KR101972266B1 - Control method of dual mode unmanned aerial vehicle - Google Patents

Abstract

A dual mode UAV control method according to an exemplary embodiment of the present invention is a method for controlling a dual mode UAV that can be moved from a traveling mode in which the vehicle can travel on the ground or a flight mode in which the vehicle can fly in a flight mode from above, And unloading the dual-mode UAV.

Description

{CONTROL METHOD OF DUAL MODE UNMANNED AERIAL VEHICLE}

The following description relates to a control method of a dual mode UAV.

Unmanned mobile robots are used in various fields. For example, it is preferable to send an unmanned mobile robot to a dangerous place such as a partial collapse of a building, an exploration of a natural object for the first time, or a city situation in a conflict area. In such a situation, the flat landform where the robot travels efficiently and the three-dimensional terrain where the robot is flying efficiently appear locally. Therefore, a robot that can switch between a vehicle type that can travel and a flight type that can hover is suitable for exploration mission.

A typical example of a robot capable of switching between vehicle mode and flight mode is a dual mode UAV. The dual-mode UAV can be moved to a traveling mode that can run on the ground or to a flight mode that can fly from above.

1 is a schematic view schematically showing a conventional dual mode UAV moving into a traveling mode and a flight mode.

Referring to FIG. 1, the dual mode UAV is accelerated in the stopped (v = 0) state to move to the running mode. The existing dual-mode UAV needed to be stopped for takeoff. When a conventional dual mode UAV is intended to take off, the speed in the horizontal direction is gradually decelerated to stop at the target point, and then take off in the vertical direction. The dual-mode UAV, which is located in the sky above, regenerates the horizontal thrust and moves in the direction of travel. For example, a dual-mode UAV that is located in the sky can be tilted forward to generate a horizontal thrust.

The background art described above is possessed or acquired by the inventor in the derivation process of the present invention, and can not be said to be a known art disclosed in general public before application of the present invention.

It is an object of one embodiment to provide a control method of a dual mode UAV for fast and flexible mode switching.

A dual-mode UAV control method according to an embodiment of the present invention is a method for controlling a dual-mode UAV that can be moved in a traveling mode in which the vehicle can travel on the ground or in a flight mode in which the vehicle can fly in the air, And generating a vertical thrust force to take off the dual mode UAV.

The dual mode UAV control method may further include measuring a horizontal distance between a current position and a target position of the dual mode UAV.

At the current position and the target position, the dual mode UAV can move parallel to the ground.

Between the current position and the target position, the horizontal speed of the dual mode UAV can be kept constant.

The dual mode UAV control method can take off the dual mode UAV so that the altitude of the target position can be reached within a set time based on the vertical direction thrust force and the horizontal direction speed acceptable to the dual mode UAV.

The thrust in the vertical direction for taking off the dual mode UAV can be determined according to the following equation.

≪ Equation &

는 처음 위치 및 목표 위치 간의 연직 변위,

는 처음 위치에서 수평 방향의 속력, S는 처음 위치 및 목표 위치 간의 수평 거리, m은 듀얼 모드 무인기의 질량)(Where F is the thrust in the vertical direction,

The vertical displacement between the initial position and the target position,

S is the horizontal distance between the initial position and the target position, and m is the mass of the dual mode UAV)

The dual mode UAV control method according to an embodiment may include generating a vertical direction thrust force to land the dual mode UAV with the horizontal direction momentum of the dual mode UAV.

The dual mode UAV control method may further include controlling the attitude of the dual mode UAV so that the wheels of the dual mode UAV are parallel to the flight direction.

The dual mode UAV control method may further include measuring a horizontal distance between a current position and a target position of the dual mode UAV.

At the current position and the target position, the dual mode UAV can move parallel to the ground.

Between the current position and the target position, the horizontal speed of the dual mode UAV can be kept constant.

The dual mode UAV control method may land the dual mode UAV so that the altitude of the target position can be reached within a set time based on the vertical direction thrust force and the horizontal direction speed acceptable to the dual mode UAV.

The thrust in the vertical direction for landing the dual mode UAV can be determined according to the following equation.

≪ Equation &

는 처음 위치 및 목표 위치 간의 연직 변위,

는 처음 위치에서 수평 방향의 속력, S는 처음 위치 및 목표 위치 간의 수평 거리, m은 듀얼 모드 무인기의 질량)(Where F is the thrust in the vertical direction,

The vertical displacement between the initial position and the target position,

S is the horizontal distance between the initial position and the target position, and m is the mass of the dual mode UAV)

The dual-mode UAV control method according to an exemplary embodiment realizes natural switching between the flight mode and the driving mode.

The control method of the dual mode UAV according to the embodiment can improve the mission performance speed. Since the UAV can operate the flight mode at the same time without reducing the traveling speed, the time to reach the target point can be shortened.

