KR101837979B1 - Method for controlling drone, apparatus and system for executing the method, and server for controlling drone - Google Patents

Abstract

A drones control method and apparatus and system for performing the dron control method and a dron control server are disclosed. The dron control server according to the exemplary embodiment includes a communication unit for communicating with a drones and a drone operation terminal through a wireless communication network and a flight control signal received from the drones operation terminal by the position information of the dron and the attitude information of the dron, And a flight control unit for generating a flight correction control signal and transmitting the generated flight correction control signal to the drone through a communication unit to control the flight of the drone.

Description

TECHNICAL FIELD [0001] The present invention relates to a drone control method, an apparatus and a system for performing the method, a drone control server, and a drone control server,

Embodiments of the invention relate to drone control techniques.

Drones have been used mainly for military purposes because they are flying by remote control or autonomous flight along a designated route. However, recently, they have been used in various fields such as transportation and security. Is also being utilized.

In this way, the range of application of the drones is gradually enlarged, while the control of the drones is mainly carried out individually by the individual or the operator of the drone, so that they may enter the public controlled zone or the private control zone, Various problems are occurring.

Korean Patent Publication No. 10-2010-0129543 (December, 2010)

Embodiments of the present invention are to provide a drones control method and apparatus and system for performing the dron control method and a dron control server.

A drones control server according to an exemplary embodiment includes a communication unit for communicating with a drones and a drone operation terminal through a wireless communication network; And generating a flight correction control signal by correcting the flight operation signal received from the drones operating terminal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones, And a flight control unit for transmitting a correction control signal to the drones via the communication unit to control the drones.

The operation restriction information may include at least one of operation restriction area information for an area where the drones are restricted or prohibited and function restriction area information for an area where the function installed in the drones needs to be restricted .

The flight control unit may generate the flight correction control signal by correcting the flight operation signal so that the drones avoid the travel restriction area.

Wherein the function restriction area information includes information on an area in which shooting is prohibited, and when the drones control server receives an imaging signal from the drones operating terminal, the drones control server determines whether the position of the drones is prohibited And a shooting control unit for limiting the shooting operation of the drones.

The flight control unit may generate the flight correction control signal by correcting the flight operation signal so that the attitude of the dron does not deviate from the predetermined attitude range.

The drone control server may further include a flight driving information generating unit for generating flight driving information including at least one of flight path information and flight altitude information of the drones based on a start point and a destination of the dron and the operation restriction information .

The drone control server may further include a mobile repeater control unit for moving the mobile repeater to the out of communication range of the wireless communication network to communicate with the drone.

Wherein the mobile repeater control unit confirms the flight path of the drones and moves the mobile repeater located closest to the communication range deviation area to the communication range deviation zone when there is a communication range deviation zone on the flight path of the drones .

The mobile repeater may be an unmanned aerial vehicle having a communication relay function.

A dron controlling method according to an exemplary embodiment is a method of controlling a dron using a wireless communication network, the method comprising: receiving a flying operation signal from a drones operating terminal at a dron control server; Generating a flight correction control signal by correcting the flight operation signal in accordance with at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones; And transmitting, at the drone control server, the flight correction control signal to the drones.

The operation restriction information may include at least one of operation restriction area information for an area where the drones are restricted or prohibited and function restriction area information for an area where the function installed in the drones needs to be restricted .

The generating of the flight correction control signal may correct, at the drone control server, the flight operation signal so that the drone avoids the travel restriction area.

Wherein the function restriction area information includes information on an area where photographing is prohibited, the method comprising the steps of: receiving, at the drone control server, a photographed signal from the drone operation terminal; And limiting the shooting operation of the drones in accordance with whether the position of the drones is prohibited in the drones control server.

The generating of the flight correction control signal may correct the flight operation signal in the drone control server so that the posture of the drone does not deviate from the predetermined posture range.

Wherein, before the step of receiving the flight operation signal, at the drone control server, the flight management information including at least one of the flight path information and the flight altitude information of the dron, based on the start point and the destination of the dron, ≪ / RTI > And transmitting, at the drone control server, the flight management information to at least one of the drone operation terminal and the drone.

And moving the mobile repeater to the out-of-coverage area of the wireless communication network to allow the drones server to communicate with the drones.

