Swarm drone control system and control method

Abstract

The present invention provides a swarm drone control system comprising: a coordinate designation unit for designating positions where drones are to be disposed in space; a position analysis unit for identifying, on the basis of information received from each drone, a position where a corresponding drone is located among the positions designated by the coordinate designation unit; and a drone control unit for controlling movement of each drone on the basis of the identified position of each drone. In addition, the present invention provides a swarm drone control method comprising: a coordinate designation step of designating positions where drones are to be disposed in space; a position analysis step of identifying, on the basis of information received from each drone, a position where a corresponding drone is located among the designated positions; and a drone control step of controlling movement of each drone on the basis of the identified position of each drone.

Description

Swarm Drone Control System and Control Method

[0001] The present invention relates to an advertising system using a drone equipped with a transparent LED display, and specifically, to a control system and a control method that control a plurality of drones to arrange LED panels equipped on each drone in a three-dimensional space to create a large screen.

[0002] Recently, the development of drones has been accelerating, and the related market is growing alongside it, with the market expected to reach $4.8 billion in 2021. As such, the drone market is a highly anticipated blue-chip market for the future, and accordingly, there is a growing demand to use drones in various airspaces.

[0003] Although drones were initially developed for military use, they are now being utilized in various fields such as logistics, weather, agriculture, information and communication, media, and hobbies. As the scope of their use expands, the adoption of drones is also increasing. In particular, there is a growing trend of active technological development regarding drone swarm flight, such as the display of various shapes and colors by multiple drones flying in a swarm, as seen at the opening ceremony of the 2018 PyeongChang Winter Olympics.

[0004] Generally, drone performances utilize multiple drones to continuously display specific shapes in the air. In order for the swarm of drones to display each shape in the air, the performance planner designs the aerial arrangement of the swarm of drones for each shape (hereinafter referred to as the frame), and performs the swarm drone performance by changing the frame whenever the shape changes.

[0005] However, as described above, each drone in the swarm moves toward the next coordinate whenever the frame changes. If the movement paths of the drones overlap during such coordinate changes, there is a risk of a drone collision accident, and if a drone crashes during flight, it poses a problem that can cause massive property damage and fatal human casualties.

[0006] In accordance with the above circumstances, the present invention aims to propose a novel method for configuring a swarm drone performance path by collectively generating performance path frames of the swarm drones so that, when performing a performance using swarm drones, the drones do not collide with each other on the movement path during the movement of the swarm drones between each frame expressing a specific shape using the swarm drones.

[0007] Next, we will briefly explain the prior art existing in the technical field of the present invention, and then explain the technical details that the present invention aims to achieve differently from the prior art.

[0008] First, Korean Registered Patent Publication No. 10-2300324 relates to a drone swarm flight control system and a method thereof. A drone swarm flight control system according to one embodiment discloses a drone swarm flight control system comprising a distance measuring unit for measuring the distance between a drone and at least one obstacle adjacent to the drone, an obstacle location determining unit for determining the location of the obstacle based on the measured distance and a preset collision detection area, and a flight control unit for controlling the flight of the drone based on at least one of a potential function for collision prevention and a swarm flight control algorithm according to the result of determining the location of the obstacle.

[0009] In addition, Korean Published Patent Application No. 10-2017-0112309 relates to an unmanned aerial vehicle equipped with a function to prevent collision with another object during flight, and more specifically, comprises: an unmanned aerial vehicle body; at least one unmanned aerial vehicle driving unit that causes the unmanned aerial vehicle body to fly; at least one first collision detection sensor unit that transmits a first type of radio wave toward a first distance from the unmanned aerial vehicle and outputs a first sensing signal regarding whether any object exists within the first distance from the unmanned aerial vehicle using the transmitted first type of radio wave; and at least one second collision detection sensor unit that transmits a second type of radio wave toward a second distance from the unmanned aerial vehicle and outputs a second sensing signal regarding whether any object exists within the second distance from the unmanned aerial vehicle using the transmitted second type of radio wave. The present invention discloses a technology relating to an unmanned aerial vehicle comprising a control unit that determines the collision risk of the unmanned aerial vehicle based on the first sensing signal of the first collision detection sensor unit and the second sensing signal of the second collision detection sensor, and changes the flight path of the unmanned aerial vehicle according to the determination result.

