerial vehicle).
  • the processor 110 may measure the position, flight posture, attitude angular velocity, and acceleration of the unmanned aerial vehicle through a GPS module and a sensor module.
  • Output information of the GPS module and the sensor module may be generated during flight, and may become basic information of a control signal for navigation/automatic control of an unmanned aerial vehicle.
  • the information of the air pressure sensor that can measure altitude through the air pressure difference according to the flight of the unmanned aerial vehicle and the ultrasonic sensors that perform precise altitude measurement at low altitude can also be used as basic information.
  • the control data signal received from the remote controller and the battery status information of the unmanned aerial vehicle can be used as basic information of the control signal.
  • the unmanned aerial vehicle may fly using a plurality of propellers, for example.
  • the propeller can change the thrust force to the rotational force of the motor.
  • the UAV can be called a quadcopter if there are 4, a hexacopter if there are 6, and an octocopter if there are 8.
  • the unmanned aerial vehicle can control the propeller based on the received control signal.
  • Unmanned aerial vehicles can fly on two principles: lift/torque. For rotation, the UAV can rotate half of the multi-propeller clockwise (CW) and half counter clockwise (CCW). The three-dimensional coordinates according to the flight of the unmanned aerial vehicle may be determined in pitch(Y)/roll(X)/yaw(Z). The unmanned aerial vehicle can fly by tilting it forward/backward/left/right. Tilting the unmanned aerial vehicle may change the direction of the flow of air generated by the propeller module (rotor). For example, if the UAV is leaned forward, air can flow up and down, as well as slightly backwards.
  • the unmanned aerial vehicle can be tilted by reducing the speed in the front of the direction and increasing the speed in the rear. Since this method is common to all directions, the unmanned aerial vehicle can be tilted and moved only by adjusting the speed of the motor module (rotor).
  • the unmanned aerial vehicle receives the control signal generated by the application platform 210 from the flight platform 220 and controls the motor module to control the pitch (Y)/roll (X)/yaw (Z) of the unmanned aerial vehicle. And it is possible to control the flight according to the movement path.
  • the unmanned flight device 200 is a device capable of flying and manipulating by a radio signal without being burned by a person, and has various purposes and uses such as personal shooting purposes such as target shooting, aerial surveillance, reconnaissance, etc. Can be used as.
  • the camera module 180 may capture an image of a photographing target (eg, a target) under the control of the processor 110.
  • the object to be photographed may be, for example, an object having mobility, such as a person, an animal, or a vehicle, but is not limited thereto.
  • the captured image acquired from the camera module 180 may be transmitted to the processor 110.
  • the processor 110 may control to execute a user direction measurement algorithm when driving the unmanned aerial vehicle. After the unmanned aerial vehicle is turned on, the processor 110 recognizes the throwing gesture of the unmanned aerial vehicle and measures a user direction opposite to the throwing gesture direction in response to the user's throwing gesture. can do.
  • the throwing gesture may be a preparatory operation for the user to throw the unmanned aerial vehicle while holding the unmanned aerial vehicle before free flight of the unmanned aerial vehicle.
  • the unmanned aerial vehicle calculates a first motion vector in a direction moving from the initial start point of the throwing gesture to the free flight start point based on the sensor information.
  • the user direction which is a direction facing the calculated first motion vector, may be recognized.
  • the user direction may be a direction opposite to the first movement vector, but may be a direction coincident with the first movement vector or a rotation direction having a predetermined angle with the first movement vector as a mood, depending on the setting.
  • the unmanned aerial vehicle may take a self-camera direction for the user according to an option setting, and an arbitrary direction desired by the user (e.g., the north-south direction, 90 degrees to the right based on the self-camera direction).
  • the user can support a function of selecting a shooting in the opposite direction facing himself.
  • the unmanned aerial vehicle may support a function of selecting whether to perform a single shooting or a multi shooting function according to an option setting before starting a flight.
  • the processor 120 checks the position of the user's direction during free flight of the unmanned aerial vehicle, and the camera position of the unmanned aerial vehicle, the altitude of the unmanned aerial vehicle, and the direction of rotation (e.g., Roll( ⁇ ), Pitch( ⁇ ), Yaw( ⁇ ) value), and at least one of a posture can be controlled.
  • the direction of rotation e.g., Roll( ⁇ ), Pitch( ⁇ ), Yaw( ⁇ ) value
  • the processor 110 may recognize a free flight start time point and calculate a second motion vector measured during free flight by the unmanned aerial vehicle from the free flight start time point.
  • the processor 120 when an arbitrary direction set based on the user direction other than the user direction is set, between the arbitrary direction calculated in response to the first movement vector and the second movement vector calculated during free flight. If an error occurs, the camera position, the altitude of the unmanned aerial vehicle, the direction of rotation (e.g., Roll( ⁇ ), Pitch( ⁇ ), etc.) in an arbitrary direction set by calculating the flight path, rotation angle, and acceleration of the unmanned aerial vehicle. Yaw ( ⁇ ) value) and at least one of a posture can be controlled. For this reason, the unmanned aerial vehicle according to various embodiments may be adjusted to look at the position set by the user during free flight or after reaching a target point.
