Modular Drone System and Control Method Thereof

Abstract

The present specification discloses a modular drone system and a control method thereof. The modular drone system and the control method disclosed in the present specification recognize the module parts based on the combined state of the module parts constituting the drone, and by detecting and updating them, the manufacturing of the modular drone can be very easy.

Description

Technology Field

[0001] The present invention relates to a modular drone system and a control method thereof, wherein a plurality of module parts are detachably coupled, and the module is automatically recognized based on the connection pattern of the module parts and the drone is automatically configured. Background Technology

[0002] Driven by advancements in flight control, sensor, communication, and power technologies, drones are being utilized in various fields such as photography, surveillance, reconnaissance, surveying, logistics, inspection, disaster prevention, agriculture, and rescue. In particular, as the purposes of drone use become more diverse, there is an increasing demand to apply different mission devices, battlefield configurations, propulsion system configurations, or power configurations to the same airframe platform.

[0003] To meet these demands, recent drone systems are evolving into modular structures in which some components constituting the airframe are replaceable. For example, by configuring mission device modules, electrical modules, battery modules, and propulsion system-related modules to be detachably connected to the drone body or control unit, users can selectively install or replace necessary modules according to their operational objectives.

[0004] This modular structure offers the advantage of improving the drone's maintainability, scalability, and operational convenience. Specifically, users can quickly modify specific functions without altering the entire airframe and flexibly adapt to various mission environments by replacing or combining modules. Furthermore, operational efficiency can be enhanced as maintenance and upgrades are possible at the module level.

[0005] However, as drone modularization advances, the issue of the drone system accurately recognizing the type or combination of combined modules and performing the appropriate settings becomes critical.

[0006] For example, if a user replaces a module or combines multiple modules, and the control system does not accurately recognize the type of module, inappropriate control parameters may be applied or incompatible module combinations may be used, which may degrade flight stability or mission reliability.

[0007] Furthermore, if the module identification and configuration process relies on manual input or separate, complex registration procedures, there is a possibility of user input errors, missing settings, or missing combination verification, which can reduce the operational convenience of the drone and cause safety issues.

[0008] In particular, in environments where multiple modules are combined, it is necessary to verify electrical and functional compatibility between modules, power supply limits, and permissible configuration combinations; however, conventional technology has limitations in handling these issues simply and reliably. Prior art literature

[0009] Korean Registered Patent 2315501 (Published on Oct. 15, 2021) The problem to be solved

[0010] The present invention according to one embodiment aims to provide a modular drone system and a control method thereof that can solve the problem of improper settings occurring when a control unit fails to accurately recognize the type or configuration of the combined module part when a module part constituting the drone is replaced or a plurality of module parts are combined. means of solving the problem

[0011] According to one embodiment, the present invention may include a modular drone system comprising a module part that constitutes a drone and includes a terminal part and a ground part, and a control part that is connected to the module part and recognizes the module part by recognizing a pattern of one or more of the terminal part or the ground part.

[0012] The above grounding unit may be composed of multiple units, and the control unit may recognize the module unit based on a combination of multiple grounding units.

[0013] The above control unit can distinguish and recognize the grounded part among the grounding parts as the first value and the ungrounded part as the second value.

[0014] The above control unit can assign identification information to the separated module.

[0015] The above control unit can set the module unit by loading module information corresponding to the identification information.

[0016] The above module information may include at least one of the following: electrical system, mission device, motor type, propeller type, battery type, and airframe structure type.

[0017] The above control unit can delete module information when the connection of the module unit is disconnected.

[0018] The above control unit can verify whether the drone is capable of flying by comparing the module information with the comparison information of the previously stored check unit.

[0019] The above control unit can determine the compatibility of the combination of module parts by performing a logical operation check on the identification information assigned to a plurality of module parts.

[0020] The above module can receive power from the control unit and may be equipped with a multiplexer, and the control unit can recognize the pattern of either the terminal unit or the ground unit through the multiplexer of the module.

