KR20230100833A - Flying object and autonomous flight control system with space rendering function - Google Patents

Abstract

The present invention relates to a plurality of flying objects having a space creation function and an autonomous flight control system. The flying object comprises: a flight body (100) filled with helium gas and designed for light projection; a control module (110) coupled to the flight body (100), configured to allow the helium gas and light to flow into the flight body (100), and controlling the flight of the flight body (100); and a plurality of motor mounts (130) provided on the exterior of the flight body (100), and enabling the takeoff, landing, and directional changes of the flight body (100) according to the control of the control module (110). The autonomous flight control system (400) is connected to the control module (110) via a network, and controls the takeoff, landing, and flight state of the flight body (100). Therefore, the flying object and the autonomous flight control system can provide pleasure and satisfaction to a plurality of users who are located in the relevant space.

Description

Multiple flying objects and autonomous flight control system with space rendering function {Flying object and autonomous flight control system with space rendering function}

The present invention relates to a plurality of flying objects and an autonomous flight control system equipped with a space directing function, and more particularly, as it is possible to direct various events of a flying object using light within a set space range, it is located in the space It can provide pleasure and satisfaction to a large number of users at the same time, as well as create a space where stable charging management and flight control are possible by returning to a pre-designated charging place after the event production and flight operation are completed in connection with the autonomous flight control system. It relates to a number of functionally equipped flying objects and an autonomous flight control system.

In general, unmanned aerial vehicles are used not only for military purposes but also for businesses, media, and individuals, and the range of their use, such as newspaper and broadcasting industries and film production, is gradually expanding.

In such an unmanned air vehicle, it is also released in the form of flying in a state in which helium is filled inside, and in the case of such an unmanned air vehicle using helium, it is used only as an advertising or publicity means, and is fixed at a specific location. It is configured so that only advertisements determined in the state are output, or a display device is mounted and set advertisements are output through the display device.

On the other hand, in recent years, images of various shapes have been produced in space using a large number of unmanned aerial vehicles, but this can only be implemented through long-term repetitive practice by many skilled technicians, and implements control programming to solve this problem. Even so, there was a problem in that the operator had to directly control the corresponding control program.

The background art or prior art described above is only to help understand the technical significance of the present invention, and does not mean a widely known technique in the technical field to which the present invention belongs prior to the filing of the present invention.

Registered Patent No. 10-1707114 Public Utility Model No. 20-1994-0021197

In order to solve such a problem, the present invention has been devised by the above-mentioned background technology, and as it is possible to produce various events of flying objects using light within a set space range, Its purpose is to provide a plurality of flying objects and an autonomous flight control system equipped with a space directing function that can provide both pleasure and satisfaction.

In addition, the present invention is connected to an autonomous flight control system to return to a pre-designated charging place after completion of event production and flight operation so that charging is automatically performed, thereby providing a space directing function that facilitates charging management of flying objects. Its purpose is to provide a flying object and an autonomous flight control system.

In addition, the present invention is configured to perform wireless communication between an autonomous flight control system and a flying object, and thus receive preset flight scenario information, thereby providing a space directing function capable of directing events of a plurality of flying objects with a minimum number of people. Its purpose is to provide a number of flying objects and an autonomous flight control system.

In addition, the present invention enables real-time monitoring of flying objects, enabling rapid response to malfunctions of flying objects and a plurality of flying objects and an autonomous flight control system equipped with a space directing function that can prevent safety accidents in advance. Its purpose is to provide

However, the object of the present invention is not limited thereto, and even if not explicitly mentioned, the purpose or effect that can be grasped from the solution or embodiment of the problem is also included therein, of course.

According to one embodiment of the present invention for achieving the above object, the flight body 100 is filled with helium gas and transmits light; A control module 110 coupled to the flight body 100, configured to allow the helium gas and the light to flow into the flight body 100, and controlling flight of the flight body 100; A motor mount 130 configured to take off and land and change the flight direction of the flight body 100 according to the control of the control module 110, which is composed of a plurality of motor mounts 130 on the outer surface of the flight body 100. It is characterized by providing a flying object that does.

According to one embodiment of the present invention, the flight object is connected to the control module 110 and a network, and the autonomous flight control system 400 for controlling the take-off and landing and flight status of the flight body 100; It is characterized by including.