  • the direction of rotation e.g., Roll( ⁇ ), Pitch( ⁇ ), etc.
  • the processor 110 predicts the position and attitude at the time of hovering the target point through the predicted path up to the arrival of the target point by the unmanned aerial vehicle, and calculates an adjustment value for adjusting the camera position through the prediction information. Can be calculated.
  • the processor 110 adjusts the pitch angle of the camera according to the altitude of the unmanned aerial vehicle using the user's input information or sensor information when the camera position looks toward the user, or You can also calculate an adjustment value to control the altitude of the vehicle.
  • the processor 110 calculates an adjustment value for adjusting the camera position during flight, and finally, the camera position is a direction determined by the user at the time of reaching the target point (eg, a selfie direction or an arbitrary direction). It can be controlled to hover in the adjusted state.
  • the processor 110 calculates an adjustment value for adjusting the camera position after reaching the target point, and controls the flight of the unmanned aerial vehicle after reaching the target point, so that the position of the camera is adjusted in the direction determined by the user. It can be controlled to change.
  • the processor 110 determines the camera position at the point of recognition of the throwing gesture, and when the camera position is looking at the user, recognizes that it is a selfie environment, and after reaching the target point, the camera position indicates the user. You can control by calculating the adjustment value of the camera position so that you are looking at it. Alternatively, when the camera position is in the opposite direction to the user direction, the processor 110 recognizes that it is an external shooting environment, and after reaching the target point, calculates an adjustment value of the camera position so that the camera position looks in the opposite direction instead of the user direction. Can be controlled.
  • the sensor module 140 may collect information for measuring information such as location, speed, acceleration, inclination, shake, and flight distance of the unmanned flight device.
  • the sensor module 140 may measure a physical quantity or detect a driving or operation state of an unmanned aerial vehicle, and convert the measured or sensed information into an electric signal.
  • FIG. 3 is a block diagram of an unmanned aerial vehicle 300 according to various embodiments of the present disclosure.
  • the unmanned aerial vehicle 300 (for example, the unmanned aerial vehicle 100 of FIG. 1, the unmanned aerial vehicle 200 of FIG. 2) according to various embodiments of the present disclosure is a flight control unit (FCU) 301 ), power distribution board (PDB) 302 (e.g., power management module 195 in Fig. 1), electronic speed control (ESC) 303, sensor module 304 (e.g.: The sensor module 140 of FIG. 1), the processor 305 (e.g., the processor 110 of FIG. 1), the switch 306, the barcode reader 307, the battery 308 (e.g., the battery 197 of FIG. 1) )), a memory 315 (eg, the memory 130 of FIG.
  • FCU flight control unit
  • PDB power distribution board
  • ESC electronic speed control
  • sensor module 304 e.g.: The sensor module 140 of FIG. 1)
  • the processor 305 e.g., the processor 110 of FIG. 1
  • the switch 306 the barcode reader 307
  • the battery 308 e.g
  • the unmanned aerial vehicle 300 includes a flight control device 301, a power distribution board 302, an electronic transmission 303, a processor 305, a battery 308, a motor 309, and a memory ( 315), and a communication module 316 may be included, and some of the illustrated configurations may be omitted or substituted.
  • the unmanned aerial vehicle 300 may be operated by a user's control located at a remote location.
  • a user receives a control signal using an electronic device equipped with a wireless communication module (eg, various electronic devices including the R/C transmitter 311 in FIG. 3) (eg, R/C in FIG. 3).
  • Receiver 310) can control one unmanned aerial vehicle 300.
  • the unmanned aerial vehicle 300 may be controlled by an input of an external device (eg, a PC of FIG. 3, a portable terminal, etc.).
  • a user may control the unmanned aerial vehicle 300 using an unmanned aerial vehicle control system (UAV control system, UCS) installed in an external device.
  • UAV control system UCS
  • UCS unmanned aerial vehicle control system
  • the unmanned aerial vehicle 300 receives You can fly according to information related to one flight.
  • the user's input method is not limited to that through a program such as UCS as an example, and a method of transmitting and receiving data by communicating with an unmanned aerial vehicle and a method of connecting a recording medium including USB may also be used. .
  • the flight control device 301 may perform a function of controlling the flight of the unmanned aerial vehicle 300.
  • the flight control device 301 may be electrically connected to the power distribution board 302 to receive power, and the flight control device transmits a control signal and/or data necessary for control to the electronic transmission 303. Can provide.
  • the flight control device 301 may transmit and receive control signals and/or data necessary for control with the processor 305 of the single board computer.
  • the flight control device 301 may receive control signals and/or data necessary for control from the switch 306 and the R/C receiver 310.
  • the power distribution board 302 includes a flight control device 301, an electronic transmission 303, a processor 305 of a single board computer, a barcode reader 307, a lidar 314, and It may be electrically connected to the battery 308.
  • the power distribution board 302 may perform a function of distributing power to components of the unmanned aerial vehicle 300 electrically connected by receiving power from the battery 308.
  • the power distribution board 302 may transmit and receive control signals and/or data necessary for control with the electronic transmission 303.
