Method for Controlling a Drone Inside a Vehicle

Abstract

The present invention relates to a method for controlling a drone inside a vehicle, which includes: determining an initial condition of the drone located inside the vehicle; unlocking the drone when a user request is received from a vehicle controller; receiving vehicle state information from the vehicle controller by a drone controller; performing flight of the drone in response to the user request; and returning the drone to its initial position after the user request is completed.

Description

Technical Field

[0001] The present invention relates to a method for controlling a drone located inside a vehicle, and more particularly, to a method for controlling a drone located inside a vehicle for setting and controlling a flight path of a drone with various uses according to a user request inside the vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not constitute prior art.

[0003] Generally, a drone is an aircraft wirelessly controlled by an operator. In the early days, drones were developed and used for the military, but in recent years, they have been applied to a wide range of fields including transportation, leisure, and industry.

[0004] Therefore, according to current trends, drones have been used to prevent insufficient progress over a long period due to a shortage of labor in a vast area during pest control (such as pesticide and fertilizer spraying) in the primary industry (such as agriculture, fishery, and animal husbandry), and using drones for pest control has attracted attention as the most realistic and effective system for solving the labor shortage and cost problems in the primary industry.

[0005] According to current trends, drones have also been applied to the technical fields of using sterilization to prevent epidemics, pest control, and spraying operations, and technologies for using drones in various ways are currently being developed.

[0006] In recent years, technologies for improving the driving environment of a vehicle using a drone located near the vehicle have been developed, and technologies for unmanned flight of drones have been developed.

[0007] However, the applicant has found that since the drone is located outside the vehicle and receives information related to vehicle driving, there is no configuration for managing the drone inside the vehicle. In addition, the drone can be located inside the vehicle to move an item to an appropriate position in response to a user request or perform internal disinfection based on the presence of passengers. Summary of the Invention

[0008] On the one hand, the present invention provides a control method for using a drone located inside a vehicle to move an item in response to a request from a passenger.

[0009] On the other hand, the present invention provides a drone for automatically executing a sterilization logic inside a vehicle for a driverless vehicle or a shared vehicle.

[0010] The object of the present invention is not limited to the above-mentioned objects. Those skilled in the art will understand other unmentioned objects from the following description, and will understand these objects more clearly through the exemplary embodiments of the present invention. In addition, the objects of the present invention can be achieved by the devices and their combinations disclosed in the embodiments of the present invention.

[0011] The method for controlling a drone located inside a vehicle for achieving the above objects of the present invention may have the following configurations.

[0012] In one embodiment, a method for controlling a drone located inside a vehicle includes: determining an initial condition of the drone located inside the vehicle; when a user request is received, unlocking the drone through a vehicle controller; receiving vehicle state information from the vehicle controller by a drone controller; performing flight of the drone in response to the user request; and after the user request is completed, returning the drone to the initial position inside the vehicle.

[0013] Determining the initial condition of the drone may include: determining whether the state of charge (SoC) of the drone is equal to or greater than a reference value. In another embodiment, unlocking the drone may include: in response to determining that the SoC of the drone is equal to or greater than the reference value, unlocking the drone; in response to determining that the SoC of the drone is less than the reference value, displaying, through a notification unit, a notification indicating that the drone cannot fly.

[0014] Receiving the vehicle state information may further include: using a global positioning system (GPS), a navigation device, and a portable terminal located inside the vehicle to receive information related to the vehicle. Specifically, the information includes at least one of the position, speed, yaw angular velocity, pitch, roll data, or driving direction data of the vehicle.

[0015] The method may further include: using a GPS, a navigation device, and a portable terminal located inside the vehicle to receive at least one of the position information, speed, yaw angular velocity, pitch and roll data, or driving data of the vehicle; receiving the GPS information of the vehicle; when the GPS information of the vehicle cannot be received, establishing a connection with the navigation device; when the connection with the navigation device cannot be established, using the portable terminal to receive the position information of the vehicle; receiving the yaw angular velocity, pitch and roll data of the vehicle and compensating the vehicle state information received by the drone controller during reception.

