KR101644151B1 - 3D space information monitoring system using intelligent drone - Google Patents

Abstract

The present invention relates to a 3D space information monitoring system using an intelligent unmanned aerial vehicle. After a drone takes off, a landing skid is folded at a lower part of a propeller support in an overlapped state so that the landing skid does not hinder photographing of a digital camera. In a case flying attitude of the drone becomes poor due to influence of air current, flying attitude of the drone is maintained to fly stably by controlling rotation speeds of multiple propellers differently. Also, the system can prevent a plane crash due to lack of battery residual capacitance by making the drone return to a landing position when the battery residual capacitance becomes equal to battery consumption for return, by checking the residual capacitance of the battery and calculating the battery consumption for return required for the drone to return to the landing position.

Description

TECHNICAL FIELD [0001] The present invention relates to a 3D space information monitoring system using intelligent drone,

The present invention relates to a 3D spatial information monitoring system using an intelligent unmanned aerial vehicle, more specifically, a landing skid does not interfere with the shooting of a digital camera, and when a flight attitude of a dron becomes poor due to the influence of an air current, It is possible to maintain stable flight by maintaining the flight position of the dron by controlling the rotational speed of the propeller differently, and also to check the remaining amount of the battery, calculate the amount of battery consumption for returning from the current flying position to the landing position, The present invention relates to a 3D space information monitoring system using an intelligent unmanned aerial vehicle that can return to a landing position when a remaining amount becomes equal to a consumption amount of a battery for returning, thereby preventing a fall accident due to insufficient battery remaining amount.

The aerial photographing technique is classified into the manned aerial photographing technique in which a photographer picks up an image of a manned aircraft controlled by a pilot, and the unmanned aerial photographing technique in which a camera is mounted on a remote control type unmanned airplane.

These aerial photography techniques have been widely used for producing maps, broadcasting, or military use. However, in recent years, there has been a great deal of interest in the field of forests, crops, beaches, roads, And life sciences.

Especially, unmanned aerial photographing technology is widely used for military and public purposes as well as for personal use.

6, a drone 10 having a drone body 11 and a propeller 13 driven by a plurality of propeller motors 12, and a lower part of the drone 10, A gimbal 20 coupled to the gimbal 20 and a digital camera 30 mounted on the gimbal 20 are used.

The gimbal 20 includes a support 21 coupled to the lower portion of the dron 10, a rolling operation portion 22 supported so as to be capable of rolling on the support 21, And a camera mounting portion 24 coupled to the pitching operation portion 23 and to which the digital camera 30 is mounted.

The rolling operation unit 22 and the pitching operation unit 23 perform a rolling operation and a pitching operation by the rolling motor 22a and the pitching motor 23a driven in accordance with the horizontal level sensed by the horizontal sensor The digital camera 30 mounted on the camera mounting portion 24 is configured to maintain the horizontal position.

However, in the unmanned aerial photographing technique using the conventional drone, a landing skid for landing and landing is provided, and the landing skid is fixedly installed in a state in which the landing skid is always unfolded.

Therefore, it is required to develop a technique for preventing the landing skid from interfering with the shooting of the digital camera.

Further, in the conventional unmanned aerial photographing technique using a drone, the posture of the digital camera 30 is maintained by the gimbals 20 regardless of the posture of the drone, The posture of the digital camera 30 can not be accurately maintained only by the operation of the gimbals 20. [

Therefore, if the drone is influenced by the airflow, the number of revolutions of the plural propellers is controlled differently so that the drone itself can be maintained in a position close to the horizontal, so that the development of a technique for smoothly correcting the posture of the digital camera by the gimbal .

In addition, conventional drones are supplied with power from propulsion motors, drones and drones, which can be used for flight, shooting, video transmission, and landing, depending on the capacity of the battery. There is a possibility that an accident that the operator falls due to the battery discharge during the flight because the operator is returning and landing the drones by remote control operation at a reasonable time according to the empirical rule.