The step of moving the mobile repeater may include the steps of: checking, at the drone control server, whether or not the communication range out of the drones is present on the flight path of the drones; Confirming, at the drone control server, a mobile repeater located closest to the communication range out-of-area, if the communication range out-of-range exists; And moving, at the drone control server, the nearest mobile repeater to the out of communication range.

A system according to an exemplary embodiment includes a drones; A drone operation terminal for operating the drone, and a drone control server for controlling the drone using a wireless communication network, wherein the drone control server comprises: an operation for receiving a flight operation signal from the drone operation terminal; Generating the flight correction control signal by correcting the flight operation signal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones; And transmitting the flight correction control signal to the drones.

The drones may include an emergency falling means for lowering the falling speed upon falling.

The system may further include a service server for receiving the photographed image photographed by the drone and transmitting the photographed image to the drone operation terminal.

The wireless communication network may include a plurality of base stations and the drones may measure a distance between the drones and adjacent base stations and may calculate the location of the drones using the measured distance and the location information of the base station .

The system may further include a mobile repeater moving to a region out of communication range of the wireless communication network by the control of the drone control server.

The mobile repeater may be an unmanned aerial vehicle having a communication relay function, and may perform communication with the drones in the out of communication range.

An apparatus according to an exemplary embodiment includes one or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the program comprising: an operation of receiving a flight control signal for operating a drones; Generating the flight correction control signal by correcting the flight operation signal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones; And transmitting the flight correction control signal to the drones.

According to the exemplary embodiment, it is possible to control the drones by using the already established wireless communication network, thereby expanding the control range of the drones and reducing the construction cost of the communication network for controlling the drones.

Further, by controlling the drones by correcting the flight operation signal received from the drones operating terminal according to the position information, the attitude information, the travel restriction information, etc. of the drones, it is possible to prevent intruding or collision of the drones.

Further, when the drones deviate from the communication range of the wireless communication network, the drones can be controlled outside the communication range of the wireless communication network by communicating with the drones through the mobile repeater, thereby further extending the control range of the drones .

1 is a diagram illustrating a configuration of a drone control service system according to an exemplary embodiment;
2 is a diagram showing a configuration of a drone control server according to an exemplary embodiment;
3 is a diagram illustrating a state in which communication with a drone is performed using a mobile repeater according to an exemplary embodiment;
4 is a flow chart illustrating a drones control method according to an exemplary embodiment.
5 is a flow chart illustrating a drones control method according to another exemplary embodiment
Figure 6 illustrates a computing environment including an exemplary computing device suitable for use in the exemplary embodiments

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to provide a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, this is merely an example and the present invention is not limited thereto.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intention or custom of the user, the operator, and the like. Therefore, the definition should be based on the contents throughout this specification. The terms used in the detailed description are intended only to describe embodiments of the invention and should in no way be limiting. Unless specifically stated otherwise, the singular forms of the expressions include plural forms of meanings. In this description, the expressions "comprising" or "comprising" are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, Should not be construed to preclude the presence or possibility of other features, numbers, steps, operations, elements, portions or combinations thereof.

In the following description, terms such as " transmission ", "transmission "," transmission ", "reception ", and the like, of a signal or information refer not only to the direct transmission of signals or information from one component to another But also through other components. In particular, "transmitting" or "transmitting" a signal or information to an element is indicative of the final destination of the signal or information and not a direct destination. This is the same for "reception" of a signal or information. Also, in this specification, the fact that two or more pieces of data or information are "related" means that when one piece of data (or information) is acquired, at least a part of the other data (or information) can be obtained based thereon.

1 is a diagram illustrating a configuration of a drone control service system according to an exemplary embodiment.

Referring to Figure 1, a drones control service system 100 may include a drones terminal 102, a drones control server 104, a drones 106, a service server 108, and a wireless communications network 110 . The drones terminal 102, the drones server 104, the drones 106, and the service server 108 may be interconnected via the wireless communication network 110. [