[0016] Receiving the vehicle state information may further include: setting a flight path through the drone controller in response to the user request.

[0017] Performing flight of the drone in response to the user request may further include: displaying an advertisement through hovering of the drone inside the vehicle.

[0018] Performing the flight of the drone in response to a user request may include: picking up an item corresponding to the user request; and moving the picked-up item to a holding device requested by the user.

[0019] Moving the picked-up item to a holding device requested by the user may include: activating an electromagnet of the holding device corresponding to the magnetism located below the item; and deactivating the electromagnet of the holding device by a vehicle controller when the item is placed in the holding device.

[0020] Activating the electromagnet of the holding device corresponding to the magnetism located below the item may further include: when the electromagnet is not activated, displaying, by a notification unit, a notification indicating that the item cannot be delivered to a passenger.

[0021] Performing the flight of the drone in response to a user request may include: determining whether there is a passenger; when there is no passenger, performing a sterilization logic by the drone.

[0022] Performing the flight of the drone in response to a user request may include: measuring in real time, by a sensor unit, whether there are obstacles on the flight path of the drone.

[0023] Performing the flight of the drone in response to a user request may include: receiving information about the interior space of the vehicle by a radar device located in the drone; compensating the flight path in real time by using at least one of a visual sensor or a temperature sensor located in the drone.

[0024] Compensating the flight path by using at least one of a visual sensor or a temperature sensor may include: determining whether the visual sensor and the temperature sensor are malfunctioning; when the radar device, the visual sensor, and the temperature sensor all malfunction, displaying, by a notification unit, a notification indicating that the service is unavailable.

[0025] Through the description provided herein, more application fields will become apparent. It should be understood that this specification and the specific examples are only for illustrative purposes and are not intended to limit the scope of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To better understand the present invention, various embodiments of the present invention given by way of example will be described with reference to the accompanying drawings, in which:

[0027] Figure 1 is a side cross-sectional view of a vehicle including a device for controlling a drone inside the vehicle according to an exemplary embodiment of the present invention;

[0028] Figure 2is a schematic diagram showing an upper surface of a vehicle including a device for controlling a drone inside the vehicle according to an exemplary embodiment of the present invention;

[0029] Figure 3 is a flowchart of a method for controlling a drone located inside a vehicle according to an exemplary embodiment of the present invention;

[0030] Figure 4 is a flowchart of driving a drone in response to a user request in a method for controlling a drone located inside a vehicle according to an exemplary embodiment of the present invention;

[0031] Figure 5 is a flowchart showing an operation of receiving vehicle state information in a method for controlling a drone located inside a vehicle according to an exemplary embodiment of the present invention.

[0032] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present invention in any way. Detailed Description

[0033] The following description is merely exemplary in nature and is not intended to limit the present invention, its application, or uses. It should be understood that throughout the drawings, corresponding reference numerals denote the same or corresponding components and features.

[0034] Exemplary embodiments will now be described in detail with reference to the drawings, examples of which are shown in the drawings. The exemplary embodiments are modified in various forms and are not limited to the embodiments shown below. Rather, the embodiments introduced herein are for a simple and complete understanding of the scope and spirit of the exemplary embodiments.

[0035] In this specification, it should be understood that terms such as "unit", "sensor", "drone", or "logic" described in the specification should be understood as units that process at least one function or operation and can be implemented in a hardware manner, a software manner, or a combination of a hardware manner and a software manner.

[0036] Hereinafter, the present invention will be described in detail by referring to the exemplary embodiments of the present invention in the drawings, in which the same or corresponding reference numerals denote the same or corresponding elements, and thus their description will be omitted.

[0037] Hereinafter, the term "failure" described in the specification may be interpreted to include any case where a component fails to perform its function due to a hardware or software failure.