Therefore, it is required to develop a technique for returning and landing safely without calculating the time from landing to flight, shooting, returning, and landing according to the capacity of the battery at the time of landing.

As a prior art related to this, Korean Patent Registration No. 10-0795396 (Registered on Jan. 10, 2008) "Method of Monitoring Urban Change Using Airborne Laser Data and Numerical Orthographic Image" and Korean Patent No. 10-1174020 (Aug. Registered) "A system for real-time monitoring of images photographed on an aircraft during a flight test in the ground mission control room" is disclosed.

Korean Registered Patent No. 10-0795396 (Registered on Jan. 10, 2008) "Method of Monitoring Urban Change Using Airborne Laser Data and Digital Orthographic Image" Korean Registered Patent No. 10-1174020 (Registered Aug. 8, 2012) "System to monitor real-time images taken on an aircraft from the ground mission control room during flight test"

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a landing skid for preventing a shooting of a digital camera from being hindered and maintaining a flight attitude of a dron by controlling a rotation speed of a plurality of propellers, It is possible to check the remaining amount of the battery and calculate the amount of return battery consumption required for returning from the current flying position to the landing position. When the battery remaining amount becomes equal to the return battery amount, So as to prevent a crash caused by a shortage of the remaining battery capacity, and to provide a 3D spatial information monitoring system using an intelligent unmanned aerial vehicle.

According to an aspect of the present invention, A gimbals mounted on a lower portion of the drones; A digital camera mounted on the gimbal; Control means for controlling the drone and the digital camera; And a monitoring terminal for displaying 3D spatial information photographed by the digital camera and monitoring the 3D spatial information in real time; And a plurality of propeller motors respectively mounted on the outer ends of the plurality of propeller supporters, wherein the plurality of propeller motors are mounted on the outer ends of the plurality of propeller supporters, A plurality of propellers coupled to the motor shaft of the propeller motor; And a landing mechanism installed at a lower portion of the drone main body, wherein the landing mechanism is fixed to an inner end of the propeller support, the landing bracket including a vertical plate formed with a shaft hole and a motor shaft hole, A landing skid having a shaft portion rotatably supported on an upper end thereof and having a ground portion bent at a lower end thereof so as to be horizontally grounded on the ground when the landing portion is unfolded and a landing skid mounted on the vertical plate, And a landing motor fixed to the other end of the drones, wherein the gimbals are fixedly coupled to the center of the lower surface of the drones; A yawing motor coupled to the underside of the tooth and to the lower surface of the tooth; A yawing operation table having a horizontal plate coupled to the lower end of the yawing motor shaft of the yawing motor and a vertical plate extending vertically downwardly from one end of the horizontal plate; A rolling motor mounted on a vertical plate of the yawing operation table; A rolling operating table having an engaging plate coupled to a leading end portion of a rolling motor shaft of the rolling motor and an extending plate bent forward from both left and right sides of the engaging plate; A pitching motor mounted on an extension plate of the rolling operating band; And a pitching operation band that is coupled to a lower end of a pitching motor shaft of the pitching motor, wherein the digital camera is mounted to a pitching operation band, and the control means comprises: a horizontal sensor mounted on an upper surface of the droning body; A pressure sensor mounted on a ground of the landing skid; A dust receiver installed on the drones; A remaining battery level measuring unit for measuring a current battery level of the battery installed in the drone main body; A memory unit for storing the battery consumption amount per unit distance required for the flight of the drones, the take-off point coordinate information according to the GPS information of the GPS receiver, the weight information of the drone by the pressure sensor, and the photographing information by the digital camera; An input unit for inputting a take-ready mode and a drone storage mode; And outputs a control command or a differential rotation number control command to the propeller motor in accordance with the detection signal of the horizontal sensor and calculates departure point coordinate information and current flight coordinate information of the current flying point, Calculates the return flying distance between the point of departure and the current battery remaining amount measured by the battery remaining amount measuring unit, the battery consumption amount per unit distance stored in the memory unit, and the returning flying distance, and if B1 = (B2 L) And outputs a differential speed control command to the propeller motor so that the dron may be turned toward the take-off point. When the drones are directed toward the take-off point, the normal speed control command for the propeller motor is outputted , When the take-ready mode is input to the input unit, or when the returning dron is close to the take-off point, And if the pressure sensed by the pressure sensor becomes smaller than the drone weight information stored in the memory unit, it is determined that the landing motor is in the ready state, A control unit for outputting a folding operation control command for the folding operation; A propeller motor driving unit for sending a normal rotational speed control signal or a differential rotational speed control signal to the propeller motor according to a control command of the control unit for the propeller motor; A landing motor driving unit for transmitting a folding operation driving signal or a unfolding operation driving signal to the landing motor according to a control command of the control unit for the landing motor; A communication unit mounted on the drone main body to transmit photographing information by a digital camera and a return alarm signal; And an alarm unit for outputting a return alarm so as to be recognized by the drone operator according to a return alarm command by the control unit; Wherein the monitoring unit comprises a notebook computer having a receiving unit for receiving information transmitted from the communication unit, wherein the alarm unit is installed in the monitoring terminal and is returned from the communication unit and received by the receiving unit of the monitoring terminal, And a program for displaying a return alarm on the screen in accordance with an alarm signal and outputting a sound through a speaker provided in the monitoring terminal. A 3D spatial information monitoring system using the intelligent unmanned aerial vehicle is provided.