  • Electrical connection between the power distribution board 302 and the electronic transmission 303 may be made through a USB port.
  • the connection method is not limited to a port connection.
  • the power distribution board 302 may receive a control signal and/or data necessary for control from the sensor module 304. Electrical connection between the power distribution board 302 and the sensor module 304 may be made through a USB port. The connection method is not limited to a port connection.
  • the power distribution board 302 may transmit and receive control signals and/or data necessary for control with the processor 305 of the single board computer. Electrical connection between the power distribution board 302 and the processor 305 of the single board computer may be made through a USB port. The connection method may not be limited to a port connection. The transmission of a control signal from the power distribution board 302 may trigger the operation of the stereo camera 312 and/or the mono camera 313.
  • the power distribution board 302 may transmit and receive a control signal and/or data necessary for control with the barcode reader 307.
  • Electrical connection between the power distribution board 302 and the barcode reader 307 may be made through a universal asynchronous receiver/transmitter (UART).
  • UART universal asynchronous receiver/transmitter
  • the electronic transmission 303 may control a rotation speed of a motor.
  • the electronic transmission 303 may control a motor (eg, acceleration, deceleration, reverse rotation, etc.) according to a received pulse width modulation (PWM) signal.
  • PWM pulse width modulation
  • the electronic transmission 303 can control one motor.
  • the one electronic transmission 303 may control a plurality of (eg, 2, 3, 4 or more) motors.
  • the electronic transmission 303 may be configured in plural according to the number of motors.
  • the electronic transmission 303 may control the rotational speed of the motor, and may control acceleration, deceleration, and reverse rotation of the motor.
  • the electronic transmission 303 may be located on the arm of the unmanned aerial vehicle, between the arm and the central region, or inside the central region of the unmanned aerial vehicle. In addition, the electronic transmission 303 may be located on the main board inside the central area of the unmanned aerial vehicle.
  • the electronic transmission 303 converts the high voltage of the battery 308 (eg, 11.1V or more, which may be different) into a low voltage (eg, 5V, which may be different) required for driving the motor. eliminator circuit, BEC).
  • the electronic transmission 303 may include an optical isolator (OPTO) type electronic transmission 303 that converts a signal received from the control unit into light and an external BEC.
  • OPTO optical isolator
  • the electronic transmission 303 may convert DC power from the battery 308 into AC and supply it to the motor.
  • the processor 305 may convert the DC power of the battery 308 into AC using the power distribution board 302 and supply it to the motor 309.
  • the motor 309 may be driven by the electronic transmission 303 (eg, rotation, stop, acceleration, deceleration, etc.).
  • the motor 309 may be located at one end of the arm of the unmanned aerial vehicle.
  • the motor 309 may include a brushless DC motor.
  • the unmanned aerial vehicle When the unmanned aerial vehicle is a quadrotor, there may be four motors. Two of the four motors can rotate clockwise. The other two can rotate counterclockwise. The direction of rotation of the motor may vary according to the number of motors applied to the unmanned aerial vehicle.
  • Unmanned aerial vehicles can fly by rotating propellers.
  • the unmanned aerial vehicle hovering, rotating in place (e.g., yaw right, yaw left), forward (pitch down), backward (pitch up), roll left, and right movement according to the rotation of the motor 309 and the propeller ( roll right), rise, and fall.
  • the unmanned aerial vehicle can hover, rotate in place, move forward, reverse, move left, move right, rise, and descend by a motor 309 and a propeller that rotates in response to flight control information from a remote control device and/or computer. I can.
  • the sensor module 304 (for example, the sensor module 140 of FIG. 1) according to various embodiments of the present disclosure may be used in an internal operating state (for example, power, temperature, etc.) of the unmanned aerial vehicle 300, or an external environment. It is possible to generate an electrical signal or data value corresponding to the state.
  • the sensor module 304 is, for example, a gesture sensor, a gyro sensor, an atmospheric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an infrared sensor, a biometric sensor, a temperature sensor, a humidity sensor, or an illuminance sensor. It may include.
  • the sensor module 304 may include an IMU sensor (inertial measurement unit).
  • a single-board computer includes a processor (eg, the processor 110 of FIG. 1), a communication module (eg, the communication module 120 of FIG. 1), and a memory (eg, a memory (eg, the memory of FIG. 1 ). 130)).
  • a processor eg, the processor 110 of FIG. 1
  • a communication module eg, the communication module 120 of FIG. 1
  • a memory eg, a memory (eg, the memory of FIG. 1 ). 130)
  • a processor 305 of a single board computer may transmit and receive control signals and/or data necessary for control with a camera.
  • Single board computers can be connected to the camera via a USB port.
  • the connection method is not limited to a port connection.
  • a single board computer includes a communication module 316 (for example, the communication module 120 of FIG. 1) for communication connection with an external device and/or a component of an unmanned aerial vehicle, for example, a LAN card, It may include a Bluetooth module, and other communication modules.
  • the processor 305 may transmit and receive control signals and/or data necessary for control with the lidar 314 through a LAN card built into the single board computer.
  • the communication module 316 inside the single board computer may be connected to an external device (eg, a computer, a server, etc.) through wireless communication (eg, Wifi) to receive a control signal of the unmanned aerial vehicle.
