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WO2018066744A1 - Système et procédé de commande multidrone - Google Patents

Système et procédé de commande multidrone Download PDF

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Publication number
WO2018066744A1
WO2018066744A1 PCT/KR2016/012260 KR2016012260W WO2018066744A1 WO 2018066744 A1 WO2018066744 A1 WO 2018066744A1 KR 2016012260 W KR2016012260 W KR 2016012260W WO 2018066744 A1 WO2018066744 A1 WO 2018066744A1
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WIPO (PCT)
Prior art keywords
drone
virtual
agent
flight
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/012260
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English (en)
Korean (ko)
Inventor
조경은
김준오
치옥용
국윤창
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Industry Academic Cooperation Foundation of Dongguk University
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Industry Academic Cooperation Foundation of Dongguk University
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Publication of WO2018066744A1 publication Critical patent/WO2018066744A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/12—Motion systems for aircraft simulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones

Definitions

  • the present invention relates to a multi-drone control system and method, and more particularly, to grasp the control data of the drone control terminal, the drone status information and the individual information of the operator to block risk factors in advance, or to operate the multi drone under limited conditions.
  • a multi drone control system and method The present invention relates to a multi-drone control system and method, and more particularly, to grasp the control data of the drone control terminal, the drone status information and the individual information of the operator to block risk factors in advance, or to operate the multi drone under limited conditions.
  • a drone refers to a vehicle that can carry out its mission through remote or automatic maneuvering without pilots.
  • UAV Roadmap published by the Office of the Secretary of Defense (OSD)
  • drones can be “flighted through autonomous or remote control using aerodynamic forces, without burning human pilots, disposable or reusable. It means a power vehicle capable of carrying a deadly or non-lethal cargo.
  • drone system can be operated remotely and additional devices can be attached to the drone. Additional devices can be selected as small as temperature or light sensors, oxygen and carbon dioxide concentration sensors, as well as GPS, cameras and ultrasound equipment.
  • drones can transmit the results of missions such as photos and videos to the ground, and the ground control system can check or adjust the sensor values measured through telemetry.
  • the first object of the present invention is to provide a multi-drone control system that can safely operate the drone even if the network disconnection between the control program and the drone, without changing or modifying the existing drone and control program.
  • the second task is to provide a multi-drone control system that blocks risk factors in advance or operates multiple drones under limited conditions, taking into account the individual information of the drone and the operator, the command of the control terminal, and the flight monitoring information of the drone in real time.
  • the third task is to provide a multi-drone control method for establishing a specific mesh-up network for each point of drone, virtualization server, and control terminal with low packet loss and high connection stability for the network required for the multi-drone and multi-controller environment. have.
  • the multi-drone control system analyzes individual operator information, individual drone information, and real-time steering monitoring information of the drone, and a virtual drone agent for controlling the flight of the drone according to the analysis result and in advance. And a virtualization server configured to generate and operate the virtual drone agent that is one-to-one matched with the drone based on registered drone information.
  • the virtualization server may define a virtual space using GPS coordinates of a real space, which is a flight allowance area
  • the virtual drone agent may include the drone individual information, the individual operator information, and real-time flight monitoring.
  • the drone simulator is generated in real time based on the information and the virtual space.
  • the individual controller information according to another embodiment of the present invention, the personal information of the operator, whether or not the drone flight qualification, the drone flight history of the operator, the drone operation year, the number of drone operation, the accident history during the drone flight, the history of drone flight competition, It includes at least one of the drone flight test level, class, and the drone individual information, the name of the drone, the manufacturer, the performance chart, the age of the drone and whether the drone has been modified, the weight, size, number of wings, loading of the drone At least one of a pixel and an image quality of the camera, a maximum driving distance, and a battery duration.
  • the virtualization server manages the drone flight permission zone by dividing it into a flight zone for each class accessible by drone class.
  • the virtual drone agent receives the corresponding protocol from the virtualization server in real time according to a different command system for each drone manufacturer in order to interpret the command syntax of a plurality of commercial drones different from each other.
  • the virtual drone agent as a result of analyzing the real-time control monitoring information of the drone, the real-time location information of the drone, the flight restriction zone departure, collision with other drones, flight prohibited zone invasion, in advance Detects at least one of the pilot's immaturity that does not meet the established criteria.