According to the 3D spatial information monitoring system using the intelligent unmanned aerial vehicle of the present invention, after the drones take off, the landing skid is folded in a state of being superimposed on the lower part of the propeller support so that the landing skid does not interfere with the shooting of the digital camera If the drone's flight attitude becomes poor due to the influence of the air flow, the rotation speed of the plurality of propellers is controlled differently, thereby maintaining the flight attitude of the drone, and stable flight can be performed. In addition, the remaining amount of the battery is checked, It is possible to return to the landing position at the time when the battery remaining amount becomes equal to the battery consumption amount for return, thereby preventing a fall accident due to the insufficient battery remaining amount.

1 to 5 show a preferred embodiment of a 3D spatial information monitoring system using an intelligent unmanned aerial vehicle according to the present invention,
1 is a perspective view showing a landing skid in a folded state,
2 is a perspective view showing a state in which the landing skid is unfolded,
3 is an exploded perspective view of the drones,
4 is an exploded perspective view of the gimbals,
5 is a functional block diagram of the control means,
6 is a perspective view showing a monitoring system using a conventional drone.

Hereinafter, a 3D spatial information monitoring system using an intelligent unmanned aerial vehicle according to the present invention will be described in detail with reference to the preferred embodiments illustrated in the accompanying drawings.

1 to 5 show a preferred embodiment of a 3D spatial information monitoring system using an intelligent unmanned aerial vehicle according to the present invention.

In the following description, bolt through holes through which various bolts are passed and bolt fastening holes to which various bolts are fastened are shown in the drawing, but the reference numerals and detailed explanations are omitted.

The 3D spatial information monitoring system using the intelligent unmanned aerial vehicle according to the present embodiment includes a dron 100; A gimbals 200 mounted on the lower portion of the drones 100; A digital camera 300 mounted on the gimbals 200; Control means (400) for controlling the drones (100) and the digital camera (300); A monitoring terminal 600 for displaying 3D spatial information photographed by the digital camera 300 and monitoring the 3D spatial information in real time; .

The dron 100 includes a drone main body 110, a plurality of (four in the figure) propeller support rods 120 radially extending from the periphery of the dron main body 110, A plurality of (four in the figure) propeller motors 130 mounted on the outer ends of the propeller motors 130, and a plurality of propellers 140 (not shown) coupled to motor shafts ); And a landing mechanism 150 installed at a lower portion of the drone main body 110.

