KR101990981B1 - Method for dropping rescue equipment and drone for rescue using the same - Google Patents

Abstract

The method includes: acquiring an image through an image acquisition unit of a structural drones; extracting feature information of an object included in the acquired image; determining a target based on feature information of the object; Determining whether the target is located at a center point of the obtained image frame, extracting a direction vector having a center point of the image frame as a start point and an end point of the target as an end point if the target is not located at the center point of the image frame Moving the structural drones based on the step, direction vector, and throwing the structural equipment at the location where the structural drones are moved. According to this, it is possible to accurately project the structural equipment using the image acquisition unit (camera, image sensor, etc.), and to control the structural drones considering the influence of wind on the sea / water, .

Description

METHOD FOR DROPPING RESCUE EQUIPMENT AND DRONE FOR RESCUE USING THE SAME

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of throwing a structural apparatus using an image sensor and a structural drones using the same, and more particularly, to a structural apparatus for throwing a drones into a marine / And a structural drones.

Generally, in case of water safety accident, rescue equipment such as life tube is used. Water safety equipment such as life jackets and life tube is prepared by the person who plays with the water,

However, drowning accidents are frequently caused by showing off their own swimming ability by themselves, or by enjoying the water play on a river or a beach without wearing the above water safety equipment due to lack of water safety equipment. In addition, even if a water safety device is worn, if a sudden abnormality occurs in the safety device, a drowning accident may occur as well.

For distresses located nearby, it is possible to rescue the submerged persons by using rescue equipment such as liferafts or ropes outside the water. However, if the distances are far, the probability of rescue of the submerged person is low, And may cause death or serious injury to the body.

Therefore, research is being conducted on a structural method of rapidly transferring the structure equipment such as a life tube to a drowning person in the event of a drowning in the river or lake sea. If the drones are used for rescue / rescue purposes, it is very difficult to throw the rescue equipment exactly where the rescuer is located. Since most of the rescuers are unable to move themselves from the sea / aquifer, It is an important factor to separate the success and failure of Joe.

A method for precise throwing of rescue equipment is based on GPS (global positioning system) coordinates, and a method for moving the drones manually or manually to the near area. However, both methods can not be constructed unless the rescue equipment is thrown within a range of 0.5m near the victim.

Although various kinds of devices using a drone have been developed, there is no device that can throw the rescue equipment to the correct position. In order to compensate for this, it was devised a method of towing rescue equipment by using a drone until the rescuer grasped the rescue equipment by connecting a line to the rescue equipment, but this was not commercialized because of the concern of secondary accident.

In particular, the precise throwing of structural equipment is more difficult due to the nature of the drone that must be controlled manually from a distance and the effect of the sea / water winds.

Korean Registered Patent No. 1535401 (Registered on July 2, 2015) Korean Patent Laid-Open Publication No. 2016-0125681 (published on November 1, 2016)

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a structural equipment throwing method and structural drones capable of accurately throwing structural equipment using an image acquisition unit (camera, image sensor, etc.) have. It is another object of the present invention to provide a method of throwing a structural equipment capable of throwing a structural equipment in consideration of the influence of wind on the sea / water, and a dron using the same.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and other matters not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a method for throwing a structural equipment, comprising: obtaining an image through a structural drones image acquiring unit; Extracting feature information of an object included in the acquired image; Determining a target based on feature information of the object; Determining whether the target is located at a center point of the acquired image frame; Extracting a direction vector having a start point of a center point of the image frame and an end point of the target as an end point if the target is not located at a center point of the image frame; Moving the structural drones based on the direction vector; And throwing the rescue equipment at a location where the structural drones are moved.

Extracting an elevation of the structural drones; And controlling the structure drone to move downward when the extracted altitude is higher than a predetermined throwable altitude.

Extracting a slope of the structural drones; Calculating a wind speed at an altitude at which the structural drones are located based on the extracted slope; Comparing the calculated wind speed with a reference wind speed; And controlling the altitude of the structural drones to change when the calculated wind speed exceeds the reference wind speed.

