KR101892695B1 - System of drone control - Google Patents

Abstract

A control system for an unmanned aerial vehicle is disclosed, wherein a state of network connection between an unmanned aerial vehicle for capturing an image and an unmanned aerial vehicle capturing an image in the sky is checked, and the captured image is received and processed according to the network connection state, And a control unit which is provided in the unmanned air vehicle and receives and processes the photographed image according to a network connection state between the unmanned air vehicle and the host device, And an embedded board device for providing a flight control signal of the unmanned aerial vehicle based on the received signal.

Description

SYSTEM OF DRONE CONTROL [0002]

The present invention relates to an unmanned aerial vehicle control system.

The conventional image processing technology of the unmanned aerial vehicle has been mostly performed in the host computer due to the limitation of the flight time of the unmanned aerial vehicle and the processing speed of the processor mounted on the unmanned aerial vehicle. In this case, as the physical distance between the host computer and the unmanned air vehicle is distanced by the flight of the unmanned air vehicle, the network becomes unstable and the host computer becomes difficult to receive the image from the unmanned air vehicle.

In addition, since the image can not be received from the unmanned aerial vehicle, the host computer can not process the image for the control of the unmanned aerial vehicle, and there is a problem that the unmanned aerial vehicle can not fly by the image processing.

The background technology of the present application is disclosed in Korean Patent Registration No. 10-1619836 (registered on May 03, 2016).

SUMMARY OF THE INVENTION It is an object of the present invention to provide an unmanned aerial vehicle control system for controlling an unmanned aerial vehicle by processing images taken by an unmanned aerial vehicle.

It is an object of the present invention to provide an unmanned aerial vehicle control system capable of selectively determining a subject of image processing according to a network state between an unmanned aerial vehicle and a host computer to flexibly cope with the problem.

It should be understood, however, that the technical scope of the embodiments of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided a host apparatus for controlling driving of an unmanned aerial vehicle, comprising: a first image receiving unit for receiving an image from an unmanned air vehicle; A first image processing unit for processing the received image, and a host controller for generating a control signal for controlling the flight of the unmanned air vehicle based on a result of the image processing, The image receiving unit can determine whether to receive the image based on the network connection state of the unmanned aerial vehicle and the host apparatus.

According to one embodiment of the present invention, the network status sensing unit detects a case where the signal sensitivity of the network between the unmanned air vehicle and the host device is less than a predetermined threshold, and the host control unit determines that the signal sensitivity of the network is lower than the threshold A control signal is generated so that the first image receiving unit does not receive the image from the unmanned air vehicle and a control signal is transmitted to the embedded board device so that the embedded board device mounted on the unmanned air vehicle receives the image from the unmanned air vehicle .

According to an embodiment of the present invention, the network status sensing unit detects when the signal sensitivity of the network between the unmanned air vehicle and the host device is equal to or greater than the threshold, and when the signal sensitivity of the network is equal to or greater than the threshold, The first image receiving unit may generate a control signal to receive the image from the unmanned aerial vehicle.

According to an embodiment of the present invention, the host control unit may transmit the processing status information of the host device of the image received from the unmanned aerial vehicle to the embedded board device at predetermined intervals.

According to one embodiment of the present invention, the network state detection unit detects whether the signal sensitivity of the network between the unmanned air vehicle and the host device has recovered to the threshold value or more, and the host control unit determines that the signal sensitivity of the network is equal to or greater than the threshold value The embedded board device transmits an image reception prohibition signal to the embedded board device so that the embedded board device does not receive an image from the unmanned air vehicle, and the first image receiver generates a control signal to receive the image from the unmanned air vehicle can do.

According to an embodiment of the present invention, the host control unit receives the image processing status information from the embedded board device until the signal sensitivity of the network is recovered to the threshold value or more, from the embedded board device, Can process the image received from the unmanned air vehicle based on the image processing status information.

