한국정보통신학회논문지 (Journal of the Korea Institute of Information and Communication Engineering)

  • 제26권6호
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  • Pages.890-896
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  • 2022
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  • 2234-4772(pISSN)
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  • 2288-4165(eISSN)
한국정보통신학회 (The Korea Institute of Information and Commucation Engineering)
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드론 제어의 편의성을 향상한 스마트 글러브 짐벌 제어

Smart Glove Gimbal Control that Improves the Convenience of Drone Control

  • Lee, Seung Ho (Department of IT Convergence Engineering, Kumoh National Institute of Technology) ;
  • Shin, Soo Young (Department of Electronic Engineering, Kumoh National Institute of Technology)
  • 투고 : 2022.03.23
  • 심사 : 2022.06.02
  • 발행 : 2022.06.30
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초록

본 논문에서는 다양한 분야에 사용되는 드론의 제어에 편의성과 접근성을 높이기 위해 스마트 글러브를 통한 짐벌 카메라 제어를 구현하였다. 스마트 글러브는 사람의 제스처를 파악하여 블루투스를 통해 신호를 전달한다. 전달받은 신호는 GCS(Gound Control Station)을 통해 드론에 적합한 신호로 변환한다. 스마트 글러브의 신호는 짐벌락을 방지하기 위해 쿼터니언 방식으로 표현되지만, 짐벌 카메라의 경우 Roll, Pitch, Yaw의 방식을 사용하기에 변환이 필요하다. 데이터 변환 임무를 수행한 GCS는 Wi-Fi를 통해 드론의 제어보드로 입력 신호를 전송한다. 제어보드에서는 전송받은 신호를 PWM 방식으로 생성하여 출력된다. 출력된 신호는 SBUS 방식을 통해 짐벌 카메라에 입력되어 제어하게 된다. 스마트 글러브의 입력 신호는 짐벌 카메라에 출력까지 평균 0.093 s, 최대 0.099 s로 실시간 사용에 문제가 없음을 보였다.

In this paper, gimbal camera control through smart gloves was implemented to increase convenience and accessibility to the control of drones used in various fields. Smart gloves identify human gestures and transmit signals through Bluetooth. The received signal is converted into a signal suitable for the drone through a GCS (Gound Control Station). Signals from smart gloves are expressed in a quaternion method to prevent gimbal locks, but for gimbal cameras, conversion is required to use Roll, Pitch, and Yaw methods. The data conversion mission is performed in the GCS. The GCS transmits an input signal to the control board of the drone through Wi-Fi. The control board generates and outputs the transmitted signal in a PWM manner. The output signal is input to the gimbal camera through the SBUS method and controlled. The input signal of the smart glove averaged 0.093 s and up to 0.099 s to output to the gimbal camera, showing that there was no problem in real-time use.

키워드

과제정보

This work was supported by Priority Research Centers Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education, Science and Technology(2018R1A6A 1A03024003) This research was supported by DNA+Drone Technology Development Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Science and ICT(No. NRF-2020M3C1C2A01080819)

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