  • a switch 306 may perform a function of operating the flight control device 301.
  • the barcode reader 307 may sense an external barcode.
  • the battery 308 is a device for supplying power to at least one component of an unmanned aerial vehicle, and includes, for example, a non-rechargeable primary cell, a rechargeable secondary cell, or a fuel cell.
  • Can include.
  • the R/C receiver 310 may receive a signal from an external control device (eg, the R/C transmitter 311 of FIG. 3 ).
  • the external control device may include all electronic devices equipped with a communication module.
  • UCS is an example of an unmanned aerial vehicle control program installed in an external device (eg, a computer, a portable terminal, etc.).
  • the UCS may input flight-related information for performing a mission of the unmanned aerial vehicle and transmit it to the unmanned aerial vehicle.
  • the UCS may analyze the diagnostic flight data obtained from the unmanned aerial vehicle.
  • the data that can be stored in advance in the UCS may be, for example, about the thrust of the motor of the unmanned aerial vehicle in a normal state, the initial discharge rate of the battery, and the normal range of acceleration data.
  • data that may be stored in advance in the UCS may be for a range corresponding to a state in which the unmanned aerial vehicle can perform flight in accordance with flight-related information for mission performance.
  • the process of collecting and analyzing data related to diagnostic flight of UCS described in the above embodiments may be performed in the processor 305 of the unmanned aerial vehicle.
  • FIG. 4 is a flowchart illustrating a method of determining whether or not a flight is possible through a diagnosis flight before the flight is performed.
  • UCS is an unmanned flying device (eg, the unmanned flying device 100 of FIG. 1, the unmanned flying device 200 of FIG. 2, the unmanned flying device 200 of FIG. 3) in step 410.
  • the unmanned flight device 300 may set flight-related information for performing a mission.
  • the flight-related information for the unmanned aerial vehicle to perform a mission does not include only the flight path of the unmanned aerial vehicle, but may include information such as flight altitude and flight speed of the unmanned aerial vehicle.
  • the unmanned flight apparatus may perform diagnostic flight before performing flight according to flight-related information received from UCS.
  • the unmanned aerial vehicle recognizes the reception of the input through the processor in step 410 and may essentially perform diagnostic flight (410).
  • Input of flight-related information for a user's mission flight may use, for example, a program of an external device (eg, UCS in FIG. 3), and a recording medium is inserted into the USB port of the unmanned flight device. It may be a connection method, or may be an input previously stored in the memory of the unmanned aerial vehicle. However, it is not limited to these examples.
  • the unmanned aerial vehicle receives information related to a flight for performing a mission flight through a user's input, the reception of the information may inevitably trigger a diagnostic flight of the unmanned aerial vehicle.
  • Receiving flight-related information for mission flight of the unmanned aerial vehicle may include receiving data related to the state of the unmanned aerial vehicle for performing flight according to the mission together. For example, the initial discharge rate of a battery, a thrust of a motor, and acceleration data of the unmanned aerial vehicle for performing flight according to the flight-related information received by the unmanned aerial vehicle may be included.
  • the diagnostic flight of the unmanned aerial vehicle may be performed according to a pre-designated flight method.
  • the unmanned aerial vehicle may perform hovering, rotation in place, and up-down flight as a flight method of diagnostic flight.
  • Embodiments of the diagnostic flight of the unmanned aerial vehicle are not limited to the three flight modes, and may include, without limitation, a flight manner that can be performed by the unmanned aerial vehicle.
  • Hovering of the unmanned aerial vehicle may mean including flight of the unmanned aerial vehicle in a three-dimensional space.
  • Hovering of the unmanned aerial vehicle according to various embodiments may include a manual hovering mode or an automatic hovering mode.
  • Rotation of the unmanned aerial vehicle may mean a flight that rotates left/right while the z-axis (yaw) of the unmanned aerial vehicle is fixed.
  • the unmanned aerial vehicle may perform rotational flight in place of clockwise rotation (yaw right) and counterclockwise rotation (yaw left).
  • Up-down flight of the unmanned aerial vehicle may include ascending flight and descending flight.
  • the unmanned aerial vehicle performing diagnostic flight before the flight is performed is data for determining whether the unmanned aerial vehicle has failed through the diagnostic flight (e.g., the initial discharge rate of the battery of the unmanned aerial vehicle, the thrust of the motor). , Acceleration data, etc.) may be performed in step 420 of sampling.
  • the processor of the unmanned aerial vehicle according to various embodiments (e.g., the processor 110 of FIG. 1, the processor 305 of FIG. 3) stores the data collected through the data sampling of step 420 into a memory (e.g., the memory of FIG. 1). 130) and the memory 315 of FIG. 3).
  • the diagnostic flight of the unmanned aerial vehicle is data for diagnosing the unmanned aerial vehicle through step 420, and it is possible to collect the thrust of the motor, the initial discharge rate of the battery, and acceleration data. .
  • the data sampling step 420 may collect and analyze data on the thrust of the motor of the unmanned flying device through the processor of the unmanned flying device.