[0021] The above control unit can generate drone identification information for a drone based on a combination of identification information assigned to the module units.

[0022] The above control unit can update and store data corresponding to module information based on operation data acquired during the operation of the module unit. Effects of the invention

[0023] The modular drone system and control method according to the present invention, according to one embodiment, can recognize the type or configuration of the combined module by recognizing the pattern of the terminal portion or ground portion of the module, so that improper settings can be prevented even when the module is replaced or multiple module portions are combined.

[0024] The modular drone system and control method according to the present invention, according to one embodiment, can set up the module by assigning identification information to a recognized module and loading module information corresponding to the identification information, thereby reducing user intervention and reducing setting errors when replacing or changing the combination of modules.

[0025] The modular drone system and control method according to the present invention, according to one embodiment, can compare module information with comparison information of a check unit or perform logical operation checks on identification information, thereby verifying in advance the suitability of module combinations and flight capability to improve operational stability.

[0026] The modular drone system and control method according to the present invention, according to one embodiment, can update and store data corresponding to module information based on operation data, thereby improving consistency of settings and system manageability during repeated operation. Brief explanation of the drawing

[0027] FIG. 1 is an overall configuration block diagram of a modular drone system according to one embodiment. FIG. 2 is a conceptual diagram illustrating the connection structure between a module unit and a control unit according to one embodiment. FIG. 3 is a diagram illustrating an example of module recognition based on a grounding pattern according to one embodiment. FIG. 4 is a flowchart of the operation regarding pattern recognition, identification information assignment, and module information loading according to one embodiment. FIG. 5 is a flowchart regarding verification against a check unit and logical operation inspection of identification information according to one embodiment. FIG. 6 is a flowchart for updating and storing module information corresponding data based on operation data according to one embodiment. Specific details for implementing the invention

[0028] Hereinafter, an embodiment of the present invention will be described in detail with reference to exemplary drawings. However, this is not intended to limit the scope of the present invention.

[0029] It should be noted that when assigning reference numerals to the components of each drawing, the same components are assigned the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the present invention, if it is determined that a detailed description of related known components or functions could obscure the essence of the invention, such detailed description is omitted.

[0030] Furthermore, the size or shape of components depicted in the drawings may be exaggerated for clarity and convenience of explanation. Additionally, terms specifically defined in consideration of the structure and operation of the present invention are intended only to describe embodiments of the present invention and do not limit the scope of the present invention.

[0031] FIG. 1 is an overall configuration block diagram of a modular drone system according to one embodiment.

[0032] A modular drone system according to one embodiment includes one or more module parts (100) constituting a drone and a control unit (200) connected to the module parts (100). Here, the module parts (100) may be provided in multiple numbers, for example, and in FIG. 1, module part A (100a) and module part B (100b) are illustrated as examples.

[0033] The module (100) includes a terminal section (110) and a ground section (120) for electrical and physical connection with the control section (200). The terminal section (110) can provide a connection path for transmitting power or signals between the module (100) and the control section (200). Additionally, the ground section (120) can be used to form a pattern for recognizing the module (100), and a plurality of ground sections (120) can be combined to implement various patterns.

[0034] The control unit (200) is configured to recognize the module unit (100) by recognizing one or more patterns of the terminal unit (110) or the ground unit (120) while connected to the module unit (100).

[0035] For example, the control unit (200) can read information regarding whether each of the plurality of grounding units (120) is in a grounded state or not grounded state, and can distinguish the module unit (100) based on the combination thereof. In addition, the control unit (200) can assign identification information corresponding to the module unit (100) according to the result of distinguishing the module unit (100).

[0036] The control unit (200) can set the module unit (100) by loading module information corresponding to identification information. Here, the module information may include, for example, at least one of a battlefield, a mission device, a motor type, a propeller type, a battery type, and an airframe structure type, and thereby the control unit (200) can automatically set the operation parameters of the drone according to the replacement or combination of the module unit (100).

