KR102796619B1 - Drone and drone control method using Ultra Wide Band - Google Patents

Abstract

According to one embodiment, a drone control method using UWB (Ultra Wide Band) and a drone for the method are disclosed, including: a step for obtaining an anchor signal from one or more anchors using the UWB; a step for obtaining a remote control signal from a remote control using the UWB; a step for determining a current position of a drone based on the anchor signal; a step for determining a moveable space and a movement restricted space based on the anchor signal; a step for determining an expected movement position of the drone based on the remote control signal and the current position; and a step for controlling the drone based on a comparison result of the possible movement space, the movement restricted space, and the expected movement position.

Description

{Drone and drone control method using Ultra Wide Band}

The technical field of the present disclosure relates to a drone and a drone control method using UWB, and is related to a technical field that facilitates drone control by controlling a drone using the UWB method.

In the past, drones were controlled using various communication methods such as wifi and RF, so there were problems such as relatively large interference and difficulty in fine control of the drone. In addition, existing drones used an auto-pilot function using an optical flow sensor to determine the location, but this method accumulated errors in proportion to the operating time, making it difficult to obtain accurate location information, making it very difficult to set autonomous flight or flight restriction areas.

In addition, since the existing method uses RF for control and communication, it often causes problems by causing interference with each other in complex radio environments where there are wireless communication and broadcasting equipment in similar radio ranges.

Therefore, this problem can be solved by using an IPS (Indoor Positioning System) using UWB, which obtains location information by measuring the distance to the drone through an anchor installed in a fixed location. Unlike other sensors, this system does not accumulate errors, so it can obtain more accurate location information.

Accordingly, a method is needed to precisely control the drone's position without interference.

Korean Patent Registration No. 10-2292364 (2021.08.17)

The present disclosure discloses a method for controlling a drone using UWB and a drone operating using UWB, and discloses a more efficient drone and drone control method.

The problems to be solved in the present disclosure are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

As a technical means for achieving the above-described technical task, a drone control method using UWB (Ultra Wide Band) according to the first aspect of the present disclosure may include the steps of: obtaining an anchor signal using the UWB from one or more anchors; obtaining a remote control signal using the UWB from a remote control; determining a current position of the drone based on the anchor signal; determining a moveable space and a movement restricted space based on the anchor signal; determining an expected movement position of the drone based on the remote control signal and the current position; and controlling the drone based on a comparison result of the moveable space, the movement restricted space, and the expected movement position.

Additionally, acquisition of the anchor signal and acquisition of the remote control signal can be performed in a UWB tag included in the drone.

Additionally, the movement restriction space can be defined based on multiple virtual walls.

Additionally, the movement restriction space may include a maximum restriction space, an intermediate restriction space, and a minimum restriction space, which are distinguished according to the level at which movement is restricted.

Additionally, if the expected movement location is included in the maximum restricted space, the remote control may be requested to provide an audible and vibration alarm.

Additionally, if the expected movement location is included in the intermediate restricted space, it may be requested that an audible alarm be provided by the remote control.

Additionally, if the expected movement location is included in the minimum restricted space, a vibration alarm may be requested to be provided by the remote control.

In addition, the step of controlling the drone may include a step of controlling the drone so that the drone hovers when the expected movement location is included in the maximum restricted space; a step of controlling the drone so that the movement speed of the drone decreases in proportion to time when the expected movement location is included in the intermediate restricted space; and a step of controlling the drone so that an alarm included in the drone is activated when the expected movement location is included in the minimum restricted space.

A drone using UWB (Ultra Wide Band) according to a second aspect of the present disclosure may include: a receiving unit that obtains an anchor signal from one or more anchors using the UWB and obtains a remote control signal from a remote control using the UWB; and a processor that determines a current location of the drone based on the anchor signal, determines a movable space and a movement restricted space based on the anchor signal, determines an expected movement location of the drone based on the remote control signal and the current location, and controls the drone based on a comparison result of the movable space, the movement restricted space, and the expected movement location.

In addition, a third aspect of the present disclosure can provide a computer-readable recording medium having recorded thereon a program for executing the method of the first aspect on a computer.