The drone operation terminal 102 is a main body terminal for operating the drone 106. That is, the drones operating terminal 102 is a terminal of the user operating the drones 106. The drone operation terminal 102 may move the drone 106 to a predetermined destination and photograph the periphery of the destination. The drones terminal 102 has an interface (e.g., a joystick, a button, a touch screen, etc.) capable of operating the drones 106. Drones terminal 102 may comprise a computer readable storage medium, such as a processor and a memory accessible by the processor. The computer-readable storage medium may be internal or external to the processor, and may be coupled to the processor by any of a variety of well-known means. Computer-readable storage media may store computer-executable instructions. The instructions stored on the computer readable storage medium may cause the processor to perform operations in accordance with the illustrative embodiments, when executed by the processor. For example, an application may reside on a computer-readable storage medium. The application includes a predetermined set of instructions executable by the processor. The application may include a set of instructions for operating the drones 106. The application may be downloaded by a user of the drones terminal 102 from a server computing device to which the application has been uploaded and stored in a computer readable storage medium. The computer-readable storage medium also includes components (not shown) of the operating system for executing a set of instructions, such as an application, on the user terminal 102. For example, such an operating system could be Apple's iOS or Google's Android.

The drone operation terminal 102 can transmit basic information (path setting basic information) to the drone control server 104 for setting the path to the destination to which the drone 106 moves. The path setting basic information may include the source and destination information of the drone 106. The drone operation terminal 102 can receive flight operation information from the drone control server 104. [ The flight operation information may include at least one of information about the flight path of the drone 106 (flight path information) and information about the flight altitude (flight altitude information). The user of the drone operation terminal 102 can perform the operation of the drone 106 by referring to the flight operation information. The drone operation terminal 102 can transmit a flight operation signal according to the user's operation to the drone control server 104. [ The flight operation signal includes movement operation information (for example, forward movement, backward movement, leftward movement, rightward movement, upward movement, downward movement, leftward rotation, rightward rotation and stop) of the drone 106, Information, and altitude manipulation information of the drone 106 may be included.

The drone operation terminal 102 may transmit a photographing signal for photographing or moving picture photographing to the drone control server 104 according to a user's command. The drone operation terminal 102 can receive the image taken by the drone 106 from the service server 108. [ However, the present invention is not limited to this, and the drones terminal 102 may receive the photographed image from the drones 106 or the drones server 104.

The drones control server 104 serves to control the flight of the drones 106. The drones control server 104 may perform registration and authentication of the drones 106 at the request of the manager or the drones terminal 102. When the drone control server 104 receives route setting basic information from the drone operation terminal 102, the drone control server 104 can generate the flight management information using the route setting basic information and the operation restriction information. The drone control server 104 can transmit the flight operation information to the drone operation terminal 102. In addition, the drone control server 104 may transmit flight information to the drone 106. [

Here, the travel restriction information may include information about an area where the flight or function of the drones 106 needs to be controlled. For example, the travel restriction information may include travel restriction area information, which is information on an area where the flight of the drone 106 is restricted or prohibited, and function restriction information, which is information on an area where a function mounted on the drone 106 needs to be restricted And local information. However, the present invention is not limited to this, and the operation restriction information may be variously set and changed by the administrator. The traffic restriction information can be implemented as a geo-fence.

In an exemplary embodiment, the restricted area information may include areas that are prohibited from legally flying, such as military areas, areas where flight altitudes are above or below a certain altitude, areas where there are obstacles that may cause conflict, such as high-rise buildings , And the area where prior permission is required for the flight. The restricted area may include information on the area where the shooting is prohibited, and the like.

The drones control server 104 may receive location information of the drones 106 from the wireless communication network 110 or the drones 106. The drone control server 104 may receive the attitude information of the drone 106 from the drone 106. [ When the drone control server 104 receives the flight operation signal from the drone operation terminal 102, the drone control server 104 may generate the flight correction control signal by correcting the flight operation signal according to the position information and attitude information of the drone 106. [ The drone control server 104 may generate a flight correction control signal by correcting the flight control signal so that the drone 106 bypasses the restricted travel area. The drone control server 104 can generate the flight correction control signal by correcting the flight operation signal so that the drones 106 fly while maintaining a stable attitude.

 The drone control server 104 may send a flight correction control signal to the drone 106 to control the flight of the drone 106. [ The drones control server 104 transmits a photographing signal to the drones 106 in accordance with the location information and the operation restriction information of the drones 106 when the photographing signal is received from the drones terminal 102, To the terminal (102). The capture limit signal may also be transmitted to the drones 106.