  • the data on the thrust of the motor of the unmanned aerial vehicle collected and analyzed 430 through step 420 may be used to determine the motor life of the unmanned aerial vehicle, the presence or absence of the motor abnormality, and the presence or absence of an assembly state abnormality through the UCS.
  • the determination may be made through the processor of the unmanned aerial vehicle.
  • the data collection and analysis in step 420 may be performed through UCS.
  • data on the initial discharge rate of the battery of the unmanned aerial vehicle may be collected and analyzed 430 through the processor of the unmanned aerial vehicle.
  • the data on the initial discharge rate of the battery of the unmanned aerial vehicle collected through step 420 may be determined through UCS to determine the battery life of the unmanned aerial vehicle.
  • the determination may be made through the processor of the unmanned aerial vehicle.
  • the data collection and analysis in step 420 may be performed through UCS.
  • the data sampling step 420 may collect and analyze 430 data on the acceleration of the unmanned flying device through the processor of the unmanned flying device.
  • the data on the acceleration of the unmanned aerial vehicle collected through step 420 may be determined through UCS to determine whether the unmanned aerial vehicle is in an assembly state or not. In addition, the determination may be made through the processor of the unmanned aerial vehicle. Similarly, the data collection and analysis in step 420 may be performed through UCS.
  • the UCS (for example, the UCS of FIG. 3) according to various embodiments of the present disclosure may diagnose a failure of the unmanned aerial vehicle by analyzing 430 sampling data through diagnostic flight.
  • the UCS allows an unmanned aerial vehicle to fly according to information related to flight (eg, flight path of the unmanned aerial vehicle, flight altitude, flight speed, etc.) through fault diagnosis. You can determine if it is in a state.
  • flight e.g, flight path of the unmanned aerial vehicle, flight altitude, flight speed, etc.
  • the UCS may notify the unmanned flying device of the possibility of flying when the unmanned aerial vehicle is capable of flying according to flight-related information for performing a mission.
  • the unmanned aerial vehicle may perform a flight according to the received flight-related information.
  • the determination of whether to fly through the analysis of the result of such a diagnostic flight 440 may also be made through the processor of the unmanned flight device.
  • the UCS may notify the unmanned flying device of the inability to fly (eg, cancellation of the mission) and replacement of parts when the unmanned aerial vehicle is unable to fly according to the flight-related information for performing the mission (450).
  • the unmanned flying device eg, cancellation of the mission
  • replacement of parts when the unmanned aerial vehicle is unable to fly according to the flight-related information for performing the mission (450).
  • confirmation of the result of non-flight and replacement of parts may also be performed through the processor of the unmanned aerial vehicle.
  • UCS is an unmanned aerial vehicle, if it is impossible to fly according to the flight information for mission performance, modified flight-related information (e.g., flying in the current state), taking into account the current state of the unmanned aerial vehicle. It is possible to suggest a route to fly to this possible place (450).
  • the presentation of the modified flight-related information may be performed by analyzing through the processor of the unmanned flight device.
  • FIG. 5 is a flowchart of performing a diagnostic flight according to various embodiments of the present disclosure.
  • Step 510 is an unmanned flight device (eg, the unmanned flight device 100 of FIG. 1) through a program (eg, UCS of FIG. 3) embedded in an external device (eg, a computer of FIG. 3, a portable terminal, etc.). ), the unmanned aerial vehicle 200 of FIG. 2, and the unmanned aerial vehicle 300 of FIG. 3) provide flight-related information (eg, flight path of the unmanned aerial vehicle, flight altitude, flight speed, etc.) for performing a mission flight. It can be made to transmit to an unmanned aerial vehicle. Transmission of the flight-related information for the mission flight of the unmanned aerial vehicle may include transmitting data related to the state of the unmanned aerial vehicle for performing the flight according to the mission together. For example, data on an initial discharge rate of a battery, a thrust of a motor, and an acceleration of the unmanned aerial vehicle for performing flight may be included in accordance with the flight-related information received by the unmanned aerial vehicle.
  • a program eg, UCS of FIG. 3
  • an external device eg,
  • the UCS flight-related information transmission has been expressed as being performed in step 510, it is only an example.
  • the transmission of flight-related information by UCS may be performed together with a notification of flight performance when determining that the unmanned aerial vehicle can perform flight.
  • the UCS may transmit flight-related information along with a notification of the flight performance.
  • information related to flight for mission performance may be previously stored in a memory of the unmanned aerial vehicle, and may be recorded in a recording medium that can be electrically connected to the unmanned aerial vehicle.
  • the unmanned aerial vehicle receives information related to a flight for performing a mission flight, the reception of the information may inevitably trigger a diagnostic flight of the unmanned aerial vehicle (520).
  • Step 520 may cause the unmanned aerial vehicle to perform diagnostic flight indispensably before the unmanned aerial vehicle performs flight according to flight-related information received from an external device.
  • the unmanned aerial vehicle may collect data on the state of parts of the aircraft obtained through diagnostic flight and transmit the data to an external device.
  • the data may be collected and stored in a memory through the processor of the unmanned aerial vehicle.