  • the drone includes a bridge module for converting a Bluetooth signal received from the virtual drone agent and processing it as a Wi-Fi signal, and a unit of asynchronous command sent through the Bluetooth communication from the virtual drone agent It converts the data into Wi-Fi data and sends a continuous signal until the command is completed.
  • the image information obtained by the image capturing device mounted on the drone is received and stored, and further includes at least one of an external storage device and an image output device provided 1: 1 with the drone. do.
  • the bridge module is connected via Wi-Fi as the first communication method, and the bridge module and the external storage device or image output device are connected via Bluetooth as the second communication method. Is connected, the bridge module directly transmits the image information to the predetermined external storage device or image output device, thereby preventing overload between the bridge module and the virtualization server.
  • a drone receives a flight command from a control terminal or a virtual drone agent, transmits monitoring information of a drone to the virtual drone agent, and a software-defined network to transmit data received through the communication unit. And a controller for processing drone flights according to flight commands received from the bridge module.
  • control terminal or the virtual drone agent is connected to the Bluetooth network
  • the bridge module is configured as a Bluetooth to WiFi Data converter module.
  • the bridge module converts one unit of asynchronous commands sent through the Bluetooth communication from the control terminal or the virtual drone agent into Wi-Fi data, and generates a continuous signal until the command is completed. Send to the controller.
  • Another embodiment of the present invention further includes a camera for acquiring image information, wherein the bridge module is configured to provide an external storage device or an image output device provided with the drone 1: 1 by using the image information acquired from the camera via Bluetooth. send.
  • the multi-drone when the distance between the drone and the control terminal or the virtual drone agent is a distance of 100m or more and less than 3Km, the multi-drone is divided into a main drone and a sub drone, and the main drone is the control terminal or The virtual drone agent is connected via WiFi, and the sub drone is connected to the main drone through a mesh up asynchronous network, which is Ultra-wideband communication (UWB) -UWB (or LTE Direct-LTE Direct). Receive and share commands from the main drone.
  • UWB Ultra-wideband communication
  • UWB Ultra-wideband communication
  • a method for controlling a multi-drone including: generating, by a virtualization server, a virtual drone agent matching one-to-one with a drone based on previously registered drone information, and wherein the virtual drone agent is individually controlled by a controller. Analyzing information, drone individual information, and real-time steering monitoring information of the drone, and transmitting, by the virtual drone agent, a flight control signal for controlling the flight of the drone according to an analysis result to the communication unit of the drone; and And a communication unit of the drone converts the flight control signal to the bridge module provided in the drone.
  • the bridge module continuously converts one unit of the asynchronous command of the Bluetooth signaling method, which is the flight control signal, into a Wi-Fi signal until the asynchronous command is completed.
  • connection between the virtual drone agent and the virtualization server is connected by inquiring a key value through a Mac address, and among WiFi / Local LAN / 3G / 4G / LTE. Connected through at least one.
  • the virtual drone agent according to another embodiment of the present invention further includes dynamically generating or discarding a packet relay daemon according to a connection between the virtual drone agent and the control terminal for connection or disconnection of various drones. .
  • the virtual drone agent further includes the step of acquiring the packet relay daemon in a time-prioritized manner when a plurality of drones simultaneously access the virtual drone agent.
  • the drone can be safely operated even if a network disconnection between the control program and the drone occurs, without changing or modifying the existing drone and the control program.
  • the command of the control terminal and the real-time monitoring flight information of the drone in consideration of the individual information of the drone and the operator, the command of the control terminal and the real-time monitoring flight information of the drone, it is possible to block the risk factors in advance or operate the multi-drone in limited conditions.
  • a virtualization server and a control terminal with low packet loss and high connection stability for building a network required for a multi-drone and a multi-pilot environment.
  • a dynamic software defined network can be implemented.
  • FIG. 1 is a diagram illustrating a general configuration of a multi-drone control system according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a virtual space defined according to an embodiment of the present invention.
  • FIG. 3 is a block diagram showing the configuration of a drone according to an embodiment of the present invention.
  • FIG. 4 is an exemplary diagram for describing a communication establishment technique for a local area network according to an embodiment of the present invention.
  • FIG. 5 is an exemplary diagram for describing a communication establishment technique for a long distance network according to an embodiment of the present invention.
  • FIG. 6 is a diagram illustrating a schematic configuration of a dynamic software defined network according to an embodiment of the present invention.
  • FIG. 7 is a diagram illustrating a connection method between network modules according to an exemplary embodiment of the present invention.