[0038] Hereinafter, the term "drone" described in the specification may be interpreted as an unmanned aerial vehicle capable of moving along a flight path or performing hovering by driving at least one propeller.

[0039] The present invention relates to a method of controlling a drone 200 that is located inside a vehicle 100 and configured to fly inside the vehicle 100 in response to a user request. More specifically, the present invention relates to a technique for receiving and controlling data for performing the flight of the drone 200, and the drone 200 is coupled to the roof of the vehicle 100 and performs wireless charging.

[0040] Figure 1 and Figure 2 is a schematic diagram showing the interior arrangement of a drone located inside a vehicle and a vehicle including the drone according to an exemplary embodiment of the present invention.

[0041] As shown in the figure, the drone 200 can be fixedly located in the interior space of the vehicle 100. Thus, in one embodiment, the drone can be placed at a station 110 coupled to the roof of the vehicle 100. According to another embodiment of the present invention, the drone 200 can be placed at a station 110 coupled to a position formed at various locations (such as the front headliner or the front roof panel of the vehicle 100).

[0042] The drone 200 can be located at the station 110 under an initial condition or in a state where no user request is applied. The station 110 can include a charging module for wirelessly charging the drone 200, and thus can be configured to wirelessly charge the drone 200 when the drone 200 is coupled to the station 110.

[0043] The charging module for performing wireless charging can be capable of charging the battery of the drone 200 using the electromagnetic induction coupling method, which is a method of transmitting power between a primary coil located in the charging module and a secondary coil coupled to the battery of the drone 200. When a magnet moves around the coil, an induced current can be generated to generate electrical energy. That is, the transmitter generates a magnetic field, and the receiver generates energy, rather than the action of the magnet. The phenomenon of generating current using a coil and a magnet is called the self-inductance effect, and its advantage is that the energy transmission efficiency is very high.

[0044] The next power transmission method is a method using resonance, which uses the principle of resonant power transmission to wirelessly transmit power even when the target is several meters away from the charging device. This method uses resonance, which is a physical phenomenon. When a tuning fork is struck, a wine glass next to the tuning fork makes a sound at the same frequency as the tuning fork. Similarly, power is wirelessly transmitted to the battery of the drone 200 through the resonance of electromagnetic waves containing electrical energy rather than resonant sound waves.

[0045] The last wireless power transmission method is a method of wirelessly transmitting power through the radiation of radio waves (RF / microwave radiation), which is a new concept of a power transmission method that converts electrical energy into microwaves and is beneficial for wireless transmission and transmission of energy.

[0046] The drone 200 can communicate wirelessly with the vehicle controller 120 through a drone controller 210 located inside the drone 200, and can be configured to receive vehicle status data and / or vehicle behavior data received by the vehicle controller 120, and send to and receive from the vehicle controller 120 information about the flight path of the drone 200 and real-time information about the status of the drone 200 through the drone controller 210. The drone controller 210 and the vehicle controller 120 can perform wireless communication using a short-range communication module such as Bluetooth or NFC, but the present invention is not limited thereto. According to another embodiment of the present invention, the drone controller 210 can be configured to receive vehicle status information, location information of the vehicle 100, and speed information of the vehicle 100 through a network, and can be configured to communicate with a portable terminal through at least one of a LAN, a WLAN, a PSTN, or a mobile phone network.

[0047] The vehicle controller 120 can be configured to receive location data of the vehicle 100, speed data of the vehicle 100, driving data of the vehicle 100, etc. in combination with a global positioning system (GPS), a navigation device, etc. of the vehicle 100. In addition, the vehicle controller 120 can be configured to receive driving behavior data of the vehicle 100 through a plurality of sensors located in the vehicle 100, and thus can receive yaw angular velocity, pitch, and roll data of the vehicle 100 as driving behavior data of the vehicle 100. More specifically, the vehicle controller 120 or the drone controller 210 can be configured to receive at least one of the location, speed, driving behavior, yaw angular velocity, pitch, or roll data of the vehicle 100.