The drones 106 may be referred to as unmanned aerial vehicles (UAVs), such as those flying by remote control without personnel, or autonomously flying along designated routes, But may include any type of aircraft capable of autonomous flight along a specified path, and is not limited to a specific name and form. The drones 106 may be used for various purposes such as military, transportation, crime prevention, observation, and shooting. Depending on the applications, the drones 106 may be cameras, infrared sensors, thermal sensors, posture sensors, And the like can be mounted.

The drone 106 may fly according to the flight correction control signal received from the drone control server 104. The drone 106 may change at least one of the flight path, flight altitude, and attitude according to the flight correction control signal. The drone 106 can control the operation of the camera in accordance with a shooting signal or a shooting restriction signal received from the drone control server 104. The drone 106 can photograph the surrounding area according to the photographing signal and transmit the photographed image to the service server 108. [ Also, the drone 106 may transmit the photographed image to the drone control server 104 or the drone operation terminal 102. If the drone 106 is equipped with a position measurement sensor, the drone 106 may transmit information about its position to the drone control server 104. The drones 106 may transmit information about their postures to the drone control server 104. [ Also, the drone 106 may receive the flight operation information from the drone control server 104 and may perform the autonomous flight according to the flight operation information.

The drones 106 may be provided with an emergency dropping means (for example, a parachute or the like) to lower the dropping speed. In the exemplary embodiment, the drones 106 may be provided so that the emergency falling means unfolds from the body of the drones 106 when they fall due to a communication disconnection or a device failure or collision. In addition, the drones 106 may generate an audible tone upon dropping to allow nearby persons to perceive the drop of the drones 106.

The service server 108 may receive the photographed image from the drones 106. The service server 108 may store photographed images for each user operating the drone 106. [ The service server 108 may transmit the photographed image of the drones 106 to the drones operating terminal 102. At this time, the service server 108 can transmit the photographed image of the drone 106 in real time (in a streaming manner). That is, the service server 108 can relay the photographed image between the drone 106 and the drone operation terminal 102.

The wireless communication network 110 may relay communications between the drones terminal 102, the drones control server 104, the drones 106, and the service server 108. Specifically, the drones 106 may be connected to at least one of the base stations 110-1, 110-2, and 110-N of the wireless communication network 110 to communicate with the drones server 104 and the service server 108 have. For this purpose, the user of the drones operating terminal 102 can register the drones 106 to subscribe to and operate the wireless communication service of the wireless communication company operating the wireless communication network 110.

In an exemplary embodiment, the wireless communication network 110 is a communication network operated by a wireless communication service provider, and may be a WCDMA (Wideband Code Division Multiple Access) or LTE (Long Term Evolution) mobile communication network, And may include various communication networks for providing wireless communication services to wireless communication terminals using a plurality of base stations.

The remote drones 106 can also be controlled by communicating with the drones 106 via the base stations 110-1, 110-2 and 110-N of the wireless communication network 110, ) Can be widened. 1, there is shown one dron 106 controlled by the dron control server 104. However, this is only an example for convenience of explanation, and the dron control server 104 may include one or more drones 106 You can control. In addition, the drones terminal 102 may also operate one or more drones 106.

The wireless communication network 110 may identify the location of the drones 106 and may transmit location related information of the drones 106 to the drones server 104. In other words, since the wireless communication network 110 includes a plurality of base stations 110-1, 110-2, and 110-N, the position of the drones 106 is determined by applying a multi-cell based Indoor Positioning Service (IPS) You can trace. Specifically, after the base stations near the drones 106 communicate with the drones 106 to measure the distance to the drones 106, the measured distance to the drones 106 and corresponding base station identification information (or base station location Information to the drone control server 104. The drone control server 104 may then calculate the current location of the drone 106 based on the measured distance to the drone 106 and the base station identification information (or base station location information). However, the present invention is not limited to this, and any one of the base stations may calculate the current position of the drones 106 and then transmit them to the drones server 104. Further, the distance between the drone 106 and neighboring base stations may be measured, and position information of the base station may be received from each base station to calculate the current position of the drone 106. Since the position of the drone 106 can be tracked through the wireless communication network 110, the position sensor can be omitted from the drone 106.

2 is a diagram illustrating a configuration of a drone control server according to an exemplary embodiment.

