KR102030527B1 - Apparatus and method for setting operational control - Google Patents

Abstract

The control right setting device for setting the movement control right of the disclosed unmanned moving object includes a communication unit for transmitting and receiving messages with the first control device and the second control device, and the movement control right of the unmanned mobile device controls any one of the first control device and the second control device. And a control unit that stores movement control right information indicating whether the device is in a set state, and a control unit controlling a transmission / reception process of a message by the communication unit, wherein the control unit is configured to communicate with the communication unit while the movement control right information is set as the first control device. If a control switch command is received from the first control device, the communication unit is controlled to send a control switch message to the second control device according to the control switch command, and the control switch approval corresponding to the control switch message from the second control device is communicated. If a message is received, transfer control right information from the first controlling device to the second. The control unit controls the communication unit to switch to the control unit and to set the control unit, and to transmit a control state switching status message including state information on the mobile control unit information to the first control unit and the second control unit.

Description

Apparatus and method for setting control authority {APPARATUS AND METHOD FOR SETTING OPERATIONAL CONTROL}

The present invention relates to an apparatus and method for setting a control right, and more particularly, to an apparatus and method for setting a movement control right of an unmanned moving object.

In the military aimed at executing mission commands, the need for rapid situation change awareness, rapid response, and mission completeness increases, and network communication technology in the form of a fire and forget weapon system based on existing missions. As the scope of use increases, the dependence on data link communication based on real-time information sharing is rapidly increasing depending on the strategy of each weapon system.

In accordance with this trend, in the technical field for controlling the movement of an unmanned vehicle such as an unmanned aerial vehicle, service technologies and solutions for granting control rights to the unmanned vehicle are actively being developed.

In the related art, a technique for granting flight authority of a drone, which is a kind of aircraft, has been proposed to grant flight authority or coordinated flight authority between a drone control device and a drone control device.

However, for military use where mission maturity is very important, there is a limit to the application of technology for civil use because control transfer must be more systematic and real-time.

Republic of Korea Patent Publication No. 2016-0074897, published June 29, 2016.

According to an embodiment of the present invention, there is provided an apparatus and method for setting a control right so that an unmanned mobile vehicle, which plays a decisive role in performing a task, is involved in real time in setting up a movement control right for controlling control.

The problem to be solved of the present invention is not limited to those mentioned above, and another problem to be solved which is not mentioned will be clearly understood by those skilled in the art from the following description.

According to a first aspect of the present invention, a control right setting device for setting a movement control right of an unmanned moving object includes a communication unit for transmitting and receiving a message with a first control device and a second control device, and the movement control right of the unmanned moving object is the first control device. And a storage unit for storing movement control right information indicating which control device is set among the second control devices, and a control unit controlling a transmission / reception process of the message by the communication unit, wherein the control unit includes the movement control right. If the control right switch command is received from the first control device through the communication unit while the information is set to the first control device, the communication unit is controlled to transmit a control right switch message to the second control device according to the control right switch command. And the control right switching mesh from the second control device through the communication unit. Receiving a control switch approval message corresponding to the control, the control information is set to switch from the first control device to the second control device, and the control control status message including the state information for the control information to the control; The communication unit may be controlled to transmit to the first control device and the second control device.

The control unit generates the control right switching message including the state information and the target information of the unmanned moving object as information necessary for the second controlling device to control the movement of the unmanned moving object, and the frequency channel of the second controlling device. And control the communication unit to set the control unit, and transmit the control right switching message to the second control device through the set frequency channel.

The control unit may control the communication unit to set the frequency channel based on the information on the second control device included in the control right switching command.

The control unit maintains the movement control right information set as the first control device when the control right switch approval message is not received or the control right switch rejection message is received from the second control device through the communication unit. Generate a control right maintenance message including the state information and target information of the unmanned mobile object as information necessary for controlling the movement of the unmanned vehicle, and transmit the generated control right maintenance message to the first control device; You can control the communication unit.