The drone main body 110 may be formed as a circular plate as shown in the drawing, but is not limited thereto, and may be changed according to needs, such as a long circular shape, an elliptical shape, and a rectangular shape.

The drone main body 110 may be made of aluminum alloy, polycarbonate, or graphite to minimize weight, and may be formed of a plurality of slits in a range that does not deteriorate the structural strength. have.

A battery (not shown) for supplying power to the drones 110 for supplying the power required for flying the drone 100, controlling the gimbals 200, photographing the digital camera 300, and controlling the control means 400 is mounted .

A motor mount 121 for mounting the propeller motor 130 is coupled to the outer end of the propeller support 120. The motor mount 121 may be integrally formed with the propeller support 120 or may be integrated by bolt / nut fastening or welding.

The propeller support 120 includes a fixture 122 having a flange 123 extending horizontally to both sides and a screw SC1 passing through the flange 123 and fastened to the upper surface of the dron body 110 And may be directly fixed to the drone main body 110 by screwing the screw into the upper surface of the drone main body 110 by passing a screw through the propeller support base 120. [

The propeller support 120 may be hollow and may include a power cable and a control cable for the propeller motor 130.

The propeller support 120 may be made of aluminum alloy, polycarbonate, graphite, or hollow pipe to minimize weight.

The propeller motor 130 may be a BLDC motor (Brushless DC Motor) or a propeller 140 may be coupled to a motor shaft (not shown).

The propeller motor 130 can be mounted by fastening a screw SC2 passing through a motor base 131 formed at a lower end to a motor mount 121. [

The landing mechanism 150 is fixed to an inner end of the propeller support 120 and includes a landing plate 152 having a shaft hole SH1 and a landing plate 153 having a motor shaft SH2, A landing skid 154 having a shaft portion 155 rotatably supported by the shaft hole SH1 and formed on one side of an upper end thereof and a landing motor shaft 158 mounted on the vertical plate 153, And a landing motor 157 fixed to the other end of the landing skid 154.

The landing bracket 151 may be fixedly coupled to the propeller support 120 by a bolt / nut fastening or welding.

The landing skid 154 is formed with an engaging groove 156 having a rectangular cross section and the landing motor shaft 158 is formed into a rectangular cross section to insert the landing motor shaft 158 into the engaging groove 156, So that the rotational force of the motor 157 can be transmitted to the landing skid 154.

The landing motor 157 can be mounted by fastening the screw SC3 passing through the motor base 159 to the vertical plate 153 of the landing bracket 151. [

The landing motor 157 may be a BLDC motor (Brushless DC Motor).

The landing skid 154 is preferably folded at the lower end thereof so that the landing skid 154 is horizontally grounded when it is unfolded.

The landing skid 154 may be made of aluminum alloy, polycarbonate, graphite, or hollow pipe to minimize weight.

The gimbals 200 are fixedly coupled to a lower center of the lower surface of the drone main body 110; A yawing motor 220 coupled to a lower surface of the load-lifting member 210; A yawing operation unit having a horizontal plate 231 coupled to the lower end of the yawing motor shaft 221 of the yawing motor 220 and a vertical plate 232 extending vertically downwardly from one end of the horizontal plate 231, (230); A rolling motor 240 mounted on the vertical plate 232 of the yawing operation table 230; A rolling operation table 252 having an engaging plate 251 coupled to the leading end of the rolling motor shaft 241 of the rolling motor 240 and an extending plate 252 bent forward from both left and right sides of the engaging plate 251, 250); A pitching motor 260 mounted on an extension plate 252 of the rolling operation platform 250; And a pitching operation band 270 coupled to a lower end of a pitching motor shaft 261 of the pitching motor 260.

The gimbal mount 210 and the yawing motor 220 are fixed to the gimbal main body 110 by fastening the motor base 222 and the screw SC4 passing through the gimbal mount 210 to the lower surface of the gimbal main body 110. [ 110 at the same time.