The control method of the dual mode UAV according to the embodiment can reduce the power consumption and increase the battery usable time. Dual-mode UAVs do not have to stop driving when switching from driving mode to flight mode, and do not have to re-engage in the air.

The control method of the dual mode UAV according to the embodiment does not require a change of the hardware design, so that it is simple in mechanical design. In order to apply the control method according to an embodiment, only the attachment of a small computer for calculating the required output is required, so that no special mechanical design change is required. For example, when a microcomputer such as a microcomputer is already mounted, only the change of the software is required, and since no mechanical device is required, the weight of the UAV is not increased.

1 is a schematic view schematically showing a dual mode UAV moving into a traveling mode and a flight mode.
FIG. 2 is a schematic view schematically showing a dual-mode UAV controlled by a dual-mode UAV control method according to an exemplary embodiment of the present invention.
FIG. 3 is a schematic view showing a state in which a dual-mode UAV controlled by a dual-mode UAV according to an exemplary embodiment takes off.
FIG. 4 is a schematic view schematically showing a dual-mode UAV controlled by a dual-mode UAV control method according to an exemplary embodiment of the present invention.
5 is a plan view showing a state in which the posture is controlled while the dual mode UAV according to the embodiment is in flight.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be " connected, " " coupled, " or " connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

FIG. 2 is a schematic view schematically showing a dual-mode UAV controlled by a dual-mode UAV control method according to an exemplary embodiment of the present invention.

Referring to FIG. 2, a dual mode UAV control method may include generating a vertical direction thrust force to take off and land the dual mode UAV, without reducing the horizontal speed of the dual mode UAV. For example, FIG. 2 illustrates a dual-mode UAV taking off without reducing the horizontal speed, and FIG. 4 described below shows a dual-mode UAV landing without reducing the horizontal speed.

In the dual mode UAV control method, when the UAV is to be switched from the running mode to the flight mode, the UAV can be taken off by operating a rotor that generates vertical thrust simultaneously with driving without lowering the speed in the horizontal direction. The UAV can take off while maintaining the momentum in the horizontal direction. For example, the horizontal speed of the UAV prior to takeoff may be approximately the same as the horizontal speed at the target point. In this way, it is possible not only to reduce the power consumption required for taking off the UAV, but also to shorten the mission execution time.

FIG. 3 is a schematic view illustrating a dual-mode UAV controlled by a dual-mode UAV control method according to an exemplary embodiment of the present invention. FIG. 4 is a flowchart illustrating a method of controlling a dual- FIG. 2 is a schematic diagram schematically showing a dual-mode UAV landing. FIG.

The dual mode UAV control method may include the step of measuring the horizontal distance between the current position and the target position of the dual mode UAV. Here, the current position may be a position where the dual mode UAV is shown based on FIG. The target position may be a position to which the dual mode UAV wants to reach. For example, the target position may be any point above the obstacle disposed in front of the dual mode UAV, but is not limited thereto. For example, the target position may be any point above the point where there is no obstacle. In addition, the dual-mode UAV control method may further include generating a vertical thrust force, for example, so that the dual-mode UAV moves in parallel with the ground at the current position and the target position. For example, the speed of the dual mode UAV can be kept constant between the current position and the target position.

In the dual mode UAV control method, a path satisfying an altitude (hereinafter referred to as a target height), an initial velocity and a final velocity data at a target position is set through a polynomial trajectory planning method and reflected in a vertical direction thrust have. Here, the target height may be the sum of the height h0 of the obstacle and the safety height hm. The polynomial trajectory planning method can be a third, fourth, or fifth order polynomial trajectory method. Hereinafter, for convenience of explanation, it is explained that the dual-mode UAV control method is controlled through the third-order polynomial trajectory planning method, but it is not limited thereto.

The dual mode UAV control method can take off the dual mode UAV so that the altitude of the target position can be reached within the set time based on the permissible vertical direction thrust and the horizontal direction speed for the dual mode UAV. For example, an allowable vertical direction thrust force may mean a thrust generated at a maximum output of a motor that drives a wing generating thrust. For example, the set time may be a value obtained by dividing the horizontal distance between the current position and the target position of the dual mode UAV by the current horizontal speed.

For example, without reducing the horizontal speed of the dual mode UAV, the vertical direction thrust generated to take off the dual mode UAV can be determined according to the following equation (1).

&Quot; (1) "

는 처음 위치 및 목표 위치 간의 연직 변위,

는 처음 위치에서 수평 방향의 속력, S는 처음 위치 및 목표 위치 간의 수평 거리, m은 듀얼 모드 무인기의 질량)(Where F is the thrust in the vertical direction,

The vertical displacement between the initial position and the target position,

S is the horizontal distance between the initial position and the target position, and m is the mass of the dual mode UAV)

The dual mode UAV control method can maintain the horizontal speed of the dual mode UAV constant between the current position and the target position. Further, at the current position and the target position, the dual mode UAV can move parallel to the ground.