The control unit is further configured to transmit a control right maintenance status message to the first control device and the second control device when the control right maintenance approval message corresponding to the control right maintenance message is received from the first control device through the communication unit. Can be controlled.

According to a second aspect of the present invention, a control right setting method performed by a control right setting device of an unmanned mobile device includes receiving a control right switching command from a first control device, and wherein the control right switching command is configured to recognize the movement control right of the unmanned mobile device. In the case of an instruction to switch from the first control device to the second control device, sending a control switch message to the second control device; and a control switch approval message corresponding to the control switch message from the second control device. Converting the control right information set by the first control device into the second control device, and receiving a control right switching status message including status information on the movement control right information when the first control device and the second control device are received. Transmitting to the controlling device.

The transmitting the control right switching message may include generating the control right switching message including the state information and the target information of the unmanned mobile vehicle as information necessary for the second control device to control the movement of the unmanned mobile vehicle; Setting a frequency channel of the second control device; and transmitting the control right switching message to the second control device through the set frequency channel.

The setting of the frequency channel may set the frequency channel based on the information on the second control device included in the control right switching command.

The control right setting method may include maintaining, by the second control device, the control control information set as the first control device when the control switching approval message is not received or when the control switching control rejection message is received, and the first control. Generating, by the device, a control right message including the state information and target information of the unmanned vehicle as information necessary for controlling the movement of the unmanned vehicle, and transmitting the generated control right message to the first control device; It may further comprise a step.

The control right setting method may further include transmitting a control right status message to the first control device and the second control device when the control right approval message corresponding to the control right message is received from the first control device. can do.

According to a third aspect of the present invention, a computer program stored in a computer-readable recording medium includes: a control right setting device of an unmanned moving object receiving a control right switching command from a first control device, and the control right switching command being moved by the unmanned mobile body; In the case of an instruction to switch the control right from the first control device to the second control device, sending a control switch message to the second control device, and switching the control right corresponding to the control switch message from the second control device. When the approval message is received, the control authority setting device of the unmanned mobile object converts the movement control right information set as the first control device to the second control device, and the control right setting device of the unmanned mobile object for the movement control right information. The first control device to the control status message containing status information And transmitting the control right to the second control device by the processor.

According to an embodiment of the present invention, the unmanned moving object is involved in setting up the movement control right for the control right conversion in real time. In other words, since the response of the unmanned vehicle which is the object of control and plays the most decisive role in the performance of the mission must be taken into account, it is possible to accurately determine the transition and failure of the mobile control, and the importance of mission completion There is an effect that can switch the control of the unmanned vehicle to suit a very high military use.

1 is a block diagram of a control right setting system including a control right setting apparatus according to an embodiment of the present invention.
2 is a block diagram of a control right setting device according to an embodiment of the present invention.
3 to 5 are flowcharts illustrating a control right setting method according to an embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms, only the embodiments are to make the disclosure of the present invention complete, and those skilled in the art to which the present invention pertains. It is provided to fully inform the scope of the invention, and the scope of the invention is defined only by the claims.

In describing the embodiments of the present invention, detailed descriptions of well-known functions or configurations will be omitted unless they are actually necessary in describing the embodiments of the present invention. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the contents throughout the specification.

1 is a block diagram of a control right setting system 1 including a control right setting apparatus 100 according to an embodiment of the present invention.

As shown in FIG. 1, in the control right setting system 1 according to the exemplary embodiment, the unmanned moving object 10 may be connected to the first control device 30 and the second control device 40 through the communication network 20. 1 shows two control devices 30 and 40 by way of example, but the number is not limited. For example, the unmanned moving object 10 is an object moving in an automatic or semi-automatic form along a remotely controlled or pre-programmed path, and may be implemented as an unmanned airplane or an unmanned vehicle.

The unmanned moving object 10, the first control device 30, and the second control device 40 may be equipped with control right setting devices 100, 100A, and 100B, respectively. For example, the control right setting devices 100, 100A, and 100B mounted on the unmanned moving object 10, the first control device 30, and the second control device 40 may have the same hardware configuration. .