According to one embodiment of the present disclosure, by controlling a drone using UWB, interference is eliminated and precise drone control is possible by clearly identifying the current location.

Additionally, drones can be controlled by distinguishing between spaces where they can move and spaces where they are restricted from moving.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

FIG. 1 is a block diagram schematically illustrating the configuration of a drone using UWB according to one embodiment.
FIG. 2 is a flowchart for explaining a drone control method using UWB according to one embodiment.
FIG. 3 is a drawing schematically illustrating an example of a drone control method using multiple anchors according to one embodiment.
FIG. 4 is a diagram schematically illustrating an example of a drone operating using UWB according to one embodiment.
FIG. 5 is a schematic diagram illustrating an example of a drone operating based on a virtual wall according to one embodiment.
FIG. 6 is a schematic diagram illustrating an example of operation in a free-roaming manner according to one embodiment.
FIG. 7 is a diagram schematically illustrating an example of operation of multiple drones according to one embodiment.
FIG. 8 is a diagram schematically illustrating an example of a drone operating to provide a photographing service according to one embodiment.
FIG. 9 is a schematic diagram illustrating an example of a drone operating to avoid obstacles according to one embodiment.

The advantages and features of the present disclosure, and the methods for achieving them, will become clearer with reference to the embodiments described below in detail together with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in various different forms, and the embodiments are provided only to make the disclosure complete and to fully inform a person skilled in the art of the scope of the present disclosure.

The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present disclosure. In the present disclosure, the singular also includes the plural unless the context clearly dictates otherwise. The terms “comprises” and/or “comprising,” as used herein, do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and “and/or” includes each and every combination of one or more of the mentioned components. Although “first,” “second,” etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present disclosure.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in the meaning commonly understood by those skilled in the art. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly specifically defined.

The spatially relative terms "below," "beneath," "lower," "above," "upper," and the like can be used to easily describe the relationship between one component and other components, as illustrated in the drawings. The spatially relative terms should be understood to include different orientations of the components when used or operated, in addition to the orientations illustrated in the drawings. For example, if a component illustrated in the drawings is flipped over, a component described as "below" or "beneath" another component may be positioned "above" the other component. Thus, the exemplary term "below" can include both the above and below orientations. The components may also be oriented in other directions, and the spatially relative terms may be interpreted accordingly.

Hereinafter, various embodiments will be described in detail with reference to the drawings.

Figure 1 is a block diagram schematically illustrating the configuration of a drone (100) using UWB according to one embodiment.

Referring to the drawing, the drone (100) may include a receiver (110), a processor (120), and a transmitter (130).

It will be understood by those skilled in the art that, in addition to the components illustrated in FIG. 1, other general components may be further included in the drone (100). For example, the drone (100) may further include a memory (not illustrated). Or, it will be understood by those skilled in the art that, according to another embodiment, some of the components illustrated in FIG. 1 may be omitted.

A receiving unit (110) according to one embodiment can obtain an anchor signal from one or more anchors using UWB, and can obtain a remote control signal from a remote control using UWB. Since the receiving unit (110) obtains both the anchor signal and the remote control signal using UWB, interference can be reduced.

A processor (120) according to one embodiment can determine the current location of a drone based on an anchor signal. There may be multiple anchors (e.g., three or more).

A processor (120) according to one embodiment can determine a movable space and a movement-restricted space based on an anchor signal. The movable space and the movement-restricted space may be determined in advance.

A processor (120) according to one embodiment can determine an expected movement location of the drone based on a remote control signal and a current location. The expected movement location can be determined by referring to a movement direction according to the remote control signal from the current location.

A processor (120) according to one embodiment may control a drone based on a comparison result of a movable space, a movement-restricted space, and an expected movement location. For example, the drone may be controlled in a manner that partially restricts the drone's movement into a movement-restricted space.

FIG. 2 is a flowchart for explaining a drone control method using UWB according to one embodiment.

In step S210, the drone (100) acquires an anchor signal using UWB from one or more anchors.

Anchor signals can be acquired from multiple anchors located around the drone (100), and the drone (100) can determine the location of the drone (100) based on the directions of the multiple anchors. Acquisition of the anchor signal can be performed in a UWB tag included in the drone (100).