According to one embodiment of the present invention, the flight object, the flight body 100 takes off and lands, the control module 110 and the charging station 200 made electrical connection when landing; and a holding frame 300 to which the charging station 200 is coupled and in which communication and power cables connected to the charging station 200 are embedded.

According to one embodiment of the present invention, the control module 110 receives the flight scenario information of the flight body 100 from the autonomous flight control system 400 and controls the driving of the motor mount 130 A flight controller 112, a battery 114 in which the flight power of the flight body 100 is stored, a charging coil 116 configured to charge the power of the battery 114, and the flight controller 112 It is characterized in that it includes an LED module 118 for irradiating light under the control of ) and a helium valve 120 connected to the helium filling device and configured to fill the helium gas.

According to one embodiment of the present invention, the charging station 200 is a support frame in which the flight body 100 is seated and the charging module 220 is configured so that the flight body 100 is charged with power ( 202), a charging frame 204 configured at a lower portion of the support frame 202 and a connection housing 270 electrically connected to the charging module 220, and a lower end of the charging frame 204 It is configured in, and characterized in that it includes a column member 206 coupled to the holding frame 300.

According to one embodiment of the present invention, the charging station 200 is configured in the support frame 202 and is connected to the autonomous flight control system 400 to display image information around the holding frame 300 in real time. An image collection unit 240 for collection, a speaker 250 configured on one side of the support frame 202 and outputting audio information under the control of the autonomous flight control system 400, and the support frame ( 202), it is characterized in that it further comprises a light emitting means 230 for emitting a predetermined light around the charging station (200).

According to one embodiment of the present invention, the holding frame 300 is composed of a coupling frame for installing the holding frame 300 on the ground and the holding frame 300, and the flight of the flight body 100 A flight control panel 310 for transmitting scenario information to the autonomous flight control system 400 and a decorative frame 320 configured on top of the holding frame 300 and equipped with the charging station 200 are further provided. It is characterized by including.

On the other hand, according to another embodiment of the present invention, in the autonomous flight control system 400 of a flying object including the flight body 100, the charging station 200 and the holding frame 300, the autonomous flight control system 400 is a space setting unit that divides the space in which the holding frame 300 is to be installed to form a setting space and creates a flight boundary area for the space in which the flight body 100 will fly for each set space ( 410); a scenario generator 420 receiving information about the flight boundary area from the space setting unit 410 and generating flight scenario information and cluster scenario information of the flight body 100; a virtual realization unit 430 that virtually implements the flight scenario information and cluster scenario information generated by the scenario generator 420; a scenario sharing unit 440 that transmits the flight scenario information and cluster scenario information to the flight body 100 and the holding frame 300, respectively; a mode control unit 450 for controlling whether the flight body 100 is in flight or not, whether or not to take off and land; and a monitoring unit 460 that monitors the image information transmitted from the charging station 200 and the flight state of the flight body 100 in real time.

According to another embodiment of the present invention, the flight boundary area includes area information of the setting space and location information of installations or sculptures already built in the setting space, and flight generated for each setting space. It is characterized in that it includes information on possible coordinate values.

According to another embodiment of the present invention, the scenario generating unit 420 analyzes the flight boundary zone information transmitted from the space setting unit 410 so that the flight body 100 can fly for each set space. It is characterized in that a plurality of flight scenario information for autonomous flight of the flight body is generated by generating route information and combining the generated flight possible route information.

According to another embodiment of the present invention, the scenario generator 420 analyzes the generated plurality of flight scenario information to generate cluster scenario information in which a plurality of flight main bodies 100 can perform group flight. .

According to another embodiment of the present invention, the mode controller 450, when the flight scenario information or cluster scenario information is received from the holding frame 300, the flight body 100 controls the flight scenario It is characterized by controlling so that flight can be made based on information or cluster scenario information.

According to another embodiment of the present invention, the mode control unit 450, when the flight body 100 is in a solo flight or a group flight, the scenario information after the solo flight or group flight is completed. It is characterized by controlling to perform.

According to another embodiment of the present invention, the monitoring unit 460 receives flight scenario information or cluster scenario information currently being performed by the flight body 100 from the scenario sharing unit 440, and the flight body ( Compared with the image information of 100), it is configured to check whether the flight body 100 currently in flight is in flight according to the route, trajectory, and speed included in the flight scenario information or cluster scenario information. to be

According to such an embodiment of the present invention, as it is possible to produce various events of a flying object using light within a set space range, it is possible to provide pleasure and satisfaction to a plurality of users located in the space at the same time. there is

In addition, according to an embodiment of the present invention, after the event production and flight operation are completed in connection with the autonomous flight control system, it returns to a pre-designated charging place and automatically recharges, so that the charging management of the flying object is easy. there is.