[0037] The modular drone system may further include a check unit (300). Here, the check unit (300) may be implemented as a separate storage area / memory block / logic module. The check unit (300) may include pre-stored comparison information, and the control unit (200) may verify whether the drone is capable of flying by comparing the module information with the comparison information of the check unit (300).

[0038] In addition, when multiple module units (100) are combined, the control unit (200) may determine the suitability of the combination of module units (100) by performing a logical operation check on the identification information assigned to the module units (100).

[0039] The modular drone system may further include a storage unit (400).

[0040] The storage unit (400) can store identification information assigned by the control unit (200), module information loaded in correspondence with the identification information, and update data corresponding to the module information. For example, the control unit (200) may be configured to delete the module information when the connection of the module unit (100) is disconnected, and may also update the data corresponding to the module information and store it in the storage unit (400) when the data of the module information is modified.

[0041] Meanwhile, according to one embodiment, the module (100) may receive power from the control unit (200), and the module (100) may be equipped with a multiplexer. In this case, the control unit (200) may be configured to recognize the pattern of either the terminal unit (110) or the ground unit (120) through the multiplexer of the module (100).

[0042] FIG. 2 is a conceptual diagram illustrating the connection structure between a module unit and a control unit according to one embodiment.

[0043] In one embodiment, the module (100) is configured to be detachably coupled to the control unit (200), and the electrical connection between the module (100) and the control unit (200) can be formed through the terminal (110) and ground (120) provided in the module (100).

[0044] In FIG. 2, for convenience of explanation, a terminal section (110) and a ground section (120) included in a single module section (100) are illustrated as examples, but each of the multiple module sections (100) may have the same or similar terminal section (110) and ground section (120).

[0045] The terminal section (110) may provide a connection path for transmitting power or signals between the module section (100) and the control section (200). For example, the terminal section (110) may include a power terminal for supplying power to the module section (100), a signal terminal for exchanging control signals or sensor signals between the module section (100) and the control section (200), etc., and may be varied in various ways without departing from the gist of the present invention.

[0046] The grounding portion (120) can be used to form a pattern for recognizing the module portion (100).

[0047] The control unit (200) can recognize the module unit (100) by reading the grounding state of the grounding unit (120) at the time of connection or in the state of connection with the module unit (100).

[0048] Here, the "grounding state" of the grounding part (120) may mean a state in which the grounding part (120) is grounded or not grounded, and when multiple grounding parts (120) are provided, different patterns may be implemented for each module part (100) by the combination of the grounding states of each grounding part (120).

[0049] For example, a specific module (100) may be configured to have only some grounding parts (120) grounded, and another module (100) may be configured to have a grounding part (120) different from some grounding parts (120) grounded.

[0050] Accordingly, the control unit (200) can distinguish the type or configuration of the module unit (100) by reading the combination of grounding states of the grounding unit (120), and can assign identification information corresponding to the module unit (100) based on the result of such distinction.

[0051] In addition, when the grounding section (120) is configured in multiple numbers, the number of combinations of grounding states increases as the number of grounding sections (120) increases, so the types of distinguishable module sections (100) can be expanded by the control section (200).

[0052] That is, since various module parts (100) can be identified through the combination design of the grounding part (120) while maintaining the same type of connection structure, the expandability and compatibility of the modular drone system can be improved.

[0053] Meanwhile, according to the present invention, the pattern can be formed not only by the grounding portion (120) but also by the configuration state of the terminal portion (110).

[0054] For example, a pattern recognizable by the control unit (200) may be defined according to the arrangement, connection status, or wiring method of the terminal unit (110), and the control unit (200) may be configured to recognize the module unit (100) by recognizing the pattern of the terminal unit (110) and / or the ground unit (120).