In step S220, the drone (100) obtains a remote control signal from the remote control using UWB.

The remote control can transmit a remote control signal to the drone (100) using UWB. Since the drone (100) obtains both the anchor signal and the remote control signal using UWB, the drone (100) can operate without wifi or RF interference. In addition, acquisition of the remote control signal can be performed in a UWB tag included in the drone (100).

In step S230, the drone (100) determines the current location of the drone (100) based on the anchor signal. The drone (100) can determine the location of the drone (100) based on the direction of a plurality of anchors and/or the distance to a plurality of anchors. The plurality of anchors may be three or more, but is not limited thereto.

In step S240, a movable space and a movement-restricted space can be determined based on an anchor signal.

The movement restriction space may include a maximum restriction space, an intermediate restriction space, and a minimum restriction space, which are distinguished according to the level at which movement is restricted. In addition, the movement restriction space may be defined based on a plurality of virtual walls.

The maximum restricted space can be set for a space where the drone (100) should not move, such as an actual wall. The maximum restricted space can be distinguished from other spaces by a first virtual wall.

The intermediate restricted space may be set for a space where a high risk is expected if a drone (100) moves into the intermediate restricted space, such as an audience seat, even if it is not a physical wall. The intermediate restricted space may be distinguished from other spaces by a second virtual wall.

The least restrictive space may be set in a space where movement is not desirable but where no substantial risk is expected, such as a space protected by guidelines. The least restrictive space may be separated from other spaces by a third virtual wall.

When a drone (100) moves to a movable space, the drone (100) can move without restrictions.

However, an alarm may be provided when the drone (100) moves into a restricted movement area.

For example, if the expected movement location is included in the maximum restricted space, the drone (100) may request the remote control to provide a sound and vibration alarm. The expected movement location of the drone (100) may be determined based on the current location of the drone (100) and the movement path of the drone (100) according to the remote control signal. If the drone (100) is expected to pass through the first virtual wall that separates the maximum restricted space from other spaces, the expected movement location of the drone (100) may be expected to be included in the maximum restricted space. If the expected movement location of the drone (100) is included in the maximum restricted space, the drone (100) may transmit a message requesting the remote control to provide a sound and vibration alarm, and the remote control may output the sound and vibration alarm.

As another example, if the expected movement location is included in the intermediate restricted space, the drone (100) may request to provide an audible alarm via the remote control. The expected movement location of the drone (100) may be determined based on the current location of the drone (100) and the movement path of the drone (100) according to the remote control signal. If the drone (100) is expected to pass through the second virtual wall that separates the intermediate restricted space from other spaces, the expected movement location of the drone (100) may be expected to be included in the intermediate restricted space. If the expected movement location of the drone (100) is included in the intermediate restricted space, the drone (100) may transmit a message requesting to provide an audible alarm via the remote control, and the remote control may output the audible alarm.

As another example, if the expected movement location is included in the minimum restricted space, the drone (100) may request the remote control to provide a vibration alarm. The expected movement location of the drone (100) may be determined based on the current location of the drone (100) and the movement path of the drone (100) according to the remote control signal. If the drone (100) is expected to pass through the third virtual wall that separates the minimum restricted space from other spaces, the expected movement location of the drone (100) may be expected to be included in the minimum restricted space. If the expected movement location of the drone (100) is included in the minimum restricted space, the drone (100) may transmit a message requesting the remote control to provide a vibration alarm, and the remote control may output a vibration alarm.

In step S250, the expected movement location of the drone (100) can be determined based on the remote control signal and the current location. The expected movement location of the drone (100) can be determined based on the current location of the drone (100) and the movement path of the drone (100) according to the remote control signal.

In step S260, the drone (100) can be controlled based on the comparison results of the movable space, the movement restricted space, and the expected movement location.

If the expected movement location of the drone (100) is included in the maximum restricted space, the drone (100) can be controlled to hover. Since the entry of the drone (100) into the maximum restricted space is restricted to the highest level, if the expected movement location of the drone (100) is included in the maximum restricted space, the drone (100) can be controlled to hover at the current location so that the drone (100) cannot enter the maximum restricted space.

