WO2022097762A1 - Multi-remote controller auto-switching module, and unmanned aerial vehicle having same - Google Patents

Abstract

Disclosed are a multi-remote controller auto-switching module and an unmanned aerial vehicle having same. The multi-remote controller auto-switching module of the present invention comprises: a communication unit which wirelessly communicates with a plurality of remote controllers located at a plurality of respective points; a determination unit which determines, on the basis of a control signal received from a specific remote controller through the communication unit, whether to comply with the control of the remote controller; and a switching unit which switches control from the previous remote controller to a new remote controller according to the result of the determination unit.

Description

Multi-remote controller auto-switching module and unmanned aerial vehicle equipped with it

The present invention relates to a multi-remote controller auto-switching module and an unmanned aerial vehicle equipped therewith, and more particularly, a multi-remote controller auto-switching module for auto-switching control rights between multi-remote controllers for controlling an unmanned aerial vehicle over multiple points. And it relates to an unmanned aerial vehicle equipped with the same.

As the technology for unmanned aerial vehicles (Unmanned Aerial Vehicle System, UAV System) develops. UAVs are being used in various fields (cargo transportation, crop control, fire suppression, crime control, cadastral investigations, port management, submarine drones, etc.).

Unmanned aerial vehicles (UAVs) do not have actual pilots on board, but fly automatically or semi-automatically according to a pre-programmed route on the ground. collectively referred to as the entire system of

Drone is an English slang term for unmanned aerial vehicles. Unmanned aerial vehicles and model aircraft are classified according to whether or not they are mounted on an aircraft in an automatic flight control system (FCS). In other words, if an automatic flight device is included, it is an unmanned aerial vehicle even if it is small in size, and if it does not include an automatic flying device, it is called a model aircraft, no matter how large the aircraft.

In the case of delivering goods using such an unmanned aerial vehicle, different remote controllers may be used depending on the distance between the points when delivering multi-point delivery. In this case, if switching between the remote controllers is not performed smoothly, a problem of losing control of the unmanned aerial vehicle may occur.

In order to solve this problem, in the case of multi-point product delivery, emergency measures may be devised to program the route and automatically move the unmanned aerial vehicle based on the location information of a plurality of points. However, these measures cannot be a good solution because it cannot completely control safety accidents, crash accidents, and fall accidents that may occur in unmanned aerial vehicles.

Accordingly, there is a need to develop a switching device for configuring different remote controllers for each branch and smoothly performing a switching operation between the plurality of remote controllers in a situation where goods are delivered to multiple locations.

The present invention devised by the above necessity does not cause a gap in control and control of the unmanned aerial vehicle by automatically switching the control right to a remote controller located on a preset route when the unmanned aerial vehicle delivers goods from multiple points. An object of the present invention is to provide a multi-remote controller auto-switching module and an unmanned aerial vehicle equipped with the same that prevent the problem of control taking over by unauthorized remote controllers.

In order to achieve the above object, a multi-remote controller auto-switching module according to an embodiment of the present invention includes: a communication unit for wirelessly communicating with a plurality of remote controllers respectively located at a plurality of points; a determination unit for authenticating a control signal received from a specific remote controller through the communication unit using a module encryption method to determine whether to comply with the control of the corresponding remote controller; and a switching unit for switching the control right from the previous remote controller to the new remote controller according to the result of the determination unit.

In this case, the communication unit includes a plurality of receivers to individually receive control signals from a plurality of remote controllers. For example, the communication unit is a receiving unit including one or a plurality of receivers, or includes a receiving unit and other communication means.

In this case, the communication unit may include a plurality of receivers including a plurality of radio frequency (RF) receivers, and a short-channel photo coupler between the plurality of RF receivers and the determination unit, respectively. there is.

In this case, the communication unit, a PPM signal output connector that transmits a pulse position modulation (PPM) signal, which is an RF signal received by one of the plurality of receivers, to the determination unit as an output PPM signal via the short-channel photocoupler. include

In this case, the determination unit divides the received PPM signal into a PWM signal, and then uses the frequency information, remote controller identification information, and time information included in the separated PWM signal to transmit the PWM signal. Validate.