2, the drone control server 104 may include a communication unit 201, a flight operation information generating unit 203, a flight control unit 205, a photographing control unit 207, and a storage unit 209 .

The communication unit 201 performs data communication with the drone operation terminal 102 and the drone 106 via the wireless communication network 110, respectively.

The flight operation information generating unit 203 can generate flight operation information based on the route setting basic information received from the drones operating terminal 102 and the predetermined operation restriction information. The flight management information may include at least one of flight path information and flight altitude information. Here, some of the routing basic information (e.g., the source information of the drones 106) may be obtained from the drones 106 or the wireless communication network 110.

Specifically, the flight operation information generating unit 203 can set the shortest flight path from the source of the drones 106 to the destination. Then, the flight operation information generating unit 203 confirms the operation restricting area (for example, a military area, an area where an obstacle exists, an area requiring prior permission for flight, etc.) on the shortest flight path, ) May modify the shortest flight path to avoid flight restricted area to generate flight path information. In addition, the flight operation information generating unit 203 may check the flight altitude restricted area on the shortest flight path, and generate the flight altitude information so that the drone 106 does not exceed the altitude limit.

The flight operation information generating unit 203 may generate flight operation information in consideration of the flight path of the other drone. Specifically, when a plurality of drone flight paths and flight altitudes overlap or intersect with each other, the flight operation information generating unit 203 generates the flight path information of the drone (s) in consideration of the flight path and the flight altitude of the other drone 106) and the flight altitude of the aircraft. For example, the flight operation information generating unit 203 may determine the flight altitude of the drone 106 so as to be operated at a flight altitude different from that of the other drone, in a section overlapping or intersecting with the flight path of the other drone.

The flight control unit 205 can generate the flight correction control signal by correcting the flight operation signal received from the drones operating terminal 102 according to the position information and attitude information of the drone 106. [ Specifically, when the drones 106 fly according to the movement operation information included in the flight operation signal, when the drones 106 approach the restricted area or enter the restricted area, ) Can correct movement manipulation information to bypass or depart from the restricted travel area. The flight control unit 205 adjusts the altitude of the drones 106 according to the altitude operation information included in the flight operation signal so that when the drones 106 violate the altitude limitations, The altitude operation information can be corrected so as not to violate the restriction. In addition, when the dragon 106 is caused to fly by the posture manipulation information, the movement manipulation information, and the altitude manipulation information included in the flight manipulation signal, the flight control unit 205 causes the posture of the dragon 106 to become unstable, ) Is in danger of falling, the flight operation signal can be corrected so that the drone 106 can fly in a stable posture. That is, the flight control unit 205 can correct the flight operation signal so that the attitude of the drones 106 does not deviate from the predetermined attitude range.

The flight control unit 205 tracks the position of the drones 106 in real time when the drones 106 are flying autonomously so that the flight path of the drones 106 is controlled so that the drones 106 avoid the restricted travel zones and fly Can be controlled.

When the photographing signal is received from the drones operating terminal 102, the photographing control unit 207 confirms whether or not the location of the drones 106 is the area where photographing is prohibited by using the location information and the operation restriction information of the drones 106 . When the location of the drone 106 is not the area where the photographing is prohibited, the photographing control unit 207 may transmit the photographing signal to the drone 106 to photograph the surroundings. When the location of the drone 106 is an area where photographing is prohibited, the photographing control unit 207 may transmit a photographing restriction signal to the drone 106 or the drone operation terminal 102 to restrict the photographing.

The storage unit 209 may store path setting basic information received from the drones operating terminal 102. [ The storage unit 209 may store the operation restriction information (including at least one of the operation restriction area information and the function restriction area information). Here, the traffic restriction information may be implemented as a geo-fence. The storage unit 209 may store registration information and authentication information of the drones terminal 102 and the drones 106.

Meanwhile, in an exemplary embodiment, the drone control service system 100 may communicate with the drone 106 using a mobile repeater.

3 is a diagram illustrating a state in which communication with a drone is performed using a mobile repeater according to an exemplary embodiment.

3, when the drones 106 of the drones 106 are out of the communication range of the wireless communication network 110, the mobile repeater 150 moves to a point at which the mobile repeater 150 can communicate with the drones 106, ), So that the control range of the drone 106 can be expanded.