  • FIG. 8 is a diagram for describing a mesh up network based video transmission method according to an embodiment of the present invention.
  • drone-only spaces such as drone parks and drone aerodromes are created all over the country, but there is no development of a system that controls or regulates drone flight.
  • the operation of the drone of the general public currently has no choice but to rely on the qualitative common sense of the user, and there is a risk that it can be used as a tool for accidents and deliberate terrorism due to the invasion of others' privacy, the drone's flight range and fall.
  • embodiments of the present invention propose a technical means for blocking risk factors in advance or operating under limited conditions in consideration of individual information of a drone and an operator, a command of a control terminal, and flight information of a drone in real time.
  • embodiments of the present invention are dynamic software definition for establishing a specific mesh-up network for each point of a drone, a virtualization server, and a control terminal having a low packet loss and a high connection stability for a network required for a multi-drone and a multi-controller environment. Suggest a network.
  • FIG. 1 is a view schematically showing the configuration of a multi-drone control system according to an embodiment of the present invention.
  • a multi-drone control system includes a virtualization server 100 and a virtual drone agent 200.
  • the multi-drone control system of the present invention is difficult to implement with a single technology, and is composed of a technology set built using a convergence technology.
  • the virtualization server 100 first defines a virtual space with respect to a real space that is a flight allowance interval, and operates the virtual drone agents 200, 210, and 230.
  • the virtualization server 100 directly processes the packet, and in order to define a Dynamic SDN (Software define network), the server itself is equipped with an AP Simulator (Access Point Simulator) module. Dynamic software defined networks will be described in detail below.
  • the virtualization server 100 receives the operator's individual information and the drone's individual information registered in advance by the drone operator and generates the drone agent 200 in real time.
  • the virtualization server 100 may be implemented as, for example, a cloud system, and may store the controller individual information, the drone individual information, and the flight policy information of the corresponding region, which the operator inputs when registering the drone, in the cloud server.
  • the individual controller information may include the personal information of the operator, whether or not the drone flight qualification, the drone flight history of the operator.
  • the individual operator information may further include at least one of the year of drone operation, the number of drone operation, accident history during drone flight, drone flight competition history, drone flight test level, grade.
  • the drone individual information may include registration information of the drone (including name, manufacturer, driving performance table, etc.), the age of the drone, and whether or not the drone is modified.
  • the individual drone information may include specific drone specifications, that is, the weight, size, number of wings of the drone, the pixel and image quality of the mounted camera, the maximum driving distance, the battery duration.
  • the flight policy information for the region may include flight limit altitude and flight limit maximum speed.
  • the virtualization server 100 may divide the multi-drone into several classes according to the above-described individual controller information and individual drone information, and may operate a differential control for the flight of the control terminal and the drone according to the drone class.
  • the virtualization server 100 may generate a corresponding drone simulator in real time based on individual information of a drone and a pilot registered in a virtualized flight zone and real-time flight monitoring information.
  • the drone simulator may be destroyed as the drone is withdrawn from the virtualized flight zone.
  • the virtualization server 100 may image and display the flight of the actual drones in the image on which the virtualized flight zone is displayed, and may display and display the individual information or real-time monitoring information of each drone together.
  • acrobats are operated by multi drones
  • a plurality of drones are divided into groups, or when a multi drone is operated for training and public / military purposes, the driving capability of the drone and the drone's specifications and performances are different.
  • the flight can be controlled by separating the multi-drone into different virtual spaces according to the class of the drone.
  • the drones are divided into classes based on battery duration, motor specification, maximum driving distance, and maneuverability, which are the main requirements for long-distance flight. Can operate separately.
  • the drone flight clearance zone divided by the flight class by grade accessible by drone class, it is possible to prevent cross-run of the drone flight.
  • the area adjacent to the risk factor such as the transmission tower or the dangerous building permits the flight to only the higher class drones, and the relatively safe area to fly only the lower class drones. By allowing them, you can operate multi-drones more safely and efficiently.
  • the drone steering terminal 400 is matched 1: 1 to the virtual drone agent 200 through the AP of the virtualization server 100.
  • a virtual space declaration service using GPS (or real time locating system (RTLS) coordinates for indoor use) is operated.
  • the virtual drone agent 200 converges a command sent from the pilot terminal 400 to the drone 300.
  • the virtual drone agent 200 has a protocol defined for interpreting the command syntax of various commercial drones. To this end, the virtual drone agent 200 may receive the corresponding protocol from the virtualization server 100 in real time according to a different command system for each drone manufacturer.