An unmanned aerial vehicle having a multi-remote controller auto-switching module according to another embodiment of the present invention includes: a frame for assembling various parts of the unmanned aerial vehicle; a propeller including a motor and a transmission installed in a plurality of areas of the frame; a flight controller installed on the frame to process various controls for maintaining the flight function of the unmanned aerial vehicle; A plurality of sensors for sensing information about the surrounding situation of the unmanned aerial vehicle; and a battery for supplying power to the propeller, the flight controller, and a plurality of sensors, wherein the flight controller includes: a communication unit for wirelessly communicating with a plurality of remote controllers located at a plurality of points, respectively; a determination unit for authenticating a control signal received from a specific remote controller through the communication unit using a module encryption method to determine whether to comply with the control of the corresponding remote controller; and a switching unit for switching the control right from the previous remote controller to the control right of the new remote controller according to the result of the determination unit; and a multi-remote controller auto switching module including a.

In this case, the communication unit includes a plurality of receivers to individually receive control signals from a plurality of remote controllers.

In this case, the communication unit may configure the plurality of receivers as radio frequency (RF) receivers, and may further include a short-channel photo coupler between the RF receiver and the determination unit, respectively.

In this case, the communication unit, a PPM signal output connector that transmits a PPM (Radio Control Signal) signal, which is an RF signal received by one of the plurality of receivers, to the determination unit as an output PPM signal via the short-channel photo coupler. include

In this case, the determination unit separates the PWM signal from the received PPM signal, and uses the frequency information, remote controller identification information, and time information included in the separated PWM signal of the remote controller that transmits the PWM signal. Validation can be verified.

According to various embodiments of the present disclosure, when the unmanned aerial vehicle delivers goods from multiple points, by automatically switching the control right to a remote controller located on a preset route, there is no gap in the control and control of the unmanned aerial vehicle. to be effective,

In addition, even if a communication problem occurs, the control right of the remote controller is switched with high reliability, thereby exhibiting the effect of preventing various communication problems that may occur in the unmanned aerial vehicle due to communication interruption, radio wave interference, drone hacking, etc. .

1 is a view exemplarily explaining the structure of an unmanned aerial vehicle according to an embodiment of the present invention;

2 is a block diagram for illustratively explaining the function of an unmanned aerial vehicle according to an embodiment of the present invention;

3 is a view exemplarily explaining the operation of an unmanned aerial vehicle according to an embodiment of the present invention;

4 is a view exemplarily illustrating the structure of a receiver of a multi-remote controller auto-switching module according to another embodiment of the present invention;

5 is a view exemplarily explaining the structure of a flight controller including a multi-remote controller auto-switching module according to another embodiment of the present invention;

6 is a view exemplarily explaining an example of separating a control signal by a determination unit constituting a multi-remote controller auto-switching module according to another embodiment of the present invention;

7 exemplarily shows a 2×8 box header of a display unit constituting a multi-remote controller auto-switching module according to another embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings. The unmanned aerial vehicle 10 to be described below performs duties such as logistics transportation, forest fire extinguishing, disaster response relief material transportation, terrain and feature mapping, search and reconnaissance, and LTE/5G or other cellular method real-time video transmission. However, it is not limited to these tasks and can be variously changed in design within the scope of the technical spirit of the present invention.

The unmanned aerial vehicle 10 may be designed in the form of an 8-axis multicopter type air vehicle, or may be designed in other ways. In addition, the total take-off weight of the unmanned aerial vehicle 10 may be designed differently depending on the purpose of 48 kg or less, 25 kg or less, or 12 kg or less. The unmanned aerial vehicle 10 may be designed differently for the weight of the payload (20 kg or less, 10 kg or less, 5 kg or less) according to the total take-off weight. The size of the unmanned aerial vehicle is 2200 × 2200 × 800 (mm), 1,600 × 1,600 × 850 (mm), 960 × 960 × 600 (mm), etc., and can be designed in various ways according to specifications.