[0055] Additionally, in one embodiment, the control unit (200) may recognize a pattern through a connection with the module unit (100), load module information corresponding to the pattern to set the module unit (100), or perform an operation to verify whether flight is possible by comparing it with comparison information from the check unit (300).

[0056] FIG. 3 is a diagram illustrating an example of module recognition based on a grounding pattern according to one embodiment.

[0057] FIG. 3 is a diagram illustrating an example in which a control unit (200) recognizes a module unit (100) based on a pattern (combination of grounding states) of a grounding unit (120) according to one embodiment.

[0058] In one embodiment, the module (100) includes a plurality of grounding sections (120), and the control section (200) can distinguish and recognize the module (100) by reading the grounding status of the plurality of grounding sections (120). Here, the grounding status may mean a state in which each grounding section (120) is connected to a reference potential (ground) or a state in which it is not connected to a reference potential.

[0059] The control unit (200) can distinguish and recognize, for each of the plurality of grounding units (120), the grounded unit (120) as the first value and the ungrounded unit (120) as the second value. For example, the first value and the second value may be expressed as "1" and "0" respectively for convenience of explanation, but this is merely an example, and the method of expressing the first value / second value may be varied within the scope of not departing from the gist of the present invention.

[0060] When multiple grounding sections (120) are provided, the control section (200) can define a pattern by arranging the grounding state of each grounding section (120) in a predetermined order. For example, in FIG. 3, when the grounding section (120) is composed of G1, G2, …, Gn, the control section (200) can generate a pattern (P) consisting of a combination of (first value / second value) by reading the state of each grounding section (120) in the order (G1, G2, …, Gn). That is, the pattern (P) can be defined as P=(v1, v2, …, vn), where vi is the first value or the second value as the reading result of the i-th grounding section (120).

[0061] FIG. 3 illustrates an example in which, for convenience of explanation, among a plurality of module parts (100), module A and module B are configured to have different combinations of grounding states of grounding parts (120).

[0062] For example, the A module (100a) is configured so that specific grounding parts (120) are grounded, and the pattern (Pa) read by the control unit (200) can appear in the form of (first value, second value, …), and the B module (100b) is configured so that grounding parts (120) different from those of the A module (100a) are grounded, and the pattern (Pb) read by the control unit (200) can appear in the form of (second value, first value, …).

[0063] Accordingly, the control unit (200) can distinguish between the pattern (Pa) and the pattern (Pb) as shown in FIG. 3, thereby distinguishing between the A module unit (100a) and the B module unit (100b).

[0064] As a more specific example, when the grounding section (120) is composed of three (G1, G2, G3), the A module section (100a) may be configured such that P=(G1=first value, G2=second value, G3=second value) and the B module section (100b) may be configured such that P=(G1=second value, G2=first value, G3=second value), but this is merely an example and various variations are possible for the number and combination of the grounding section (120).

[0065] Additionally, when the number (n) of grounding sections (120) increases, the number of possible grounding state combinations increases when each grounding section (120) has either a first value or a second value, so the types of module sections (100) that the control section (200) can distinguish and recognize can also be expanded. Therefore, various module sections (100) can be identified solely by the combination design of the grounding sections (120) while maintaining the same type of connection structure, thereby improving the expandability and compatibility of the modular drone system.

[0066] When the control unit (200) determines that the module unit (100) is connected, it waits for a predetermined time to stabilize the state of the grounding unit (120), and then can read the multiple grounding units (120) sequentially or in parallel.

[0067] At this time, the control unit (200) can determine the first value / second value by reading whether each grounding unit (120) is grounded in a manner such as pull-up / pull-down or reference potential detection, and can generate a pattern (P) from the reading result.

[0068] Additionally, the control unit (200) can reduce misreading by performing multiple readings on the same module unit (100) and confirming the pattern (P) only when the reading results match, and may be configured to treat the module unit (100) as unrecognized or abnormal connection if the reading result is not included in a predefined set of valid patterns.