The yawing motor shaft 221 of the yawing motor 220 and the horizontal board 231 of the yawing operation table 230 are connected to the lower surface of the yawing motor shaft 221 by a screw (not shown) passing through the horizontal board 231 They can be combined by fastening.

The rolling motor 240 can be attached to the yawing operation table 230 by fastening the screw SC5 passing through the motor base 242 to the vertical plate 232 of the yawing operation table 230. [

The rolling motor shaft 241 of the rolling motor 240 and the coupling plate 251 of the rolling actuating table 250 are fixed to the rolling motor shaft 241 with a screw (not shown) passing through the coupling plate 251 Can be combined.

The pitching motor 260 is inserted into a mounting hole 253 formed in an extension plate 252 of the rolling operation table 250 and the screw SC6 passing through the motor base 262 is fastened to the extension plate 252 So that it can be mounted on the rolling operating platform 250.

The pitching motor shaft 261 is formed into a rectangular cross section and the pitching motor shaft 261 is inserted into the engaging groove 271 So that the rotational force of the pitching motor 260 is transmitted to the pitching actuation belt 270.

The digital camera 300 can typically be selected from among digital cameras used for aerial photographing.

The digital camera 300 can be mounted on the pitching operation belt 270 by fastening a screw SC7 passing through the camera base 310 to the lower surface of the pitching operation belt 270. [

The gimbals 200 are driven by a yawing motor 220, a rolling motor 240, a pitching motor 240, and the like in accordance with a sensing signal by a horizontal sensor for gimbals (not shown) And a gimbal control unit (not shown) for controlling the gimbal unit 260. Since the horizontal sensor for gimbal and the gimbal control unit are provided in a conventional gimbal, a detailed description thereof will be omitted.

The control means 400 includes a horizontal sensor S mounted on the upper surface of the drone main body 110; A pressure sensor 410 mounted on a ground 155 of the landing skid 154; A dust receiver 420 installed in the drone main body 110; A battery remaining amount measuring unit 430 for measuring a current battery remaining amount B1 of the battery installed in the drone main body 110; The battery consumption amount B2 per unit distance required for the flight of the drones 100, the take-off point coordinate information according to the dust information of the laser absorber 430, the weight information of the drones by the pressure sensor 410, A memory unit 440 for storing photographing information by the photographing unit 300; An input unit 450 for inputting a take-ready mode and a drone storage mode; And outputs a control command or a differential rotation number control command to the propeller motor 130 in accordance with the detection signal of the horizontal sensor S and outputs the departure point coordinate information and the current flight coordinate information of the current flying point And calculates the return flying distance L between the current flying point and the take-off point to calculate the current remaining battery amount B1 measured by the battery remaining amount measuring unit 430 and the battery consumption amount B2 per unit distance stored in the memory unit 440 ) And a returning flight distance L to output a return alarm signal if B1 = (B2 x L) x1.1, and to cause the drones 100 to turn toward the take- And outputs a control command to the propeller motor 130 when the drone 100 is directed to the take-off point. When the take-ready mode is input to the input unit 450, The returning drones (100 The drones storage mode is input to the input unit 450 or the drones 100 take off in the take-ready mode and the pressure sensor A control unit 460 for outputting a folding operation control command for the landing motor 157 when the pressure sensed by the landing motor 410 becomes smaller than the weight information stored in the memory unit 440; A propeller motor driving unit 470 for sending a normal rotation speed control signal or a differential rotation speed control signal to the propeller motor 130 according to a control command of the control unit 460 to the propeller motor 130; A landing motor driving unit 480 for transmitting a folding operation driving signal or a unfolding operation driving signal to the landing motor 157 according to a control command of the control unit 460 for the landing motor 157; A communication unit 490 attached to the drone main body 110 to transmit photographing information and a return alarm signal by the digital camera 300; And an alarm unit 500 for outputting a return alarm so as to be recognized by the drone operator according to the return alarm command by the controller 460. [ .