[0010] In addition, U.S. Patent Publication No. 2018-0096611 relates to collision detection and avoidance of a drone, and more specifically, discloses a technology that performs a collision avoidance action when a collision is detected based on data sensed using a LiDAR sensor, wherein the technology generates virtual physical spatial data using LiDAR data and performs the avoidance action when a collision result is present in the drone's movement prediction curve.

[0011] The present invention aims to provide a control system and a control method that control a plurality of drones to arrange LED panels equipped on each drone in a three-dimensional space to create a large screen.

[0012] A swarm drone control system according to one embodiment for achieving the above-mentioned objective includes: a coordinate designation unit for designating a location in space where a drone is to be deployed; a position analysis unit for identifying which location among the locations designated by the coordinate designation unit a drone is located at based on information received from each drone; and a drone control unit for controlling the movement of each drone based on the identified location of each drone.

[0013] At this time, the coordinate designation unit includes a plurality of light projectors that project a position-designating light source, and the intersection point of the position-designating light sources projected from each light projector can be used as a reference location for the position where the drone is to be deployed.

[0014] At this time, the coordinate designation unit may project positioning light sources projected from at least two light projectors spaced apart from each other in a scanning manner, and may set multiple points where the positioning light sources projected from each light projector intersect in space as the reference positions.

[0015] In addition, the above-mentioned positioning light source may include coordinate information corresponding to each of the above-mentioned intersection points.

[0016] Meanwhile, the above drone can match identification information distinguishing individual drones with the coordinate information detected from the positioning light source and provide it to the position analysis unit.

[0017] In addition, the drone is equipped with an LED panel, and displays identification information distinguishing the individual drone and coordinate information detected from the positioning light source on the equipped LED panel, and the position analysis unit can photograph each drone located in space and analyze the information displayed on the LED panel of each drone to identify the location of the drone.

[0018] A swarm drone control method according to one embodiment for achieving the above-mentioned objective comprises: a coordinate designation step for designating a location in space where a drone is to be deployed; a position analysis step for identifying which location among the designated locations a drone is in based on information received from each drone; and a drone control step for controlling the movement of each drone based on the identified location of each drone.

[0019] At this time, the coordinate designation step is performed by a plurality of light projectors that project positioning light sources, and it is preferable to use the intersection point of the positioning light sources projected from each light projector as a reference location for the position where the drone is to be deployed.

[0020] At this time, the coordinate designation step preferably involves projecting positioning light sources from at least two light projectors spaced apart from each other in a scanning manner, and designating multiple points where the positioning light sources projected from each light projector intersect in space as the reference positions.

[0021] In addition, the above-mentioned positioning light source may include coordinate information corresponding to each of the above-mentioned intersection points.

[0022] Meanwhile, the above drone can match identification information distinguishing individual drones with the coordinate information detected from the positioning light source and provide it to the position analysis unit.

[0023] In addition, the drone is equipped with an LED panel, and displays identification information distinguishing the individual drone and coordinate information detected from the positioning light source on the equipped LED panel, and the position analysis step may include: a step of photographing each drone located in space; and a step of identifying the location of the drone by analyzing the information displayed on the LED panel of each drone.

[0024] According to the swarm drone control system and control method of the present invention,

[0025] First, large LED panels can be realized in space by overlapping small LED panels through drone swarm control.

[0026] Second, since position control of a swarm of drones can be performed without using the RTK-GPS method, the configuration of individual drones can be implemented in a minimum implementation form, thereby reducing the overall system construction cost.