  • a program eg, UCS of FIG. 3 of an external device (eg, the computer of FIG. 3) may analyze result data of the diagnostic flight received from the unmanned aerial vehicle.
  • data for performing flight in accordance with information related to flight using the processor of the unmanned aerial vehicle e.g., data on the initial discharge rate of the battery of the unmanned aerial vehicle, the thrust of the motor, and acceleration
  • diagnostic flight It can be compared to and analyzed.
  • Step 550 is to determine whether the current state of the unmanned aerial vehicle is a state capable of performing mission flight according to the flight-related information through the data of the diagnostic flight analyzed by the program of the external device or the processor of the unmanned aerial vehicle. can do.
  • step 560 when the program of the external device or the processor of the unmanned aerial vehicle determines that the unmanned aerial vehicle cannot fly, a notification of replacement of parts and the corrected flight-related information in consideration of the current state of the unmanned aerial vehicle are presented. I can.
  • step 570 when the program of the external device or the processor of the unmanned aerial vehicle determines that the unmanned aerial vehicle can fly, the unmanned aerial vehicle notifies the unmanned aerial vehicle to perform the flight for the mission. Can be done.
  • FIG. 6 is a flowchart illustrating whether an unmanned aerial vehicle and an external device can fly through diagnostic flight according to various embodiments of the present disclosure.
  • External devices include an unmanned aerial vehicle 610 (eg, an unmanned aerial vehicle 100 of FIG. 1, an unmanned aerial vehicle 200 of FIG. 2, and A program 620 for controlling the unmanned aerial vehicle 300 of 3 (eg, UCS of FIG. 3) may be included.
  • an unmanned aerial vehicle 610 eg, an unmanned aerial vehicle 100 of FIG. 1, an unmanned aerial vehicle 200 of FIG. 2, and
  • a program 620 for controlling the unmanned aerial vehicle 300 of 3 eg, UCS of FIG. 3
  • the UCS 620 may set flight-related information for the unmanned flight device 610 to perform a mission.
  • the flight-related information that the user inputs through the UCS 620 may include information such as a path through which the unmanned flight device 610 will fly, a flight altitude, and a flight speed.
  • Step 621 is an unmanned flight device 610 (example: UCS 620) built into an external device (eg, a computer of FIG. 3, a portable terminal, etc.) (eg, UCS of FIG. 3). : Flight-related information for the unmanned flying device 100 of FIG. 1, the unmanned flying device 200 of FIG. 2, and the unmanned flying device 300 of FIG.
  • Transmission of the flight-related information for the mission flight of the unmanned aerial vehicle may include transmitting data related to the state of the unmanned aerial vehicle for performing the flight according to the mission together. For example, data on an initial discharge rate of a battery, a thrust of a motor, and an acceleration of the unmanned aerial vehicle for performing flight may be included in accordance with the flight-related information received by the unmanned aerial vehicle.
  • the UCS 620 sets flight-related information, but the information related to the flight for the purpose of performing the mission by the unmanned aerial vehicle may be previously stored in the memory of the unmanned aerial vehicle, and is electrically connected to the unmanned aerial vehicle. It may be recorded on a connectable recording medium. However, it is not limited to these examples.
  • the UCS 620 may transmit the set flight-related information to the unmanned flight device 610 through a communication module of an external device.
  • the transmission of flight-related information of the UCS 620 according to various embodiments is expressed as being performed immediately after step 621, but is only an example.
  • the transmission of flight-related information by the UCS 620 according to various embodiments may be performed together with a notification of the flight performance when it is determined that the unmanned aerial vehicle 610 can perform the flight.
  • Step 622 may not be essential when flight-related information is set in the unmanned aerial vehicle 610 or is input through an external recording medium.
  • the unmanned flight device 610 may essentially perform a diagnostic flight in order to determine whether a flight is possible in accordance with flight-related information.
  • the processor of the unmanned aerial vehicle 610 according to various embodiments (eg, the processor 110 of FIG. 1, the processor 305 of FIG. 3) collects data necessary for diagnosis of a failure while performing a diagnostic flight. Thus, it can be stored in a memory (for example, the memory 120 of FIG. 1 and the memory 315 of FIG. 3).
  • the unmanned flight device 610 transmits the collected diagnostic flight data to an external device through a built-in communication module (eg, the communication module 120 of FIG. 1, the communication module 316 of FIG. 3). I can.
  • the external device may receive the diagnostic flight data through a communication module and analyze the received data using the UCS 620.
  • the data analyzed through the UCS 620 may be used to determine the current state of the unmanned aerial vehicle 610 that has completed the diagnostic flight.
  • the external device may determine whether the unmanned flight device 610 is in a state in which flight is possible according to the set flight-related information through the running UCS 620.
  • the user can check whether the unmanned aerial vehicle 610 can fly through the execution screen of the UCS 620 and the current status (eg, whether the battery status of the unmanned flying device is normal, whether the assembly status is abnormal, or whether the motor is abnormal) I can.
  • the UCS function may be performed through the processor of the unmanned aerial vehicle.