The control unit 400 includes a memory unit 440 excluding the horizontal sensor S, the pressure sensor 410, the GPS receiver 430, the input unit 450 and the alarm unit 500, the control unit 460, The motor driving unit 470, the landing motor driving unit 480 and the communication unit 490 may be installed inside the control box 401 mounted on the upper surface of the drone main body 110.

The input unit 450 may include a switch or a keypad that exposes the switching button 451 on the front surface of the control box 401.

The communication unit 490 may include an antenna 491 mounted on the top surface of the control box 401.

It is preferable that the above described laser ray receiver 430 is mounted on the upper surface of the control box 401.

The monitoring terminal 600 may use a notebook computer having a receiving unit (not shown) for receiving information transmitted from the communication unit 490,

The alarm unit 500 is a program installed in the monitoring terminal 600 to display a return alarm on the screen according to a return alarm signal transmitted from the communication unit 490 and received by the receiving unit of the monitoring terminal 600 Can be configured.

In addition, the return alarm may be output through a speaker provided in the monitoring terminal 600 as a sound.

Hereinafter, the operation of the 3D spatial information monitoring system using the intelligent unmanned aerial vehicle according to the present embodiment will be described.

When the drone storage mode is input to the input unit 450, the control unit 460 outputs a folding operation control command to the landing motor 157 and the landing motor driving unit 480 drives the landing motor 157 The landing motor 157 is rotated in the folding operation direction and the landing skid 154 coupled to the landing motor shaft 158 of the landing motor 157 is rotated in the folding direction As shown in Fig. At this time, the landing skid 154 is folded in a state of being overlapped with the lower part of the propeller support 120, so that the drones 100 can be stored in a compact state and the storage space can be minimized.

In order to monitor the 3D spatial information using the drone 100, the drone operator operates the remote controller (not shown) at the take-off point of the area to be monitored to take off and fly the drone 100, When the take-ready mode is input to the input unit 450 at the take-off point, the control unit 460 controls the landing motor 157 and the take- The landing motor driving unit 480 is rotated in the unfolding operation direction according to the unfolding operation control command of the control unit 460 and the landing motor driving unit 480 is rotated in the unfolding direction by the landing motor shaft 158 of the landing motor 157 The combined landing skid 154 pivots and unfolds in the unfolding direction.

It is preferable that the unfolding angle of the landing skid 154 is set to an angle at which the lower grounding portion 154a is horizontal to the ground.

In this state, when the drone operator places the drones 100 on the ground, the preparation for take-off is completed.

At this time, the pressure sensor 410 mounted on the grounding portion 154a of the landing skid 154 senses the entire weight including the drones 100, the gimbals 200 and the digital camera 300, The signal is stored in the memory unit 440 through the control unit 460.

The take-off and flight of the drones 100 are accomplished by a conventional remote control.

If the weight sensing signal detected by the pressure sensor 410 becomes "0" when the drones 100 take off, the control unit 460 outputs a folding operation control command to the landing motor 157, The driving unit 480 sends a folding operation driving signal to the landing motor 157 so that the landing skid 154 is folded in a state in which the landing skid 154 overlaps the lower part of the propeller support 120.

Therefore, the digital camera 300 does not interfere with the shooting in the process of shooting the 3D space while the drone 100 is flying.

When the flying position of the drones 100 is disturbed by the airflow in the course of the flight of the drone 100 and the photographing of the digital camera 300, The propeller motor drive unit 470 outputs a differential rotation speed drive signal to the propeller motor 130 and the propeller motor drive unit 470 outputs the differential rotation speed drive signal to the propeller motor 130, The control unit 460 outputs a normal rotation number control command to the propeller motor 130 and the propeller motor driving unit 470 Sends a normal rotation speed driving signal to the propeller motor 130 so that the propeller motor 130 rotates at a normal rotation speed and the normal flight of the drones 100 is performed.