[0069] FIG. 4 is a flowchart of the operation regarding pattern recognition, identification information assignment, and module information loading according to one embodiment.

[0070] In one embodiment, the control unit (200) can detect when the module unit (100) is connected to the control unit (200). For example, the control unit (200) can determine the connection of the module unit (100) based on an electrical connection status through the terminal unit (110), a connection detection signal, or a predetermined detection condition, and can be configured to initiate subsequent operation when the connection of the module unit (100) is determined.

[0071] When a connection of the module part (100) is detected, the control part (200) is configured to recognize one or more patterns of the terminal part (110) or the ground part (120) of the module part (100).

[0072] For example, the control unit (200) can distinguish the module unit (100) by reading the combination of grounding states of the grounding unit (120) to generate a pattern and checking whether this pattern matches a predefined set of patterns or mapping information.

[0073] Additionally, the control unit (200) may be configured to distinguish the module unit (100) by recognizing a pattern defined by the configuration state (e.g., arrangement or connection state, etc.) of the terminal unit (110). The control unit (200) may be configured to reduce misreading by providing a predetermined waiting time to stabilize the grounding state during the pattern recognition process, or by performing multiple readings and confirming the pattern only when the reading results match.

[0074] The control unit (200) can recognize the module unit (100) based on a confirmed pattern and assign identification information to the recognized module unit (100).

[0075] Here, the identification information may be information that corresponds to the type, function, or configuration of the module (100), and the control unit (200) may determine the identification information by converting a confirmed pattern into identification information or by calling identification information corresponding to the confirmed pattern. For example, the control unit (200) may be configured to reference the correspondence relationship between the pattern and the identification information from mapping information stored in the storage unit (400) or from a table pre-set within the control unit (200).

[0076] When identification information is assigned, the control unit (200) is configured to load module information corresponding to the identification information and set the module unit (100).

[0077] For example, the control unit (200) may select and load module information that matches identification information from among the module information stored in the storage unit (400), and may set operation parameters of the module unit (100) and / or drone based on the loaded module information. The module information may include at least one of the following: a battlefield, a mission device, a motor type, a propeller type, a battery type, and an airframe structure type, and the control unit (200) may be configured to perform power supply control, drive control, mission execution control, or stabilization control, etc., according to the contents of the module information.

[0078] In addition, in one embodiment, when a plurality of module units (100a, 100b) are connected, the control unit (200) may perform the pattern recognition, identification information assignment, module information loading, and setting processes described above for each module unit (100a, 100b), or perform a setting for the overall configuration of the drone by synthesizing the processing results for the module units (100a, 100b).

[0079] In addition, in one embodiment, when a plurality of module units (100a, 100b) are combined, the control unit (200) can generate drone identification information representing the entire drone by combining identification information assigned to each module unit (100a, 100b) in a predetermined order or by performing a hash operation on the identification information.

[0080] The drone identification information can be stored in the storage unit (400) or output or transmitted to an external device by the control unit (200).

[0081] In this way, the control unit (200) can automatically recognize the module unit (100) by only connecting the module unit (100) and automatically load the corresponding module information to perform the setting, thereby reducing user intervention and reducing setting errors when replacing or changing the combination of modules.

[0082] Meanwhile, the control unit (200) may be configured to limit module information loading or postpone setting by determining the module unit (100) as unrecognized or abnormal connection if the pattern is not included in a predefined set of valid patterns or if the pattern reading result is unstable.

[0083] FIG. 5 is a flowchart regarding verification against a check unit and logical operation inspection of identification information according to one embodiment.

[0084] In one embodiment, the control unit (200) can recognize the module unit (100), load module information corresponding to the identification information, and set the module unit (100).