According to an embodiment of the present invention, there is provided a control system for an unmanned aerial vehicle, comprising: an unmanned aerial vehicle for capturing an image in a sky, a network connection state with the unmanned air vehicle, and receiving and processing the captured image according to the network connection state A host device for providing a flight control signal of the unmanned air vehicle based on the result of the image processing, and a host device for receiving the captured image according to a network connection state between the unmanned air vehicle and the host device And an embedded board device for providing the flight control signal of the unmanned aerial vehicle based on the result of the image processing.

According to one embodiment of the present invention, the host apparatus includes a first image receiving unit for receiving an image from the unmanned aerial vehicle, a network status sensing unit for sensing a network connection state with the unmanned air vehicle, And a host controller for generating a control signal for controlling the flight of the unmanned air vehicle based on a result of the image processing, wherein when the signal sensitivity of the network is less than a preset threshold value, A control signal may be generated so as not to receive the image from the unmanned aerial vehicle and a control signal may be transmitted to the embedded board device so that the embedded board device mounted on the unmanned aerial vehicle receives the image from the unmanned aerial vehicle.

According to an embodiment of the present invention, when the signal sensitivity of the network is equal to or greater than the threshold, the host controller may generate a control signal to receive the image from the unmanned aerial vehicle.

According to an embodiment of the present invention, the host apparatus may transmit processing status information of the host apparatus of the image received from the unmanned aerial vehicle to the embedded board apparatus at predetermined intervals.

According to one embodiment of the present invention, when the signal sensitivity of the network is restored to the threshold value or more, the host device transmits an image reception prohibition signal to the embedded board device so that the embedded board device does not receive the image from the unmanned air vehicle And re-receive the image from the unmanned aerial vehicle.

According to an embodiment of the present invention, the host apparatus receives image processing status information from the embedded board apparatus until the signal sensitivity of the network is recovered to the threshold value or more, And can process the image received from the unmanned aerial vehicle based on the image processing state information.

According to an embodiment of the present invention, when the signal sensitivity of the network between the unmanned air vehicle and the host device is less than a preset threshold value, the embedded board device may include a second image receiver for receiving the image from the unmanned air vehicle, A second image processor for processing the image, and an embedded controller for generating a control signal for controlling the flight of the unmanned air vehicle based on the processed image.

According to one embodiment of the present invention, the embedded control unit receives processing status information of an image received from the unmanned air vehicle by the host apparatus from the host apparatus at predetermined intervals, and the second image processing unit, It is possible to process the image received from the unmanned air vehicle based on the image processing state information in the unmanned aerial vehicle.

According to one embodiment of the present invention, when the signal sensitivity of the network is restored to the threshold value or more, the embedded control unit receives an image reception prohibition signal from the unmanned air vehicle from the host apparatus, And the image processing state information in the embedded board device before the recovery to the threshold value or more can be transmitted to the host device.

The method for controlling the driving of the unmanned aerial vehicle according to an embodiment of the present invention includes sensing a network connection state with the unmanned aerial vehicle, detecting a signal sensitivity of the network between the unmanned air vehicle and the host device is less than a predetermined threshold A step of transmitting a control signal to the embedded board device so that the embedded board device mounted on the unmanned aerial vehicle receives the image from the unmanned air vehicle, if the signal sensitivity of the network between the unmanned air vehicle and the host device is equal to or greater than the threshold value, The method comprising: receiving an image from the unmanned air vehicle, processing the received image, generating a control signal for controlling the flight of the unmanned air vehicle based on a result of the image processing, And transmitting the data.

According to an embodiment of the present invention, the method may further include transmitting processing status information from the host device of the image received from the unmanned aerial vehicle to the embedded board device at predetermined intervals.

The above-described task solution is merely exemplary and should not be construed as limiting the present disclosure. In addition to the exemplary embodiments described above, there may be additional embodiments in the drawings and the detailed description of the invention.

According to the present invention, there is provided a unmanned aerial vehicle control system capable of controlling an unmanned aerial vehicle by receiving and processing images in a flexible manner in a host device and an embedded board device according to a network state between the unmanned aerial vehicle and the host computer .

