KR101723066B1 - Drone units for rescue and information providing method for rescue situation using drone units - Google Patents

Abstract

The present invention relates to a drone unit for rescue, which stores the position of a user by calculating the position of the user as a drone is carried by the user and transmits information of the user by moving to the position adjacent to the position of the drone. According to the present invention, the drone unit for rescue comprises: a position recognition module yielding drone position data indicating the position of the drone when the drone unit drives; a storage module storing base position database including base position data indicating the position of a base position and the drone position data yielded by the position recognition module; a main body unit comprising a control module calculating the position of a target base position adjacent to the position of the drone by comparing the base position database of the storage module and the drone position data yielded by the position recognition module; a rotor moving the drone unit by providing a lift force to the drone unit; and a driving unit comprising a driving module driving the rotor. According to the present invention, the drone unit for rescue is driven at an accident occurrence position by the user and can actively transmit a surrounding situation and the position of the user to a rescuer.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a salvage information providing method and a salvage information providing method,

The present invention relates to a rescue structure drones, and more particularly, to a salvage rescue drones in which a dron carried by a user calculates and stores a position of a user, moves to a base adjacent to the dron, will be.

As the technology of drone, a unmanned aerial vehicle, develops, drones are used in various fields such as military, terrain search, image shooting, logistics, communication, crime prevention, rescue and agriculture.

Recently, rescue structures have been used to search rescuers in disaster areas by using drones equipped with communication devices.

Accordingly, Korean Patent Publication No. 10-2015-0033241 discloses a disaster relief method using an unmanned airplane in which a drone moves to a point where a disaster occurs and transmits a beacon signal to a rescuer's mobile terminal, The beacon signal of the drone is received and the position of the rescuer is transmitted to grasp the position of the rescuer.

In this conventional technique, a plurality of survivors can be located in a wide area where a disaster occurs.

However, in the conventional art, there is a problem that the rescuer does not recognize the fact that the rescuer has occurred, or the drone can not reach the rescuer's position, and the position of the rescuer deviating from the path of the drone can not be grasped.

That is, in the prior art, it is easy to grasp the position of a plurality of spherical eggs, but it is difficult to grasp the accurate state of individual survivors, such as the degree of injury.

In addition, there is a problem in that a large cost is incurred in constructing a structural system using a conventional unmanned aerial vehicle.

Korean Patent Publication No. 10-2015-0033241

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a rescue drill unit which is driven by a user in case of an emergency, .

In addition, the present invention is intended to provide a rescue drill unit with a foldable blade for the user to carry easily in case of an emergency.

According to an aspect of the present invention, there is provided an apparatus for controlling a drone unit, the apparatus comprising: a position recognition module for calculating drone position data indicating a position of a drone when the drone unit is driven; A storage module for storing a database of a base point including base point position data representing a base point position and a position data of the drone calculated by the position recognition module; And a control module for calculating a position of a target base point adjacent to the drone position by comparing the drone position data calculated by the position recognition module with a base database of the storage module, And driven to move; And a driving unit including a driving module for driving the rotor.

Here, the position recognition module may include a GPS device for receiving the GPS satellite signal and calculating the dron position data indicating the position of the dron of the current dron; And a gyro sensor for detecting the moving direction of the dron unit for specifying the moving direction of the dron unit, calculating the slope of the gas, and maintaining the flight attitude and maintaining the altitude.

And an imaging module that is driven when the drone unit is driven and captures an ambient situation. The imaging data captured by the imaging module is stored in the storage module.

The base is any one of a fire department, a police station, or a rescue team capable of responding to a situation of a user.

The control module calculates a driving value for moving from the drone position calculated by the position recognition module to the target base point position, and controls the driving module to move to the target base point position by the driving value.

Wherein the drive module provides power to the rotor to be driven by a drive value calculated from the control module.

Wherein the rotor is provided with a pair of blades: the blades are hinged to one side of the rotor; The other end of the blade is pivoted downward about the hinge-coupled shaft to be seated on the outer surface of the drum unit. A seating groove is formed on the outer circumferential surface of the drum unit to correspond to the blade so that the blade is seated.

Wherein the hinge is further formed with an elastic member such that the blade is unfolded by an elastic restoring force, wherein the elastic member is elastically deformed by an external force so that the blade is seated, ≪ / RTI > A hook is formed on one side of the seating groove so that the hook is positioned so that the hook and the hook are separated from each other when an external force is applied by the user, A separation button is provided.