[0085] The control unit (200) may be configured to verify whether the drone is capable of flying by using loaded module information and comparing it with the comparison information stored in the check unit (300). Here, the comparison information of the check unit (300) may include conditions, restrictions, or requirements that must be satisfied for the safe operation or mission execution of the drone, and may be configured so that the conditions applied vary depending on the combination of module information.

[0086] For example, the comparison information of the check unit (300) may include conditions such as whether a specific motor type and a specific propeller type are allowed to be used together, whether a specific battery type can be used with a specific electrical system or mission device, the weight range of the electrical system configuration or mission device allowed according to the airframe structure type, or power supply limits and communication interface compatibility.

[0087] The control unit (200) can determine whether flight is possible by extracting or combining at least one of the electrical equipment, mission device, motor type, propeller type, battery type, and airframe structure type included in the module information, and then performing matching or comparison with the comparison information of the check unit (300).

[0088] At this time, the control unit (200) may be configured to determine whether flight is possible or impossible based on the comparison result, and if it is determined that flight is impossible, to restrict flight control or provide a warning to the user.

[0089] In addition, in one embodiment, the control unit (200) can additionally determine the compatibility of the combination of the module units (100) by performing a logical operation check on the identification information assigned to the module units (100) itself, in addition to a comparison based on module information. For example, the control unit (200) can check the condition that a specific battlefield module must be connected together when a specific mission device module is connected by expressing it as a logical operation (e.g., AND), and can check the condition that one module among multiple candidates must be selected by expressing it as a logical operation (e.g., OR).

[0090] At this time, rules for logical operations (e.g., mandatory combinations, replacement combinations, prohibited combinations) may be stored in the comparison information of the check unit (300), and the control unit (200) may refer to the comparison information to perform logical operations between identification information and check.

[0091] The control unit (200) can determine the final operational state by combining the results of the logical operation check with the verification of flight capability, and can be configured to restrict flight control or provide appropriate guidance even if it is determined to be unsuitable in the logical operation check.

[0092] Furthermore, the control unit (200) may be configured to calculate and provide the range of missions that can be performed in the current configuration of the drone, the allowable flight modes, or performance constraints, based on the comparison information and / or logical operation check results of the check unit (300). For example, the control unit (200) may calculate or retrieve and provide the maximum thrust, flight time, speed limit, or vibration / current allowable range that is permissible in a specific module combination, and accordingly, the user can intuitively check the range that the drone can perform in the combination of the currently combined module unit (100).

[0093] Meanwhile, the control unit (200) may be configured to conservatively determine flight impossibility or perform re-recognition / re-verification if some module information is missing, if the result of comparison with the comparison information of the check unit (300) is uncertain, or if the logical operation check fails.

[0094] FIG. 6 is a flowchart for updating and storing module information corresponding data based on operation data according to one embodiment.

[0095] In one embodiment, the control unit (200) recognizes the module unit (100), assigns identification information, loads module information corresponding to the identification information to set the module unit (100), and can verify whether flight is possible through comparison with the comparison information of the check unit (300) and logical operation check of the identification information.

[0096] The control unit (200) can be configured to acquire operation data during the actual operation of the drone (e.g., flight, mission execution, ground test, etc.) after such setup and verification are completed.

[0097] Here, operation data is data indicating the operation status of the drone or module (100), and may include, for example, data regarding current or power consumption, data regarding vibration or acceleration, data regarding temperature, sensor data related to position / attitude control, data related to rotational speed or torque of the drive system (motor, etc.), data related to communication delay or error rate, but is not limited thereto. The control unit (200) may acquire such operation data by directly collecting it from a sensor or by receiving it from the module (100) or other components inside the drone.

[0098] The control unit (200) can update data corresponding to module information based on acquired operation data. Here, "data corresponding to module information" is data used for setting or controlling the module unit (100), and may include, for example, control gain, correction value, calibration value, threshold value, limit value, profile, or table-type setting value, and the control unit (200) can update the data by modifying or correcting it according to the analysis results of the operation data.