Meanwhile, in the course of the flight of the drones 100 and the photographing of the digital camera 300, the remaining battery level measuring unit 430 continuously measures the current remaining battery level, and the control unit 460 controls the take- Calculates the returning flight distance L between the current flying point and the take-off point and calculates the current remaining battery level B1 measured by the remaining battery level measuring unit 430 and the current remaining battery level B1 measured by the memory unit 440 And calculates a battery consumption amount B2 and a returning flight distance L per stored unit distance to output a return alarm signal if B1 = (B2 L) x1.1, and to cause the drones 100 to turn toward the take- Outputs a differential rotation speed control command for the propeller motor 130 and outputs a normal rotation speed control command for the propeller motor 130 when the dragon 100 is directed to the take-off point.

Here, the point at which the return alarm signal is output is set to B1 = (B2 x L) x 1.1, which means that the remaining battery level B1 remains at such a distance that the current remaining flight distance L is 10% So as to prevent accidental fall accident during return flight.

Accordingly, the communication unit 490 sends out the return alarm signal, receives it at the receiving unit of the monitoring terminal 600, and the alarm unit 500 outputs the return alarm, so that the drones 100 return to the take- .

The propeller motor driving unit 470 transmits a differential rotation speed driving signal to the propeller motor 130 so that the propeller motor 130 rotates at a differential rotation speed and the drones 100 are turned toward the take- The propeller motor driving unit 470 transmits a normal rotation number driving signal to the propeller motor 130 so that the propeller motor 130 rotates at a normal rotation number and the drones 100 ) To the take-off point is normally completed.

The flight toward the take-off point of the drone 100 may be continued by automatic control by the control unit 400, and the drone 100 may be performed by the remote controller.

The control unit 460 continuously calculates the return flying distance L from the current flying point to the take-off point and controls the landing motor 157 before the dragon 100 reaches the take- The landing motor driving unit 480 outputs a unfolding operation driving signal for the landing motor 157 and the landing motor 157 rotates in the unfolding direction to rotate the landing motor shaft 158 The combined landing skid 154 rotates in the unfolding direction and remains in the landing attitude.

When the drones 100 arrive at the take-off point, the rotational speed of the propeller motor 130 is reduced by the control unit 460 and the propeller motor driving unit 470 or by the operation of the remote controller, and the drones 100 are landed at the take- .

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the technical idea of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Drone 110: Drone body
120: propeller support 130: propeller motor
140: propeller 150: landing mechanism
154: landing skid 155:
157: Landing motor 200: Gimbal
300: Digital camera 400: Control unit
410: Horizontal sensor 420: Pressure sensor
430: GPS receiver 440: memory part
450: input unit 460:
470: Propeller motor drive unit 480: Landing motor drive unit
490: communication unit 500: alarm unit
600: Monitoring terminal

Claims (1)