If the expected movement location of the drone (100) is included in the intermediate restricted space, the drone (100) can be controlled so that the movement speed of the drone (100) decreases in proportion to time. Since the entry of the drone (100) into the intermediate restricted space is limited to an intermediate level, if the expected movement location of the drone (100) is included in the intermediate restricted space, the drone (100) can be controlled so that the entry of the drone (100) into the intermediate restricted space can be delayed or slowed.

If the expected movement location of the drone (100) is included in the minimum restricted space, the drone (100) can be controlled so that an alarm included in the drone (100) is activated. Since the drone's (100) entry into the minimum restricted space is limited to a minimum level, if the expected movement location of the drone (100) is included in the minimum restricted space, the drone (100) can provide an alarm to the user by outputting an alarm. The drone (100) can induce the user to recognize the alarm and control the drone (100).

A drone (100) according to one embodiment can be controlled according to various factors.

According to one embodiment, the drone (100) can be controlled according to a remote control signal obtained from a remote control and/or a forced control signal obtained depending on the situation.

For example, if the drone (100) is expected to pass through the first virtual wall, the remote control signal may be excluded and the drone (100) may be controlled according to a forced control signal.

As another example, when the drone (100) is expected to pass through the second virtual wall, the first ratio, which is the application ratio of the remote control signal, and the second ratio, which is the application ratio of the forced control signal, are determined based on the current speed, the expected time until passing through the second virtual wall, and the size of the intermediate restricted space according to the second virtual wall, and the drone (100) can be controlled based on the first ratio and the second ratio. Specifically, the first ratio and the second ratio can be determined based on weights that are assigned to gradually decrease in the order of the current speed, the expected time until passing through the second virtual wall, and the size of the intermediate restricted space according to the second virtual wall. Specifically,

The second ratio can be larger than the first ratio as the current velocity is higher, the expected time until passing the second virtual wall is shorter, and the size of the intermediate confinement space along the second virtual wall is smaller.

This is because the higher the current speed, the shorter the expected time until passing the second virtual wall, the greater the need for forced control. In addition, the smaller the size of the intermediate restricted space according to the second virtual wall, the greater the probability that the drone (100) will pass through the intermediate restricted space, so it can be seen that the smaller the size of the intermediate restricted space, the greater the need for forced control. However, since control becomes difficult when the speed is fast, the current speed is the most important factor for control, and the weight can be assigned in the order of the expected time until passing the second virtual wall and the size of the intermediate restricted space according to the second virtual wall.

FIG. 3 is a schematic diagram illustrating an example of a drone control method using multiple anchors (310, 320, 330) according to one embodiment. Referring to FIG. 3, the location of a drone (100) may be determined using three anchors (310, 320, 330), but is not limited thereto.

Fig. 4 is a schematic diagram illustrating an example of a drone (100) operating using UWB according to one embodiment. The drone (100) can communicate with a remote control (400) via UWB, and interference from wifi or RF can be minimized.

FIG. 5 is a schematic diagram illustrating an example in which a drone (100) according to one embodiment operates based on a virtual wall (500). The virtual wall (500) may exist in various types, such as a first virtual wall, a second virtual wall, and a third virtual wall, depending on the restricted level.

Fig. 6 is a schematic diagram illustrating an example of a free-roaming operation according to an embodiment. Since the drone (100) can determine its current location using multiple anchors (310, 320, 330), precise current location determination is possible. Accordingly, the drone (100) can perform precise autonomous driving along an expected path toward a target (600).

FIG. 7 is a drawing schematically illustrating an example of operation of a plurality of drones (101, 102, 103, 104) according to one embodiment, FIG. 8 is a drawing schematically illustrating an example of operation of a drone (100) according to one embodiment to provide a photographing service, and FIG. 9 is a drawing schematically illustrating an example of operation of a drone (100) according to one embodiment to avoid an obstacle.