According to another aspect of the present invention, there is provided a structural dron according to the present invention, comprising: a sensor unit for sensing at least one of a flying direction, a flying speed, a position, an altitude and a slope of a structural drones; An image acquisition unit for acquiring an image of a structural site; An image analysis unit extracting feature information of an object included in the image frame acquired by the image acquisition unit and determining a target based on the feature information of the object; And determining whether the target is located at a center point of the obtained image frame, extracting a direction vector having a center point of the image frame as a start point and an end point of the target as an end point if the target is not located at the center point of the image frame And a control unit for moving the structural drones based on the direction vector and controlling the structure equipment to be thrown at the moved position.

The control unit may control to move the structural drones downward when the height of the structural drones extracted by the sensor unit is higher than a predetermined throwable altitude.

The control unit calculates the wind speed at the altitude at which the structural drones are located based on the inclination of the structural drones extracted by the sensor unit and changes the altitude of the structural drones when the calculated wind speed exceeds the reference wind speed Can be controlled.

According to the method of throwing the structural equipment according to the present invention and the structural drones using the same, it is possible to accurately project the structural equipment using the image acquisition unit (camera, image sensor, etc.) The accuracy of the throwing of the structural equipment can be further enhanced.

1 is a conceptual view of a structural drones according to the present invention.
2 is a block diagram showing the structure of a structural drones according to the present invention.
3 is a conceptual diagram for explaining a method of controlling a structural drones according to the present invention.
4 is a flow chart illustrating a method for throwing a structural equipment according to the present invention.
5 is a flowchart illustrating a method for throwing a structural equipment according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Although the first, second, etc. are used to describe various elements, components and / or sections, it is needless to say that these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish one element, element or section from another element, element or section. Therefore, it goes without saying that the first element, the first element or the first section mentioned below may be the second element, the second element or the second section within the technical spirit of the present invention.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used herein, the terms "comprises" and / or "made of" means that a component, step, operation, and / or element may be embodied in one or more other components, steps, operations, and / And does not exclude the presence or addition thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

In this regard, throughout the specification, like reference numerals refer to like elements, and it will be understood that each configuration of the processing flowchart diagrams and combinations of flowchart illustrations may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, so that those instructions, which are executed through a processor of a computer or other programmable data processing apparatus, Thereby creating means for performing functions.

It should also be noted that in some alternative embodiments, the functions mentioned in the configurations may occur out of order. For example, the two configurations shown in succession may in fact be performed substantially concurrently, or the configurations may sometimes be performed in reverse order according to the corresponding function.

FIG. 1 is a conceptual diagram of a structural drones 100 according to the present invention, and FIG. 2 is a block diagram showing the construction of a structural drones 100 according to the present invention.

1, the structural drones 100 according to the present invention include a main body 110, a propeller 120, a structural-equipment receiving portion 130, and an opening / closing portion 140. As shown in FIG.

The main body 110 is provided with various components for performing general operations such as flight, communication, etc. of the structural drones 100. The number, shape and the like of the propeller 120 may vary depending on the type of the structural drones 100. For example, two propellers 120 may be provided for a dual copter, and four and six propellers 120 for a quad copter or a hexacopter, respectively. Of course, more or less propellers may be provided. The structural equipment receiving part 130 may have various shapes according to the size and shape of the life-saving equipment 10 provided that it has the function of accommodating the life-saving equipment 10 such as a life-saving tube and a rope. The opening and closing part 140 has a function of opening and closing the door so that the life-saving equipment 10 accommodated in the structure-equipment accommodating part 130 is thrown to the position of the demanding person. The opening and closing part 140 can use various opening and closing methods such as a hinge and a sliding door structure, and is not limited to any particular method.