1 is a conceptual diagram schematically illustrating an unmanned aerial vehicle control system according to an embodiment of the present invention.
2 is a block diagram of a host apparatus and an embedded board apparatus according to an embodiment of the present invention.
3 is a flowchart illustrating a method for controlling an unmanned aerial vehicle based on network signal sensitivity according to an embodiment of the present invention.
4 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. It should be understood, however, that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, the same reference numbers are used throughout the specification to refer to the same or like parts.

Throughout this specification, when a part is referred to as being "connected" to another part, it is not limited to a case where it is "directly connected" but also includes the case where it is "electrically connected" do.

It will be appreciated that throughout the specification it will be understood that when a member is located on another member "top", "top", "under", "bottom" But also the case where there is another member between the two members as well as the case where they are in contact with each other.

Throughout this specification, when an element is referred to as "including " an element, it is understood that the element may include other elements as well, without departing from the other elements unless specifically stated otherwise.

1 is a conceptual diagram schematically illustrating an unmanned aerial vehicle control system according to an embodiment of the present invention.

Referring to FIG. 1, an unmanned aerial vehicle control system may include an unmanned aerial vehicle 10, a host device 100, and an embedded board device 200. The unmanned aerial vehicle 10 may include, for example, an unmanned aerial vehicle, a drone, an unmanned aerial vehicle (UAV), and the like. The unmanned air vehicle (10) may include a camera device for capturing an image in the sky and a processor for controlling the flight of the unmanned air vehicle (10). Further, communication means for communicating with the host device 100 or the embedded board device 200 may be provided.

The embedded board device 200 may be provided in the unmanned air vehicle 10 and may exchange data with the unmanned air vehicle 10 or the host device 100 through wireless communication. In addition, the embedded board device 200 may include a printed circuit board having a plurality of microcomputers. The embedded board device 200 can perform the role of the host apparatus 100 according to the network state between the unmanned aerial vehicle 10 and the host apparatus 100. [ The role of the host device 100 will be described later with reference to FIG.

The host device 100 can control the driving of the unmanned air vehicle 10 through wireless communication with the unmanned air vehicle 10 or the embedded board device 200. [ The host device 100 may include, for example, a desktop, a notebook, a smart pad tablet PC, and the like.

The host device 100 of the unmanned aerial vehicle control system according to an exemplary embodiment of the present invention confirms the network connection state with the unmanned air vehicle 10 and receives the captured image from the unmanned air vehicle 10 according to the network connection state, And provide the flight control signal of the unmanned air vehicle 10 based on the result of the image processing. The embedded board device 200 receives an image photographed from the unmanned air vehicle 10 based on the control signal of the host apparatus 100 according to the network connection state between the unmanned air vehicle 10 and the host apparatus 100, And provides the flight control signal of the unmanned air vehicle 10 based on the result of the image processing. Therefore, according to the unmanned aerial vehicle control system according to the embodiment of the present invention, efficient off-loading (off) between the embedded board device 200 and the host device 100 according to the network situation between the unmanned air vehicle 10 and the host device 100 -loading.

2 is a block diagram of a host apparatus and an embedded board apparatus according to an embodiment of the present invention. 2, the host apparatus 100 may include a first image receiving unit 100, a network status sensing unit 120, a first image processing unit 130, and a host control unit 140.

The first image receiving unit 110 can receive an image from the unmanned air vehicle 10. The image may be an image photographed by the unmanned air vehicle 10 and may be utilized to control the flight of the unmanned air vehicle 10. The first image receiving unit 110 can receive an image from the unmanned air vehicle 10 through the network 20. The network 20 may be a network such as a WiFi, a 3rd Generation Partnership Project (3GPP) network, a Long Term Evolution (LTE) network, a 5G network, a World Interoperability for Microwave Access (WIMAX) But are not limited to, a wireless local area network (LAN), a wide area network (WAN), a personal area network (PAN), a Bluetooth network, a satellite broadcast network, an analog broadcast network, a Digital Multimedia Broadcasting . By way of example, if connected via WiFi, it can be connected in ad-hoc mode. The unmanned air vehicle 10 can form a network by itself in the ad-hoc mode and can be connected to the network 10 formed in the unmanned air vehicle 10 even if the network sharing device is not provided outside the unmanned air vehicle 10 The host device 100 and the embedded board device 200 can be connected to each other.