[0027] Third, it can be utilized as a safety signage system in coastal and mountainous areas using drones. As an example, it can be used as a safety guidance system by providing visual displays along with voice guidance in dangerous areas (coastlines, mountainous regions, etc.) using a swarm of drones. It can provide rip current warnings on coastlines, real-time hiking route guidance, and safety warnings in mountainous areas.

[0028] Fourth, it is possible to implement media facades in safe zones. By utilizing swarm drones for large-scale media facades in free spaces to display videos, advertisements, and drone shows, it is possible to create new forms of advertising and cultural content. In particular, it can be utilized as an innovative medium to replace existing fixed media facades in urban areas or event spaces.

[0029] Fifth, it can be applied to smart agriculture and forest restoration activities using drones. By utilizing drone swarms, it can be effectively used in the fields of smart agriculture and environmental restoration, such as crop management (e.g., pest detection, fertilizer application) and forest restoration (e.g., seedling planting, fire detection and extinguishing, etc.).

[0030] Sixth, it is suitable for supporting large-scale events and public safety activities. For example, it can be utilized as a guidance system in spaces such as sports events, large-scale concerts, and festivals, and can contribute to crowd control and emergency evacuation guidance. It is also capable of providing real-time displays for rescue support or evacuation route guidance at disaster sites.

[0031] FIG. 1 is a block diagram of a swarm drone control system according to one embodiment of the present invention.

[0032] Figure 2 is a schematic diagram illustrating the concept of specifying the location where a drone is placed in space by a coordinate designation unit.

[0033] Figure 3 illustrates the individual drones that make up a swarm of drones.

[0034] FIG. 4 illustrates the process of controlling the position of a drone according to one embodiment of the present invention.

[0035] FIG. 5 is a flowchart illustrating a control method for a swarm of drones according to an embodiment of the present invention.

[0036] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that in the accompanying drawings, identical components are indicated by the same reference numerals whenever possible. Furthermore, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted. For the same reason, some components in the accompanying drawings may be exaggerated, omitted, or schematically depicted.

[0037] FIG. 1 is a block diagram of a swarm drone control system according to an embodiment of the present invention, FIG. 2 is a schematic diagram explaining the concept of specifying the position where a drone is placed in space by a coordinate designation unit, FIG. 3 is a diagram explaining an individual drone forming a swarm drone, and FIG. 4 is a diagram explaining the process of controlling the position of a drone according to an embodiment of the present invention.

[0038] Referring to FIGS. 1 to 4, a swarm drone control system (1000) according to the present invention includes a coordinate designation unit (100), a position analysis unit (200), a drone control unit (300), and a plurality of drones (400).

[0039] The coordinate designation unit (100) designates the location where the drone is to be placed in space. The swarm drone control system (1000) of the present invention is disclosed to arrange a plurality of drones (400) equipped with LED panels (420) in a three-dimensional space so that the LED panels (420) of each drone are implemented as one large panel,

[0040] "Space" refers to mid-to-low altitude air (empty space) spaced a certain distance from the ground. Depending on the scale of implementation of the invention, the "space" to which the invention is applied may be an open outdoor space, or in some cases, an indoor space.

[0041] The location analysis unit (200) identifies which location the drone (400) is in among the locations specified in the coordinate designation unit (100) based on information received from each drone (400).

[0042] The drone control unit (300) controls the movement of each drone based on the identified position of each drone (400). That is, the drone control unit (300) controls the drones (400) to have a desired arrangement shape in space.

[0043] With reference to FIGS. 2 and FIGS. 3, the coordinate designation unit (100), position analysis unit (200), and drone control unit (300) will be described in more detail.

[0044] The coordinate designation unit (100) includes a first light projector (110) and a second light projector (120).

[0045] The first light projector (110) and the second light projector (120) are devices for projecting positioning light sources (L, R) and are spaced apart at a set distance and angle.

[0046] The coordinate designation unit (100) utilizes the straight-line propagation characteristic of light and is a device that forms a point where two light sources intersect in space.