The control right setting device 100A of the first control device 30, the control right setting device 100 of the unmanned moving object 10, and the control right setting device 100B of the second control device 40 move the unmanned moving object 10. The mobile control right to control the control can be set, and the process of switching or designating the mobile control right to another control device can be performed in response to the message requesting the transfer of the mobile control right or the message requesting the designation of the mobile control right. For example, when the control setting device 100, 100A, 100B performs the switching / designation process of the mobile control, the control setting device 100, 100A, 100B may include generating a control switching command, generating a control switching message, setting a frequency channel, and generating a control switching approval message. It may include setting the control control transition, control control status message generation, control maintenance message generation, control maintenance status message generation, control conversion failure message generation, and the like. In addition, the control right setting device 100, 100A, 100B may transmit various commands and messages to another control device, and may perform an acceptance response, an approval response, or a rejection response to various commands and messages transmitted from another control device. Can be.

2 is a block diagram of the control right setting device 100 according to an embodiment of the present invention. 2 illustrates an example of the configuration of the control right setting device 100 mounted on the unmanned moving object 10, and the control right setting device 100A and the second control device 40 mounted on the first control device 30. The mounted control right setting device 100B may include a configuration that is the same as or similar to that of the control right setting device 100.

As shown in FIG. 2, the control right setting device 100 may include a communication unit 110, a storage unit 120, and a controller 130.

The communication unit 110 exchanges messages with the first control device 30 and the second control device 40.

The storage unit 120 stores the movement control right information indicating whether the movement control right of the unmanned moving object 10 is set to the control device of the first control device 30 and the second control device 40. For example, the storage unit 120 may include a computer readable recording medium. For example, examples of recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and magnetic media such as floppy disks. Hardware devices that are specifically configured to store and execute program instructions, such as magneto-optical media, flash memory.

The controller 130 controls a process of transmitting and receiving a message by the communication unit 110. For example, the controller 130 may include a computing device such as a microprocessor.

The control unit 130 receives a control switching command from the first control device 30 through the communication unit 110 in a state in which the control control information is set to the first control device 30, the second control in accordance with the control switching command The communication unit 110 is controlled to transmit the control right message to the device 40.

The control unit 130 receives the control control information from the second control device 40 from the first control device 30 when the control right switching approval message corresponding to the control right switching message is received from the second control device 40 through the communication unit 110. Switch to device 40 to set.

In addition, the controller 130 controls the communication unit to transmit the control right switching status message including the status information on the movement control right information to the first control device 30 and the second control device 40.

The controller 130 generates a control right switching message including the state information and the target information of the unmanned mobile object 10 as information necessary for the second control device 40 to control the movement of the unmanned mobile object 10, The communication unit 110 is controlled to set a frequency channel of the second control device 40, and the communication unit 110 is controlled to transmit a control right switching message to the second control device 40 through the set frequency channel. For example, the controller 130 may control the communication unit 110 to set a frequency channel based on the information on the second control device 40 included in the control right switching command.

In addition, if the control control switch approval message is not received from the second control device 40 through the communication unit 110 or the control control switch rejection message is received, the control power control information set as the first control device 30 is determined. The control unit 30 generates a control right message including the state information and the target information of the unmanned vehicle 10 as information necessary for the first control device 30 to control the movement of the unmanned vehicle 10, and generates the control right. The communication unit 110 is controlled to transmit the maintenance message to the first control device 30.

In addition, the control unit 130 receives the control right maintenance status message corresponding to the control right maintenance message from the first control device 30 through the communication unit 110, the control right status message to the first control device 30 and the second. The communication unit 110 is controlled to transmit to the control device 40.

Hereinafter, an information transmission and reception procedure performed between the control right setting devices 100, 100A, and 100B in the control right setting system 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5.

3 illustrates a process in which the movement control right for the unmanned moving object 10 is converted from the first control device 30 to the second control device 40.