1 shows a structural configuration of a structural drones 100 according to the present invention, Fig. 2 shows a systematic configuration of a structural drones 100 according to the present invention. The structural drones 100 according to the present invention include a control unit 111, an image acquisition unit 112, an image analysis unit 113, a sensor unit 114, a driving unit 115, a communication unit 116, .

The control unit 111 controls each component of the structural drones 100. The control unit 111 controls the image acquisition unit 112 to acquire an image of a requesting person and controls the driving unit 115 to fly or land the structured drones 100 and to control the driving unit 115 from an external device And controls the communication unit 116 to receive the signal. The control unit 111 may directly control the opening / closing unit 140 to throw the rescue equipment, or may control the driving unit 115 to open / close the opening / closing unit 140.

The image acquiring unit 112 may be implemented by a camera or the like for acquiring an image of a structural site. The image acquiring unit 112 is generally implemented as a video camera, but may be implemented with an infrared camera or a thermal imaging camera to enable nighttime monitoring. The image acquiring unit 112 may be provided with a color tracking module so that an object having a specific color can be photographed or excluded from an object to be photographed to achieve information characterization. For example, it is possible to track only the clothes color of the requesting person, or to selectively acquire only the image of the requesting person except for the color of the sea. The image acquiring unit 112 may be installed so as to face downward the structural drones 100 as shown in FIG. 1, but is not limited thereto.

The image analysis unit 113 receives the image acquired by the image acquisition unit 112, processes the image to acquire image data, compresses the image so as to facilitate data transmission, and converts the image into a compressed format. The compressed image may be transmitted to the operator via the communication unit 116 in real time or may be stored in the storage unit 117. The video data in the form of a compressed format may have various formats such as Moving Picture Experts Group (MPEG) -1 or MPEG-4.

In particular, the image analysis unit 113 may detect an object by analyzing the image acquired by the image acquisition unit 112, and may detect a specific event. Here, the object may be a requester or a related item, and an event may include a specific situation such as a change in the position of the requester, a fire or the like. At this time, the image analyzer 113 can set the region of interest in the image frame acquired by the image acquiring unit 112 and derive the feature information of the detected event in the region of interest.

Specifically, the image analysis unit 113 performs feature extraction to extract the visual feature information of the object to be detected from the image acquired from the image acquisition unit 112, and to detect the object using the extracted feature have. At this time, there is a method of using a learning machine such as AdaBoost or SVM (Support Vector Machine) at the time of object detection and a non-learning method using vector similarity of extracted features, The learning method and the non-learning method can be appropriately selected depending on the complexity of the background. For example, a Haar-like feature that uses the sum of weight products using the difference in the sum of pixel values (pixels) between two or more adjacent blocks in a local feature of the image, feature can be applied. To extract the difference between the sum of the pixel values of neighboring blocks in extracting the Hahn-like feature, a mask considering a simple square feature is used.

In addition, the image analysis unit 113 can detect a change in the position of the object in the photographed image using the image recognition algorithm. For example, the motion of an object can be detected from an image using a mean shift algorithm or a particle filter algorithm. Of course, those skilled in the art will appreciate that other algorithms can be used to detect motion of an object.

Here, the mean shift algorithm enables high-speed tracking of a region of interest (ROI) based on density distribution (feature point, color) in an image, , Color clusters are generated by the iterative color division calculation, and the motion of the object of interest can be extracted by determining the boundary based on the initially designated color region. The Particle Filter algorithm is a kind of particle based Kalman filter which estimates the probability distribution of the current state variables by using the observed values and the random state variables obtained from the modeled system equations. will be.

In particular, the image analysis unit 113 extracts feature information of an object included in the image frame acquired by the image acquisition unit 112 in the above manner, and determines whether the feature information corresponds to a requestor. If it is determined that the object corresponds to the requesting party based on the feature information of the object included in the image frame acquired by the image obtaining unit 112, the object is determined as the target. Here, the target will mean a person who needs to deliver life-saving equipment.