The unmanned aerial vehicle 10 of the present invention is capable of automatic flight in all sections of the transportation route. The flight speed of the unmanned aerial vehicle 10 may be designed to be a flight speed of 10 m/s to 20 m/s, more preferably, a flight speed of 15 m/s. The maximum operating altitude of the unmanned aerial vehicle 10 may be variously designed according to specifications, such as 1500 m, 1000 m, or 500 m. The unmanned aerial vehicle 10 may be operated in a temperature range of -10°C to 40°C.

The remote control distance of the unmanned aerial vehicle 10 of the present invention is a distance capable of RF communication up to a maximum of 2,000 m. In addition, the unmanned aerial vehicle 10 may be operated in the range of 30 to 40 minutes when there is no load. The automatic flight distance of the unmanned aerial vehicle 10 of the present invention is about 10 km, for example, 8 km to 12 km, in the LTE mode, and around 1.2 km in the TELE mode.

1 is a view exemplarily explaining the structure of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG. 1 , the unmanned aerial vehicle 10 according to an embodiment of the present invention includes a flight controller 110 installed inside a frame 160 , and a plurality of propellers 120 - provided at the edge of the frame 160 . 1 to 120-8), a plurality of sensors 130 provided in one area of the frame 160, a battery 140 installed inside the frame 160, and a frame 150 for integrating each component includes

The unmanned aerial vehicle 10 shown in FIG. 1 is an unmanned aerial vehicle composed of eight propellers 120-1 to 120-8. The unmanned aerial vehicle 10 may use the propulsion generated by eight propellers, and may manually fly a predetermined route under the control of an RF controller (not shown), or may automatically fly in LTE or TELE mode. In the case of manual flight, it can be switched from automatic to manual once it is within the control range of the RF regulator. At this time, when the unmanned aerial vehicle 10 receives the control signal received from the RF manipulator, it undergoes a procedure of authenticating the received control signal through a cryptographic modularization method. The unmanned aerial vehicle 10 switches control to an authenticated RF manipulator according to the cryptographic modularization method. At this time, the cryptographic modularization method may be implemented with any one of various cryptographic functions selected from cryptographic (symmetric/asymmetric), random number generation, prime number determination, hash, digital signature, and authentication, and may be implemented in software, hardware, firmware, or a combination thereof. can be implemented Alternatively, if it is out of the control range of the RF controller, it can fly at a fixed speed in the automatic flight method.

When there are a number of waypoints between the departure point and the destination, an individual RF controller is provided for each point, and the coordinator can control the unmanned aerial vehicle 10 using the corresponding RF controller, and the unmanned aerial vehicle 10 automatically In the case of cruising in a flying manner, the control right of the unmanned aerial vehicle 10 may be obtained and adjusted.

2 is a block diagram for illustratively explaining the function of an unmanned aerial vehicle according to an embodiment of the present invention. Referring to FIG. 2 , an operation of switching the control right among the four remote controllers Ctl_1 to Ctl_4 for controlling the unmanned aerial vehicle 10 will be described.

The multi-remote controller auto switch module according to an embodiment of the present invention may be implemented in an integrated form in the flight controller 110 of the unmanned aerial vehicle 10 or implemented as a separate module. The multi-remote controller auto switch module includes software, hardware, firmware, or a combination of any one of various cryptographic functions selected from encryption (symmetric/asymmetric), random number generation, decimal determination, hash, digital signature, and authentication. More modules may be included.

In FIG. 2, an example implemented as an integrated module in the flight controller 110 will be mainly described. The multi-remote controller auto switch module of the present invention includes a receiving unit 111 , a determining unit 112 , a switching unit 113 , and a synchronization blank detecting unit 114 . In some embodiments, the determination unit 112 , the switching unit 113 , and the synchronization blank sensing unit 114 may be configured as one integrated module, but hereinafter, an example implemented as an individual configuration will be mainly described.

The unmanned aerial vehicle 10 may communicate with the plurality of remote controllers Ctl_1 to Ctl_4 in an RF manner. Here, the control range of the unmanned aerial vehicle 10 and the plurality of remote controllers Ctl_1 to Ctl_4 is about 2Km, and may be controlled, for example, from 1.5Km to 2.5Km, and may be larger or smaller than that in some cases.