[0048] That is to say, the drone controller 210 can be configured to receive vehicle status information through the vehicle controller 120 to keep the drone 200 in a horizontal state based on the interior of the vehicle 100, and at the same time receive at least one of the yaw angular velocity, pitch, or roll data as behavior data of the vehicle 100. The drone controller 210 can be configured to compensate the flight path of the drone 200 by compensating the vehicle status information using the received vehicle behavior data.

[0049] The drone controller 210 can be configured to control the output of the drone 200 based on the vehicle status data and the vehicle behavior data to perform a flight of the drone 200 parallel to the interior of the vehicle 100.

[0050] The vehicle controller 120 may be configured to receive a user request using an application that utilizes a switch or a portable terminal located inside the vehicle 100. According to one embodiment of the present invention, the user request may include requests such as moving an item located inside the vehicle 100, executing a sterilization logic to sterilize the vehicle 100, displaying an advertisement inside the vehicle 100 by hovering the drone 200, and the like.

[0051] Upon receiving such a user request, the vehicle controller 120 may be configured to send the user request to the drone controller 210, unlock the drone 200 from the station 110, and execute the flight of the drone 200. More specifically, when receiving a user request, the drone 200 according to the present invention may be configured to determine the initial conditions of the drone 200, and thus may be configured to pre-determine whether the state of charge (SoC) of the battery of the drone 200 is equal to or greater than a reference value, and when the SoC of the battery of the drone 200 is less than the reference value, display information indicating impossible flight on the notification unit. The notification unit may be located on the drone 200 or may be located inside the vehicle 100, and more specifically, may be located on the switch or the display for inputting the user request.

[0052] When the SoC of the battery of the drone 200 is equal to or greater than the reference value, the drone controller 210 may be configured to receive vehicle state information to set the flight path of the drone 200 upon receiving a user request. According to one embodiment of the present invention, the vehicle state information may include the traveling direction, speed, position, yaw angular velocity, pitch, and roll data of the vehicle 100, etc. Specifically, the vehicle controller 120 may be configured to send information about the speed and acceleration of the vehicle 100 measured by a GPS, a navigation device, and an APS sensor located in the vehicle 100 to the drone controller 210. The vehicle controller 120 or the drone controller 210 may be configured to receive vehicle state information from a portable terminal through wireless communication. In addition, the drone controller 210 may be configured to receive the yaw angular velocity, pitch, and roll data of the vehicle 100 and compensate the received vehicle state based on this, and thus may be configured to set the flight path of the drone 200 and the output value of each propeller located in the drone 200 according to the vehicle behavior.

[0053] That is to say, for the flight of the drone 200, the drone controller 210 can be configured to receive vehicle state information to place the drone 200 inside the vehicle 100 according to the driving state of the vehicle 100 and set a flight path based on the received vehicle state information. Since it is difficult to set the horizontal and vertical flight paths of the drone 200 only based on the position information of the vehicle 100, the drone controller 210 can be configured to compensate for the vehicle state information received by the drone controller 210 based on the yaw, pitch, and roll data measured by the sensor unit (not shown) of the vehicle 100. The drone controller 210 can be controlled to have the horizontal and vertical flight paths of the drone 200 and a flight speed corresponding to the driving state of the vehicle 100 based on the compensated vehicle state information.

[0054] The drone controller 210 can be configured to receive vehicle state information and set the flight path of the drone 200, and thus can be configured to scan the internal structure of the vehicle 100 through a plurality of sensor units (not shown) located in the drone 200. The drone 200 can be configured to use at least one of a vision sensor or a temperature sensor to measure obstacles in real time while flying in the internal space of the vehicle 100. Specifically, the drone 200 can be configured to scan the internal space of the vehicle 100 using a radar device, and during flight, can be configured to use at least one of a radar device, a vision sensor, or a temperature sensor to measure changes in the space in real time, and compensate the flight path based on the measured changes.