Here, the control unit 111 determines whether the target T is located at the center point (+) of the obtained image frame, as shown in Fig. 3 (a), if the target T is not positioned at the center point (+) of the image frame, a direction vector (dashed line arrow) with the center point of the image frame as the start point and the end position of the target T as the end point . Then, the control unit 111 controls the driving unit 115 to move the structural drones 100 based on the extracted direction vector (see Fig. 3 (b)).

The control unit 111 again determines whether the target T is located at the center point (+) of the obtained image frame. If the target T is not positioned at the center point (+) of the image frame as shown in FIG. 3 (b), a direction vector having the center point of the image frame as the starting point and the end point of the target T as an end point Arrow). Then, the control unit 111 controls the driving unit 115 to move the structural drones 100 based on the extracted direction vector (see Fig. 3 (c)).

If the target T is located at the center point (+) of the obtained image frame, the opening / closing unit 140 is directly controlled to throw the structural equipment 10 at the position, or the driving unit 115 And the opening / closing unit 140 is opened.

The sensor unit 114 senses at least one of the flying direction, the flying speed, the position, the altitude and the inclination of the drones 100.

The sensor unit 114 may include a magnetometer, a three-axis accelerometer, and a three-axis gyroscope to measure the direction, speed, motion, and acceleration of the drones 100 . The geomagnetic sensor is a sensor that functions as a compass, and measures the magnetic north to transmit the direction information of the drones 100 to the control unit 111. The movement of the drones 100 can be grasped by combining the azimuth information measured by the geomagnetic sensor, the position information measured by the GPS sensor described later, and the movement information measured by the acceleration sensor. The three-axis acceleration sensor is a sensor for measuring acceleration. The three-axis acceleration sensor measures the acceleration in each axis direction according to the three-dimensional (x, y, z axis) movement of the drones 100, . The information measured by the three-axis acceleration sensor can be used to correct an error of the gyro sensor, which will be described later, and maintain the stable posture of the drones 100 together with the gyro sensor. The three-axis gyro sensor is a sensor that allows the drones 100 to maintain a horizontal position, and provides angular acceleration information of the drones 100 by measuring angular acceleration in three-dimensional directions (x-axis, y-axis, and z-axis). A geomagnetic sensor, a three-axis acceleration sensor, and a gyro sensor can be used to measure rotational states defined by yaw, pitch, and roll.

The sensor unit 114 may include a barometer, a global positioning system (GPS) sensor, and a range finder to measure the position and altitude of the drones 100. The barometer is determined by the height of the sea surface and measures atmospheric pressure to measure the current altitude of the drone (100). At this time, a GPS sensor, an ultrasonic sensor, or an image sensor may be further employed to supplement the accuracy of the barometer. The GPS sensor measures the positional coordinates and altitude of the drones 100 using the signals of the satellites. The rangefinder measures the distance between the drones 100 and the ground or drones 100 and the object using an ultrasonic, laser or LiDAR-based sensor. Generally, the distance is calculated by emitting ultrasonic waves or a laser and measuring the time difference between reflected and reflected. By using the barometer and the GPS sensor, translational states of the drones 100 can be measured.

In addition, the sensor unit 114 may further include an inertial measuring unit (IMU) for interlocking with the GPS sensor to maintain the moving direction, moving path, and moving speed of the drone 100. The inertia meter is a combination of a magnetometer and a GPS receiver, and the measurement information is transmitted to the controller to be used for flight control of the drone 100. [ More specifically, the gyro sensor and the acceleration sensor measure the body frame coordinate of the dron with respect to the Earth Centered Inertial Coordinate, ) Inertial Measurement Unit (IMU) is a single chip manufactured using semiconductor process technology. Inside the chip of the inertia meter, there is a microcontroller that converts the measured values of the global inertia coordinates measured by the gyro sensor and the acceleration sensor into local coordinates (eg, NED (North-East-Down) coordinates used by GPS) .