In addition, according to an embodiment of the present invention, it is configured to perform wireless communication between an autonomous flight control system and a flying object, and thus receive preset flight scenario information, so that events of a plurality of flying objects can be directed with a minimum number of people. It works.

In addition, according to an embodiment of the present invention, real-time monitoring of the flying object is performed, so that a malfunction of the flying object can be promptly dealt with, thereby preventing safety accidents in advance.

In addition, the various beneficial advantages and effects of the present invention are not limited to the above, and will be more easily understood in the process of describing specific embodiments of the present invention.

1 is a diagram showing a flying object according to an embodiment of the present invention;
2 is a view showing a flight body of a flight object according to an embodiment of the present invention;
3 is a view showing a control module of a flight body according to an embodiment of the present invention;
4 is a diagram showing a charging station of a flying object according to an embodiment of the present invention;
5 schematically shows a frame structure of a charging station according to an embodiment of the present invention;
6 is another example showing a structure of a charging station and a holding frame of a flying object according to an embodiment of the present invention;
7 is a block diagram schematically showing an autonomous flight control system for a flying object according to an embodiment of the present invention;
8 to 10 are exemplary diagrams illustrating states in which cluster flight control is performed by an autonomous flight control system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, in adding reference numerals to components of each drawing, it should be noted that the same components have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

In addition, terms such as "comprise", "comprise" or "having" described below mean that the corresponding component may be inherent unless otherwise stated, excluding other components. All terms, including technical or scientific terms, are generally understood by those skilled in the art to which the present invention belongs, unless otherwise defined. have the same meaning as understood. Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected”, “coupled” or “connected” to another element, that element is or may be directly connected to the other element, but there is another element between the elements. It will be understood that elements may be “connected”, “coupled” or “connected”.

In addition, in the present invention, some of the operations or functions described as being performed by a terminal, device, or device may be performed instead by a server connected to the terminal, device, or device. Similarly, some of the operations or functions described as being performed by the server may also be performed by a terminal, device, or device connected to the server.

In addition, each server described in each embodiment of the present invention is implemented as a computer device or a plurality of computer devices that communicate with a terminal, device, or device through a network to provide commands, codes, files, contents, services, etc. It may be a system and may include a memory, a processor, a communication interface, an input/output interface, and a database.

In particular, a means for executing the system according to each embodiment of the present invention may be an application or a web server, and a terminal that is a means for reading a recording medium on which the application or web server is recorded, It may include not only a general PC such as a general desktop or laptop computer, but also a mobile terminal such as a smart phone and a tablet PC.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIGS. 1 to 6, the plurality of flying objects equipped with the space directing function of the present invention are filled with helium gas and configured to allow LED light to pass through, and a certain path within a set spatial range. A flight body 100 in which flight is performed, a charging station 200 configured to take off and land of the flight body 100 and configured to wirelessly charge the flight power of the flight body 100, and a charging station ( 200) and electrical connection is made, and the charging station 200 is configured to include a holding frame 300 configured to be disposed at a position spaced apart from the ground by a predetermined height.

The flight body 100 includes an inner body 102 configured to form a predetermined space so that the internal helium gas can be filled and to minimize leakage of the charged helium gas, and an outer surface of the inner body 102. It is configured to wrap around, protects the flight body 100 from external impact, and consists of an outer body 104 to which a motor mount 130 is mounted for flight of the flight body 100.

Here, the inner body 102 may be made of a urethane material, and the outer body 104 may be made of a PP or PE material.

Such a flight body 100 is configured such that the inner body 102 and the outer body 104 are made of a transparent material so that the LED light emitted under the control of the control module 110 to be described later is transmitted.

The flight body 100 is coupled to the center of the lower end, is configured to fill the helium gas into the flight body 100, receives a control signal from the autonomous flight control system 400 to be described later, and the flight body ( 100) consists of a control module 110 configured to emit light of LED into the interior and a plurality of pieces spaced apart at predetermined intervals on the outer circumferential surface of the flight body 100, take-off and landing of the flight body 100 and change direction It is configured to include a motor mount 130 that is driven so as to be supported.