First, in a state in which the movement control right of the unmanned moving object 10 is set to the first control device 30, the control unit 130 of the control right setting device 100 moves the control right of the unmanned moving object 10 to the first control device 30. And storage control right information indicating which control device is set to which of the second control device 40 is stored in the storage unit 120.

As such, in the state in which the movement control right for the unmanned moving object 10 is set as the first control device 30, the control right setting device 100B of the second control device 40 is connected to the first control device 30 through the communication network 20. The control request setting device (100A) of the control request to send a control request message (S201) to switch the control request or transmits a control right designation message (S205), the mobile control right for the unmanned moving object 10 is the second control device ( 40) can be informed. For example, the control request message may include a unique number of the unmanned mobile 10, the mission information of the unmanned mobile 10, the target information assigned to the unmanned mobile 10, etc., the control designation message is an unmanned mobile ( 10) state information, mission information of the unmanned mobile object 10, target information assigned to the unmanned mobile object 10, and designation information for the movement control right of the unmanned mobile object 10.

Then, the control device 100A of the first control device 30 verifies the validity request message or the control right designation message and returns an acknowledgment response message to the verified control request message or the control right designation message (S203, S207). )can do. For example, the control request message and the control right designation message may include identification information of the second control device 40, and the control right setting device 100A of the first control device 30 may include a control request message or a control right assignment message. When the included identification information matches the stored identification information for verification, the control request message or the control assignment message may be verified as having validity.

Subsequently, the control right setting device 100A generates a message including a control right switching command including information for converting the movement control right for the unmanned moving object 10 from the first control device 30 to the second control device 40. In operation S209, the generated control right switching command message is transmitted to the unmanned moving object 10 through the communication network 20 (S211).

For example, the control right switch command message generated by the control right setting device 100A may include a header field and a data field, and the header field may have a structure as shown in Table 1 below. The response classification of the header in Table 1 below is to distinguish whether or not the response of the unmanned moving object 10 is required in order to grasp the situation in which the control transfer is failed.

Header Explanation Message recipient number Address of the controlling device whose response to the request is expected Message send time Message sending time for response waiting time setting Message sender number Message sender address Message classification Message identification Response classification Whether to respond to incoming messages

In addition, the control right setting device 100A sets a unique number and a frequency channel of the second control device 40 requesting control in the data field of the control right switching command message, and then sends the control right switching command message to the second control device 40. And the message transmission time is recorded, and then the response time until the response message is received from the unmanned moving object 10 is monitored.

Meanwhile, the communication unit 110 of the control right setting device 100 mounted on the unmanned moving object 10 receives the control right switching command transmitted from the control right setting device 100A of the first control device 30 and sets the control right setting device 100. ) To the control unit 130.

Then, the controller 130 may verify the validity of the control switch command message, and return a control switch response message to the verified control switch command message (S213).

The control unit 130 generates a control switching message according to the control switching command in step S211 (S215), sets a frequency channel of the second control device 100B in the controlling control switching message (S217), and sets the set frequency channel. In step S219, the control right switching message is transmitted to the second control device 100B.

For example, the control right switching message generated by the control unit 130 of the control right setting apparatus 100 may include a header field and a data field, and the header field may have a structure as shown in Table 1 below.

Here, the controller 130 may include the state information of the unmanned mobile object 10, target information of the unmanned mobile object 10, whether to accept the control right conversion attempt, information on the control right switching object, etc. in the data field of the control right switching message. . The state information of the unmanned vehicle 10 and the target information of the unmanned vehicle 10 are information necessary for the second control device 40 to control the unmanned vehicle 10. Acceptance of the control switching attempt is set as a parameter for setting when the control switching attempt fails, and may be set to indicate that there is no applicable in the process of performing the switching attempt to the second control device 40. The control right switching target information may include a communication channel parameter as information for interworking communication with the unmanned mobile body 10 or to initiate a set matter.

The control right switching message sent by the control right setting device 100 of the unmanned moving object 10 is received by the control right setting device 100B of the second control device 40 through the communication network 20, and the control right setting device 100B. ) Verifies the validity of the control switch message, and may generate (S221) and reply (S223) the control switch approval message for the verified control switch message.