Also, the control module outputs an alarm signal to notify the arrival of the base point when the drones position and the target base point position calculated by the position recognition module are within a set range.

A light emitting unit for generating a visual alarm effect through light emission; And an output module including an acoustic generator for generating an audible alarm through sound. The output module receives and outputs an alarm signal from the control module.

And a communication module for outputting an arrival signal which is a radio signal of a short-range wireless communication system, wherein: the communication module outputs the arrival signal including a unique code at the time of driving the drone unit, Upon receipt of the arrival signal by the receiver, to recognize arrival of the dron unit; The arrival signal may be a Bluetooth, a Wi-Fi or a beacon.

(A) driving the drone unit by a user; (B) calculating and storing the drone position data indicating the drone position by driving the position recognition module; (C) calculating, by the control module, a position of an adjacent target base point from the drone position in comparison with the base point database stored in the storage module, with the drone position data calculated by the position recognition module; (D) calculating a driving value in the control module by comparing the position of the drones calculated by the position recognition module with the position of the target base point calculated from the base point position database by the control module; (E) generating a drive control signal in the control module according to the drive value; (F) driving the driving module according to the driving control signal generated in the control module.

In this case, the step (A) may further include the step of: (a) driving the imaging module to capture a surrounding situation.

(G) calculating a distance from the drone position data calculated by the position recognition module to a target base point; And closing the drive module when the (H) drone position and the target base point position are within a set range.

Here, the step (H) may further include the step of (b) ending driving of the imaging module and storing the imaging data generated by the imaging module.

And (K) outputting an alarm signal when the drone unit arrives at the base point.

At this time, the base is any one of a fire department, a police station, or a rescue team capable of responding to a user situation.

The step (K) further includes the step of (K1) transmitting the arrival signal to the communication module provided in the drone unit, and receiving the arrival signal by the receiver installed at the base point to indicate arrival of the drone unit .
Meanwhile, in the present invention, the storage module may include a removable storage medium which can be input into and out of the drone unit main body.
The drone unit may further comprise a display output module for outputting data stored in the storage module.

delete

The salvage structural drones unit according to the specific embodiment of the present invention as described above can be expected to have the following effects.

That is, the present invention is driven by a user at the point of occurrence of an accident, and has the effect of actively transmitting the user's position and surrounding situation to the rescuer.

In addition, the present invention has a structure in which a blade is deployed in a one-touch manner so that a user can easily carry it, thereby increasing portability.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the structure of a salvage structure drone unit according to a specific embodiment of the present invention. FIG.
2 is a perspective view showing the structure of a salvage structure drone unit according to a specific embodiment of the present invention.
3 is an exemplary view showing a blade folding structure of a salvage structure drone unit according to a specific embodiment of the present invention.
4 is an exemplary view showing a folded shape of a blade of a salvage structure drone unit according to a specific embodiment of the present invention;
5 is a flowchart showing an example of driving a salvage structural dron unit according to a specific embodiment of the present invention.
FIG. 6 is an exemplary view showing an example of driving a salvage structure drone unit according to a specific embodiment of the present invention; FIG.
7 is an exemplary view showing an example of calculating a target base point of a salvage structural dron unit according to a specific embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a salvage structure drone unit according to a specific embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram showing the structure of a salvage structure drone unit according to a specific embodiment of the present invention.

1, a salvage structural drones unit 1000 according to a specific embodiment of the present invention includes a main body 100 for controlling each component module of the drones unit 1000, And a driving unit 200.

First, the main body 100 includes a position recognition module 110 for calculating a position of a drone, a base database (hereinafter referred to as a base point database) 131 including positional information of base points, A storage module 130 for storing position data, and a control module 140 for calculating a target base point and calculating a drive value for moving to the target base point.

Here, the position recognition module 110 includes a GPS device 111 for receiving a radio wave generated from an artificial satellite to calculate a dronion position, and a navigation device for specifying a moving direction of the dron unit 1000, And a gyro sensor device 113 for calculating the slope of the gas.

When the drones 1000 are driven, the GPS device 111 calculates the position data of the drones 1000 indicating the position of the drones 1000.

At this time, the dragon position data is used not only for calculating the drive point for calculating the target station and moving to the target station, but also for calculating the position information necessary for the structure by calculating the initial drone drive position.

The gyro sensor unit 113 specifies the moving direction of the drones 1000 so that the drones 1000 can fly stably and the gyro sensor unit 113 detects the moving directions of the drones 1000, Value, a yaw value, and a peak value.