[0055] Similarly, the drone controller 210 can be configured to set a first flight path in the internal space of the vehicle 100, and while the drone 200 moves along the set flight path, measure changes in the internal environment of the vehicle 100 in real time through a plurality of sensor units, and thus the drone controller 210 can be configured to compensate the flight path of the drone 200 in real time.

[0056] The drone controller 210 and the vehicle controller 120 can be effectively associated with each other to determine whether the current state is a state in which the drone 200 can fly, and can be configured to set the flight path of the drone 200, set the horizontal and vertical direction position information of the drone 200 for the flight of the drone 200, and perform flight in response to a user request.

[0057] Figure 3 It is a flowchart of a method for controlling a drone 200 located inside a vehicle 100 according to another embodiment of the present invention.

[0058] As shown in the figure, a first operation for determining the initial conditions of the drone 200 can be performed. In this case, it can be determined whether the state of charge (SoC) of the battery of the drone 200 is equal to or greater than a reference value stored in the drone controller 210 or the vehicle controller 120 (in step S100). When the SoC of the battery of the drone 200 is less than the reference value, a notification indicating that the drone 200 cannot fly can be sent through the notification unit (in step S110), and when the SoC of the battery of the drone 200 is equal to or greater than the reference value, it can be determined whether a user request signal has been applied (in step S200).

[0059] Before the operation of determining the initial conditions of the drone 200, a user request signal can be applied through the vehicle controller 120. When a user request is applied through the vehicle controller 120, the user request signal can be sent to the drone controller 210, and it can be determined whether the initial conditions of the drone 200 are satisfied.

[0060] That is, when a user request signal is applied to the vehicle controller 120, the drone controller 210 can be configured to determine the initial conditions of the drone 200. After the initial conditions of the drone 200 are satisfied, the user request signal can be applied from the vehicle controller 120 to the drone controller 210, and the flight path can be set in response to the corresponding request.

[0061] When the drone controller 210 determines that the initial conditions of the drone 200 are satisfied and a user request signal has been applied, the vehicle controller 120 can control the station 110 to unlock the drone 200 (in step S300), and can receive information about the vehicle 100 from the drone controller 210 (in step S400).

[0062] The drone controller 210 can be configured to receive vehicle status information (information about the vehicle 100) from the vehicle controller 120, and can thus be configured to receive the position information, speed, travel path, and current travel direction of the vehicle 100 using a navigation device, GPS, or multiple sensor units located in the vehicle 100. In addition, the drone controller 210 can be configured to receive the current behavior status information of the vehicle 100 from the vehicle controller 120, and can thus be configured to receive the yaw angular velocity, pitch, and roll data of the vehicle 100. More specifically, the vehicle controller 120 or the drone controller 210 can be effectively associated with the user's portable terminal, and can thus be configured to receive vehicle status information using the portable terminal and configured to control the drone 200 in the horizontal or vertical direction.

[0063] As described above, the drone controller 210 can be configured to receive the vehicle status data and behavior information of the vehicle 100 and to set the flight path of the drone 200, and thus can control the drone 200 to fly inside the moving vehicle 100 in a horizontal state.

[0064] After receiving the information about the vehicle 100, the drone controller 210 can be configured to scan the interior of the vehicle 100 through the sensor unit located in the drone 200 (in step S500). The operation of scanning the interior of the vehicle 100 can include the operation of determining the shape of the interior of the vehicle 100 and obstacles through the radar device located in the drone 200. That is, passengers and obstacles in the interior space of the vehicle 100 can be determined through the radar device, and the flight path of the drone 200 can be set.

[0065] After unlocking the drone 200 from the station 110, the drone controller 210 can be configured to control the output of the drone 200 in the horizontal and vertical directions based on the vehicle status information to correspond to the interior of the vehicle 100, and can be configured to move the drone 200 along the flight path in response to a user request (in step S600).