[0099] For example, if specific operation data in a specific module combination deviates from a preset standard range, the control unit (200) may update to adjust the control parameter or limit value corresponding to the module unit (100), or may update the correction value using operation data accumulated through repeated operation.

[0100] Additionally, the control unit (200) may be configured to store updated data in the storage unit (400). The storage unit (400) may store updated data in conjunction with identification information assigned to the module unit (100) and module information corresponding to the identification information. Accordingly, when the same module unit (100) is reconnected or the same module combination is configured thereafter, the control unit (200) may refer to the updated data stored in the storage unit (400) and reflect it in the settings of the module unit (100), thereby allowing the setting values ​​to be reused during repeated operation or consistent settings to be applied even after module replacement.

[0101] Meanwhile, the control unit (200) may be configured to predetermine the timing of operation data acquisition, update cycle, and storage conditions when performing update and storage operations, or to apply them differently depending on the operation mode (e.g., test mode / actual flight mode / maintenance mode). For example, the control unit (200) may be configured to perform updates only when operation data has accumulated more than a certain number of times, or to perform updates and storage using a specific event (e.g., mission completion, landing completion, just before module replacement, etc.) as a trigger.

[0102] Additionally, in one embodiment, the control unit (200) may be configured to delete loaded module information when the connection of the module unit (100) is disconnected, and separately, the update data stored in the storage unit (400, see FIG. 1) may be maintained.

[0103] That is, the control unit (200) can improve the manageability of the system by organizing the operating setting information (load information in memory) when the module unit (100) is disconnected, and by preserving the update data available for use when the same module unit (100) is reconnected in the storage unit (400).

[0104] Here, 'deletion' may include the deletion of module information (operational setting information) loaded into the control unit (200), and the module information and / or update data stored in the storage unit (400) may be optionally retained.

[0105] Although the present invention has been illustrated and described in relation to specific embodiments, it will be obvious to those skilled in the art that the present invention can be modified and changed in various ways without departing from the technical spirit of the invention as provided by the following claims. Explanation of the symbols

[0106] 100 : Module section 100a : Module A 100b : B Module Section 110 : Terminal section 120: Grounding part 200 : Control unit 300 : Check section 400 : Storage unit

Claims

Claim 1 A modular drone system comprising: a module part comprising a terminal part and a ground part that constitutes the drone; and a control part connected to the module part and recognizing the module part by recognizing one or more patterns of the terminal part or the ground part, wherein the control part assigns identification information to the separated module part, loads module information corresponding to the identification information to set the module part, and updates and stores data corresponding to the module information based on operation data acquired during the operation of the module part. Claim 2 A modular drone system according to claim 1, wherein the grounding unit is composed of a plurality of grounding units, and the control unit can recognize the module unit based on a combination of the plurality of grounding units. Claim 3 A modular drone system according to paragraph 2, characterized in that the control unit distinguishes and recognizes the grounded part among the grounding parts as a first value and the ungrounded part as a second value. Claim 4 delete Claim 5 delete Claim 6 In paragraph 1, the module information includes the electrical system, mission device, motor type, propeller type, battery type, and airframe structure type. A modular drone system comprising at least one of the following. Claim 7 A modular drone system according to claim 1, wherein the control unit deletes the module information when the connection of the module unit is disconnected. Claim 8 A modular drone system according to claim 1, wherein the control unit verifies whether the drone is capable of flying by comparing the module information with comparison information of a previously stored check unit. Claim 9 A modular drone system according to claim 1, characterized in that the control unit performs a logical operation check on the identification information. Claim 10 A modular drone system according to claim 1, wherein the module receives power from the control unit, the module is equipped with a multiplexer, and the control unit recognizes a pattern of either a terminal unit or a grounding unit through the multiplexer of the module. Claim 11 A modular drone system according to claim 1, wherein the control unit integrates a combination of identification information assigned to the module units to generate drone identification information for the drone. Claim 12 delete

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