The unmanned aerial vehicle 10 may get out of control of the remote controller Ctl during flight, and in this case, it may automatically fly according to the control of the remote server by the built-in LTE communication module or TELE communication module.

The unmanned aerial vehicle 10 flies under the control of the first remote controller Ctl_1 among the plurality of remote controllers Ctl_1 to Ctl_4 . The unmanned aerial vehicle 10 receives the RF signal received from the first remote controller Ctl_1 using an antenna. The unmanned aerial vehicle 10 transmits the received RF signal to the determination unit 112 as a PPM signal through the reception unit 111 . The PPM signal is a pulse position modulation signal. After receiving the PPM signal, the determination unit 112 separates the PWM signal for each specific channel included in the PPM signal according to a predetermined algorithm, and a frequency band included in the separated PWM signal, identification information of the remote controller, and reception time , it is identified that the remote controller that has transmitted the PWM signal is the first remote controller (Ctl_1) in consideration of location information, etc. By transferring the identified control signal of the first remote controller Ctl_1 to the propeller 120 and controlling the operation of the propeller 120 according to the control signal, the operation of the unmanned aerial vehicle 10 may be controlled.

At this time, the determination unit 112 of the unmanned aerial vehicle 10 uses the frequency characteristics of the PWM signal, location information, time information, remote controller identification information received from the remote server, etc. 1 The remote controller (Ctl_1) can be identified. If the PWM signal frequency characteristics, location information, time information, remote controller identification information, etc. do not match, the matching remote controller is found by searching for information on other remote controllers that match the signal information included in the PWM signal. .

If, while the unmanned aerial vehicle 10 is flying under the control of the first remote controller (Ctl_1), the control right of the first remote controller (Ctl_1) is deviated or an event of switching to the automatic flight mode occurs, the process of switching the control right can run

That is, if there is an RF signal received from the second remote controller Ctl_2 in addition to the RF signal received from the first remote controller Ctl_1, the unmanned air 10 receives it through an antenna.

The received RF signal is transmitted to the determining unit 112 as a PPM signal via the receiving unit 111 . The determination unit 112 separates the PWM signal from the PPM signal, and then uses the characteristics of the separated PWM signal, location information (time information), reception time, remote controller identification information, etc. determine the situation If the situation in which the control right of the first remote controller Ctl_1 can remain and it also belongs to the control right of the second remote controller Ctl_2, the data received in the next cycle while maintaining the control right of the first remote controller Ctl_1 When it is determined that the control right of the first remote controller Ctl_1 is out of control by analyzing the RF signal, the control right may be transferred to the second remote controller Ctl_2.

In some cases, the determination unit 112 belongs to the control right of the first remote controller (Ctl_1), but the flight direction of the unmanned aerial vehicle 10 is at the first point where the first remote controller (Ctl_1) is located. If the controller Ctl_2 is moving to the second point where the controller Ctl_2 is located, the control right may be transferred from the first remote controller Ctl_1 to the second remote controller Ctl_2 .

That is, the determination unit 112 synthesizes the current flight direction of the unmanned aerial vehicle 10, flight path, location information, frequency characteristics (strength, band, etc.) of the RF signal, identification information about the remote controller received from the remote server, and the like. to decide whether to switch the control right of the remote controller or not.

The present invention may provide a method for controlling an unmanned aerial vehicle having a multi-remote controller auto-switching module. That is, it is possible to provide a method of controlling the unmanned aerial vehicle for cruising a plurality of points. For example, the plurality of points may be an island and a control method of the unmanned aerial vehicle for cruising the islands.

The unmanned aerial vehicle moves from a first point to a second point, the unmanned aerial vehicle is controlled by a first remote controller at the first point, and the unmanned aerial vehicle is controlled by a second remote controller at the second point .