  • the virtual drone agent 200 has A-D and D-A protocol components to convert and transmit analog and digital signals.
  • the virtual drone agent 200 is, for example, Parrot group (European company), DJI group (Chinese company), DIY (own or other) according to the signal according to the command Digital to Digital, Analog to Digital, Digital to Analog Convert the command data into the form.
  • the virtual drone agent 200 monitors the steering information, the control command data, the steering time and the real time flight, location and status of the drone 300 in real time, and monitors the real-time monitoring information in the virtualization server 100. To pass.
  • the virtual drone agent 200 may check the registration information of the drone 300, the controller and the individual information of the drone, etc. from the virtualization server 100.
  • the virtual drone agent 200 detects a departure from the restricted flight area of the drone 300, a collision with another drone, an invasion of the restricted area, and a flight control immaturity that does not meet a predetermined standard.
  • the flight restrictions may be set not only on the rules of flying within the virtual flight space area, but also on flight speed, flight height, and total flight distance.
  • the steering information of the steering terminal 400 may include steering signals such as Roll, Pitch, Yaw, Power, and the like.
  • the virtual drone agent 200 converges real-time location information of the drone in communication with the drone 200.
  • the location information includes altitude, longitude, and latitude, and may be represented by coordinates.
  • the virtual drone agent 200 is a real-time location tracking system (RTLS), a camera, GPS / navigation, a gyro sensor (Gyro), an acceleration sensor (Accelerator), etc. mounted on the drone 200 to the status information of the drone 300 Can be obtained by receiving data.
  • RTLS real-time location tracking system
  • GPS / navigation GPS / navigation
  • Gyro gyro sensor
  • Accelelerator acceleration sensor
  • the virtual drone agent 200 controls the drone 200 to stay within the flight allowance area when the abnormal flight of the drone 200 and the abnormal control command of the control terminal 400 are detected, or stops the flight and the drone ( 200) can land. This may be an execution in accordance with a control command received from the virtualization server 100.
  • the drone 200 and the control terminal 400 may be designed to execute the command of the virtual drone agent 200 in preference to the command of the control terminal 400 for driving and cluster control for safety and security of the multi-drone. .
  • FIG. 3 is a block diagram showing the configuration of a drone 300 according to an embodiment of the present invention.
  • the drone 300 includes a control unit 310, a communication unit 320, a bridge module 330, a GPS module 340, a GYRO / ACCEL module 350, and a camera module. 360 and the subscriber identification module 370 is configured.
  • the controller 310 may control a plurality of hardware or software components connected to the controller 310 by driving an operating system or an application program for operating a drone of the present invention, and may perform data processing or calculation including various signals. It can control the operation of other components of the drone.
  • the communication unit 320, the bridge module 330, the GPS module 340, the GYRO / ACCEL module 350, the camera module 360, and the subscriber identification module 370 are controlled and the flight of the drone 300 is controlled.
  • the controller 310 may authenticate the drone 300 through the communication unit 320 or transmit location information and monitoring information of the drone 300 to the virtualization server 100.
  • the controller 310 may be designed to follow the command received from the virtual drone agent 200 in preference to the control command received from the steering terminal 400 in order to safely operate the multi-drone according to the purpose of the present invention. Accordingly, it is possible to block dangerous control commands of the steering terminal 400.
  • the communication unit 320 receives a command from the steering terminal 400 or the virtual drone agent 200, and transmits the monitoring information of the drone to the virtual drone agent 400.
  • the communication unit 320 is connected to the steering terminal 400 through a normal Bluetooth network, and is connected to the bridge module 330 by 1: 1 WiFi.
  • the bridge module 330 processes the data received through the communication unit 320 on the basis of the software defined network (SDN) and processes the converted data.
  • SDN software defined network
  • the software define network is a technology in which the software controls all the actual network functions, and the software controlling the network equipment can be modified by the designer as desired.
  • the bridge module 330 is a WiFi to mash network bridge.
  • the bridge module 330 basically uses a Bluetooth network with the virtual drone agent 200, and may use ultra-wideband communication (UWB).
  • UWB ultra-wideband communication
  • the bridge module 330 may be a module for converting data from Bluetooth to Wi-Fi.
  • the algorithm of the bridge module 330 uses a dynamic daemon address mapping, vision composer, which is software used to inspect the mapping data sharing with others and circuits of the network module. Include.