Specifically, the drone control server 104 confirms whether or not the drone 106 is out of the communication range of the wireless communication network 110 through the flight path of the drone 106. When the drones 106 are out of the communication range of the wireless communication network 110, the drones control server 104 controls the mobile repeater 150 to move the mobile repeater 150 to a point at which it can communicate with the drones 106 . Here, the mobile repeater 150 may be a drone having a communication relay function. The mobile repeater 150 may communicate with the drones 106 after landing at a point where it can communicate with the drones 106 in areas outside the communication range of the wireless communication network 110. [ The drone control server 104 may further include a mobile repeater controller (not shown) for controlling the mobile repeater 150.

4 is a flow chart illustrating a drones control method according to an exemplary embodiment. The method shown in FIG. 4 may be performed, for example, by the drones control server 104. In the illustrated flow chart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in reverse order, combined with other steps, performed together, omitted, divided into detailed steps, One or more steps may be added and performed.

Referring to FIG. 4, the drone control server 104 obtains route setting basic information (S101). The drone control server 104 may obtain the routing basic information from the drone operation terminal 102 and / or the drone 106. [ The path setting basic information may include the source and destination information of the drone 106.

Next, the drone control server 104 generates the flight operation information using the obtained route setting basic information and the stored operation restriction information, and transmits the generated flight operation information to the drone operation terminal 102 (S 103 ). The drone control server 104 may transmit flight information to the drone 106. [

Next, when the drone control server 104 receives the flight operation signal from the drone operation terminal 102 (S105), the drone control server 104 corrects the flight operation signal according to the position information and attitude information of the drone 106, And generates a signal (S 107).

Next, the drone control server 104 transmits the flight correction control signal to the drone 106 to control the flight of the drone 106 (S 109).

Next, the drone control server 104 confirms whether or not the region corresponding to the position of the drone 106 is a shooting-prohibited zone when receiving a shooting signal from the drones operating terminal 102 (S 111) (S 113 ). The drone control server 104 can confirm whether or not the area corresponding to the location of the drone 106 is a shooting prohibited area by using the location information of the drone 106 and the stored travel restriction information.

If it is determined in step S113 that the area corresponding to the location of the drones 106 is a shooting prohibited area, the drones control server 104 stores the shooting limit signal to the drones operating terminal 102 (S115). If it is determined in step S113 that the area corresponding to the position of the drones 106 is not a shooting prohibited area, the drones control server 104 transmits a shooting signal to the drones 106 (S117).

5 is a flowchart illustrating a drones control method according to another exemplary embodiment. The method shown in Fig. 5 may be performed, for example, by the drones control server 104. In the illustrated flow chart, the method is described as being divided into a plurality of steps, but at least some of the steps may be performed in reverse order, combined with other steps, performed together, omitted, divided into detailed steps, One or more steps may be added and performed.

Referring to FIG. 5, the drone control server 104 obtains route setting basic information (S 201). The drone control server 104 may obtain the routing basic information from the drone operation terminal 102 and / or the drone 106. [ The path setting basic information may include the source and destination information of the drone 106.

Next, the drone control server 104 generates flight driving information including at least one of the flight path information and the flight altitude information using the acquired route setting basic information and the stored travel limiting information (S 203).

Next, the drone control server 104 confirms whether there is a communication range out-of-range on the flight path according to the flight operation information (S 205). That is, the drone control server 104 can confirm whether or not there is an area deviated from the communication range with the base stations of the wireless communication network 110 on the flight path.

If it is determined in step S 205 that there is an out-of-communication-area, the drone control server 104 confirms the mobile repeater 150 that is in the closest distance to the communication range out of the registered mobile repeater 150 S 207). That is, a plurality of mobile relays 150 may be registered and operated in the drone control server 104. The drone control server 104 may monitor the location of a plurality of mobile relays 150. In this way, the drone control server 104 can confirm the mobile repeater 150 which is nearest to the communication range out of the plurality of mobile relays 150.

Next, the drone control server 104 controls the mobile relay 150 to move to the communication range out-of-coverage area (S 209). The drone control server 104 moves the mobile relay 150 to a place capable of communicating with the drone 106 on the flight path of the drone 106 and a place where the mobile communication terminal 110 can communicate with the base station .

Next, the drone control server 104 communicates with the drone 106 through the mobile relay 150 (S 211).