The network state detection unit 120 can sense a network connection state with the unmanned air vehicle 10. For example, the network state sensing unit 120 may measure the intensity of a signal wirelessly communicated with the unmanned air vehicle 10 and the host device 100. The network status detection unit 120 periodically exchanges packet signals for detecting the network status with the unmanned air vehicle 10 and can sense the network status.

The first image processing unit 130 can process the image received from the unmanned air vehicle 10. Illustratively, the first image processor 130 analyzes an image received from the unmanned air vehicle 10 through an image processing algorithm (for example, a stereo vision algorithm) and recognizes an obstacle or a person located on the flight path .

The host control unit 140 can generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing. Illustratively, the host controller 140 may generate a control signal for navigation of the unmanned aerial vehicle 10 so that the unmanned aerial vehicle 10 recognizes obstacles or persons and can avoid or track them.

The host control unit 140 can determine whether the image receiving unit 110 receives the image based on the network connection state between the unmanned air vehicle 10 and the host apparatus 100. [ According to one embodiment of the present invention, when the network connection state between the unmanned air vehicle 10 and the host apparatus 100 is not good, the host control unit 140 receives the image from the unmanned air vehicle 10 through the image receiving unit 110 The first image receiving unit 110 can be controlled.

In detail, the network state detection unit 120 can detect when the signal sensitivity of the network between the unmanned air vehicle 10 and the host apparatus 100 is less than a predetermined threshold value. For example, the signal sensitivity of the network may be determined based on the strength or response speed of a signal wirelessly communicated between the unmanned aerial vehicle 10 and the host apparatus 100.

The host control unit 140 may generate a control signal so that the first image receiving unit 110 does not receive the image from the unmanned air vehicle 10 when the signal sensitivity of the network is less than the threshold value. The first image receiving unit 110 may block image reception from the unmanned air vehicle 10 based on the control signal.

The host control unit 140 may transmit the control signal to the embedded board device 200 so that the embedded board device 200 mounted on the unmanned air vehicle body 10 receives the image from the unmanned air vehicle body 10. At this time, the host control unit 140 can also transmit a signal to the embedded board device 200 indicating that the network state between the unmanned air vehicle 10 and the host device 100 is unstable. The embedded board device 200 receives an image from the unmanned air vehicle 10 based on the control signal received from the host control unit 140 and processes the received image to generate a control signal for navigation of the unmanned air vehicle 10 can do.

Meanwhile, the network state detection unit 120 may detect a case where the signal sensitivity of the network between the unmanned air body 10 and the host device 100 is equal to or greater than a preset threshold value. In addition, the network status detection unit 120 can detect whether the signal sensitivity of the network between the unmanned aerial vehicle 10 and the host apparatus 100 is recovered to a threshold value or less below the threshold value. The host control unit 140 may generate the control signal so that the first image receiving unit 110 receives the image from the unmanned air vehicle 10 when the signal sensitivity of the network is equal to or higher than the threshold value or is recovered to the threshold value or more. The first image receiving unit 110 may allow the image reception from the unmanned air vehicle 10 based on the control signal.

When the signal sensitivity of the network is greater than or equal to the threshold and less than or equal to the threshold value, the host control unit 140 controls the embedded board device 200 so that the embedded board device 200 does not receive the image from the unmanned air vehicle 10. [ 200 to transmit the image reception prohibition signal. The embedded board device 200 can block image reception from the unmanned air vehicle 10 based on the image reception prohibition signal.

According to one embodiment of the present invention, when the signal sensitivity of the network between the unmanned air body 10 and the host apparatus 100 is less than a preset threshold value, the host apparatus 100 can smoothly receive the image from the unmanned air vehicle 10 It can be determined that the unmanned aerial vehicle control signal generated by the host apparatus 100 can not be transmitted without loss. Therefore, the embedded board device 200 can be controlled to perform a series of processes performed by the host device 100 to control the unmanned aerial vehicle 10 in the embedded board device 200.