In the storage module 130, a plurality of base positions used for calculating a target base point are stored.

A plurality of base locations are stored in a base database 131. Base location data of relevant organizations are stored in the base database 131 for structural activities such as mountain rescue, marine rescue, rescue, fire, police, and hospital do.

Here, the base point position data may be updated in the base point database 131 when communication is performed by a communication module to be described later when the drone unit is charged.

Accordingly, the control module 140 calculates a target base point of a position closest to the drone position, in comparison with the base point position data stored in the base point database 131, with the drone position data calculated by the position recognition module 110 .

In addition, the control module 140 calculates a drive value to control the drive module 210 to be driven to move the drone unit 1000 to the calculated target base point.

Hereinafter, the driving module 210 will be described in more detail.

On the other hand, the control module 140 generates and transmits an alarm signal indicating arrival when the position of the drone position and the target base point approaches the set range.

At this time, the main body 100 may further include an output module 150 for receiving the alarm signal and informing that the drones 1000 arrive at the base point.

Here, the output module 150 informs the rescuer by using light and sound when the drones 1000 arrive at the base.

At this time, the output module 150 may include a light emitting device 151 that generates a visual alarm effect by emitting light, and a sound generating device 153 that generates an audible alarm effect by generating sound .

That is, the output module 150 plays a role of recognizing the arrival of the drones unit 1000 using the auditory sense of the rescuer.

The main body 100 may further include a communication module 160 for outputting an arrival signal so that the receiver installed at the base station recognizes arrival when the drones 1000 are driven.

At this time, the communication module 160 receives the arrival signal by the receiver using the local area communication technology and recognizes arrival.

When the drones 1000 are driven, the communication module 160 outputs an arrival signal including a unique code using a short-range communication method. The receiver outputs a signal including the unique code, When it is received, it informs the rescue resident in the base station that the drones unit 1000 has arrived at the base point.

At this time, the communication module 160 may be any of a variety of standard short-range wireless communication standards for transmitting an NFC (Near Field Communication), a Bluetooth, a Wi-Fi, a beacon, A communication standard may be used but the receiver may notify the arrival of the drones 1000 as long as an arrival signal is received at the receiver.

The communication module 160 can not accurately grasp the position where the rescuer in the strong point arrives when the communication standard distant from the transmission distance is used. Therefore, the signal of the communication module 160 A communication standard having a low output or a short transmission distance may be used.

The main body 100 may further include an imaging module 120 for photographing the user's surroundings.

Here, it is preferable that the imaging module 120 is a general camera for capturing an image. However, it is preferable to use an infrared camera capable of capturing an image even in an environment in which the visibility is secured, Camera or the like may be used.

At this time, the image sensing data captured by the image sensing module 120 is stored in the storage module 130.

Hereinafter, the driving unit of the salvage structure drone unit according to a specific embodiment of the present invention will be described in more detail.

The driving unit 200 includes a rotating rotor 230 for generating a lift force and a thrust force required for flying the drones 1000 and a driving module 210 for driving and driving the rotor 230 to rotate, .

Here, the rotor 230 is provided with a blade 240 that converts the rotational force of the rotor 230 into a lift force when the rotor 230 rotates.

The rotor 230 includes a first rotor 231 located at an upper portion and a second rotor 232 located at a lower portion of the first rotor 231 and rotating in a reverse direction to the first rotor 231 .

The first rotor 231 and the second rotor 232 may be provided so as to rotate in opposite directions to each other on one axis.

Accordingly, the first rotor 231 and the second rotor 232 rotate in opposite directions to generate a torque generated by the first rotor 231 as a torque generated by the second rotor 232 So as to maintain a stable posture of the drones unit 1000.

In addition, the drones 1000 can be moved in a desired direction by using the rotational force difference between the first rotor 231 and the second rotor 232.

At this time, the driving module 210 provides power to the rotor 230 to move the dronon unit 1000 to a target base point.

Here, the driving module 210 is driven according to the driving value calculated by the control module 140.

That is, the driving module 210 controls the amount of rotation of the rotor 230 so that the dronon unit 1000 moves to a target base point or maintains the attitude and altitude of the dronon unit 1000 .

Hereinafter, the structure of the blade of the salvage structure drone unit according to a specific embodiment of the present invention will be described in detail with reference to FIG. 2 to FIG.