[0047] The positioning light source may be a 'laser' with excellent directional properties, or a general light source having characteristics similar to a laser. For convenience of explanation and to aid understanding, the positioning light source projected from the first light projector (110) is distinguished by identification codes (L, L11, L12, ...), and the positioning light source projected from the second light projector (120) is distinguished by identification codes (R, R11, R12, ...). Identification codes L and R are used when referring to the positioning light source as a group, and forms with numbers such as L11, L12, L21, R11, R12, R21 are used to distinguish each individual indicator light.

[0048] For better understanding, the point where the positioning light source (L11, L12, L21...) projected from the first light projector (110) and the positioning light source (R11, R12, R21...) projected from the second light projector (120) intersect will be referred to as the point where the two light sources intersect.

[0049] Referring to FIG. 2, the intersection point of the light source (L11) for positioning the 'spatial coordinate matrix' and the light source (R11) for positioning is A11, and the intersection point of the light source (L21) and the light source (R21) is A12. In this way, the first light projector (110) and the second light projector (120) project multiple light sources to form a 'spatial coordinate matrix' which is a matrix of intersection points in space.

[0050] To explain further, the coordinate designation unit (100) forms a 'spatial coordinate matrix' through the first light projector (110) and the second light projector (120), and each drone (400) can be designated to be placed at a location using the 'spatial coordinate matrix' (i.e., the intersection point of each position-designation light source) as a reference location.

[0051] To form a 'spatial coordinate matrix', the first light projector (110) and the second light projector (120) are installed spaced apart to have distances and angles according to the calculated results, and precise calibration must be performed so that the positioning light sources (L, R) form an intersection point.

[0052] For better understanding, the 'spatial coordinate matrix' is illustrated in a two-dimensional form in FIG. 2, but depending on the embodiment of the invention, the 'spatial coordinate matrix' may be implemented in a two-dimensional or three-dimensional form.

[0053] The coordinate designation unit (100) forms a ‘spatial coordinate matrix’ (i.e., the intersection points of each position-designation light source) by each of the two light projectors (first light projector (110), second light projector (120)) that are spaced apart from each other and project position-designation light sources (L, R) by sequentially scanning continuous light sources in space.

[0054] At this time, the light projectors (first light projector (110), second light projector (120)) include 'coordinate information' to distinguish the position projected onto the positioning light source (L, R) for identifying the position of the 'spatial coordinate matrix'.

[0055] That is, rather than vaguely projecting positioning light sources (L, R) into space, the light sources (L, R) projected in a scanning manner, for example at position A11 of the 'spatial coordinate matrix', each contain 'coordinate information' to identify the corresponding position. The 'coordinate information' may be inserted by frequency modulating the light source or by illuminating the light source. Simply put, the positioning light sources (L, R) contain a unique identification code depending on the projected position. In other words, it can be understood that the light source identification code is the 'coordinate information'. In FIG. 2, identification codes in the form of numbers such as L11, L12, L21, R11, R12, and R21 represent each positioning light source containing 'coordinate information'.

[0056] The drone (400) includes a sensor (410) for identifying positioning light sources (L, R) and an LED panel (420). It is preferable that the LED panel (420) applied to the drone (400) be in the form of a transparent display panel to allow the positioning light sources (L, R) to pass through.

[0057] The sensor (410) receives a positioning light source (L, R) and identifies 'coordinate information', which is a light source identification code included in the light source.

[0058] The drone (400) matches identification information (i.e., its own ID) that distinguishes individual drones with coordinate information detected (i.e., identified) from positioning light sources (L, R) and provides this to the position analysis unit (200). Here, matching means associating two types of data. Since the present invention is configured to control multiple drones, each individual drone must be distinguished.

[0059] The drone (400) provides its ID and 'coordinate information' to the position analysis unit (200) at set time intervals to confirm its location in the 'spatial coordinate matrix'. The method of providing information can be performed in various ways depending on the embodiment of the invention.