Since the embedded board device 200 is mounted on the unmanned air vehicle 10 and is physically located close to the unmanned air vehicle 10, the network signal sensitivity between the unmanned air vehicle 10 and the embedded board device 200 is lowered below the threshold value It is very rare. Accordingly, when the host device 100 is difficult to communicate with the unmanned air vehicle 10, the embedded board device 200 can subsequently perform the process performed by the host device 100. [

The host control unit 140 may transmit the processing status information of the host device 100 of the image received from the unmanned air vehicle 10 to the embedded board device 200 at predetermined intervals. As the unmanned air vehicle 10 is flying, the network state between the host device 100 and the unmanned air vehicle 10 changes in real time. Accordingly, as the host control unit 140 periodically (for example, every one second) transmits the image processing state performed by the host device 100 to the embedded board device 200, the network signal sensitivity becomes less than the threshold value Even if the embedded board device 200 performs image processing subsequent to the host device 100, it is possible to smoothly perform image processing smoothly without interruption.

In addition, when the network signal sensitivity is restored to a value equal to or less than the threshold value, the host control unit 140 detects the video signal from the embedded board device 200 until the signal sensitivity of the network is recovered from the embedded board device 200 to the threshold value or more Processing status information can be received. The first image processing unit 110 can process the image received from the unmanned air vehicle 10 based on the image processing status information received from the embedded board device 200. [ That is, the first image receiving unit 110 can receive the image again from the unmanned air vehicle 10, and the first image processing unit 130 can smoothly process the image after the image processed by the embedded board device 200 .

Referring to FIG. 2, the embedded board device 200 may include a second image receiving unit 210, a second image processing unit 220, and an embedded control unit 230. The role of each part of the embedded board device 200 can be understood as the same as the role of each part of the host device 100.

The second image receiving unit 210 can receive an image from the unmanned object 10 through the network 20 when the network signal sensitivity between the unmanned air vehicle 10 and the host apparatus 100 is less than a preset threshold value. The second image processing unit 220 can process the image received from the unmanned air vehicle 10. The embedded controller 230 may generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the processed image. The unmanned flight vehicle (10) can be controlled to fly based on the control signal.

According to one embodiment of the present invention, the embedded control unit 230 can receive the processing status information of the image received from the unmanned aerial vehicle 10 by the host apparatus 100 from the host apparatus 10 every predetermined period. The second image processing unit 220 can process the image received from the unmanned air vehicle 10 on the basis of the image processing state information in the host apparatus 100,

When the signal sensitivity of the network between the unmanned air body 10 and the host apparatus 100 is recovered to the threshold value or more, the embedded controller 230 transmits a video image reception prohibition signal from the unmanned air vehicle 10 to the host device 100 . When receiving the image reception prohibition signal, the embedded controller 230 transmits the image processing status information from the embedded board device 200, that is, the second image processor 220 until the signal sensitivity of the network is recovered to the threshold value or higher, (100).

According to one embodiment of the present invention, the embedded board device 200 may include a battery unit. The embedded board device 200 can receive power from the battery unit.

3 is a flowchart illustrating a method for controlling an unmanned aerial vehicle based on network signal sensitivity according to an embodiment of the present invention. The control method of the unmanned aerial vehicle shown in Fig. 3 is performed by the unmanned aerial vehicle 10, the host apparatus 100 and the embedded board apparatus 200 described with reference to Figs. 1 and 2. Therefore, 1, the description of the unmanned aerial vehicle 10, the host device 100, and the embedded board device 200 may be applied to FIG.

Referring to FIG. 3, in step S302, the host device 100 can check the network connection state with the unmanned air vehicle 10. The host device 100 periodically exchanges packet signals for detecting the network status with the unmanned air vehicle 10 and can sense the network status.

If the host apparatus 100 determines that the sensitivity of the network signal with the unmanned object 10 is equal to or greater than the preset threshold value, the host apparatus 100 may request the unmanned object 10 to transmit the image in step S304.