FIG. 2 is a perspective view showing the structure of a salvage structure drone unit according to a specific embodiment of the present invention, FIG. 3 is an exemplary view showing a blade folding structure of a salvage structure drone unit according to a specific embodiment of the present invention And FIG. 4 is an exemplary view showing a folded state of the blade of the salvage structure drone unit according to a specific embodiment of the present invention.

The drone unit 1000 may include a cylindrical body 100 and a driving unit 200 as shown in FIG.

At this time, the driving unit 200 includes a rotor 230 to provide lift required for flying.

Here, the rotor 230 is provided with the blades 240 in the directions opposite to each other with respect to the rotor 230.

At this time, if the blade 240 is not driven, a hinge 290 may be provided to fold the blade 240.

The foldable blade 240 is hinged to one side of the rotor 230 so that the foldable blade 240 can be folded or unfolded by being pivoted up and down about the hinged shaft as shown in FIG.

At this time, the hinge 290 may be provided with an elastic member 291 that provides an elastic force to facilitate the expansion of the blade 240.

Here, the elastic member 291 is preferably provided with a pin spring, but various types of springs for extending the blade 240 may be used.

4, when the blade 240 is folded, the blade 240 is mounted on the outer circumferential surface of the drum unit 1000 so that the blade 240 is seated on the outer circumferential surface of the drum unit 1000 The mounting recess 270 may be formed to have a recessed shape corresponding to the lower surface of the mounting recess 270.

The upper surface of the blade 240 may be formed so as not to protrude from the outer circumferential surface of the dron unit 1000 when the dron unit 1000 is seated in the seating groove 270 and may be formed to coincide with the curvature of the outer circumferential surface of the dron unit 1000 have.

The hinge 290 is formed with a locking protrusion 293 for fixing the blade 240 so that the blade 240 is seated in the seating groove 270.

A locking hole 295 is provided at one side of the seating groove 270 to provide a fixing force for fixing and fixing the locking jaw 293 so that the blade 240 is seated in the seating groove 270. [ Respectively.

That is, when the blade 240 is seated in the seating groove 270, the catching jaw 293 is fixed to the catching hole 295, and the elastic member 291 may be elastically deformed .

Accordingly, when the dron unit 1000 is driven by the user, the latching jaw 293 is disengaged from the latching hole 295, and is elastically restored and restored to its original state by an elastic restoring force The other end of the blade 240, which is not hinged to the hinge-coupled shaft, rotates upward and unfolds.

In the drone unit 1000 according to another embodiment of the present invention, the coupling protrusion 293 and the coupling hole 295 are not formed, and the dron unit 1000 ) And a lid that opens to the top or the bottom.

The blade 240 may be configured to be unfolded by an elastic restoring force of the elastic member 291 provided on the hinge 290 when the cover and the cover are removed from the dron unit 1000.

Hereinafter, the driving of the salvage structure drone unit according to a specific embodiment of the present invention will be described with reference to FIGS. 5 to 7. FIG.

FIG. 5 is a flow chart showing a driving example of a salvage structure drone unit according to a specific embodiment of the present invention, FIG. 6 is an exemplary view showing an example of driving a salvage structure drone unit according to a specific embodiment of the present invention, 7 is an exemplary view showing an example of calculating a target base point of a salvage structural drones unit according to a specific embodiment of the present invention.

5 and 6, the driving of the structural drones unit 1000 according to the specific embodiment of the present invention starts with the drones unit 1000 being driven by the user P (S100 ).

As the drone unit 1000 is driven, the position recognition module 110 and the driving module 210 are driven (S230, S240).

At this time, the position recognition module 110 driven by step 230 calculates the position data indicating the position of the drone, and the position data is stored in the storage module (S231).

Thereafter, the control module 140 compares the position data of the base points stored in the base point database 131 with the position data of the drone calculated by the position recognition module 110 to calculate the position of the adjacent base point (S233).

Then, the control module 140 calculates a movement path by comparing the position of the drone position data and the position of the target base point, and calculates a driving value according to the calculated movement path (S235).

Thereafter, the control module 140 generates a drive control signal according to the drive value so that the drone unit 1000 moves to the position of the target base point (S237).

At this time, the control module 140 transmits the generated drive control signal to the drive module 210 (S239).

Accordingly, the driving module 210 is driven by the driving control signal (S241).

At this time, the driving module 210 transmits power to the rotor 230, and controls the amount of rotation according to the driving control signal.