The control unit 111 controls the downward flight when the height of the structural drones 100 extracted by the sensor unit 114 is higher than a predetermined throwable altitude. That is, the control unit 111 controls the driving unit 115 to control the flying of the structural drones 100 according to the sensing result of the sensor unit 114. At this time, the throwable altitude may be variously set by the user. This means that the height of the rescue equipment 10 is not to be injured when the rescue equipment 10 is thrown, and can be set differently depending on the size or the weight of the rescue equipment 10. [ The throwable altitude preset by the user may be stored in the storage unit 117. [

The control unit 111 calculates the wind speed at the current altitude based on the slope of the structural drones 100 extracted by the sensor unit 114. [ The current wind speed can be calculated by substituting the slope of the structural drones 100 using the slope-wind speed look-up table stored in the storage unit 117, if the slope of the structural drones 100 is determined. If the calculated wind speed is faster than the reference wind speed, the structural drones 100 are caused to fly in the direction of changing the height of the structural drones 100. This is a method for correcting the position or altitude of the structural drones 100 in consideration of wind strength. The structural drones 100 have a constant slope in proportion to the direction and intensity of the wind when in a suspended state. The wind velocity is estimated using the slope sensed by the various sensors described above, and the structural drones 100 are moved to the upper wind area , The rescue equipment can be thrown correctly to the requester despite the influence of the wind. At this time, the reference wind speed means a wind speed at which the structural drones 100 can be placed in a stable state so that the structural equipment can be stably thrown, and can be set by the user and stored in the storage unit 117.

On the other hand, the altitude correction by the tilt may be applied to the embodiment of Fig. For example, the control unit 111 determines whether the target T is located at the center point (+) of the image frame obtained by the image obtaining unit 112, and when the target T is located at the center point (+ If it is not positioned, a first direction vector (dashed arrow) is extracted, with the center point of the image frame as the start point and the end position of the target T as the end point. The control unit 111 extracts the wind speed at the current altitude based on the slope of the structural drones 100 extracted by the sensor unit 114. If the extracted wind speed is faster than the reference wind speed, In the direction that changes the altitude of the first direction vector. The controller 111 calculates the sum of the extracted first direction vector and the second direction vector to extract the third direction vector, and the controller 111 controls the driving unit 115 ).

As described above, the driving unit 115 has a function of directly operating the flying of the structural drones 100 or the opening and closing of the opening and closing unit 140. The driving unit 115 may be configured to drive the structural drones 100 and may include BLDC motors, propellers, electronic speed controllers (ESCs), and lithium polymer batteries. The motor transmission receives the PWM signals from the flight controller to drive the motors, converts the DC power of the battery to AC, and supplies it to the motor. The driving unit 115 operates to rotate, stop, take off and land the structural drones 100 by manipulating the rotational speed, rotational direction, tilt, etc. of the plurality of propellers 120.

The communication unit 116 includes a receiver that receives a flight command from a remote controller (RC), an image transmitter that transmits the image and the like obtained from the image acquisition unit 112, A telemetry transmitter for transmitting flight information such as the remaining amount, and the telemetry information may be transmitted to the ground via the video transmitter together with the video data. Meanwhile, the communication unit 116 enables wireless transmission / reception with an external mobile terminal (not shown), and the external mobile terminal includes the remote controller to control the operation of the structural drones 100 and the structural drones 100 Displays images in real time.

Specifically, the external mobile terminal can be connected to the structural drones 100 through the network, receive various information such as the traveling path and events of the structural drones 100, and directly connect the structural drones 100 You can steer. The external mobile terminal may have a web browser (Netscape, Internet Explorer, Chrome, etc.) capable of displaying the contents of a web page such as HTML, XML, and the like. The external mobile terminal may be a general mobile communication terminal such as a cellular phone, a Personal Communications Services phone (PCS phone), a synchronous / asynchronous IMT-2000 (International Mobile Telecommunication-2000), a 2G / 3G / 4G, To a network 50 such as a terminal capable of providing a wireless network service, a Palm personal computer, a personal digital assistant (PDA), a smart phone, a WAP phone (wireless application protocol phone) And may be an apparatus having an interface for a wireless LAN connection such as an IEEE 802.11 wireless LAN network card. In addition, the external mobile terminal may be an information communication device such as a computer, a notebook computer, or the like, in addition to the mobile communication terminal. That is, it may include all wired and wireless home appliances / communication devices that can be carried on a vehicle or directly carried by a person, and can communicate with the structural drones 100 through a network.