[0060] The first embodiment is a form in which the drone transmits its own ID and its own location information, 'coordinate information,' via a wireless information communication method. The drone (400) can transmit its own ID and its own location information, 'coordinate information,' to the location analysis unit (200) through an interface selected from wireless communication interfaces such as Wifi, LTE, and 5G.

[0061] The second embodiment is a form in which its own ID and its own location information, 'coordinate information', are displayed on an LED panel (420) equipped on the drone.

[0062] In the second embodiment, the position analysis unit (200) includes a drone position verification camera that captures a portion of the 'spatial coordinate matrix'. The drone position verification camera captures each drone located in space ('spatial coordinate matrix') and analyzes the information displayed on the LED panel (420) of each drone to identify the location of the drone.

[0063] In the second embodiment, the drone's ID and 'coordinate information,' which is the drone's own location information, can be displayed on the LED panel (420) in the form of a QR code for the convenience of image recognition.

[0064] Since the camera used for drone positioning does not directly determine the drone's location from the video but identifies the specific drone's ID and coordinate information from the QR code, the camera only needs to be equipped with the function of capturing video.

[0065] The drone control unit (300) controls the movement of each drone based on the identified location of each drone. (See (A) in FIG. 4)

[0066] That is, each drone is controlled so that it moves to a designated location. To explain further, the drone control unit (300) arranges multiple drones (400) in a three-dimensional space through the control of the drones, positioning them in space so that the LED panel (420) of each drone can be recognized as one large panel. (See (B) in FIG. 4)

[0067] The LED panels (420) of each drone can be partially overlapped considering the positional relationship of the viewer. Once the drones are deployed, an image can be displayed on the LED panels (420) of each drone to perform the advertising broadcast intended by the swarm drone control system (1000) (see (C) in FIG. 4). Meanwhile, the position of each drone (400) can be appropriately moved according to the form of the image to be displayed (see (D) in FIG. 4).

[0068] Depending on the scale and method of implementation of the invention, the drone control unit (300) may be implemented in a form embedded in an individual drone (400).

[0069] These embodiments are classified as third embodiments.

[0070] Information regarding where each drone should be located in the 'spatial coordinate matrix' is entered in advance into each drone. Each drone (400) obtains 'coordinate information' of its location from a positioning light source (L, R) received through a sensor (410).

[0071] That is, when each drone (400) starts from a station such as a charging dock and enters the 'spatial coordinate matrix', it can check which coordinate it is located at in the 'spatial coordinate matrix'. Each drone (400) can move its position in the 'spatial coordinate matrix' and reach a pre-entered final placement position through an appropriate path.

[0072] FIG. 5 is a flowchart illustrating a control method for a swarm of drones according to an embodiment of the present invention. FIG. 5 corresponds to a form in which the swarm of drone control system (1000) described in FIG. 1 to FIG. 4 is implemented in a chronological manner, and the parts described for the coordinate designation unit (100), position analysis unit (200), drone control unit (300), and plurality of drones (400) are applied as they are to this embodiment.

[0073] The swarm drone control method according to the present embodiment includes a coordinate designation step (S100), a position analysis step (S200), and a drone control step (S300).

[0074] In the coordinate designation step (S100), a location to be placed in space is designated. The S100 step can be performed by the coordinate designation unit (100) of the swarm drone control system (1000).

[0075] For the sake of brevity, redundant descriptions regarding the coordinate designation part (100) will be omitted.

[0076] In step S200, a process is performed to identify which location among the designated locations the drone is in based on information received from each drone (400). Step S200 can be performed in the location analysis unit (200).

[0077] In step S300, detailed position control is performed for each drone (400). Specifically, the movement of each drone is controlled based on the identified position of each drone. Step S300 can be performed in the drone control unit (300).