The control module 110 is coupled to the lower end of the flight body 100, and is configured to communicate with the inner space of the flight body 100 so that the helium gas is filled and the light of the emitting LED is applied to the inner space of the flight body 100. It is configured to be irradiated with, and is configured to include a flight controller 112, a battery 114, a charging coil 116 and an LED module 118.

When combined with the flight body 100, the control module 110 is configured to be disposed at the center of the lower end of the flight body 100, and the LED module 118 and the helium valve 120 are installed inside the flight body 100. It is configured so that it can be placed on space.

For example, the control module 110 may be configured so that the lower ends of the inner body 102 and the outer body 104 of the flight body 100 are bonded to the lower surface of the LED module 118, thereby Due to this, the control module 110 may be configured to be integral with the flight body 100.

The flight controller 112 is connected to the autonomous flight control system 400 through a network and receives flight control signals of the flight body 100 and flight scenario information for autonomous flight from the autonomous flight control system 400, and receives It controls whether the motor mount 130 configured in the flight body 100 is driven according to the flight control signal or flight scenario information.

Here, the flight control signal may include information on whether or not the flight body 100 takes off and lands and where the takeoff and landing takes place.

In addition, the flight scenario information may include the coordinates of the set flight space, and may include information about the flight trajectory of the flight body 100, flight speed, group flight, and flight time.

At this time, the flight controller 112 is configured so that the flight body 100 lands at the charging station 200 to be described later depending on whether or not the flight control signal is received, and when landing at the charging station 200, the battery 114 ) is configured to be charged.

The charging coil 116 is composed of a plurality along the circumferential surface of the LED module 118 constituting the central portion of the control module 110, and is preferably located at each branch point of the circumferential surface of the control module 110. It is configured to be electrically connected to the charging module 220 configured in the charging station 200.

The charging coil 116 is controlled to receive power from the charging module 220 under the control of the flight controller 112, and is configured to transfer the power to the battery 114 when charging power so that charging is performed. .

That is, the control module 110 is configured to charge power through the charging coil 116 only when the charge amount of the battery 114 is less than or equal to a certain charge amount.

However, it is not limited thereto, and when an electrical connection is made between the charging coil 116 and the charging module 220 while being seated in the charging station 200, it may be configured to automatically charge.

In addition, the LED module 118 emits a predetermined light into the inner space of the flight body 100 under the control of the flight controller 112, and is configured to emit light of various colors.

In addition, the control module 110 of the present invention is further configured with a helium valve 120 for filling a certain amount of helium gas into the inner space of the flight body 100.

The helium valve 120 may be configured in the central portion of the control module 110, and is preferably configured to communicate with the internal space of the flight body 100 through the upper center from the lower center of the control module 110, , It is configured to open and close according to the control of the flight controller 112.

At this time, the flight controller 112 may further configure a gas amount detection sensor capable of determining the filling state of the helium gas filled in the inner space of the flight body 100, and the filling amount of the helium gas transmitted from the gas amount detection sensor If it is less than a certain amount, it can be controlled so that the flight of the flight body 100 is made with a helium filling device.

Preferably, the autonomous flight control system 400 is configured to transmit the filling amount of helium gas, and when the helium gas filling signal is received from the autonomous flight control system 400, the flight control of the flight body 100 is performed. It could be.

At this time, the helium filling device may be configured in the charging station 200, but is not limited thereto, and may be configured within a set space range, but may be built at a location spaced apart from the holding frame 300 by a predetermined distance. When configured at a location independent of the charging station 200, a valve connecting means that is connected to the helium valve 120 may be further configured, and the valve connecting means is the flight controller 112 of the control module 110 It may be connected with a short-distance wireless communication method, or a GPS module or a UWB module may be further configured to provide position information of the valve connection means to the flight controller 112.

The motor mount 130 is coupled to the outer circumferential surface of the flight body 100, in particular, the outer circumferential surface of the outer body 104, and is configured to ascend and descend and change direction of the flight body 100, and the flight of the control module 110 A motor driving unit 134 in which a motor rotating under the control of the controller 112 is incorporated, a mounting flange 132 coupling the motor driving unit 134 to the outer body 104, and the motor of the motor driving unit 134 It is configured to include a propeller 136 coupled to rotation.

The motor mount 130 is configured between a plurality of first motor mounts 130a configured to perform an ascending and descending operation of the flight body 100 and the plurality of first motor mounts 130a, and the flight body ( 100) is composed of a plurality of second motor mounts 130b coupled so that the direction can be changed.