[0066] After the drone 200 has completed the flight to fulfill the user request, the drone 200 can be configured to switch to the state where the drone 200 docks to the station 110 and to return to the station 110 (in step S700).

[0067] Similarly, according to the present invention, the flight path can be set by scanning the internal structure of the vehicle 100, and the drone 200 can be controlled by the drone controller 210 to perform a flight in response to a user request and then return to the initial position.

[0068] Figure 4 It is a flowchart of a method for controlling the drone 200 located inside the vehicle 100 in response to a user request.

[0069] According to another embodiment of the present invention, the user request can include a request to transfer an item in response to a request from a passenger, a logic for sterilizing the interior of the vehicle 100, and a display operation for displaying an image set by moving the drone inside the vehicle 100 within a predetermined time when there is no passenger.

[0070] That is, first, it can be determined whether there is a passenger through the vehicle controller 120 (in step S210). When there is a passenger, it can be determined whether there is a request to transfer the passenger's item (in step S220), and when a request to transfer an item is imposed, the flight of the drone 200 can be performed (in step S230).

[0071] According to another embodiment of the present invention, in order to execute the flight of the drone 200 for transferring an item, the vehicle 100 may include an item storage location from which the drone 200 picks up the item, and the drone controller 210 may be configured to determine the location of the item according to each item. Specifically, the drone 200 may be configured to classify the items by means of a radar device, and the drone controller 210 may be configured to receive information about the respective locations of the items and the remaining quantity of the items from the vehicle controller 120 and be configured to set the flight path of the drone 200.

[0072] The drone 200 that has picked up the item may fly in response to a user request to place the item in a holding device adjacent to the user, and thus the drone 200 may be controlled to place the item at a predetermined location along the path provided by the drone controller 210. More specifically, the drone controller 210 may execute control to release a fixing unit for coupling between the drone 200 and the item to place the item in the holding device of the vehicle 100. The vehicle controller 120 may be configured to activate an electromagnet located inside the holding device and be configured to set the attractive force between the electromagnet and a magnetic material located below the item. Therefore, the vehicle controller 120 may be configured to firmly fix the item inside the holding device.

[0073] When it is determined that the fixing between the item and the drone 200 is released and the item is placed inside the holding device, the vehicle controller 120 may be configured to deactivate the electromagnet inside the holding device.

[0074] In addition, when the electromagnet located inside the holding device is not activated, the vehicle controller 120 may be configured to display, through a notification unit, a notification indicating that the item cannot be transferred due to the inactivatable electromagnet, and thus the vehicle controller 120 may provide a notification prompting the user to manually remove the item located at the fixing unit.

[0075] In addition, when the drone 200 moves to a position adjacent to the user, the drone controller 210 may be configured to use at least one of a vision sensor or a temperature sensor to compensate the flight path in real time to avoid collision with the user.

[0076] The drone controller 210 can determine a failure of the vision sensor or temperature sensor of the drone 200 during the flight of the drone 200, and thus can determine the failure of each sensor by comparing the data of the vision sensor or temperature sensor measured based on the flight path through the radar device. According to an embodiment of the present invention, through the vision sensor of the drone 200, when the distance from the seat or the distance between the drone 200 and the fixed component changes abnormally along the path, the drone controller 210 can determine the failure of the vision sensor, and when there is no temperature change value or a data reception error occurs, the drone controller 210 can determine that the temperature sensor fails. However, the failure of the vision sensor or the temperature sensor can include any situation where the function of the sensor degrades in terms of hardware or software.

[0077] When the radar device, vision sensor, and temperature sensor are all in a failed state, the drone controller 210 can be configured to determine that the drone 200 cannot fly and display a notification indicating that the service is unavailable through the notification unit. That is, the drone controller 210 can determine a drive abnormality or data abnormality of the radar device based on pre-stored data obtained by scanning the interior of the vehicle 100, and can determine a measurement abnormality of the vision sensor or temperature sensor, and thus when there is a sensor abnormality required for flight, the drone controller 210 can be configured to display a notification indicating that the service is unavailable.