Here, when there is an area between the first point and the second point that does not belong to at least one of the first control range and the second control range, that is, the first remote controller controls the control of the unmanned aerial vehicle at the first point When there is a region that does not belong to at least one of the first control range that can be performed and the second control range that the second remote controller can control the control of the unmanned aerial vehicle from at the second point, the unmanned aerial vehicle is in the first control range The aircraft flies manually by the first remote controller, and when the unmanned aerial vehicle is out of the first control range, it is switched to an automatic flight mode and moves a predetermined route, and when the unmanned aerial vehicle enters the second control range, the control right is transferred to the first The remote controller is switched to the second remote controller, and the unmanned aerial vehicle is manually operated by the second remote controller in the second control range.

On the other hand, when there is at least one area of the first control range and the second control range between the first point and the second point, that is, between the first point and the second point, the first remote controller performs the first When there is a region belonging to at least one of the first control range for controlling the control of the unmanned aerial vehicle at a point and the second control range for the second remote controller to control the control of the unmanned aerial vehicle at the second point, In the first control range, the unmanned aerial vehicle flies manually by the first remote controller, and when the unmanned aerial vehicle enters the common range of the first control range and the second control range, the control right is transferred from the first remote controller to the second remote controller It is switched to the controller, and in the second control range, the unmanned aerial vehicle is manually operated by the second remote controller.

In switching from the first remote controller to the second remote controller, when the validity of the second remote controller is verified by receiving an RF signal to the RF receiver, the control right of the first remote controller is discarded and the control right of the second remote controller is allowed is done by

The multi-remote controller auto-switching module further includes a transmitter to transmit information switched to an automatic flight mode out of the first control range to a second remote controller, and further includes a flight time calculator to control the first control of the unmanned aerial vehicle Based on the time of flying the range, for example, by obtaining the average flight speed of the unmanned aerial vehicle, the time for the unmanned aerial vehicle to enter the second control range in the automatic flight mode is calculated, and the transmitter returns the unmanned aerial vehicle to the second control range. The expected incoming time may be transmitted to the second remote controller in real time. In addition, the multi-remote controller auto-switching module is further provided with an output unit to increase the speed of the unmanned aerial vehicle in the output unit when the average flight speed of the unmanned aerial vehicle is later than the entry time of the preset second control range, so that the preset second control range is reached. It can be controlled to match the entry time. Accordingly, it is possible to predict flight time fluctuations according to wind speed or minimize the fluctuation time to prepare for manual operation of the second remote controller, and to predict battery consumption according to an increase in output, so that after moving from the first point to the second point, another Information about battery charging time can also be predicted when moving to a point.

The distance between the first point and the second point is a first control range in which the first remote controller can control the control of the unmanned aerial vehicle at the first point and the second remote controller between the first point and the second point If there is an area that does not belong to at least one of the second control ranges capable of controlling the control of the unmanned aerial vehicle at the second point, it may be 5 km to 7 km. Meanwhile, between the first point and the second point, a first control range in which the first remote controller can control the control of the unmanned aerial vehicle at the first point and the second remote controller control the unmanned aerial vehicle at the second point If there is an area belonging to at least any one of the second control range that can control , it may be 0.5 km to 1.5 km. In addition, a remote operation distance of the first remote controller and the second remote controller may be 1.8 km to 2.2 km.

The multi-remote controller auto-switching module of the present invention further includes a positioning unit and a control unit, to confirm the position of the unmanned aerial vehicle in real time by the positioning unit, and the control unit is configured to set the manual flight path of the remote controller to the preset flight path. If it determines that it is out of a certain range, it can switch to automatic flight to stop the control of the remote controller and move to a preset flight path. Here, when it is confirmed by the positioning unit that the unmanned aerial vehicle enters into a predetermined range of a preset flight path, the control unit may control to generate a control right of the remote controller.

That is, when the unmanned aerial vehicle enters the second control range, the control right is switched from the first remote controller to the second remote controller, the position of the unmanned aerial vehicle is confirmed in real time by the positioning unit, and the control unit is manually operated by the second remote controller If it is determined that the flight path is out of a certain range of the pre-set flight path, it stops the control of the second remote controller and switches to automatic flight to move to the pre-set flight path. When it is confirmed by the positioning unit that the unmanned aerial vehicle enters, the control unit may control to generate a control right of the second remote controller. By doing this, it is possible to minimize errors that may occur due to manual control.

