KR20170110481A - A drone and control method thereof - Google Patents

Abstract

A drone capable of preventing fall or disappearance caused by an error of inertia information is disclosed. The drones include: a first inertia information measurement unit for measuring first inertia information for the flight of the drones; At least one second inertial information measurement unit for measuring second inertial information for the flight of the drones; A control unit for determining whether the first inertia information measured by the first inertia information measuring unit is normal and determining the flying direction of the drones based on second inertia information measured by the at least one sub- .

Description

[0001] DRONDER AND CONTROL METHOD THEREOF [0002]

The present invention relates to a drones and a control method thereof, and more particularly, to a drones and a control method thereof capable of safely flying or returning even if an abnormality occurs in inertia information that is a criterion for judging a flying direction of a drones.

A drone is a generic term for an unmanned aerial vehicle (UAV) or a helicopter-shaped unmanned aerial vehicle (UAV) capable of flying and steerable by induction of radio waves without pilots. It is also used in the private sector.

Magnetometer plays an important role in determining the flight azimuth of the dron and is used for autonomous flight of the drones. The geomagnetic field, as well as the high voltage line wind turbine, the electric railroad line, etc., cause azimuth error of the geomagnetic sensor. Therefore, it is a reality that the application for the purpose of surveillance of the transmission tower or the inspection of the blade of the wind turbine is restricted or restricted by the reason of the strong magnetic field around the drones. A geomagnetic sensor is a compass that measures a three-axis (x, y, z axis) magnetic field to determine the bearing. A strong magnetic field around the compass causes a dragon crash and unexpected accidents.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a dron and a control method thereof that can prevent fall or disappearance of an azimuth angle information due to an error.

According to an aspect of the present invention, there is provided a drones comprising: a first inertia information measuring unit for measuring first inertia information for determining a flying direction of the drones; At least one second inertia information measuring unit for measuring second inertia information for determining the flying direction of the drones; A control unit for determining whether the first inertia information measured by the first inertia information measuring unit is normal and determining the flying direction of the drones based on second inertia information measured by the at least one sub- And a control unit.

Wherein the first inertial information measurement unit includes at least one of a geomagnetic sensor, a gyro sensor, an acceleration sensor, a radar, a position sensor, and a pressure sensor, and the second inertial information measurement unit includes at least one of GPS, DGPS, and CDGPS .

Wherein the drones further comprise a storage unit for storing the previous flight record of the drones based on the second inertia information and wherein the control unit controls the returning of the previous flight record of the previous flight record stored in the storage unit can do.

The control unit may store the flight record of the drones in the storage unit based on the first inertia information while the flight is proceeding based on the second inertia information.

A dron control method according to an embodiment of the present invention includes: measuring first inertia information for determining a flying direction of the drones; Determining whether the first inertia information is abnormal; And determining the flying direction of the drones based on the first inertia information when the first inertia information is abnormal.

According to the present invention, even if an error occurs in the inertia information that determines the flight direction of the drones, it is possible to continue or return the flight using other inertia information, thereby preventing the fall or disappearance of the expensive drones.

1 is a block diagram showing the configuration of a drones according to an embodiment of the present invention;
2 is a flowchart showing a control process of a drones according to an embodiment of the present invention, and Fig.
3 is a flowchart illustrating a control process of a drones according to another embodiment of the present invention.

Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings. It should be understood, however, that it is not intended to be limited to the particular embodiments of the invention but includes various modifications, equivalents, and / or alternatives of the embodiments of the invention. In connection with the description of the drawings, like reference numerals may be used for similar components.

In this specification, the expressions " having, " " having, " " comprising, " And does not exclude the presence of additional features.

As used herein, the expressions "A or B," "at least one of A and / or B," or "one or more of A and / or B," may include all possible combinations of the listed items . For example, "A or B," "at least one of A and B," or "at least one of A or B" includes (1) at least one A, (2) Or (3) at least one A and at least one B all together.

The expressions " first, " " second, " " first, " or " second, " and the like in this specification are intended to encompass various components, regardless of their order and / or importance, Do not. These representations may be used to distinguish one component from another. For example, the first user equipment and the second user equipment may represent different user equipment, regardless of order or importance. For example, without departing from the scope of the present disclosure, the first component may be referred to as a second component, and similarly, the second component may be named as the first component.

(Or functionally or communicatively) coupled with / to "another component (eg, a second component), or a component (eg, a second component) Quot; connected to ", it should be understood that an element may be directly connected to another element, or may be connected through another element (e.g., a third element). On the other hand, when it is mentioned that a component (e.g. a first component) is "directly connected" or "directly connected" to another component (e.g. a second component) It can be understood that there is no other component (e.g., a third component) between the elements.