For example, the control switching approval message generated by the control right setting device 100B may include a header field and a data field, and the header field may have a structure as shown in Table 1. For example, in the header field of the control switch acknowledgment message, message identification information for the control switch acknowledgment indicating the purpose of the message is set, and the message receiver number is set as the address of the control setting device 100 of the unmanned mobile vehicle 10. In this case, the response category may be set to not applicable, and the message transmission time for setting the response waiting time may be set to not applicable.

Next, the communication unit 110 of the control right setting device 100 mounted on the unmanned moving object 10 receives the control right switch approval message from the second control device 40 and provides the control right to the control unit 130, and the control unit 130. Based on the control switch approval message, the control unit switches the mobile control right setting state, which has been set to the first control device 30, to the second control device 40 (S225). That is, the controller 130 updates the movement control right information stored in the storage 120.

In addition, the controller 130 generates a control switching state message including state information on the movement control right information (S229), and generates the control switching state message generated by the first control device 30 and the second control device 40. (S229, S231).

For example, the control right switching status message generated by the control unit 130 of the control right setting apparatus 100 may include a header field and a data field, and the header field may have a structure as shown in Table 1 below. For example, in the header field of the control control state message, message identification information corresponding to the overall vehicle information indicating the purpose of the message is set, and the message receiver number is set in the control apparatus 100A and the second control device 30 of the first control device 30. The address may be set to the address of the control right setting device 100B of the control device 40, the response classification may be set to not applicable, and the message transmission time setting for setting the response waiting time may be set to not applicable.

In this case, the controller 130 may display the state information of the unmanned mobile object 10, the task information of the unmanned mobile object 10, and the current controller information on the unmanned mobile object 10 (eg, unique to the control person) in the data field of the control right switching status message. Information), and control to transmit to the first control device 30 and the second control device 40.

4 illustrates a process in which the control right is not completed and the control right is maintained while the mobile control right is transferred from the first control device 30 to the second control device 40.

First, after the control right setting device 100 mounted on the unmanned moving object 10 transmits the control right switching message to the second control device 40, the control right setting device 100 does not receive the control right switching approval message from the second control device 40. The second control device 40 may receive a rejection response message for switching control. For example, the control right setting device 100B of the second control device 40 may verify the validity of the control right switching message and return a rejection response message to the control right switching message that has not passed the verification.

Then, the control unit 130 of the control right setting device 100 generates a control right maintenance message (S301), and the control right setting device 100A of the first control device 30 via the communication control network 20 to generate the control right maintenance message. The communication unit 110 is controlled to transmit to the control unit, and the communication unit 110 transmits the control right maintaining message to the control right setting device 100A under the control of the control unit 130 (S303).

The control authority setting apparatus 100A of the first control apparatus 30 verifies the validity of the control authority maintenance message received from the control authority setting apparatus 100 of the unmanned vehicle 10, and transmits a maintenance approval message to the verified control authority maintenance message. You can reply (S305).

Then, the communication unit 110 of the control right setting device 100 receives the maintenance approval message and provides it to the control unit 130, and the control unit 130 generates the control right maintenance status message based on the maintenance approval message (S307), The communication unit 110 is controlled to transmit the generated control right maintenance status message to the control right setting device 100A of the unmanned mobile body 30 and the control right setting device 100B of the unmanned mobile body 40, and the communication unit 110 controls the control unit ( According to the control of 130, the control right maintaining status message is transmitted to the control right setting device 100A of the unmanned mobile body 30 and the control right setting device 100B of the unmanned mobile body 40 (S309 and S311).

For example, the control right status message generated by the controller 130 of the control right setting apparatus 100 may include a header field and a data field, and the header field may have a structure as shown in Table 1 below. For example, the message identification information corresponding to the unmanned vehicle aggregate information indicating the purpose of the message is set in the header field of the control right status message, and the message receiver number is set as the address of the control right setting device 100A and the control right setting device 100B. It can be set as not applicable for response classification and not applicable for message transmission time for response waiting time setting.