  • the drone 300 is operated to receive a continuous signal from the control terminal 400 in the structure, this method has a high probability of signal transmission failure.
  • the present invention is provided with a bridge module 330 to solve this problem, by converting a unit of asynchronous command sent from the control terminal 400 to the Wi-Fi data via the bridge module 330, drone 300
  • the controller 310 will send a continuous signal until the command is completed.
  • the drone 300 processes the data received via Bluetooth via the bridge module 330 to transmit the data to the WiFi network.
  • the bridge module 330 may be mounted for each drone.
  • the command for moving 1 m in the NE direction is [N: 100, E: 100, S: 0, W: 0, H : 0, R: 90] when transmitting to the communication unit 320 only once via Bluetooth, the bridge module 330 converts the Bluetooth data into a Wi-Fi signal when the drone 300 moves 1m (100cm) in the NE direction It will send a continuous signal until.
  • FIG. 5 a communication establishment technique for a remote network will be described.
  • one main drone 380 and several sub drones 390 are operated through an asynchronous meshup network.
  • the main drone receives a command from the steering terminal 400 or the virtual drone agent 200, and spreads the received command to the sub drone 390 to share the command.
  • the steering terminal 400 or the virtual drone agent 200 and the main drone 380 is WiFi Is connected through.
  • the main drone 380 and the sub drone 390 are connected to a mash up asynchronous network, which is UWB-UWB (or LTE Direct-LTE Direct).
  • the drone 300 is equipped with a UWB communication module, sharing the location information, flight schedule between the drones.
  • the GPS module 340 obtains location information of the drone 300.
  • the location information may include altitude, longitude, and latitude information.
  • the GYRO / ACCEL module 350 measures a change in the orientation of the drone 300 and measures dynamic forces such as acceleration, vibration, and impact of the drone 300.
  • the camera module 360 captures an image according to a photo or video capturing command received by the controller 310.
  • the subscriber identification module 370 is configured to authenticate the drone 300 to the virtualization server 100, and stores unique identification information of the drone 300 using the virtual drone agent 200.
  • the multi-drone control system of the present invention establishes a specific mesh-up network between the virtual drone agent 200 and the drone 300 and the virtual drone agent 200 and the control terminal 400 in order to reduce packet loss and increase connection stability.
  • a dynamic software defined network For this purpose we propose a dynamic software defined network.
  • FIG. 6 is a diagram illustrating a schematic configuration of a dynamic software defined network according to an embodiment of the present invention
  • FIG. 7 is a diagram illustrating a connection method between network modules according to an embodiment of the present invention.
  • WiFi or WiFi Direct network configuration method is used to secure the network dedicated and bandwidth.
  • This network method guarantees stability in a 1: 1 connection, but has a problem due to disconnection with an external network.
  • the present invention by employing a plurality of different network schemes to ensure bandwidth, while detecting the presence of drones and apply the operation policy, external network Connect to create a dynamic software-defined network that can access the information you need in real time.
  • a dynamic software defined network may be connected to a multi drone 510, a bridge module 530, a virtual drone agent 550, a virtualization server 570, and a steering terminal 590. Indicates.
  • connection B between the drone 510 and the bridge module 530 needs to secure the same maximum bandwidth for high quality video as well as drone control. Therefore, it is necessary to maintain the same WiFi / WiFi-D method as before.
  • the virtual drone agent 550 When the pilot terminal 590 accesses the virtual drone agent 550 to configure the connection D between the virtual drone agent 550 and the pilot terminal 590, the virtual drone agent 550 automatically generates the virtual drone agent 550.
  • Information is acquired through connection A between the virtual server and the virtualization server 570.
  • the information here includes individual information of the drone and individual information of the manipulator.
  • the key value is inquired through the MAC address of the connection D between the virtual drone agent 550 and the steering terminal 590.
  • the network method of the connection A between the virtual drone agent 550 and the virtual server 570 is not limited to WiFi / Local LAN / 3G / 4G / LTE.
  • the virtual drone agent 550 dynamically generates or discards (or retrieves) a packet relay daemon. do.
  • connection C between the bridge module 530 and the virtual drone agent 550 must satisfy the following two conditions.
  • the steering information is transmitted so that the delay time is within a predetermined time, and the transmission information is transmitted according to the storage location designation of the high capacity content data.
  • the steering information refers to flight monitoring information.
  • the packet relay generated in the virtual drone agent 550 through the connection A between the virtual drone agent 550 and the virtualization server 570.