The charging station 200 is coupled to the holding frame 300 and is connected to the mode control unit 450 of the autonomous flight control system 400 through a network so that the flight body 100 takes off and lands, and the landed state It is configured to be electrically connected to the flight body 100 so that the battery 114 of the flight body 100 is charged.

The charging station 200 is configured to allow the flight body 100 to be seated, and includes a support frame 202 configured to allow the flight body 100 to be charged with power, and a lower portion of the support frame 202. It is formed to extend from the lower end of the charging frame 204 and the charging frame 204 configured in, and is configured to include a column member 206 configured to be coupled with the holding frame 300.

Here, the support frame 202 is configured with a seating portion 210 for supporting the flight body 100 to be seated at its upper end, and the control module 110 of the flight body 100 is included in the seating portion 210. It is configured to be electrically connected to the charging coil 116 configured in the charging frame 204 and configured to be electrically connected to the connection housing 270 configured in the charging frame 204 to charge the battery 114 of the flight body 100. The charging module 220 is configured to be made.

In addition, the support frame 202 has an image collection unit 240 that is connected to the monitoring unit 460 of the autonomous flight control system 400 through a network and collects and transmits image information around the support frame 300 in real time. It consists of

At this time, the image collecting unit 240 is mounted on the support frame 202, and the photographing housing 230 for driving the image collecting unit 240 in 3-axis directions including the X-axis, Y-axis, and Z-axis is further configured. do.

Here, the photographing housing 230 may be configured to be driven under the control of the monitoring unit 460 .

In addition, a speaker 250 is configured to output audio information transmitted from the monitoring unit 460 to one side of the support frame 202, and a predetermined light is emitted around the charging station 200 on the other side opposite to the speaker 250. A light emitting means 230 is configured to emit light so that the discrimination of the set spatial range is easily achieved even at night.

Preferably, a fixing bracket 260 may be further configured so that the light emitting means 230 and the speaker 250 can be mounted on one side and the other side of the support frame 202, respectively.

The charging frame 204 is coupled to the lower portion of the support frame 202, and a connection housing 270 supplying power while being electrically connected to the charging module 220 is configured therein.

Here, the connection housing 270 may be connected to a cable passing through the inside of the column member 206 and the holding frame 300 to continuously receive power.

The column member 206 is coupled to the holding frame 300 so that the charging station 200 is stably fixed to the upper end of the holding frame 300, and at the same time, each component of the charging station 200 is autonomously maintained. Various cables such as communication cables and power cables can be built in so that the flight control system 400 can be electrically connected.

The holding frame 300 is installed in plurality in the setting space partitioned by the space setting unit 410 of the autonomous flight control system 400, and various types of cables are built into the inside, and the charging station 200 is installed at the upper end thereof. This combination is configured so that the flight body 100 can take off and land.

The holding frame 300 may be made of a hollow shaft member, and a coupling frame may be configured at a lower end thereof to be installed on the ground of the setting space.

On the other hand, the holding frame 300 of the present invention may be formed in various shapes according to the environment of the installation space and use, and may function as a sculpture.

For example, if the installation space corresponds to the indoor space of an airport, it can be configured so that a number of users can comfortably rest in the installation space or watch the autonomous flight of the flight body 100 while walking. , as shown in FIG. 6, a bench on which a plurality of users can be seated may be further configured along the upper circumferential surface of the coupling frame.

In addition, the holding frame 300 is an outer circumferential surface of a hollow shaft member, and flight control that outputs information about flight scenarios of the flight body 100 so that the plurality of users can directly set the flight mode of the flight body 100. The panel 310 may be further configured.

In addition, the holding frame 300 further constitutes a decorative frame 320 to which the charging station 200 is mounted to the upper circumferential surface of the hollow shaft member, and the decorative frame 320 includes the holding frame 300 It can be implemented in various ways depending on the shape of the sculpture to be implemented, and in the present invention, as shown in FIG. 6, it is shown to be configured to form a tree and a leaf, but is not limited thereto.