  • the external device may transmit the result of determining whether the flight is possible 623 through the UCS 620 to the unmanned flight device 610 through the communication module (624). If the result of determining whether the flight is possible is flight possibility, the unmanned flight device 610 may receive a notification of flight performance and receive it in advance or perform a flight according to the flight-related information received together with the notification (614).
  • the unmanned flight device 610 may receive a notification of flight cancellation. In addition, if it is impossible to fly, the unmanned flight device 610 may receive a notification of the replacement of the part for which an abnormality is detected through the UCS 620 from an external device (615).
  • the external device may present modified flight-related information in consideration of the current state of the unmanned aerial vehicle 610 through the UCS 620 (625). For example, if the battery life of the unmanned aerial vehicle 610 is difficult to cover all of the existing flight-related information, the UCS 620 considers the battery life and transmits new flight-related information through a shorter movement path than the existing flight path. Can be set. As another example, when an abnormality is detected among a plurality of motors of the unmanned aerial vehicle 610, flight-related information may be modified and set to perform flight by following an existing movement path but lowering the flight altitude.
  • the unmanned flight device 610 may receive the modified flight-related information and perform a flight according to the modified flight-related information (616).
  • the performance of the function for each step by the UCS may be performed through the processor of the unmanned aerial vehicle.
  • FIG. 7A illustrates data on thrust of a motor of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • FIG. 7B illustrates data on thrust of a motor of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • An unmanned flying device (eg, an unmanned flying device 100 of FIG. 1, an unmanned flying device 200 of FIG. 2, an unmanned flying device 300 of FIG. 3, and an unmanned flying device 610 of FIG. 6) ) Can collect data on the thrust of the motor through diagnostic flight.
  • the processor of the unmanned aerial vehicle eg, the processor 110 of FIG. 1, the processor 305 of FIG. 3 stores the collected data as a memory (eg, the memory 130 of FIG. 1, the memory 315 of FIG. 3).
  • the user can collect and analyze data on the thrust of the motor of the unmanned aerial vehicle through the UCS (eg, the UCS of FIG. 3 and the UCS 620 of FIG. 6 ). Data analysis of the thrust of the motor of the unmanned aerial vehicle may be performed through the processor of the unmanned aerial vehicle. Likewise, the data collection may be done through UCS.
  • the UCS may store normal range data on the thrust of the motor to determine the state of the motor of the unmanned aerial vehicle (eg, the life of the motor, the normal range rpm of the motor, whether there is an abnormality in the motor, etc.). .
  • the UCS may compare normal range data on the thrust of the motor of the unmanned aerial vehicle with the data on the thrust of the motor of the diagnostic flight collected in real time. UCS may determine the life of the motor of the unmanned aerial vehicle based on the comparison result. The determination may be made through the processor of the unmanned aerial vehicle.
  • the UCS may determine the presence or absence of an abnormality in the motor of the unmanned aerial vehicle. Damage to bearings and insertion of foreign objects may be present in the motor of the UAV. By using the uneven thrust generated in the motor shaft of the unmanned aerial vehicle in an abnormal state, the UCS can determine whether or not the motor of the unmanned aerial vehicle is abnormal. The determination may be made through the processor of the unmanned aerial vehicle.
  • the UCS may collect and analyze data on thrust at each motor axis through diagnostic flight at a certain height of the unmanned aerial vehicle, and compare it with the normal range data on the thrust of the motor previously stored.
  • the progress of the comparison step may be performed through the processor of the unmanned aerial vehicle.
  • data in a normal range for determining whether or not an unmanned aerial vehicle is in an assembly state may be stored.
  • an assembly state eg, arm bending, motor shaft rotation, bolt loosening, etc.
  • the thrust of the motor must be measured within a range of 55% to determine that there is no abnormality.
  • the normal range data may be stored through the memory of the unmanned aerial vehicle.
  • the UCS may compare the presence or absence of abnormality in the assembly state of the unmanned aerial vehicle with normal range data through diagnostic flight of the unmanned aerial vehicle at a predetermined height. For example, while the UAV performs diagnostic flight at a certain height, UCS can collect and analyze data on the thrust at each motor axis of the UAV and compare it with data in the normal range. The progress of the comparison step may be performed through the processor of the unmanned aerial vehicle. UCS can determine whether or not the unmanned aerial vehicle has an uneven thrust by performing diagnostic flight of the unmanned aerial vehicle to determine whether or not the unmanned aerial vehicle is in the assembly state (e.g., arm bending, motor shaft rotation, bolt loosening, etc.) . The determination through the determination may be made through the processor of the unmanned aerial vehicle.
  • the assembly state e.g., arm bending, motor shaft rotation, bolt loosening, etc.
  • FIG. 8 illustrates data on an initial discharge rate of a battery of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • UCS includes an unmanned aerial vehicle (e.g., the unmanned aerial vehicle 100 of FIG. 1, the unmanned aerial vehicle 200 of FIG. 2, and Normal range data of the initial discharge rate of the battery for determining whether the unmanned aerial vehicle 300 of FIG. 3 and the unmanned aerial vehicle 610 of FIG. 6 have an abnormality in the battery state (eg, the life of the battery) may be stored.
  • an abnormality in the battery state e.g, the life of the battery
  • the normal range data may be stored through the memory of the unmanned aerial vehicle.