  • the daemon and the bridge module 530 are connected.
  • the method of obtaining the packet relay daemon for the number is implemented as a time-first battle.
  • the Bluetooth to WiFi Bridge is used to connect commercial off-the-shelf drones that operate as access points.
  • connection D between the virtual drone agent 550 and the control terminal 590 is made through a program provided by the manufacturer, and does not require additional modification or additional program installation.
  • Connection D is based on Wi-Fi, and WiFi-D can also be used depending on the manufacturer's switching. However, since there is no need to receive video content directly, there is no need to use a high bandwidth network (5G).
  • the present invention is a technology for constructing an external network together using mesh-up to use drones and control programs (or apps) provided by a manufacturer as it is, and thus are impossible in the past such as real-time broadcasting of contents generated through drones. You can also implement the content delivery method.
  • the dynamic software defined network architecture is introduced to build an optimized network for each bridge.
  • the existing network already applied to off-the-shelf drones is retained, but the added network bridge modules and network switches build a new mesh-up network.
  • a Wi-Fi router was used instead of a Bluetooth to WiFi bridge module as the present invention.
  • a Wi-Fi router is a network device for connecting another wireless network to connect an external network.
  • due to high packet loss rate and dropping there is a problem that is difficult to use in reality, and above all, there is a problem that cannot be used by simultaneous users due to the limitation of bandwidth.
  • production of content is one of the main purposes of operating a multi-drone.
  • the type of images that can be taken using a single drone is a method of recording a wide-angle image or an omnidirectional image using a 360 degree camera.
  • the present invention provides a method that maintains the quality of a transmitted image and does not affect drone operation by separating video data independently through a multi-drone control technology based on a dynamic software defined network.
  • FIG. 8 is a diagram for describing a mesh up network based video transmission method according to an embodiment of the present invention.
  • the present invention directly extracts the image information from the network bridge 830 for each drone control without overloading the server 810 for controlling / operating the multi-drone through network redundancy as shown in FIG.
  • the image may be directly transmitted to the designated storage device (storage 840) or the monitor 850.
  • the image data received using Bluetooth of the network bridge 830 is directly transmitted to a desired device (storage server 840 or monitor 850).
  • the images transmitted from the plurality of drones 820 are directly transmitted from the respective bridges 830 to the desired device. Therefore, the image received from each drone 820 can be distributedly processed without putting a load on a server 810 or a network that operates the multi-drone 820.
  • one of the Bluetooth channels of each network bridge connected from the server may be connected to a Bluetooth module of USB type, and the corresponding USB may be connected to and stored in an image device or a storage device (storage).
  • the camera image data can be monitored.
  • a separate storage network for example, storage is formed instead of a server to process a large amount of multi-image information.
  • a storage device provided 1: 1 with a drone may be connected to the network bridge 830. Accordingly, the difference between the recording method in the storage device mounted on the drone and the user can monitor the image information photographed by each drone in real time, and selectively store the image information.
  • the network of the drone shown in FIG. 8 is connected to the network bridge 830 via Wi-Fi, and the storage device 850 is connected to the network bridge 830 via Bluetooth.
  • this technology can avoid bottlenecks between the network bridge and the server, and increase the packet processing performance of the network bridge for 8K and 16K video in the future, thereby maintaining the existing system without upgrading the entire system. Can be used.
  • the virtualization server generates a virtual drone agent that matches the drone one-to-one based on previously registered drone information.
  • the virtual drone agent analyzes the individual controller information, the drone individual information, and the real-time steering monitoring information of the drone.
  • the virtual drone agent generates a flight control signal for controlling the flight of the drone according to the analysis result and transmits it in the first communication method.
  • one unit of the asynchronous command of the first communication method is converted into a signal of the second communication method, and the signal of the second communication method is continuously transmitted until the asynchronous command is completed.
  • the drone and the virtual drone agent are connected to a Bluetooth network as the first communication method, and the first communication method is converted into a Wi-Fi signal as the second communication method.
  • connection between the virtual drone agent and the virtualization server is connected by inquiring a key value through a Mac address, and is connected through at least one of WiFi / Local LAN / 3G / 4G / LTE.
  • the virtual drone agent may dynamically generate or discard a packet relay daemon according to a connection between the virtual drone agent and the control terminal for connection or disconnection of various drones.
  • the virtual drone agent may acquire the packet relay daemon in a time-prioritized manner when several drones access the virtual drone agent at the same time.