3 is a diagram exemplarily illustrating an operation of an unmanned aerial vehicle according to an embodiment of the present invention. In FIG. 3 , the unmanned aerial vehicle 10 is an example of cruising the multi-point moving from the first point POS_1 to the second point POS_2 and the third point POS_3 again to the first point POS_1. is showing

The distance between the first point and the second point (the distance of the first section) is about 7,3 km, the distance between the second point and the third point (the distance of the second section) is about 6.2 km, and the third point and the second section are about 6.2 km. The distance between points 1 (the third section distance) is about 5.8 km.

The remote operation distance of the first to third remote controllers Ctl_1 to Ctl_3 provided at the first to third points is about 2 km. The first to third control ranges in FIG. 3 show the control ranges when it is assumed that the remote operation distance is 2 km.

Since the unmanned aerial vehicle 10 belongs to the control right of the first remote controller Ctl_1 immediately after leaving the first point POS_1 , it may be manually controlled according to the control of the first remote controller Ctl_1 . When a flight time of several minutes has elapsed immediately after departure, the unmanned aerial vehicle 10 is out of the first control range during a section (first section) moving from the first point (POS_1) to the second point (POS_2). When the unmanned aerial vehicle 10 leaves the control of the first remote controller Ctl_1 , the unmanned aerial vehicle 10 may be switched from the manual flight mode to the automatic flight mode. When the unmanned aerial vehicle 10 flies in the automatic flight mode, the unmanned aerial vehicle 10 performs a cruise flight along a predetermined route.

When the unmanned aerial vehicle 10 enters the second control range, which is the control area of the second remote controller Ctl_2 in the first section, the control right is transferred from the first remote controller Ctl_1 to the second remote controller Ctl_2 Execute switching processing.

The unmanned aerial vehicle 10 receives an RF signal from the surroundings while entering the second control range, and when the validity of the second remote controller Ctl_2 is verified, the control right of the first remote controller Ctl_1 is discarded and the second remote controller Ctl_2 is validated. Allows control of the controller (Ctl_2).

When the unmanned aerial vehicle 10 starts flying to a third point after performing a predefined mission at the second point, it flies in a manual flight mode under the control of the second remote controller Ctl_2. When a flight time of several minutes has elapsed immediately after departure, the unmanned aerial vehicle 10 is out of the second control range during a section (second section) moving from the second point (POS_2) to the third point (POS_3). When the unmanned aerial vehicle 10 leaves the control of the second remote controller Ctl_2 , the unmanned aerial vehicle 10 may be switched from the manual flight mode to the automatic flight mode. When the unmanned aerial vehicle 10 flies in the automatic flight mode, the unmanned aerial vehicle 10 performs a cruise flight along a predetermined route.

When the unmanned aerial vehicle 10 enters the third control range, which is the control right area of the third remote controller Ctl_3 in the second section, the control right is switched from the second remote controller Ctl_2 to the third remote controller Ctl_3. Execute switching processing.

The unmanned aerial vehicle 10 receives an RF signal from the surroundings while entering the third control range, and when the validity of the third remote controller Ctl_3 is verified, the control right of the third remote controller Ctl_3 is discarded and the third remote controller Ctl_3 is validated. Allows control of the controller (Ctl_3).

When the unmanned aerial vehicle 10 starts flying to the first point after performing a predefined mission at the third point, it flies in a manual flight mode under the control of the third remote controller Ctl_3. When a flight time of several minutes has elapsed immediately after departure, the unmanned aerial vehicle 10 is out of the third control range during a section (third section) moving from the third point POS_3 to the first point POS_1. When the unmanned aerial vehicle 10 leaves the control of the third remote controller Ctl_3 , the unmanned aerial vehicle 10 may be switched from the manual flight mode to the automatic flight mode. When the unmanned aerial vehicle 10 flies in the automatic flight mode, the unmanned aerial vehicle 10 performs a cruise flight along a predetermined route.