In step S306, the unmanned aerial vehicle 10 may transmit the photographed image to the host apparatus 100 in response to the image transmission request.

In step S308, the host apparatus 100 can process the image received from the unmanned air vehicle 10. Illustratively, the host apparatus 100 can analyze an image received from the unmanned air vehicle 10 through an image processing algorithm (for example, a stereo vision algorithm) and recognize an obstacle or a person located on the flight path . Further, the host apparatus 100 can generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing.

In step S310, the host apparatus 100 may transmit the control signal to the unmanned aerial vehicle 10. In step S312, the flight of the unmanned air body 10 can be controlled based on the control signal received from the host apparatus 100. [

In step S314, the host apparatus 100 can transmit the processing status information in the host apparatus 100 of the image received from the unmanned air vehicle 10 to the embedded board apparatus 200 every predetermined period. For example, the processing status information may include frame information of a processed image, frame information of an image to be processed next, and the like.

According to an embodiment of the present invention, the host apparatus 100 can periodically check the network connection state with the unmanned air vehicle 10. If the host apparatus 100 detects that the sensitivity of the network signal with the unmanned air vehicle 10 is less than the preset threshold value in step S316, the host apparatus 100 in step S318 can block the reception of the image from the unmanned air vehicle 10 have.

In step S320, the host device 100 may transmit a control signal to the embedded board device 200 so that the embedded board device 200 receives an image from the unmanned air vehicle 10. [

 In step S322, the embedded board device 200 can request image transfer to the unmanned air vehicle 10 based on the control signal received from the host device 100. [ In step S324, the unmanned air vehicle 10 may transmit an image to the embedded board device 200 in response to the image transmission request received from the embedded board device 200. [

In step S326, the embedded board device 200 can process the image received from the unmanned air vehicle 10. Illustratively, the embedded board device 200 may analyze an image received from the unmanned aerial vehicle 10 through an image processing algorithm (e.g., a stereo vision algorithm) and recognize an obstacle or a person located on the flight path have. Further, the embedded board device 200 can generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing

In step S328, the embedded board device 200 may transmit the control signal to the unmanned aerial vehicle 10. In step S330, the flight of the unmanned air vehicle 10 can be controlled based on the control signal received from the embedded board device 200. [

In step S332, the host apparatus 100 can detect when the network signal sensitivity with the unmanned air vehicle 10 has recovered to a predetermined threshold value or more.

In step S334, the host device 100 may transmit the image reception prohibition signal to the embedded board device 200 so that the embedded board device 200 does not receive the image from the unmanned air vehicle 10.

In step S336, the embedded board device 200 can block image reception from the unmanned air vehicle 10 according to the received image reception prohibition signal.

In step S338, the embedded board device 200 can transmit the image processing status information in the embedded board device 200 until the signal sensitivity of the network is recovered to the threshold value or more to the host device 100. [

In step S340, the host device 100 may request the unmanned aerial vehicle 10 to perform image transmission based on the image processing status information received from the embedded board device 200. [ In step S342, the unmanned air vehicle 10 may transmit an image to the host device 100 in response to the image transmission request. In step S344, the host apparatus 100 processes the image re-received from the unmanned flying vehicle 10 and generates a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing. Accordingly, the host apparatus 100 can perform image processing for controlling the unmanned air vehicle 10 in succession to the image processing performed by the embedded board device 200. [

In step S346, the host device 100 may transmit the control signal to the unmanned aerial vehicle 10. In step S348, the flight of the unmanned air body 10 can be controlled based on the control signal received from the host apparatus 100. [

4 is a flowchart illustrating a method of driving an unmanned aerial vehicle according to an embodiment of the present invention. The control method of the unmanned aerial vehicle shown in FIG. 4 is performed by the host device 100 and the embedded board device 200 described with reference to FIGS. 1 and 2. Therefore, even if omitted from the following description, The contents described for the host apparatus 100 and the embedded board device 200 through the communication network 100 can also be applied to FIG.