As described above, the storage unit 117 stores various images (still image, moving image, etc.) obtained in the image acquisition unit 112, various information received from the outside, image data analyzed in the image analysis unit 113, . In addition, the storage unit 117 may include various object information for specifying a requestor in the image frame acquired by the image acquisition unit 112, and may include a GIS as a reference for controlling the position of the structural drones 100, Information such as route information, route information, terrain information, throwable altitude, reference wind speed, and the like.

In connection with the operation of the opening and closing part 140 for throwing the rescue equipment 10, a plurality of automatic rescue tubes accommodated in the rescue equipment receiving part 130 are opened and closed by automatic supply of compressed air, compressed gas, It can be designed to expand at the same time as the opening of the housing. The tube mounting part provided in the structural equipment receiving part 130 is a place where a plurality of automatic life tube is mounted, and is connected to a lower part of the structural dron using a connecting frame, a connecting jig, or the like. The tube mounting portion may include a support plate on which a plurality of automatic life tube is placed, and an opening / closing portion 140 corresponding to a receiving space in which the plurality of automatic life tube is located at the lower end of the support plate. An automatic life tube is seated on each opening / closing part 140, and an automatic life tube is automatically discharged when the opening / closing part 140 is opened.

On the other hand, the driving unit 115 provides the driving force for releasing at least one of the plurality of automatic life-like tubes at the tube mounting portion. A plurality of automatic life tube may be simultaneously discharged by the operation of the driving unit 115, and a plurality of automatic life tubes may be discharged sequentially. When the opening and closing part 140 is designed to be positioned at the mounting position of each automatic life tube of the tube mounting part, the driving part 115 can simultaneously open the opening and closing part 140 and throw a plurality of automatic life tube at once. Alternatively, the driving unit 115 may sequentially open the opening and closing unit 140, and at this time, the automatic life tube is dropped only when the opening and closing unit 140 is opened.

The operation method of the structural drones 100 described above can be performed in a manual and automatic mode. In the case of the automatic mode, the structural drones 100 are moved on the basis of the GPS information, the GIS information, the RS information, and the like of the structure site stored in the storage unit 117. After the structural drones 100 arrive at the structure site, . When the combination of the automatic mode and the manual mode is used, the structural drones 100 are moved to the structure site based on the control signal of the operator via the communication unit 117, If it is determined to be located within the predetermined radius (predetermined area), the automatic mode is switched to perform the above-described structural equipment throwing operation of the structural drones 100.

4 is a flow chart illustrating a method for throwing a structural equipment according to the present invention.

First, the image of the structure site is acquired through the image acquisition unit 112 (S210). The acquired image is transmitted to the image analysis unit 113. The image analysis unit 113 extracts the feature information of the object included in the acquired image frame (S220), and determines the target based on the feature information of the object (S230). That is, if there is an element that judges that the object corresponds to the requesting person (person) based on the feature information (color, shape, motion, etc.) of the object, the target is determined. Such a determination can be made using various algorithms described above.

If the determined target is not located at the center point of the image frame (S240-N), it is determined whether the determined target is located at the center point of the image frame (S240) Extracting a direction vector (S250), and moving the position of the structural drones 100 based on the extracted direction vector (S260).

If the determined target is located at the center point of the image frame (S240-Y), the structure equipment is thrown. However, if the structural drones 100 are located at the throwable altitude (S270), the rescue equipment is thrown (S290). If it is not located at the throwable altitude (S270-N), the drones before throwing the rescue equipment are moved downward (S280), and it is judged whether the rescue equipment is located at the throwable altitude again (S270).