Here, the control unit 130 is in the data field of the control right status message, the status information of the unmanned mobile 10, the mission information of the unmanned mobile 10, the current controller information on the unmanned mobile 10 (for example, unique to the control owner) Information) may be transmitted to the first control device 30 and the second control device 40.

5 shows a process in which the transfer of the movement control right from the first control device 30 to the second control device 40 fails.

First, the control right setting device 100A mounted on the first control device 30 transmits a control right switching command message to the unmanned moving object 10, and then fails to receive a control right switching response message from the unmanned moving object 10 or controls the control right. The rejection response message for the command to switch the control may be received from the setting apparatus 100. For example, the control authority setting device 100 may verify the validity of the control switching command message and return a rejection response message to the control switching command message that has not passed the verification.

Then, the control right setting device 100A generates a control right switching failure message (S401), and transmits the generated control right switching failure message to the control right setting device 100B of the unmanned moving object 40 (S403).

For example, the control switching failure message generated by the control right setting device 100A may include a header field and a data field, and the header field may have a structure as shown in Table 1 below. For example, in the header field of the control switching failure message, the message setting information for the control switching failure that indicates the purpose of the message is set, and the control apparatus for the control device 40 mounted on the second control device 40 which attempted to control switching the message recipient number. It may be set to the address of 100B, the response division may be set to not applicable, and the message transmission time for setting the response waiting time may be set to not applicable.

According to the embodiment of the present invention as described above, the unmanned moving object is involved in the setting of the movement control right for controlling the control in real time. In other words, since the response of the unmanned vehicle which is the object of control and plays the most decisive role in the performance of the mission must be taken into account, it is possible to accurately determine the transition and failure of the mobile control, and the importance of mission completion The control of unmanned vehicles can be diverted for very high military use.

Combinations of each block of the block diagrams and respective steps of the flowcharts attached to the present invention may be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment such that instructions executed through the processor of the computer or other programmable data processing equipment may not be included in each block or flowchart of the block diagram. It will create means for performing the functions described in each step. These computer program instructions may be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. It is also possible for the instructions stored in to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of each step of the block diagram. Computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps may be performed on the computer or other programmable data processing equipment to create a computer-implemented process to create a computer or other programmable data. Instructions that perform processing equipment may also provide steps for performing the functions described in each block of the block diagram and in each step of the flowchart.

In addition, each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, the two blocks or steps shown in succession may in fact be executed substantially concurrently or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes 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 describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas falling within the scope of the present invention should be construed as being included in the scope of the present invention.

100, 100A, 100B: control device
110: communication unit
120: storage unit
130: control unit

Claims (11)