4 is a diagram exemplarily illustrating a structure of a receiver of a multi-remote controller auto-switching module according to another embodiment of the present invention. Referring to FIG. 4 , the receiver 111 is configured by connecting a plurality of RC receivers in parallel. The RC receiver is connected to an individual connector, and the connector is individually connected to the photo coupler, and the output of the photo coupler for each RC receiver is input to the input/output node of the determination unit 112 . In addition, the PPM signal, which is an RF signal received by any one of the plurality of RC receivers, is input to the port coupler through individual connectors, and the output terminals of the plurality of port couplers are connected to one PPM signal output connector to determine the PPM signal forward to (112).

The plurality of receivers of FIG. 4 shows an example of connecting four controllers, and may be configured by connecting the four controllers to port C of the flight controller 110 to be described below.

5 is a diagram exemplarily illustrating the structure of a flight controller including a multi-remote controller auto-switching module according to another embodiment of the present invention. Referring to FIG. 5 , the determination unit 112 may be integrated with an AVR microcontroller. The AVR microcontroller shown in FIG. 5 exemplifies the ATmega 128 model. The determination unit 112 may be integrated into the flight controller 110 of the present invention, and the flight controller 110 is an AVR developed by ATMEL, and is a microcontroller that currently provides an 8-bit AVR and a 32-bit AVR. The flight controller 110 shown in FIG. 5 can process one command in one clock cycle, and can operate any voltage from 1.8V to 5.5V. In addition, the flight controller 110 may be designed to operate with low power when picoPower technology is applied. The flight controller 110 has 32 general-purpose registers and may be designed in a RISC structure. The flight controller 110 may implement an ISP (In-System Programming) function or a JTAG function provided as a 6-pin or 10-pin interface. According to an embodiment of the present invention, the plurality of coordinators Ctl_1 to Ctl_4 may be connected to one of the ports C (PC1 to PC7).

6 is a view exemplarily explaining an example of separating a control signal by a determination unit constituting a multi-remote controller auto-switching module according to another embodiment of the present invention.

Referring to FIG. 6( a ), when the PPM signal enters the receiver 111 through the RF receiver, it can be sequentially detected from the first channel. As shown in FIG. 6 , the PWM signal of the next channel is differentiated from the plurality of PWM signal groups by the synchronization time at a predetermined interval. Such a channel section may be viewed as a synchronization time. Using this synchronization time, it is possible to know where channel 1 starts. The first group of PWM signals shown in FIG. 6 is an example of a PPM signal sent from a 4-channel transmitter, but even in a transmitter with more channels (eg, 8 channels), the interval between the last channel (channel 8) and channel 1 is longer than the interval between other channels, so it is possible to distinguish the last channel from the first channel by recognizing this long time interval.

The flight controller 110 may separate the PWM from the PPM using an interrupt and a timer and a counter. For example, looking at the pulse of channel 1, it becomes ON (rising edge) and turns off (falling edge) after a certain period of time. The same goes for other channels. The flight controller 110 may perform rising edge detection and falling edge detection when using an interrupt. The flight controller 110 may separate the PWM signal from the PPM signal by combining the rising edge and the falling edge detection.

Referring to FIG. 6( a ), the flight controller 110 senses an interrupt when detecting a rising edge of channel 1, and immediately changes the setting to a falling edge sensing mode at this time. Flight controller 110 after a little time (approximately 1 ~ 2ms) the falling edge of the channel 1 proceeds, and at this time, an interrupt is also detected (falling edge). A counter is operated inside the flight controller 110 . The flight controller 110 reads the counter value (eg, TCNT1) in the interrupt routine at the rising edge, and reads the counter value (TCNT1) again when the interrupt is executed at the falling edge again. When the flight controller 110 obtains the difference between the two values, the flight controller 110 can know the time length of the ON section of channel 1. If it is about 1ms, it can be recognized that the remote controller stick has moved to the left end, and if it is 2ms, it can be recognized as moving to the right end. If it is about 1.5ms, it can be recognized that it is in the middle (neutral). The flight controller 110 can measure and calculate the movement of the control stick fairly accurately by setting the resolution (measurement time unit) of the counter TCNT1 to 1000 us. The resolution (measurement time) unit of Timer/Counter1 of the flight controller 110 is set in 1us units. If the clock frequency of the timer/counter 1 of the flight controller 110 is about 1Mhz (1us if calculated as a cycle), it may be sufficient to measure the ON time of an individual channel.