On the other hand, the autonomous flight control system 400 of a plurality of flying objects equipped with a space directing function of the present invention, as shown in Figs. , and the space setting unit 410 for setting the coordinate values for the flight area in which the flight body 100 can fly in the set setting space, the set space and flight area coordinates set through the space setting unit 410. The scenario generator 420 that generates flight scenario information of the flight body 100 based on the value and generates cluster scenario information for the plurality of flight bodies 100, and the scenario generator 420 generates A virtual implementation unit 430 that virtually implements flight scenario information and swarm scenario information to check the flight safety of the flight body 100, and transfers the flight scenario information and swarm scenario information to the flight controller 112 of the control module 110 and Transmission from the scenario sharing unit 440 that transmits to the flight control panel 310, the mode controller 450 that controls whether the flight body 100 is in flight, take-off or landing, and the image collection unit 240 of the charging station 200 It is configured to include a monitoring unit 460 that monitors the image information and the flight state of the flight body 100 in real time.

The space setting unit 410 divides the space in which the holding frame 300 is to be installed to form a setting space, and creates a flight boundary area consisting of range information about the space in which the flight body 100 will fly for each set space. .

In addition, the space setting unit 410 sets coordinate values for the flyable zone for each flight boundary zone created.

At this time, the coordinate values for the flyable area (hereinafter referred to as flyable coordinate values) may be coordinate values composed of different positions according to the setting space, and the holding frame of the flying object at a position corresponding to the flyable coordinate value. 300 may be configured to be installed.

In addition, the flight boundary area includes area information of the setting space and position information on various installations and sculptures already built in the setting space, and may be configured to include information on flight possible coordinate values generated for each setting space. there is.

For example, when the space in which the flight body 100 is to fly consists of an indoor space of an airport, the space setting unit 410 divides the indoor space of the airport into directions such as east, west, south, and north, and sets each direction. Forms location information about the space, and creates location information about various installations and sculptures built or installed for each setting space based on the location information of the setting space, and also, the space setting unit 410 Based on each of the positional information, the flying body 100 forms a flightable coordinate value consisting of positional information on which the flight body 100 can safely fly.

Such a space setting unit 410 may be equipped with a normal GPS module to determine each of the location information, and a flight consisting of location information of the setting space, location information of the installation and sculpture, and flight possible coordinate values Boundary area information is generated and transmitted to the scenario generator 420 .

The scenario generation unit 420 analyzes the flight boundary area information transmitted from the space setting unit 410 to generate route information on which the flight body 100 can fly for each set space partitioned according to the direction, and the generated flight is possible. It is a component that generates optimal flight scenario information for autonomous flight of the flight body 100 by combining route information.

That is, the scenario generating unit 420 applies different flight scenarios of the flight body 100 so that the flight body 100 performs autonomous flight based on different flight scenario information for each set area, and sets the space. It is to ensure that the flight is made while avoiding collisions with installations or sculptures placed inside.

The scenario generation unit 420 may generate at least two or more route information when generating flight possible route information, and generates a plurality of flight scenario information by combining the generated route information.

In addition, the scenario generator 420 analyzes a plurality of generated scenario information, extracts scenario information in which a plurality of flight bodies 100 can perform cluster flight, and generates cluster scenario information composed of the extracted scenario information.

At this time, the cluster scenario information includes information on the flight trajectory and flight speed of each flight body 100 during cluster flight, and the execution time of the flight scenario information, that is, information about the flight time of the flight body 100.

The scenario generation unit 420 of the present invention transmits the generated flight scenario information and cluster scenario information to the virtual implementation unit 430 so that the stability of the corresponding scenario information is reviewed.

The virtual implementation unit 430 receives the flight scenario information and cluster scenario information from the scenario generator 420, analyzes the received information, and based on the corresponding scenario information, when flying within the set area, flight Determine whether or not a collision between the main body 100 and a pre-installed installation or sculpture in the setting area, whether or not a collision between the flying bodies 100 occurs during a group flight of the flying bodies 100, and Information is transmitted to the scenario generator 420 .

The virtual realization unit 430 implements each of the scenario information in a virtual environment through a normal 3D viewer or 3D realization program to perform a test, and when performing the test, through the space setting unit 410 It is configured to perform a safety check of corresponding scenario information while performing based on the generated flight boundary zone information.

Here, the virtual implementation unit 430 classifies scenario information in which an error value exists among the respective scenario information and scenario information in which safety has been verified as a result of performing the safety check, and the scenario generator 420 and the scenario sharing unit ( 440).

At this time, the scenario generator 420 may be configured to generate new scenario information after destroying scenario information having an error value, and transmits the regenerated scenario information to the virtual implementation unit 430. It can be configured to

In addition, the scenario sharing unit 440 transmits the safety-verified scenario information transmitted from the virtual implementation unit 430 to the flight controller 112 of the control module 110 configured in the flight body 100 and the holding frame 300. ) are transmitted to the flight control panel 310 configured in the flight body 100 is configured to fly based on the scenario information.