[0078] The method may include operation S250, when there is no request to transfer an item, even if there are passengers, display an advertisement based on a pre-input set time by the drone controller 210.

[0079] In contrast, the method may include an operation of executing sterilization logic in step S240 to perform sterilization by spraying a disinfectant located in the drone 200 or emitting ultraviolet rays. The sterilization logic according to the present invention may refer to the control for deploying the drone 200 along a set flight path.

[0080] That is, in the operation of executing the sterilization logic, the drone controller 210 can be configured to scan the interior space of the vehicle 100 through the radar device, configured to perform a flight of the drone 200 to positions adjacent to the seat, ceiling, and floor, and configured to perform sterilization of the interior of the vehicle 100 by spraying a disinfectant or emitting ultraviolet rays.

[0081] Similarly, the present invention relates to a method for controlling a drone 200 according to the presence or absence of passengers, and describes a control method for setting the flight path of the drone 200 in response to each user request and compensating the flight path in real time.

[0082] Figure 5It is a flowchart of an operation for receiving vehicle state information, that is, a method of using a controller, GPS, navigation device, and portable terminal of vehicle 100 located in vehicle 100 to receive at least one of position information, speed information, or driving direction information of vehicle 100, and a method of receiving yaw, pitch, and roll data of vehicle 100, which are behaviors of vehicle 100 and are subordinate concepts of vehicle state information.

[0083] As shown in the figure, the UAV controller 210 can be configured to use a controller, GPS, navigation device, and portable terminal of vehicle 100 located in vehicle 100 to receive at least one of position information, speed information, yaw angular velocity, pitch and roll data, or driving direction data of vehicle 100. Specifically, the controller of vehicle 100 can receive the GPS information of vehicle 100 (in step S410). When the reception of the GPS information fails, the controller of vehicle 100 can be effectively associated with the navigation device (in step S420). And when the connection between the GPS information and the navigation device fails, the controller of vehicle 100 can be effectively associated with the portable terminal (in step S430).

[0084] According to an embodiment of the present invention, as described above, the UAV controller 210 can sequentially determine whether the controller of vehicle 100 is effectively associated with the GPS, navigation device, or portable terminal of vehicle 100, which are targets for receiving the state information of vehicle 100. According to another embodiment of the present invention, the UAV controller 210 can be configured to simultaneously use the GPS, navigation device, and portable terminal located in vehicle 100 to receive at least one of speed information, position information, or driving direction data of vehicle 100 (in step S440).

[0085] The UAV controller 210 can be configured to receive the yaw angular velocity, pitch, and roll data measured by the sensor unit of vehicle 100, and configured to compensate the received vehicle state information based on the speed information, position information, and driving direction data of vehicle 100 (in step S450).

[0086] That is to say, the drone controller 210 can be configured to control the tilt angle of the drone 200 and the output applied to each propeller based on the position, speed, and driving direction data of the vehicle 100, and thus can be configured to use the yaw angular velocity, pitch, and roll data as the behavior information of the vehicle 100 to set the horizontal and vertical directions of the drone 200. Therefore, the drone controller 210 can be configured to compensate for the horizontal flight conditions of the drone 200 based on the driving environment information of the vehicle 100 according to the yaw angular velocity, pitch, and roll data as the current behavior information of the vehicle 100, and thus can be configured to execute the flight of the drone 200 in the horizontal and vertical directions in response to the behavior inside the vehicle 100.

[0087] Similarly, the present invention relates to a method for controlling the flight of a drone 200 located inside a vehicle 100 and can provide a method for controlling the drone 200 located inside the vehicle 100 to set the flight path of the drone controller 210 in response to a user request and compensate the path in real time while the drone 200 is flying.

[0088] The present invention can have the following effects based on the combination and usage relationship of the present embodiment and the foregoing configurations.

[0089] The present invention can have the effect of improving the convenience of passengers by controlling a drone located inside a vehicle.