Accordingly, the driving module 210 is controlled by the driving control signal output from the control module 140 and is moved to the target station. At this time, The above-described steps 235 to 241 are repeated until the position of the target position is within the set range (S243).

In this case, if the position of the drone position calculated by the position recognition module 110 and the position of the target base point are within a predetermined range, the control module 140 generates a driving end signal (S245).

The control module 140 transmits a driving end signal to the imaging module 120 and the driving module 210 in steps S211 and S247 and outputs the driving end signal to the imaging module 120 and the driving module 210, The driving of the module 210 is stopped (S213, S249).

Thereafter, the control module 140 transmits an alarm signal indicating that the drones unit 1000 has arrived at the base station to the output module (S300).

At this time, the output module 150 receives the alarm signal and generates an emergency alarm sound or a light emission signal so that the resident within the base can recognize the alarm signal.

The output module 150 plays a role of allowing a rescuer to recognize a visual alarm using light and an audible alarm using sound.

Meanwhile, the present invention transmits an arrival signal generated by the control module 140 to a receiver using a local wireless transmission scheme including a unique code, and when a receiver installed at a base station receives the arrival signal, May be implemented so that the resident within the stronghold is aware of the arrival of the drones unit 1000 via the alarm device.

In the meantime, in the embodiment of the present invention, only the function of informing the arrival of the base point of the dron unit by using communication such as Bluetooth has been described. However, the dron unit of the present invention is configured to perform various functions using various communication modules .

For example, when the Bluetooth module is provided in the dron unit according to the present invention, the Bluetooth module can be used to transmit the location information of the victim to the base station receiver when the dron unit is adjacent to the base station.

In the case where the dron unit according to the present invention is provided with a Wi-Fi module, the Wi-Fi module transmits the location information of the victim to the base station receiver when the dron unit is adjacent to the base station, and is connected to the Wi- , It can be configured to receive the victim's data more quickly, and the base point location information can be updated or stored through the Wi-Fi module.

For example, when charging the drones, the drones are connected to the WiFi network at the time of charging, and the base location information is automatically updated so that base location information can be easily stored in the base DB.

When the beacon module is provided in the drone unit according to the present invention, the beacon module may be used to transmit the location information of the victim to the base station receiver when the drone unit is adjacent to the base station.

The dron unit according to the present invention can be configured to transmit the location information of the victim to the base station receiver using the mobile communication standard such as 3G or 4G when the dron unit is adjacent to the base station.

At this time, the location information is transmitted so that the drone unit is connected to the Internet by using the communication network, so that the resident in the residence can access the Internet and input the unique code of the rescuer, .

Meanwhile, the present invention provides a wireless communication system that connects to a telephone network using any one of mobile communication networks such as WCDMA, HSDPA, CDMA2000, WiBro, LTE, LTE-advanced and WiBro-Evolution (WiMAX 2) It may be implemented to transmit a text message containing information and identity.

It will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined in the appended claims. It is self-evident.

Meanwhile, the drone unit according to the present invention may additionally include various configurations for improving the usability of the user.

For example, a USB port or a memory card slot may be provided to transmit data by using a liquid crystal display device for visually outputting the location information of the victim, and a mobile storage medium.

In this case, the present invention may be implemented to transmit the location information of the user stored in the storage module to a text file, which is connected to the receiver by wire or wirelessly, or to output the location information as text through a small liquid crystal display.

In addition, the present invention can be implemented so that a rescuer in a base station can receive user location information from a separate terminal by using a mobile storage medium such as a USB storage device and an SD card.

The present invention relates to a salvage structural drones in which a dron carried by a user calculates and stores a location of a user and moves to a base adjacent to the location of the dron to transmit information of the user. It is possible to actively transmit the user's position and surrounding situation to the rescuer.

1000: drone unit 100: main body part
110: Position recognition module 111: GPS device
113: Gyro sensor device 120: Imaging module
130: storage module 131: base DB
140: Control module 150: Output module
151: Light emitting device 153: Sound generating device
160: Communication module 200:
210: drive module 230: rotor
231: first rotor 232: second rotor
240: blade 241: first blade
243: second blade 270: seat groove
290: Hinge 291: Elastic member
293: Retaining jaw 295: Retaining groove
297: Release button

Claims (21)