On the other hand, the autonomous flight control system 400 of the present invention controls whether or not the flight body 100 flies and takes off and lands through the mode controller 450, and the flight body 100 can autonomously fly based on the scenario. control to do

Here, the mode controller 450 is connected to the flight control panel 310 through a network, and when scenario information is transmitted from the flight control panel 310, the flight of the flight body 100 is controlled from the flight control panel 310. It can be controlled to be made of the transmitted scenario information.

Preferably, the mode controller 450 may be configured to transmit the scenario information to the flight controller 112 so that the flight body 100 can fly.

At this time, the mode controller 450 may control the scenario information being executed in the flight controller 112 to be changed, and if a single flight or a group flight is in progress, after the individual flight or group flight is finished. It is possible to control so that the scenario information can be performed.

On the other hand, the mode control unit 450 of the present invention can receive information about the charging state of the flight body 100 from the flight controller 112, and the flight body 100 is charged with power or helium gas. Accordingly, the flight body 100 may be controlled to return to the charging station 200 or to fly toward the helium filling device.

In addition, the autonomous flight control system 400 of the present invention is connected to the mode control unit 450 and the charging station 200 through a network, and the image information collected by the image collection unit 240 configured in the charging station 200 A monitoring unit 460 is configured to monitor in real time and monitor the flight status of the flight body 100 included in the image information in real time.

At this time, the monitoring unit 460 may be connected to the scenario sharing unit 440 through a network, receive scenario information shared through the scenario sharing unit 440, and monitor the flight status of the flight body 100. configured to be done.

That is, the flight scenario information currently being performed by the flight body 100 or the swarm scenario information received from the scenario sharing unit 440 is compared with the flight state information of the flight body 100 output through the image information, and the current flight scenario information is compared. It is configured to check whether the flight main body 100 in flight is in flight according to the route, trajectory, and speed included in the flight scenario information or swarm scenario information.

Here, the monitoring unit 460 transmits information about the corresponding flight body 100 to the mode control unit 450 when the flight body 100 does not fly according to the flight scenario information or swarm scenario information. And, the mode control unit 450 may be configured to generate a return signal of the flight body 100 so that landing is made with the charging station 200 or a helium filling device.

On the other hand, the network described in the present invention means a connection structure capable of exchanging information between each node, such as a plurality of terminals and servers, and examples of such networks include RF, 3rd Generation Partnership Project (3GPP) network, LTE (Long Term Evolution) network, 5GPP (5rd Generation Partnership Project) network, WIMAX (World Interoperability for Microwave Access) network, Internet, LAN (Local Area Network), Wireless LAN (Wireless Local Area Network), WAN (Wide) Area Network), PAN (Personal Area Network), Bluetooth (Bluetooth) network, NFC network, satellite broadcasting network, analog broadcasting network, DMB (Digital Multimedia Broadcasting) network, etc. are included, but are not limited thereto.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: flight body
102: inner body 104: outer body
110: control module 112: flight controller
114: battery 116: charging coil
118: LED module 120: helium valve
130; Motor mount 132: mounting flange
134: motor drive unit 136: propeller
200: charging station
202: support frame 204: charging frame
206: column member 210: seating part
220: charging module 230: light emitting means
240: image collection unit 242: photographing housing
250: speaker 260: fixing bracket
270: connection housing
300: holding frame
310: flight control panel 320: decorative member
400: autonomous flight control system
410: Space setting unit 420: Scenario generation unit
430: virtual implementation 440; Scenario sharing department
450: mode control unit 460: monitoring unit

Claims (11)