  • the UCS may compare data on an initial discharge rate of a battery of a diagnostic flight collected in real time with data about a normal range of an initial discharge rate of a battery of an unmanned aerial vehicle.
  • the progress of the comparison step may be performed through the processor of the unmanned aerial vehicle.
  • UCS may determine the battery life of the unmanned aerial vehicle based on the comparison result. The determination may be made through the processor of the unmanned aerial vehicle.
  • the UCS may compare the presence or absence of an abnormality in the battery state of the unmanned aerial vehicle with normal range data through the diagnostic flight of the unmanned aerial vehicle.
  • UCS can predict battery life by collecting and analyzing data on the initial discharge rate at take-off for diagnostic flight of unmanned aerial vehicles. The prediction may be made through the processor of the unmanned flying device.
  • the UCS can determine whether or not there is an abnormality in the battery of the unmanned aerial vehicle by using the characteristic that the initial discharge rate increases during take-off even if the battery is 100% charged in the case of a battery that has been used for a long time or a battery with deteriorated performance. The determination may be made through the processor of the unmanned aerial vehicle.
  • 9A illustrates data on acceleration of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • 9B illustrates data on acceleration of an unmanned aerial vehicle according to various embodiments of the present disclosure.
  • UCS includes an unmanned aerial vehicle (e.g., the unmanned aerial vehicle 100 of FIG. 1, the unmanned aerial vehicle 200 of FIG. 2, and
  • the normal range data of the acceleration value for determining whether the unmanned flight device 300 of 3 and the unmanned flight device 610 of FIG. 6 is in an assembly state (eg, vibration of the flying body of the unmanned flying device) is stored.
  • the acceleration must be measured within a range of 12 m/s2 to determine that there is no abnormality.
  • the normal range data may be stored through the memory of the unmanned aerial vehicle.
  • the UCS may compare normal range data on the acceleration of the unmanned aerial vehicle with data on the acceleration of the diagnostic flight collected in real time.
  • the progress of the comparison step may be performed through the processor of the unmanned aerial vehicle.
  • the UCS may determine whether or not there is an abnormality in the assembly state of the unmanned aerial vehicle based on the comparison result. The determination may be made through the processor of the unmanned aerial vehicle.
  • the unmanned flight apparatus may collect acceleration data during diagnostic flight execution using an inertial measurement unit (IMU).
  • the processor of the unmanned aerial vehicle may collect data for determining whether or not the assembly state of the flight body is abnormal by using the value of the z-axis acceleration sensor of the IMU sensor.
  • the UCS may monitor acceleration data obtained by hovering and rotating in place at a certain height by the unmanned aerial vehicle for diagnostic flight, and compare it with normal range data. The progress of the comparison step may be performed through the processor of the unmanned aerial vehicle.
  • the UCS can determine an abnormality in the assembly state such as arm damage and bolt loosening of the unmanned aerial vehicle by using the acceleration value out of the above normal range (eg, 12 m/s2 or less) when the unmanned aerial vehicle is in the assembly state. The determination may be made through the processor of the unmanned aerial vehicle.
  • the screen shown in FIG. 10 may be a control screen in an external device according to a method of performing diagnostic flight before flight is performed.

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Abstract

L'invention concerne un véhicule aérien sans pilote destiné à effectuer un vol de diagnostic avant l'exécution d'un vol, selon divers modes de réalisation de la présente invention, comprenant : un corps de vol ; un module de capteur comprenant une pluralité de capteurs ; un module de communication destiné à communiquer sans fil avec un dispositif externe ; un processeur connecté électriquement au module de capteur et au module de communication ; et une mémoire électriquement connectée au processeur, le processeur étant configuré pour recevoir, à partir du dispositif externe, des informations relatives au vol par l'intermédiaire du module de communication, des données de vérification relatives à l'état du véhicule aérien sans pilote pouvant exécuter un vol conformément aux informations relatives au vol, et effectuer un vol de diagnostic de façon à collecter des données devant être comparées aux données vérifiées, et peut analyser les données collectées en fonction des performances du vol de diagnostic et déterminer s'il faut effectuer un vol, en fonction des données analysées. D'autres modes de réalisation sont possibles.
PCT/KR2020/012653 2019-09-20 2020-09-18 Véhicule aérien sans pilote et procédé permettant d'effectuer un vol de diagnostic avant l'exécution d'un vol WO2021054782A1 (fr)

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EP4243111A1 (fr) 2020-11-05 2023-09-13 LG Energy Solution, Ltd. Électrode négative pour batterie entièrement solide comprenant une couche de revêtement et une couche de transfert d'ions, et batterie secondaire au lithium la comprenant
KR102583405B1 (ko) 2021-07-05 2023-09-27 주식회사 아르고스다인 드론 스테이션
KR102500221B1 (ko) * 2021-12-21 2023-02-16 코아글림 주식회사 지능형 자율비행 무인기의 제어 시스템 및 그 방법
KR102597598B1 (ko) * 2022-01-20 2023-11-01 아주대학교산학협력단 인공지능 알고리즘을 이용한 무인기의 실시간 고장진단 방법

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