Since the drone (100) can determine its current location using multiple anchors (310, 320, 330), precise control of the drone (100) is possible. Accordingly, simultaneous control of multiple drones (101, 102, 103, 104), photography service using the drone (100), obstacle avoidance operation using the drone (100), etc. are possible.

Various embodiments of the present disclosure may be implemented as software including one or more instructions stored in a storage medium (e.g., a memory) that can be read by a machine (e.g., a display device or a computer). For example, a processor of the machine (e.g., processor (120)) may call at least one instruction among the one or more instructions stored from the storage medium and execute it. This enables the machine to operate to perform at least one function according to the at least one called instruction. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain signals (e.g. electromagnetic waves), and the term does not distinguish between cases where data is stored semi-permanently or temporarily on the storage medium.

According to one embodiment, the method according to various embodiments disclosed in the present disclosure may be provided as included in a computer program product. The computer program product may be traded between a seller and a buyer as a commodity. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play StoreTM) or directly between two user devices (e.g., smartphones). In the case of online distribution, at least a part of the computer program product may be at least temporarily stored or temporarily generated in a machine-readable storage medium, such as a memory of a manufacturer's server, a server of an application store, or an intermediary server.

Those skilled in the art related to the present embodiment will understand that the above-described description can be implemented in a modified form without departing from the essential characteristics thereof. Therefore, the disclosed methods should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated by the claims, not the above description, and all differences within the scope equivalent thereto should be interpreted as being included in the present invention.

100: Drone
110: Receiver 120: Processor
130: Transmitter
310, 320, 330: Multiple anchors.
400: Remote Control 500: Virtual Wall
600: Target
101, 102, 103, 104: Multiple drones

Claims (7)

In a drone control method using UWB (Ultra Wide Band),
A step of obtaining an anchor signal using the UWB from one or more anchors;
A step of obtaining a remote control signal using the UWB from the remote control;
A step of determining the current location of the drone based on the above anchor signal;
A step of determining a movable space and a movement-restricted space based on the anchor signal;
A step of determining an expected movement location of the drone based on the remote control signal and the current location; and
A step of controlling the drone based on a comparison result of the above movable space, the above movable restricted space and the above expected movable location;
The above movement restriction space is
Includes maximum restricted space, medium restricted space and minimum restricted space, distinguished by the level at which movement is restricted;
The steps for controlling the above drone are:
A step of controlling the drone to hover when the expected movement location is included in the maximum limited space;
A step of controlling the drone so that the moving speed of the drone decreases in proportion to time when the expected moving location is included in the intermediate restricted space; and
A method comprising: a step of controlling the drone so that an alarm included in the drone is activated when the expected movement location is included in the minimum restricted space;
In paragraph 1,
A method wherein acquisition of the anchor signal and acquisition of the remote control signal are performed in a UWB tag included in the drone. In paragraph 1,
A method in which the above movement restriction space is defined based on a plurality of virtual walls. delete In paragraph 1,
A step of requesting that the remote control provide a sound and vibration alarm if the expected movement location is included in the maximum restricted space;
a step of requesting that an audible alarm be provided by the remote control when the expected movement location is included in the intermediate restricted space; and
A method further comprising: a step of requesting that a vibration alarm be provided by the remote control if the expected movement location is included in the minimum limited space;
delete For drones using UWB (Ultra Wide Band),
Obtaining anchor signals using the UWB from one or more anchors,
A receiving unit for obtaining a remote control signal using the UWB from the remote control; and
Determine the current location of the drone based on the above anchor signal,
Based on the above anchor signal, determine the movable space and the movement restricted space,
Determine the expected movement location of the drone based on the above remote control signal and the current location,
A processor for controlling the drone based on a comparison result of the above movable space, the above movable restricted space and the above expected movable location;
The above movement restriction space is
Includes maximum restricted space, medium restricted space and minimum restricted space, distinguished by the level at which movement is restricted;
The above processor
If the above expected movement location is included in the above maximum limited space, control the drone so that the drone hovers,
If the above expected movement location is included in the intermediate restricted space, the drone is controlled so that the movement speed of the drone decreases in proportion to time,
A drone that controls the drone so that an alarm included in the drone is activated when the expected movement location is included in the minimum restricted space.