Based on the take-off time, the height at the current position is 0, and the velocity in the vertical direction of the dual mode UAV at each of the current position and the target position may be zero. When such information is substituted into the third polynomial locus method, the above equation can be derived.

On the other hand, the dual-mode UAV control method can land the dual-mode UAV so that the altitude of the target position can be reached within the set time based on the vertical direction thrust and the horizontal direction speed acceptable to the dual-mode UAV.

For example, without decreasing the horizontal speed of the dual mode UAV, the vertical direction thrust generated to land the dual mode UAV can be determined according to the following equation.

&Quot; (2) "

5 is a plan view showing a state in which the posture is controlled while the dual mode UAV according to the embodiment is in flight.

Referring to FIG. 5, the dual mode UAV 1 may include a body 10, a plurality of blades 11, and a wheel 12.

The body 10 may support a plurality of vanes 11, wheels 12, and a control unit (not shown). The body 10 may be, for example, in the form of a flat plate.

The plurality of vanes 11 can generate the thrust required for the dual mode UAV 1 to travel in the flight mode.

The wheels 12 can generate the thrust necessary for the dual mode UAV 1 to move to the running mode.

The dual mode UAV control method may further include a step of controlling an attitude of the dual mode UAV 1 such that the wheels of the dual mode UAV 1 are parallel to the flight direction. For example, while the dual mode UAV 1 is flying, the direction of flight of the dual mode UAV 1 may be offset from the direction of the wheel 12 (see left side of FIG. 5). The dual mode control unit (not shown) can control the attitude of the dual mode UAV 1 so that the wheels of the dual mode UAV 1 are aligned with the flight direction before the dual mode UAV 1 starts landing.

A control unit (not shown) can sense the posture of the dual mode UAV. The attitude detection of the dual mode UAV 1 can be performed using known techniques well known to those of ordinary skill in the art. For example, the dual mode UAV 1 may be equipped with an IMU sensor or the like, and the control unit may sense a signal from the IMU sensor to sense the posture of the dual mode UAV.

A control unit (not shown) can control the posture of the dual mode UAV. For example, the control unit may control the rotation speed of each of the plurality of vanes 11 to change the attitude of the dual mode UAV. The control unit can start the landing of the dual mode UAV after the attitude of the wheels 12 of the dual mode UAV 1 is aligned with the flight direction.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced.

Claims (13)

A method of controlling a dual mode UAV that can be moved from a traveling mode capable of traveling on the ground to a flight mode capable of flying from above,
Generating a vertical thrust force to take off the dual mode UAV while maintaining the horizontal momentum of the dual mode UAV;
Measuring a horizontal distance between a current position and a target position of the dual mode UAV;
Determining a thrust for taking off the dual mode UAV based on the horizontal speed of the dual mode UAV and the horizontal distance;
Sensing a posture of the dual mode UAV; And
And controlling the attitude of the dual mode UAV so that the wheels of the dual mode UAV are parallel to the flight direction,
At the current position and the target position, the dual mode UAV moves in parallel with the ground,
Between the current position and the target position, the horizontal speed of the dual mode UAV is kept constant,
Wherein the thrust in the vertical direction for taking off the dual mode UAV is determined according to Equation (1) below.
&Quot; (1) "

(Where F is the thrust in the vertical direction,

The vertical displacement between the initial position and the target position,

S is the horizontal distance between the initial position and the target position, and m is the mass of the dual mode UAV) delete delete delete delete delete A method of controlling a dual mode UAV that can be moved from a traveling mode capable of traveling on the ground to a flight mode capable of flying from above,
Generating a vertical thrust force to land the dual mode UAV with the horizontal momentum of the dual mode UAV;
Measuring a horizontal distance between a current position and a target position of the dual mode UAV;
Determining a vertical thrust for landing the dual mode UAV based on the horizontal speed of the dual mode UAV and the horizontal distance;
Sensing a posture of the dual mode UAV; And
And controlling the attitude of the dual mode UAV so that the wheels of the dual mode UAV are parallel to the flight direction,
At the current position and the target position, the dual mode UAV moves in parallel with the ground,
Between the current position and the target position, the horizontal speed of the dual mode UAV is kept constant,
Wherein the thrust in the vertical direction for landing the dual mode UAV is determined according to Equation (2) below.
&Quot; (2) "

(Where F is the thrust in the vertical direction,

The vertical displacement between the initial position and the target position,

S is the horizontal distance between the initial position and the target position, and m is the mass of the dual mode UAV) delete delete delete delete delete delete

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