FIG. 6 illustrates a computing environment including an exemplary computing device suitable for use in the exemplary embodiments.

The exemplary computing environment 300 shown in FIG. 6 includes a computing device 310. Typically, each configuration may have different functions and capabilities, and may additionally include components that are appropriate for the configuration, even if not described below. The computing device 310 may be a server computing device (e.g., a drones server 104) for the control of the drones. In addition, the computing device 310 may be a computing device (e.g., a drones terminal 102) for operating the drones.

The computing device 310 includes at least one processor 312, a computer readable storage medium 314, and a bus 360. The processor 312 is coupled to a bus 360 and the bus 360 includes a computer readable storage medium 314 to connect various other components of the computing device 310 to the processor 312.

The processor 312 may cause the computing device 310 to operate in accordance with the exemplary embodiment discussed above. For example, the processor 312 may execute computer-executable instructions stored in the computer-readable storage medium 314, and computer-executable instructions stored in the computer-readable storage medium 314 may be executable by the processor 312 The computing device 310 may be configured to perform operations in accordance with certain exemplary embodiments.

The computer readable storage medium 314 may store computer executable instructions or program code (e.g., instructions contained in application 330), program data (e.g., data used by application 330), and / As shown in FIG. The application 330 stored in the computer readable storage medium 314 includes a predetermined set of instructions executable by the processor 312. [

The memory 316 and the storage device 318 shown in FIG. 6 are examples of a computer-readable storage medium 314. The memory 316 may be loaded with computer executable instructions that may be executed by the processor 312. Also, the program data may be stored in the memory 316. [ For example, such memory 316 may be volatile memory, such as random access memory, non-volatile memory, or any suitable combination thereof. As another example, the storage device 318 may include one or more removable or non-removable components for storage of information. For example, the storage device 318 may be a hard disk, flash memory, magnetic disk, optical disk, other type of storage medium that can be accessed by the computing device 310 and store the desired information, or any suitable combination thereof.

The computing device 310 may also include one or more input / output interfaces 320 that provide an interface for one or more input / output devices 370. The input / output interface 320 is connected to the bus 360. The input / output device 370 may be connected to (other components of) the computing device 310 via the input / output interface 320. The input / output device 370 includes an input device such as a pointing device, a keyboard, a touch input device, a voice input device, a sensor device and / or a photographing device and / or an output device such as a display device, printer, speaker and / can do.

On the other hand, certain embodiments may include a computer readable storage medium comprising a program for performing the procedures described herein on a computer. Such computer-readable storage media may include program instructions, local data files, local data structures, etc., alone or in combination. The computer-readable storage medium may be those specially designed and constructed for the present invention. Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks and magnetic tape, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floppy disks, and ROMs, And hardware devices specifically configured to store and execute the same program instructions. Examples of program instructions may include machine language code such as those generated by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, . Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

100: Drone control service system
102: Drones terminal
104: Drone control server
106: Drones
108: service server
110: Wireless communication network
201:
203: Flight driving information generating unit
205:
207:
209:

Claims (25)