In step S410, the host device 100 can sense the network connection state with the unmanned air vehicle 10. The host device 100 periodically exchanges packet signals for detecting the network status with the unmanned air vehicle 10 and can sense the network status.

In step S420, the host apparatus 100 can detect when the network signal sensitivity with the unmanned air vehicle 10 is less than a predetermined threshold. The host apparatus 100 generates a control signal so that the host apparatus 100 does not receive the image from the unmanned air vehicle 10 and detects the sensitivity of the embedded board 10 mounted on the unmanned air vehicle 10, The device 200 may send a control signal to the embedded board device 200 to receive the image from the unmanned air vehicle 10 and perform image processing for navigation. In addition, the host apparatus 100 can transmit the processing status information of the image received from the unmanned air vehicle 10 to the embedded board device 200 at predetermined intervals.

The embedded board device 200 can receive an image from the unmanned air vehicle 10 through the control signal received from the host device 100 and transmit the received image to the host device 100 Can be continuously processed based on the processing state information. In addition, the embedded board device 200 can generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing.

In step S440, the host apparatus 100 can receive the image from the unmanned air vehicle 10 when the network signal sensitivity with the unmanned air body 10 is equal to or greater than a predetermined threshold value.

In step S450, the host apparatus 100 can process the image received from the unmanned air vehicle 10. Further, in step S460, the host apparatus 100 may generate a control signal for controlling the flight of the unmanned air vehicle 10 based on the result of the image processing.

The method for driving the unmanned aerial vehicle according to one embodiment of the present invention may be implemented in the form of a program command or an application program that can be executed through various computer means and recorded on a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

It will be understood by those of ordinary skill in the art that the foregoing description of the embodiments is for illustrative purposes and that those skilled in the art can easily modify the invention without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention.

10: unmanned aerial vehicle
20: Network
100: Host device
110: first image receiving unit
120: Network status detection unit
130: first image processor
140:
200: Embedded board device
210: second image receiving unit
220: second image processor
230: embedded control unit

Claims (17)