delete A control device for setting the control of movement of an unmanned vehicle,
A communication unit for transmitting and receiving messages with the first control device and the second control device,
A storage unit for storing movement control right information indicating which movement control right of the unmanned moving object is set to one of the first control device and the second control device;
A control unit for controlling the transmission and reception of the message by the communication unit,
The control unit,
When the control right switching command is received from the first control device through the communication unit while the movement control right information is set to the first control device, the control right switching message is transmitted to the second control device according to the control right switching command. Control the communication unit,
When the control right switch approval message corresponding to the control right switching message is received from the second control device via the communication unit, the mobile control right information is switched from the first control device to the second control device, and is set.
Control the communication unit to transmit a control right switching status message including state information on the movement control right information to the first control device and the second control device,
Generating the control right switching message including the state information and the target information of the unmanned vehicle as the information necessary for controlling the movement of the unmanned vehicle by the second control device;
Control the communication unit to set a frequency channel of the second control device,
Controlling the communication unit to transmit the control right switching message to the second control device through the set frequency channel;
Control device. The method of claim 2,
The control unit controls the communication unit to set the frequency channel based on the information on the second control device included in the control right switching command.
Control device. A control device for setting the control of movement of an unmanned vehicle,
A communication unit for transmitting and receiving messages with the first control device and the second control device,
A storage unit for storing movement control right information indicating which movement control right of the unmanned moving object is set to one of the first control device and the second control device;
A control unit for controlling the transmission and reception of the message by the communication unit,
The control unit,
When the control right switching command is received from the first control device through the communication unit while the movement control right information is set to the first control device, the control right switching message is transmitted to the second control device according to the control right switching command. Control the communication unit,
When the control right switch approval message corresponding to the control right switching message is received from the second control device via the communication unit, the mobile control right information is switched from the first control device to the second control device, and is set.
Control the communication unit to transmit a control right switching status message including state information on the movement control right information to the first control device and the second control device,
If the control right switch approval message is not received or the control right switch rejection message is received from the second control device through the communication unit, the mobile control right information set as the first control device is maintained.
Generating a control right message including information on the state of the unmanned vehicle and target information as information necessary for the first control device to control the movement of the unmanned vehicle,
Controlling the communication unit to transmit the generated control right maintenance message to the first control device;
Control device. The method of claim 4, wherein
The control unit,
Controlling the communication unit to transmit a control right maintenance status message to the first control device and the second control device when the control right approval message corresponding to the control right maintenance message is received from the first control device through the communication unit;
Control device. delete As a method of setting control rights performed by a control device for controlling an unmanned vehicle,
Receiving a command to switch control from the first controlling device,
When the control right switching command is a command to switch the movement control right of the unmanned moving object from the first control device to the second control device, transmitting a control right switching message to the second control device;
When the control right switch approval message corresponding to the control right switching message is received from the second control device, converting the mobile control right information set in the first control device to the second control device;
Sending a control right switching status message including status information about the movement control right information to the first control device and the second control device,
The transmitting the control right switch message,
Generating, by the second control device, the control right switching message including state information and target information of the unmanned mobile vehicle as information necessary for controlling the movement of the unmanned mobile vehicle;
Setting a frequency channel of the second control device;
Transmitting the control right switching message to the second control device through the set frequency channel.
How to establish control. The method of claim 7, wherein
The setting of the frequency channel may include setting the frequency channel based on information on the second control device included in the control right switching command.
How to establish control. As a method of setting control rights performed by a control device for controlling unmanned vehicle,
Receiving a command to switch control from the first controlling device,
When the control right switching command is a command to switch the movement control right of the unmanned moving object from the first control device to the second control device, transmitting a control right switching message to the second control device;
When the control right switch approval message corresponding to the control right switching message is received from the second control device, converting the mobile control right information set in the first control device to the second control device;
Sending a control right switching status message including status information about the movement control right information to the first control device and the second control device;
Maintaining the mobile control right information set as the first control device when the control switch approval message is not received from the second control device or a control switch rejection message is received;
Generating, by the first control device, a control right hold message including state information and target information of the unmanned mobile vehicle as information necessary for controlling the movement of the unmanned mobile vehicle;
Transmitting the generated control right hold message to the first control device;
How to establish control. The method of claim 9,
If a control right approval message corresponding to the control right maintenance message is received from the first control device, transmitting the control right maintenance status message to the first control device and the second control device.
How to establish control. Receiving, by the control device of the unmanned vehicle, the control switching command from the first control device;
When the control right switching command is a command to switch the movement control right of the unmanned moving object from the first control device to the second control device, transmitting a control right switching message to the second control device;
Converting the control right control device of the unmanned moving object from the second control device to the second control device when the control right setting approval message corresponding to the control right switching message is received from the second control device; ,
Transmitting, by the control right setting device of the unmanned moving object, a control right status message including state information on the movement control right information to the first control device and the second control device;
Maintaining the mobile control right information set as the first control device when the control switch approval message is not received from the second control device or a control switch rejection message is received;
Generating, by the first control device, a control right hold message including state information and target information of the unmanned mobile vehicle as information necessary for controlling the movement of the unmanned mobile vehicle;
And a computer program stored in the computer program for causing the processor to perform the control right setting method comprising transmitting the generated control right maintenance message to the first control device.

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