A communication unit for communicating with a drone and a drone operation terminal through a wireless communication network;
A flight operation signal received from the drones operating terminal is corrected according to at least one of position information of the drones, attitude information of the drones, and operation restriction information of the drones to generate a flight correction control signal, A flight control unit for transmitting a control signal to the drones through the communication unit to control the drones; And
And if the communication range out of the drones is on the flight path of the drones, moves the mobile repeater located closest to the out of communication range to the out of communication range and communicates with the drones And a mobile relay repeater control unit for controlling the relay station.
The method according to claim 1,
The operation restriction information includes,
Wherein at least one of the restricted area information for the area where the drones are restricted or prohibited and the restricted area information for the area for which the drones are installed needs to be limited.
The method of claim 2,
The flight control unit includes:
Wherein the drones generate the flight correction control signal by correcting the flight operation signal so as to avoid the travel restriction area.
The method of claim 2,
Wherein the function restriction area information includes information on an area where shooting is prohibited,
The drone control server,
Further comprising a photographing control unit for limiting the photographing operation of the drones according to whether the position of the drones is the area where the photographing is prohibited when the photographing signal is received from the drones operating terminal.
The method according to claim 1,
The flight control unit includes:
And the flight control signal is generated by correcting the flight operation signal so that the attitude of the dron does not deviate from a predetermined attitude range.
The method according to claim 1,
The drone control server,
And a flight operation information generating unit for generating flight operation information including at least one of flight path information and flight altitude information of the drones based on the start point and the destination of the drones and the operation restriction information.
delete delete The method according to claim 1,
The mobile repeater comprising:
A drone control server, which is a unmanned aircraft having a communication relay function.
As a method for controlling a drones using a wireless communication network,
Receiving, at the drone control server, a flight operation signal from the drone operation terminal;
Generating a flight correction control signal by correcting the flight operation signal in accordance with at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones;
Transmitting, at the drone control server, the flight correction control signal to the drones;
Confirming whether or not there is a communication range out of the wireless communication network on the flight path of the drones;
Confirming, at the drone control server, a mobile repeater located closest to the communication range out-of-area, if the communication range out-of-range exists; And
And in the dron control server, moving the nearest mobile repeater to the out of communication range to communicate with the drones.
The method of claim 10,
The operation restriction information includes,
Wherein at least one of the restricted area information for the area where the drones are restricted or prohibited and the restricted area information for the area for which the drones are installed needs to be limited.
The method of claim 11,
Wherein the step of generating the flight correction control signal comprises:
And at the drone control server, corrects the flight operation signal so that the drones avoid the travel restriction area.
The method of claim 11,
Wherein the function restriction area information includes information on an area where shooting is prohibited,
Receiving, at the drone control server, a photographed signal from the drone operation terminal; And
Further comprising the step of limiting the shooting operation of the drones in accordance with whether the position of the drones is prohibited in the drones control server.
The method of claim 10,
Wherein the step of generating the flight correction control signal comprises:
And the drone control server corrects the flight operation signal so that the posture of the drones does not deviate from a predetermined posture range.
The method of claim 10,
Before the step of receiving the flight operation signal,
Generating flight operation information including at least one of flight path information and flight altitude information of the drones based on a start point and a destination of the dron and the operation restriction information; And
And at the dron control server, transmitting the flight information to at least one of the drones terminal and the drones.
delete delete drone; A drones terminal for operating the drones, a drones server for controlling the drones using a wireless communication network, and a mobile repeater,
The drone control server,
Receiving a flight operation signal from the drone operating terminal;
Generating the flight correction control signal by correcting the flight operation signal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones;
Transmitting the flight correction control signal to the drones;
Confirming whether or not there is a communication range out of the wireless communication network on the flight path of the drones;
Confirming a mobile repeater located closest to the communication range out-of-area when the communication range out-of-range exists; And
And to move the nearest mobile repeater to the out of communication range to communicate with the drones.
19. The method of claim 18,
The drones,
And an emergency dropping means for lowering the dropping speed upon dropping.
19. The method of claim 18,
The system comprises:
Further comprising: a service server for receiving the photographed image photographed by the drone and transmitting the photographed photographed image to the drone operation terminal.
19. The method of claim 18,
The wireless communication network includes a plurality of base stations,
Wherein the drones measure the distance between the drones and adjacent base stations and calculate the location of the drones using the measured distance and the location information of the base station.
delete 19. The method of claim 18,
Wherein the mobile repeater is an unmanned aerial vehicle having a communication relay function.
One or more processors;
Memory; And
An apparatus comprising one or more programs,
Wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors,
The program includes:
An operation of receiving a flight operation signal for operating the drones;
Generating the flight correction control signal by correcting the flight operation signal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones;
Transmitting the flight correction control signal to the drones;
Confirming whether or not there is a communication range out of the wireless communication network on the flight path of the drones;
Confirming a mobile repeater located closest to the communication range out-of-area when the communication range out-of-range exists; And
And moving the nearest mobile repeater to the out of communication range to communicate with the drones.
Combined with hardware,
Receiving a flight operation signal for operating the drones;
Generating the flight correction control signal by correcting the flight operation signal according to at least one of position information of the drones, attitude information of the drones, and travel restriction information of the drones;
Transmitting the flight correction control signal to the drones;
Confirming whether or not there is a communication range out of the wireless communication network on the flight path of the drones;
Confirming a mobile repeater located closest to the communication range out-of-area when the communication range out-of-range exists; And
And moving the mobile relay located nearest to the out of communication range to communicate with the drones.

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