A position recognition module for calculating dron position data indicating a dron position when the dron unit is driven;
A storage module for storing a database of a base point including base point position data representing a base point position and a position data of the drone calculated by the position recognition module; And
And a control module for calculating a position of a target base point adjacent to the drone position by comparing the drone position data calculated by the position recognition module with a base point database of the storage module,
A rotor driven to move by providing lift to the drones;
A driving unit including a driving module for driving the rotor;
And an imaging module that is driven when the drone unit is driven to pick up an ambient situation,
Wherein the image pickup data picked up by the image pick-
Storing in the storage module:
The control module includes:
Calculates a drive value for moving from the drone position calculated by the position recognition module to the target base point position and controls the drive module to move to the target base point position by the drive value,
In the rotor,
A pair of blades are provided:
The blade
Hinged to one side of the rotor;
The other side of the blade is pivoted downward about the hinge-coupled shaft to be seated on the outer surface of the drum unit,
The control module includes:
Wherein the receiving unit is configured to transmit an arrival signal including a unique code through a communication module of a local wireless communication system and to recognize arrival of a base point of the dron unit upon receipt of the arrival signal from the base station;
The control module includes:
And outputs an alarm signal composed of light emission or sound so as to inform the arrival of the base point when the position of the drone calculated by the position recognition module and the target base point position are within a predetermined range.
The method according to claim 1,
Wherein the position recognition module comprises:
A GPS device for receiving the GPS satellite signal and calculating the dron location data indicative of the current location of the drones;
And a gyro sensor for detecting a moving direction of the dron unit so as to specify a moving direction of the dron unit and to calculate a slope of the gas to maintain the flight attitude and maintain the altitude.
delete 3. The method of claim 2,
Wherein the storage module comprises:
And a removable storage medium capable of being input into and out of the drone unit main body.
5. The method of claim 4,
Preferably,
Wherein the fire drill is a fire station, a police station, or a rescue unit capable of responding to a user's situation.
delete 6. The method of claim 5,
The driving module includes:
And provides power to the rotor to be driven by a drive value calculated from the control module.
8. The method of claim 7,
On the outer circumferential surface of the dron unit,
And a seating groove is formed in a shape corresponding to the blade so that the blade is seated.
9. The method of claim 8,
In the hinge,
Further comprising an elastic member for unfolding the blade by an elastic restoring force,
In the lower portion of the hinge,
Wherein the elastic member is elastically deformed by an external force so that the blade is seated;
On one side of the seating groove,
A locking hole is formed so that the locking jaw is positioned:
At one side of the main body part,
Wherein when the external force is applied by the user, the separating button is protruded so that the engaging jaw in the engaged state and the engaging hole are separated from each other.
delete delete 10. The method of claim 9,
The arrival signal,
Wherein the communication unit is configured to communicate with one of a Bluetooth, a Wi-Fi, and a beacon.
13. The method of claim 12,
The dronon unit includes:
Wherein the location information and the image pickup data of the user are transmitted to a receiver provided at a base point using the communication module when the drone unit is adjacent to the base point.
14. The method of claim 13,
The dronon unit includes:
And a display output module for outputting the data stored in the storage module.
(A1) driving the drone unit by the user;
(A2) imaging the periphery by driving the imaging module;
(B) calculating and storing the drone position data indicating the position of the drone by driving the position recognition module;
(C) calculating a position of an adjacent target base point from the drone position in comparison with the base point database stored in the storage module, with the drone position data calculated by the position recognition module;
(D) calculating a driving value in the control module by comparing the position of the drones calculated by the position recognition module with the position of the target base point calculated from the base point position database by the control module;
(E) generating a drive control signal in the control module according to the drive value;
(F) driving the driving module according to the driving control signal generated by the control module;
(G) calculating a distance from the drone position data calculated by the position recognition module to a target base point;
(H) terminating the drive module when the drone position and the target base point position are within a set range;
(K1) transmitting an arrival signal to a communication module provided in the drone unit;
(K2) a receiver installed at the base station receives the arrival signal to indicate arrival of the dron unit; And
(K3) outputting an alarm signal when the drone unit arrives at the base point,
The dronon unit includes:
A rotor driven to move by providing lift to the drones;
A drive module for driving the rotor;
In the rotor,
And a pair of blades hinged to one side of the rotor and rotated downward to be seated on the outer circumferential surface of the drum unit.
delete delete 16. The method of claim 15,
The step (H)
Further comprising the step of stopping the driving of the imaging module and storing the imaging data generated by the imaging module.
delete 19. The method of claim 18,
Preferably,
Wherein the salvage information is one of a fire station, a police station, and a rescue party capable of responding to a user situation.
delete

Images