[0078] Meanwhile, in the case of implementing the third embodiment of the present invention, step S300 may include the step of inputting information in advance to each drone where it should be located in a 'spatial coordinate matrix', the step of each drone (400) obtaining 'coordinate information' where it is located from a positioning light source (L, R) received through a sensor (410), the step of each drone (400) starting from a station such as a charging dock and entering the 'spatial coordinate matrix', the step of checking which coordinate it is located at in the 'spatial coordinate matrix', and the step of each drone (400) moving its position in the 'spatial coordinate matrix' to move to a final placement position that was entered in advance.

[0079] According to the swarm drone control system and control method according to the above-described embodiment, first, a large LED panel can be implemented in space by overlapping small LED panels through swarm control of drones, and second, since position control of the swarm drones can be performed without using the RTK-GPS method, the configuration of individual drones can be implemented in a minimum embodiment, thereby reducing the overall system construction cost.

[0080] The embodiments of the invention disclosed in this specification and drawings are provided merely as specific examples to facilitate the explanation of the technical content of the invention and to aid in understanding the invention, and are not intended to limit the scope of the invention. It is obvious to those skilled in the art that other variations based on the technical concept of the invention are possible in addition to the embodiments disclosed herein.

Claims

1. A coordinate designation unit for specifying the location where the drone is to be placed in space; A position analysis unit that identifies which location among the locations specified in the coordinate designation unit the drone is in based on information received from each drone; and A swarm drone control system comprising a drone control unit that controls the movement of each drone based on the identified position of each drone.

2. In Claim 1, The above coordinate designation unit is, It includes multiple light projectors that project a light source for positioning, A swarm drone control system characterized by using the intersection point of positioning light sources projected from each light projector as a reference location for the position where the drone is to be deployed.

3. In Claim 2, The above coordinate designation unit is, A swarm drone control system characterized by projecting positioning light sources from at least two light projectors spaced apart from each other in a scanning manner, and using multiple points where the positioning light sources projected from each light projector intersect in space as reference locations.

4. In Claim 2, A swarm drone control system characterized in that the above-mentioned positioning light source includes coordinate information corresponding to each of the above-mentioned intersection points.

5. In Claim 4, The above drone is, A swarm drone control system characterized by matching identification information for distinguishing individual drones with coordinate information detected from the positioning light source and providing it to the position analysis unit.

6. In Claim 5, The above drone is, The system is equipped with an LED panel, wherein identification information for distinguishing the individual drones and coordinate information detected from the positioning light source are displayed on the LED panel. The above-mentioned position analysis unit is, A swarm drone control system characterized by photographing each drone located in space and analyzing information displayed on each drone's LED panel to identify the location of the corresponding drone.

7. A coordinate designation step for specifying the location in space where the drone will be deployed; A location analysis step for identifying which location among designated locations the drone is in based on information received from each drone; and A swarm drone control method comprising a drone control step for controlling the movement of each drone based on the identified position of each drone.

8. In Claim 7, The above coordinate designation step is, It is performed by multiple light projectors that project a positioning light source, and A swarm drone control method characterized by using the intersection point of positioning light sources projected from each light projector as a reference location for the position where the drone is to be deployed.

9. In Claim 8, The above coordinate designation step is, A swarm drone control method characterized by projecting positioning light sources projected from at least two light projectors spaced apart from each other in a scanning manner, and using multiple points where the positioning light sources projected from each light projector intersect in space as reference locations.

10. In Claim 9, A swarm drone control method characterized in that the above-mentioned positioning light source includes coordinate information corresponding to each of the above-mentioned intersection points.

11. In Claim 10, The above drone is, A swarm drone control method characterized by matching identification information for distinguishing individual drones with coordinate information detected from the positioning light source and providing it to the position analysis unit.

12. In Claim 11, The above drone is, The system is equipped with an LED panel, wherein identification information for distinguishing the individual drones and coordinate information detected from the positioning light source are displayed on the LED panel. The above location analysis step is, Step of photographing each drone located in space; and A swarm drone control method characterized by including a step of identifying the location of a drone by analyzing information displayed on the LED panel of each drone.

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