[0090] In addition, the present invention can have the effect of providing excellent ride comfort by controlling a method for automatically disinfecting and sterilizing a shared vehicle by a drone.

[0091] The detailed description is for illustrating the present invention. The description given herein is for showing the exemplary embodiments of the present invention, and the present invention can be used in various other combinations, variations, and environments. That is to say, the present invention can be changed or modified within the scope of the concepts of the present invention disclosed in the specification, the equivalent scope of the given invention, and / or the scope of the technology or knowledge in the art. The described embodiments are the ideal embodiments for implementing the technical spirit of the present invention, but can be changed in various forms within the spirit and scope of the present invention. Therefore, the detailed description of the present invention herein is only exemplary and is not intended to limit the present invention.

Claims

1. A method for controlling a drone located inside a vehicle, the method comprising: Determining an initial condition of a drone located inside the vehicle; When a user request is received, unlocking the drone by a vehicle controller; Receiving vehicle status information from the vehicle controller by a drone controller; Performing flight of the drone in response to the user request; After the user request is completed, returning the drone to an initial position inside the vehicle, wherein performing flight of the drone in response to the user request includes: Receiving information about the interior space of the vehicle by a radar device located in the drone; Compensating the flight path of the drone in real time using at least one of a vision sensor or a temperature sensor located in the drone, wherein receiving the vehicle status information further includes: Receiving information related to the vehicle using a GPS, a navigation device, and a portable terminal located inside the vehicle, wherein the information includes at least one of the position, speed, yaw angular velocity, pitch, roll data, or driving direction data of the vehicle, The method further includes: Receiving GPS information of the vehicle; In response to failure to receive GPS information, establishing a connection with a navigation device; In response to failure to establish a connection with the navigation device, receiving the position of the vehicle using a portable terminal; Receiving the yaw angular velocity, pitch, and roll data of the vehicle and compensating the vehicle status information received by the drone controller.

2. The method according to claim 1, wherein Determining the initial condition of the drone includes: Determining whether the battery status of the drone is equal to or greater than a reference value.

3. The method according to claim 2, wherein Unlocking the drone includes: In response to determining that the battery status of the drone is equal to or greater than the reference value, unlocking the drone; In response to determining that the battery status of the drone is less than the reference value, displaying a notification indicating that the drone cannot fly through a notification unit.

4. The method according to claim 1, wherein Receiving the vehicle status information further includes: setting a flight path through the drone controller in response to the user request.

5. The method according to claim 1, wherein, Performing flight of the drone in response to the user request further includes: displaying an advertisement by hovering the drone inside the vehicle.

6. The method according to claim 1, wherein Performing flight of the drone in response to the user request includes: Picking up an item corresponding to the user request; Moving the picked-up item to a holding device requested by the user.

7. The method according to claim 6, wherein, Moving the picked-up item to the holding device requested by the user includes: Activating an electromagnet of the holding device corresponding to the magnetism located below the picked-up item; In response to determining that the picked-up item is placed in the holding device, deactivating the electromagnet of the holding device by the vehicle controller.

8. The method according to claim 7, wherein Activating the electromagnet of the holding device further includes: In response to determining that the electromagnet is not activated, displaying a notification indicating that the picked-up item cannot be transferred to a passenger of the vehicle through a notification unit.

9. The method according to claim 1, wherein Performing flight of the drone in response to the user request includes: Determining whether there is a passenger in the vehicle; In response to determining that there is no passenger in the vehicle, performing sterilization logic by the drone.

10. The method according to claim 1, wherein, Performing flight of the drone in response to the user request includes: Real-time measuring whether there are obstacles on the flight path of the drone through a sensor.

11. The method according to claim 1, wherein, Compensating the flight path in real time includes: Determining whether the vision sensor and the temperature sensor are malfunctioning; In response to determining that all of the radar device, the vision sensor, and the temperature sensor have failed, a notification indicating service unavailability is displayed by the notification unit.

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