7 is a diagram exemplarily illustrating a 2×8 box header of a display unit constituting a multi-remote controller auto-switching module according to another embodiment of the present invention. Referring to FIG. 7 , the LCD display may be displayed with a box header having 16 terminals. Each terminal of the 2x8 box header of the display unit enters as an input to port A of the flight controller 110 .

Claims (9)

1. In the multi-remote controller auto switching module,

   a communication unit for wirelessly communicating with a plurality of remote controllers respectively located at a plurality of points;

   a determination unit for authenticating a control signal received from a specific remote controller through the communication unit using a module encryption method and determining whether to comply with the control of the corresponding remote controller; and

   A switching unit for switching the control right from the previous remote controller to the new remote controller according to the result of the determination unit;

   Multi-remote controller auto-switching module.
2. According to claim 1,

   The communication unit, characterized in that it comprises a plurality of receivers to individually receive control signals from a plurality of remote controllers

   Multi-remote controller auto-switching module.
3. 3. The method of claim 2,

   The communication unit, comprising the plurality of receivers as RF (Radio Frequency) receivers, characterized in that each further comprises a short-channel photo coupler (Photo Coupler) between the RF receiver and the determination unit

   Multi-remote controller auto-switching module.
4. 4. The method of claim 3,

   The communication unit further comprises a PPM signal output connector that transmits a pulse position modulation (PPM) signal, which is an RF signal received by one of the plurality of receivers, to the determination unit as an output PPM signal via the short-channel photo coupler.

   Multi-remote controller auto-switching module.
5. In an unmanned aerial vehicle equipped with a multi-remote controller auto-switching module,

   Frame for assembling various parts of the drone;

   a propeller including a motor and a transmission installed in a plurality of areas of the frame;

   a flight controller installed on the frame to process various controls for maintaining the flight function of the unmanned aerial vehicle;

   A plurality of sensors for sensing information about the surrounding situation of the unmanned aerial vehicle; and

   A battery for supplying power to the propeller, the flight controller, and a plurality of sensors; including,

   The flight controller includes: a communication unit for wirelessly communicating with a plurality of remote controllers respectively located at a plurality of points; a determination unit for authenticating a control signal received from a specific remote controller through the communication unit using a module encryption method and determining whether to comply with the control of the corresponding remote controller; and a multi-remote controller auto-switching module comprising a; and a switching unit for switching the control right from the previous remote controller to the control right of the new remote controller according to the result of the determination unit

   Unmanned aerial vehicle equipped with multi-remote controller auto-switching module.
6. 6. The method of claim 5,

   The communication unit, characterized in that it comprises a plurality of receivers to individually receive control signals from a plurality of remote controllers

   Unmanned aerial vehicle equipped with multi-remote controller auto-switching module.
7. 7. The method of claim 6,

   The communication unit, comprising the plurality of receivers as RF (Radio Frequency) receivers, characterized in that each further comprises a short-channel photo coupler (Photo Coupler) between the RF receiver and the determination unit

   Unmanned aerial vehicle equipped with multi-remote controller auto-switching module.
8. 8. The method of claim 7,

   The communication unit further comprises a PPM signal output connector for transmitting a PPM (Radio Control Signal) signal, which is an RF signal received by one of the plurality of receivers, to the determination unit as an output PPM signal via the short-channel photo coupler. to do

   Unmanned aerial vehicle equipped with multi-remote controller auto-switching module
9. A control method of an unmanned aerial vehicle comprising the multi-remote controller auto-switching module according to any one of claims 5 to 8, for cruising a plurality of points.

Images