A flight body 100 filled with helium gas and transmitting light;
A control module 110 coupled to the flight body 100, configured to allow the helium gas and the light to flow into the flight body 100, and controlling flight of the flight body 100;
A motor mount 130 configured to take off and land and change the flight direction of the flight body 100 under the control of the control module 110; and
An autonomous flight control system 400 connected to the control module 110 through a network and controlling take-off and landing and flight conditions of the flight body 100;
A plurality of flying objects equipped with a space directing function comprising a.
According to claim 1,
The flying object,
a charging station 200 where the flight body 100 takes off and lands and is electrically connected to the control module 110 upon landing; and
a holding frame 300 to which the charging station 200 is coupled and in which communication and power cables connected to the charging station 200 are embedded;
A plurality of flying objects equipped with a space directing function characterized in that it further comprises.
According to claim 2,
The control module 110,
A flight controller 112 receiving flight scenario information of the flight body 100 from the autonomous flight control system 400 and controlling driving of the motor mount 130;
A battery 114 in which flight power of the flight body 100 is stored;
A charging coil 116 configured to charge the battery 114 with power;
LED module 118 for irradiating light under the control of the flight controller 112, and
A helium valve 120 connected to the helium filling device and configured to fill the helium gas
A plurality of flying objects equipped with a space directing function comprising a.
According to claim 2,
The charging station 200,
A support frame 202 in which the flight body 100 is seated and a charging module 220 is configured so that the flight body 100 is charged with power;
A charging frame 204 configured at a lower portion of the support frame 202 and configured with a connection housing 270 electrically connected to the charging module 220;
A column member 206 formed at the lower end of the charging frame 204 and coupled to the holding frame 300;
An image collection unit 240 configured in the support frame 202 and connected to the autonomous flight control system 400 to collect image information around the support frame 300 in real time;
A speaker 250 configured on one side of the support frame 202 and outputting audio information under the control of the autonomous flight control system 400;
A light emitting means 230 formed on the other side of the support frame 202 and emitting a predetermined light around the charging station 200
A plurality of flying objects equipped with a space directing function comprising a.
According to claim 2,
The holding frame 300,
A coupling frame for installing the holding frame 300 on the ground;
A bench constituted by the coupling frame;
A flight control panel 310 configured in the holding frame 300 and transmitting flight scenario information of the flight body 100 to the autonomous flight control system 400;
A decorative frame 320 formed on the upper portion of the holding frame 300 and to which the charging station 200 is mounted
A plurality of flying objects equipped with a space directing function characterized in that it further comprises.
In the autonomous flight control system 400 for a plurality of flying objects including the flight body 100, the charging station 200 and the holding frame 300,
The autonomous flight control system 400,
A space setting unit 410 that divides the space where the holding frame 300 is to be installed to form a set space, and creates a flight boundary zone for the space in which the flight body 100 will fly for each set space;
a scenario generator 420 receiving information about the flight boundary area from the space setting unit 410 and generating flight scenario information and cluster scenario information of the flight body 100;
a virtual realization unit 430 that virtually implements the flight scenario information and cluster scenario information generated by the scenario generator 420;
a scenario sharing unit 440 that transmits the flight scenario information and cluster scenario information to the flight body 100 and the holding frame 300, respectively;
a mode control unit 450 for controlling whether the flight body 100 is in flight or not, and whether or not to take off and land; and
A monitoring unit 460 that monitors the image information transmitted from the charging station 200 and the flight status of the flight body 100 in real time;
A plurality of flying object autonomous flight control system comprising a.
According to claim 6,
The flight boundary area,
Includes area information of the setting space and location information on installations or sculptures already built in the setting space, and includes information on flight possible coordinate values generated for each setting space. Object autonomous flight control system.
According to claim 6,
The scenario generator 420,
The flight boundary area information transmitted from the space setting unit 410 is analyzed to generate path information on which the flight body 100 can fly for each set space, and the generated flight path information is combined to determine the flight body. Generates a plurality of flight scenario information for autonomous flight,
A plurality of flight object autonomous flight control system, characterized in that by analyzing the generated plurality of flight scenario information to generate cluster scenario information in which a plurality of flight main bodies 100 are capable of group flight.
According to claim 6,
The mode controller 450,
When the flight scenario information or the swarm scenario information is received from the holding frame 300, the flight body 100 controls the flight based on the flight scenario information or the swarm scenario information. Autonomous flight control system with multiple flying objects.
According to claim 9,
The mode control unit 450 controls the scenario information to be performed after the individual flight or group flight ends when the flight body 100 is performing a solo flight or a group flight. Autonomous Flight Control System.
According to claim 6,
The monitoring unit 460,
Flight scenario information currently being performed by the flight body 100 or cluster scenario information is received from the scenario sharing unit 440 and compared with image information of the flight body 100 so that the flight body 100 currently in flight An autonomous flight control system for multiple flying objects, characterized in that it is configured to check whether or not flight is performed in accordance with the flight scenario information or the path, trajectory, and speed included in the cluster scenario information.

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