A drones 100; A gimbals 200 mounted on the lower portion of the drones 100; A digital camera 300 mounted on the gimbals 200; Control means (400) for controlling the drones (100) and the digital camera (300); A monitoring terminal 600 for displaying 3D spatial information photographed by the digital camera 300 and monitoring the 3D spatial information in real time; And,
The dron 100 includes a drone main body 110, a plurality of (four in the figure) propeller support rods 120 radially extending from the periphery of the dron main body 110, A plurality of (four in the figure) propeller motors 130 mounted on the outer ends of the propeller motors 130, and a plurality of propellers 140 (not shown) coupled to motor shafts ); And a landing mechanism 150 installed at a lower portion of the drone main body 110,
The landing mechanism 150 is fixed to an inner end of the propeller support 120 and includes a landing plate 152 having a shaft hole SH1 and a landing plate 153 having a motor shaft SH2, A landing skid 154 having a shaft portion 155 rotatably supported on the shaft hole SH1 and having a ground portion 154a formed on one side of the upper end and bent at a lower end thereof so as to be horizontally grounded on the ground, And a landing motor 157 mounted on the vertical plate 153 and having a landing motor shaft 158 inserted in the motor shaft SH2 and fixed to the other end of the landing skid 154,
The gimbals 200 are fixedly coupled to a lower center of the lower surface of the drone main body 110; A yawing motor 220 coupled to a lower surface of the load-lifting member 210; A yawing operation unit having a horizontal plate 231 coupled to the lower end of the yawing motor shaft 221 of the yawing motor 220 and a vertical plate 232 extending vertically downwardly from one end of the horizontal plate 231, (230); A rolling motor 240 mounted on the vertical plate 232 of the yawing operation table 230; A rolling operation table 252 having an engaging plate 251 coupled to the leading end of the rolling motor shaft 241 of the rolling motor 240 and an extending plate 252 bent forward from both left and right sides of the engaging plate 251, 250); A pitching motor 260 mounted on an extension plate 252 of the rolling operation platform 250; And a pitching operation band 270 coupled to a lower end of a pitching motor shaft 261 of the pitching motor 260,
The digital camera 300 is mounted on a pitching operation band 270,
The control means 400 includes a horizontal sensor S mounted on the upper surface of the drone main body 110; A pressure sensor 410 mounted on a ground 155 of the landing skid 154; A dust receiver 430 installed in the drone main body 110; A battery remaining amount measuring unit 430 for measuring a current battery remaining amount B1 of the battery installed in the drone main body 110; The battery consumption amount B2 per unit distance required for the flight of the drones 100, the take-off point coordinate information according to the dust information of the laser absorber 430, the weight information of the drones by the pressure sensor 410, A memory unit 440 for storing photographing information by the photographing unit 300; An input unit 450 for inputting a take-ready mode and a drone storage mode; And outputs a control command or a differential rotation number control command to the propeller motor 130 in accordance with the detection signal of the horizontal sensor S and outputs the departure point coordinate information and the current flight coordinate information of the current flying point And calculates the return flying distance L between the current flying point and the take-off point to calculate the current remaining battery amount B1 measured by the battery remaining amount measuring unit 430 and the battery consumption amount B2 per unit distance stored in the memory unit 440 ) And a returning flight distance L to output a return alarm signal if B1 = (B2 x L) x1.1, and to cause the drones 100 to turn toward the take- And outputs a control command to the propeller motor 130 when the drone 100 is directed to the take-off point. When the take-ready mode is input to the input unit 450, The returning drones (100 The drones storage mode is input to the input unit 450 or the drones 100 take off in the take-ready mode and the pressure sensor A control unit 460 for outputting a folding operation control command for the landing motor 157 when the pressure sensed by the landing motor 410 becomes smaller than the weight information stored in the memory unit 440; A propeller motor driving unit 470 for sending a normal rotation speed control signal or a differential rotation speed control signal to the propeller motor 130 according to a control command of the control unit 460 to the propeller motor 130; A landing motor driving unit 480 for transmitting a folding operation driving signal or a unfolding operation driving signal to the landing motor 157 according to a control command of the control unit 460 for the landing motor 157; A communication unit 490 attached to the drone main body 110 to transmit photographing information by the digital camera 300 and a return alarm signal; And an alarm unit 500 for outputting a return alarm so as to be recognized by the drone operator according to the return alarm command by the controller 460. [ / RTI >
The monitoring terminal 600 comprises a notebook computer having a receiver for receiving information transmitted from the communication unit 490,
The alarm unit 500 displays a return alarm on the screen in response to the return alarm signal transmitted from the communication unit 490 and received by the reception unit of the monitoring terminal 600, And a program for causing the terminal 600 to output sound through a speaker provided in the terminal 600. The 3D spatial information monitoring system using the intelligent unmanned aerial vehicle.

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