  • the embodiment of the present invention it is possible to execute not only the drone operation but also the drone flight, the record storing, and the stored record through the real-time control center implemented with the virtual drone agent and the virtualization server.
  • the drone real name system allows the virtual drone agent and the virtual server to allow flight only when the drone is authenticated, so that it can be applied as a system to complement the drone flight system.
  • drone operation at a remote location is possible.
  • a technique can be utilized, for example, as a control center in the production of content such as a movie or a broadcast on a remote site or in an airplane operation.
  • inventions of the present invention may be implemented in computer readable codes on a computer readable recording medium.
  • the computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored.
  • Examples of computer-readable recording media include those implemented in the form of a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
  • the computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.
  • functional programs, codes and code segments for implementing the present invention can be easily inferred by programmers in the art to which the present invention belongs.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Business, Economics & Management (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • General Engineering & Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon un mode de réalisation de la présente invention, un système de commande multidrone comprend : un agent de drone virtuel servant à analyser des informations individuelles d'un pilote, des informations individuelles d'un drone et des informations de surveillance de pilote en temps réel du drone, et à commander le vol du drone selon les résultats d'analyse ; et un serveur de virtualisation servant à créer et gérer un agent de drone virtuel qui correspond un à un avec le drone, sur la base d'informations de drone préalablement enregistrées.
PCT/KR2016/012260 2016-10-06 2016-10-28 Système et procédé de commande multidrone Ceased WO2018066744A1 (fr)

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CN111026617A (zh) * 2019-12-30 2020-04-17 哈工大机器人（岳阳）军民融合研究院 无人机数据处理方法、系统、电子设备及计算机存储介质
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CN112286226A (zh) * 2020-10-29 2021-01-29 西北工业大学 一种无人机管理系统
WO2021102516A1 (fr) * 2019-11-29 2021-06-03 Botanix Pharmaceuticals Limited Traitement de neisseria au moyen de cannabinoïdes
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CN113630745A (zh) * 2020-05-08 2021-11-09 丰鸟航空科技有限公司 无人机通信方法、系统、装置、设备及存储介质
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CN115657706A (zh) * 2022-09-22 2023-01-31 中铁八局集团第一工程有限公司 基于无人机的地貌测量方法及系统
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CN107085385B (zh) * 2017-06-20 2020-05-08 中仿智能科技（上海）股份有限公司 一种模拟多飞行器自主飞行的仿真系统及方法
US11099557B2 (en) * 2018-07-08 2021-08-24 Eric Hanscom Method of remotely obtaining drone footage
US10841509B2 (en) 2018-10-22 2020-11-17 At&T Intellectual Property I, L.P. Camera array orchestration
CN109754654A (zh) * 2018-12-29 2019-05-14 广州欧科信息技术股份有限公司 基于虚拟现实的历史课题指导系统、方法及装置
WO2021102516A1 (fr) * 2019-11-29 2021-06-03 Botanix Pharmaceuticals Limited Traitement de neisseria au moyen de cannabinoïdes
CN111026617A (zh) * 2019-12-30 2020-04-17 哈工大机器人（岳阳）军民融合研究院 无人机数据处理方法、系统、电子设备及计算机存储介质
CN113630745A (zh) * 2020-05-08 2021-11-09 丰鸟航空科技有限公司 无人机通信方法、系统、装置、设备及存储介质
CN113630745B (zh) * 2020-05-08 2024-06-21 重庆丰鸟无人机研究院有限公司 无人机通信方法、系统、装置、设备及存储介质
CN112286226A (zh) * 2020-10-29 2021-01-29 西北工业大学 一种无人机管理系统
CN113630810A (zh) * 2021-07-18 2021-11-09 西北工业大学 一种高动态网络mac层通信方法
CN115657706A (zh) * 2022-09-22 2023-01-31 中铁八局集团第一工程有限公司 基于无人机的地貌测量方法及系统
CN115657706B (zh) * 2022-09-22 2023-06-27 中铁八局集团第一工程有限公司 基于无人机的地貌测量方法及系统
CN116880434A (zh) * 2023-06-20 2023-10-13 辽宁工业大学 网络攻击下基于云雾计算的无人机-无人车集群协同控制方法
CN116880434B (zh) * 2023-06-20 2024-01-23 辽宁工业大学 网络攻击下基于云雾计算的无人机-无人车集群协同控制方法

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