The phrase " configured to be used " as used herein should be interpreted according to circumstances, such as, for example, having " having the capacity to, To be designed to, "" adapted to, "" made to, "or" capable of ". The term " configured (or set) to " may not necessarily mean " specifically designed to " Instead, in some situations, the expression " configured to " may mean that the device can " do " with other devices or components. For example, a processor configured (or configured) to perform the phrases " A, B, and C " may be a processor dedicated to performing the operation (e.g., an embedded processor), or one or more software programs To a generic-purpose processor (e.g., a CPU or an application processor) that can perform the corresponding operations.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the other embodiments. The singular expressions may include plural expressions unless the context clearly dictates otherwise. All terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art. Commonly used predefined terms may be construed as having the same or similar meaning as the contextual meanings of the related art and are not to be construed as an ideal or overly formal sense unless expressly defined to the contrary herein . Optionally, terms defined herein may not be construed to exclude embodiments of the present disclosure.

1 is a block diagram for explaining the structure of a drone 100. As shown in FIG. The drone 100 includes at least one transmission 120-1, 120-2 corresponding to at least one motor 110-1, 110-2, ..., 110-n, each motor 110-1, 110-2, 2, ..., 120-n, a controller 130, a first inertial information measuring unit 140, a second inertial measuring unit 150, a storage unit 160, and an RF receiving unit 170. The drone 100 may further include a frame, a propeller coupled to each motor, a power supply, a wireless communication module, and various other accessories in addition to the components described above, but will be omitted for the sake of brevity.

At least one motor 110-1, 110-2, ..., 110-n serves to rotate the propeller to obtain a flying lift, and a brush motor or a brushless motor can be used.

The at least one transmission 120-1, 120-2, ..., 120-n receives the pulse width modulation (PWM) signal supplied from the control unit 130 to receive the signals from the motors 110-1, 110-2, -n).

The control unit 130 may be implemented as a control board including a CPU, an MPU, and an IC. The control unit 130 receives the control signal through the RF receiving unit 170 and transmits the control signal to the at least one transmission 120-1, 120-2, ..., 120-n. The control unit 130 determines the direction of flight of the drones 100 through the first inertia information, for example, the geomagnetic data, and then controls the motors 110-1 and 110 -2, ..., 110-n, and generates a PWM signal for controlling the rotational speed of the selected motor. In addition to the first inertia information, the controller 100 receives various sensors such as a barometer, satellite, altitude information through a radar, and rotation angle information by a gyro sensor, and utilizes the information for flight control. The controller 130 compares the received first inertia information with a reference value (threshold value) of the received first inertia information and determines whether the first inertia information is normal first inertia information. If the received first inertia information is determined to be abnormal after exceeding the reference value (threshold value), the second inertia information measuring unit 150 is controlled to receive the second inertia information to determine the direction of flight and perform motor control. Here, the second inertial information measurement unit 150 may operate normally to measure the second inertial information and store the measured second inertial information in the storage unit 160. When the first inertial information is in an abnormal state, The first inertia information stored in the first inertia information storage 160 can be directly applied.

The first inertial information measurement unit 140 basically measures the first inertia information for determining the direction of the flight, for example, the terrain data, the elevation data, the rotation angle data, and the like, and sends them to the control unit 130. The first inertial information measurement unit 140 may include at least one of a geomagnetic sensor, a gyro sensor, an acceleration sensor, a radar, a position sensor, and a pressure sensor.

The first inertial information measurement unit 150 further measures the second inertia information for determining the direction of the flight, for example, the terrain data, the altitude data, the rotation angle data, ). The second inertial information measurement unit 150 may include at least one of a Global Positioning System (GPS), Differential GPS (DGPS), and Carrier Phase Differential GPS (CDGPS). The second inertial information measuring unit 150 operates under the control of the controller 130 or operates normally to measure the second inertia information and provides it to the controller 130 or the storage unit 160.

The storage unit 160 stores unlimited data. The storage unit 160 refers to a route recording device called a black box. The storage unit 160 is accessed by the control unit 130, and the reading, recording, modification, deletion, updating, and the like of data by these are performed. The storage unit 160 may include an operating system (OS), a kernel, middleware, and various application programs executable on an operating system. The storage unit 160 may include a previous flight record based on the first inertia information and the second inertia information. In addition, the storage unit 160 may temporarily store the first inertia information and the second inertia information measured in real time, and may automatically delete the first inertia information and the second inertia information when a predetermined time elapses.

The storage unit 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory) A random access memory (SRAM), a read only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM) , An optical disc, and the like.