A host apparatus for controlling driving of an unmanned aerial vehicle,
A first image receiving unit for receiving an image from an unmanned aerial vehicle;
A network state sensing unit for sensing a network connection state with the unmanned air vehicle;
A first image processing unit for processing the received image; And
And a host control unit for generating a control signal for controlling the flight of the unmanned air vehicle based on a result of the image processing,
Wherein the host control unit controls the first image receiving unit so that the first image receiving unit does not receive the image from the unmanned aerial vehicle when the network state sensing unit detects that the signal sensitivity of the network between the unmanned air vehicle and the host device is less than a predetermined threshold, The embedded board device mounted on the unmanned air vehicle transmits a control signal to the embedded board device to receive the image from the unmanned air vehicle,
Wherein the host control unit controls the embedded board device so that the embedded board device does not receive an image from the unmanned aerial vehicle when it is detected by the network status sensing unit that the signal sensitivity of the network is recovered to the threshold value or more, Inhibit signal, and the first image receiving unit generates a control signal to receive the image from the unmanned air vehicle. delete The method according to claim 1,
Wherein the network state detection unit detects when the signal sensitivity of the network between the unmanned air vehicle and the host device is equal to or greater than the threshold value,
Wherein the host control unit generates the control signal so that the first image receiving unit receives the image from the unmanned aerial vehicle when the signal sensitivity of the network is equal to or greater than the threshold value. The method according to claim 1,
The host control unit,
And transmits the processing status information in the host apparatus of the image received from the unmanned aerial vehicle to the embedded board device at predetermined intervals. delete The method according to claim 1,
Wherein the host control unit receives image processing status information from the embedded board device until the signal sensitivity of the network is recovered to the threshold value or more,
Wherein the first image processing unit processes the image received from the unmanned air vehicle based on the image processing status information. In a control system of an unmanned aerial vehicle,
An unmanned aerial vehicle that captures images from the sky;
A host device for confirming a network connection state with the unmanned aerial vehicle, receiving and processing the photographed image according to the network connection state, and providing a flight control signal of the unmanned air vehicle based on a result of the image processing; And
An embedded board device provided in the unmanned aerial vehicle for receiving and processing the photographed image according to a network connection state between the unmanned air vehicle and the host device and providing a flight control signal of the unmanned air vehicle based on the result of the image processing; Including,
Wherein the host device generates a control signal so that the host device does not receive an image from the unmanned aerial vehicle when the signal sensitivity of the network between the unmanned air vehicle and the host device is less than a predetermined threshold, Transmitting a control signal to the embedded board device to receive an image from the air vehicle,
The host device transmits an image reception prohibition signal to the embedded board device so that the embedded board device does not receive an image from the unmanned air vehicle when the signal sensitivity of the network is restored to the threshold value or more, And the image is re-received. 8. The method of claim 7,
The host apparatus includes:
A first image receiving unit receiving an image from the unmanned aerial vehicle;
A network state sensing unit for sensing a network connection state with the unmanned air vehicle;
A first image processing unit for processing the received image; And
And a host control unit for generating a control signal for controlling the flight of the unmanned air vehicle based on a result of the image processing,
Wherein the host control unit generates a control signal so that the first image receiving unit does not receive the image from the unmanned aerial vehicle when the signal sensitivity of the network is less than a preset threshold value and that the embedded board device mounted on the unmanned aerial vehicle And transmits a control signal to the embedded board device to receive the image. 9. The method of claim 8,
Wherein the host control unit generates the control signal so that the first image receiving unit receives the image from the unmanned aerial vehicle when the signal sensitivity of the network is equal to or greater than the threshold value. 8. The method of claim 7,
The host apparatus includes:
Wherein the host device transmits processing status information of the image received from the unmanned aerial vehicle to the embedded board device at predetermined intervals. delete 8. The method of claim 7,
The host apparatus receives image processing status information from the embedded board apparatus until the signal sensitivity of the network is recovered to the threshold value or more,
Wherein the host device processes the image received from the unmanned air vehicle based on the image processing status information. 8. The method of claim 7,
The embedded board device includes:
A second image receiver for receiving the image from the unmanned aerial vehicle when the signal sensitivity of the network between the unmanned aerial vehicle and the host device is less than a preset threshold value;
A second image processing unit for processing the received image; And
And an embedded controller for generating a control signal for controlling the flight of the unmanned air vehicle based on the processed image. 14. The method of claim 13,
The embedded control unit includes:
The host device receives processing status information of an image received from the unmanned aerial vehicle from the host apparatus at predetermined intervals,
Wherein the second image processor comprises:
And processes the image received from the unmanned air vehicle based on the image processing state information in the host apparatus. 14. The method of claim 13,
The embedded control unit includes:
Receiving an image reception prohibition signal from the unmanned air vehicle from the host device when the signal sensitivity of the network is recovered to the threshold value or more,
And transmits the image processing status information in the embedded board device until the signal sensitivity of the network is recovered to the threshold value or more to the host device. A method for controlling driving of an unmanned aerial vehicle by a host apparatus,
Sensing a network connection state with the unmanned aerial vehicle;
Wherein the control unit generates a control signal so that the host apparatus does not receive an image from the unmanned aerial vehicle when the signal sensitivity of the network between the unmanned air vehicle and the host apparatus is less than a preset threshold value, Transmitting a control signal to the embedded board device to receive an image from the air vehicle;
Receiving an image from the unmanned aerial vehicle when the signal sensitivity of the network between the unmanned aerial vehicle and the host device is equal to or greater than the threshold value;
Processing the received image;
Generating a control signal for controlling the flight of the unmanned aerial vehicle based on a result of the image processing; And
And transmitting the control signal to the unmanned air vehicle,
Wherein the receiving the image comprises:
The embedded board device transmits an image reception prohibition signal to the embedded board device so that the embedded board device does not receive the image from the unmanned air vehicle when the signal sensitivity of the network is recovered to the threshold value or more, Wherein the control signal generating means generates the control signal to receive the control signal. 17. The method of claim 16,
Transmitting processing status information from the host device to the embedded board device at predetermined intervals,
Further comprising the step of:

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