The RF receiver 170 receives the control signal transmitted from the RF transmitter 200 operated by the user and provides the control signal to the controller 130.

Hereinafter, a method of controlling the drones 100 will be described in detail with reference to FIG.

First, the flight azimuth is determined based on the first inertia information, e.g., geomagnetic data, and the flight is performed (S110).

In step S120, the control unit 130 receives the first inertia information measured in real time which is required for the flight.

In step S130, the control unit 130 compares whether the first inertia information required for the flight is received or not exceeds a predetermined reference value (threshold value). If the reference value is exceeded or exceeded, it is judged as abnormal inertia information. If it is within the reference value range, it is determined to be the normal inertia information and it is determined whether or not the first inertia information received next is normal.

The control unit 130 maintains the drones 100 in the current state and operates the second inertial information measurement unit 150 so that the second inertia information required for the flight, that is, the GPS information, . The control unit 130 can immediately invoke the second inertia information stored in the storage unit 160 and apply it immediately.

In step S150, the controller 130 determines the flight direction using the second inertia information received in real time.

In step S160, the second inertia information is used to perform the flight according to the control signal instructed by the user. Of course, instead of controlling the RF transmitter 200, an automatic flight can be performed along a pre-stored flight path.

Thereafter, when the second inertia information is abnormal, it is possible to utilize the third inertia information and the first inertia information.

3 is a flowchart showing a drones control method according to another embodiment of the present invention.

 First, the flight azimuth is determined based on the first inertia information, for example, geographical data, and the flight is performed (S210).

In step S220, the second inertia information type, that is, the GPS information, the rotation angle information by the gyro sensor, and the altitude information by the air pressure sensor are stored in the storage unit 160 in real time.

In step S230, the control unit 130 receives the first inertia information measured in real time which is required for the flight.

In step S240, the control unit 130 compares whether the first inertia information required for the flight is received or not exceeds a predetermined reference value (threshold value). If the reference value is exceeded or exceeded, it is judged as abnormal inertia information. If it is within the reference value range, it is determined to be the normal inertia information and it is determined whether or not the first inertia information received next is normal.

The control unit 130 maintains the drones 100 in the current state and refers to the previous flight record stored in the storage unit 160 to perform the return flight to the opposite road.

Thereafter, the user can switch the second inertia information to the first inertia information and restart the flight.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limiting the scope of the present invention as defined by the appended claims. Modifications and modifications are possible.

Operations according to embodiments of the present invention may be implemented by single or multiple processors. In this case, program instructions for performing various computer-implemented operations may be recorded on a computer-readable medium. The computer-determinable medium may include program instructions, data files, data structures, etc., alone or in combination. The program instructions may be those specially designed and constructed for the present invention or may be available to those skilled in the art. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs or DVDs, magneto-optical media such as floppy disks and ROMs, , Random access memory (RAM), flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. When all or a part of the base station or relay described in the present invention is implemented as a computer program, the computer readable recording medium storing the computer program is also included in the present invention.

Therefore, the scope of the present invention should not be limited by the exemplary embodiments described, but should be determined by the equivalents of the claims, as well as the claims.

100: Drones
110-1, 110-2, ... 110-n: motor
120-1, 120-2, ... 120-n: Transmission
130:
140: First inertia information measuring unit
150: second inertia information measuring unit
160: Storage part (black box)
170: RF receiver
200: RF transmitter

Claims (5)

In the drones,
A first inertia information measuring unit for measuring first inertia information for the flight of the drones;
At least one second inertial information measurement unit for measuring second inertial information for the flight of the drones;
A control unit for determining whether the first inertia information measured by the first inertia information measuring unit is normal and determining the flying direction of the drones based on second inertia information measured by the at least one sub- Wherein the drones of the drones are made of a metal. The method according to claim 1,
Wherein the first inertial information measurement unit includes at least one of a geomagnetic sensor, a gyro sensor, an acceleration sensor, a radar, a position sensor and a pressure sensor, and the second inertial information measurement unit includes at least one of GPS, DGPS, and CDGPS Lt; / RTI > 3. The method according to claim 1 or 2,
Further comprising a storage unit,
Wherein the storage unit stores the previous flight record based on the second inertia information,
Wherein the control unit controls to return along the reverse path of the previous flight record stored in the storage unit. The method of claim 3,
Wherein the control unit stores the flight record of the drones in the storage unit based on the first inertia information while the flight is proceeding based on the second inertia information. In the drones control method,
Measuring first inertia information for determining the direction of flight of the drones;
Determining whether the first inertia information is abnormal;
And determining the flight direction of the drones based on the first inertia information when the first inertia information is abnormal.

Images