The above-described rescue equipment throwing method makes it possible to throw rescue equipment precisely and securely in the position of the requester.

5 is a flowchart illustrating a method for throwing a structural equipment according to the present invention. Each step of FIG. 5 may be performed before the step of FIG. 4 is started, or may be performed when necessary.

First, the sensor unit 114 of the structural drones 100 senses the tilt at the current altitude (S200). Thereafter, the current wind speed corresponding to the tilt is calculated using a look-up table stored in the storage unit 117 (S201).

If the calculated wind speed exceeds the reference wind speed stored in the storage unit 117, the flying control is performed in a direction to change the height of the structural drones 100 (S203). Preferably, when the calculated wind speed exceeds the reference wind speed stored in the storage unit 117, the structural drones 100 are controlled to fly upward to position the structural drones 100 in the upwind area.

Although not shown in the drawing, the structural equipment throwing method according to the present invention determines whether the target T is located at the center point (+) of the image frame obtained by the image obtaining unit 112, Extracting a first direction vector (dashed line arrow) in which the center point of the image frame is not the center point (+) of the image frame and the end point of the target T is the start point; And a second direction vector in a direction of changing the altitude of the current structural drones 100 when the extracted wind speed is faster than the reference wind speed Extracting a third direction vector by calculating a sum of the extracted first direction vector and a second direction vector, and moving the structural drones 100 based on the extracted third direction vector; Can. This is a method capable of simultaneously achieving the effects of the embodiments of Figs. 4 and 5, enabling accurate throwing of structural equipment using an image acquisition unit, as well as controlling the structural drones The accuracy of throwing the structural equipment can be further increased.

The rescue equipment throwing method may be in a manual and automatic mode. In the case of the automatic mode, the structural drones 100 are moved by grasping the GPS information, the GIS information, the RS information, and the like of the rescue site, and each step of the rescue equipment throwing method can be performed at the rescue site. When the combination of the automatic mode and the manual mode is used, the structural drones 100 are moved to the structure site by the operator's manipulation, and the structural drones 100 are moved to a structure space in a predetermined radius (predetermined area) of the structure site based on GPS information, GIS information, If it is determined to be located, the automatic mode is switched to perform each step of the rescue equipment throwing method.

Meanwhile, the method for throwing a structural equipment according to an embodiment of the present invention can be implemented as one module by software and hardware, and the embodiments of the present invention described above can be implemented as a program that can be executed by a computer, And may be embodied in a general-purpose computer operating the program using a recording medium. The computer-readable recording medium is implemented in the form of a carrier wave such as a ROM, a floppy disk, a magnetic medium such as a hard disk, an optical medium such as a CD or a DVD, and a transmission through the Internet. In addition, the computer-readable recording medium may be distributed to a network-connected computer system so that computer-readable codes may be stored and executed in a distributed manner.

The components or parts used in the embodiments of the present invention may be software such as a task, a class, a subroutine, a process, an object, an execution thread, a program, field-programmable gate array (ASIC), or an application-specific integrated circuit (ASIC), or a combination of the above software and hardware. The components or parts may be included in a computer-readable storage medium, or a part of the components may be distributed to a plurality of computers.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: Structural drones 110: Body
111: control unit 112:
113: Image analysis unit 114: Sensor unit
115: driving unit 116:
117: Storage unit 120: Propeller
130: Rescue equipment receiving part 140:

Claims (6)

Acquiring an image through an image acquisition unit of the structural drones;
Extracting feature information of an object included in the acquired image;
Determining a target based on feature information of the object;
Determining whether the target is located at a center point of the acquired image frame;
Extracting a direction vector having a start point of a center point of the image frame and an end point of the target as an end point if the target is not located at a center point of the image frame;
Moving the position of the structural drones based on the direction vector;
Moving the structural drones downward when the height of the structural drones is higher than the storable altitude stored in the storage unit;
Moving the structural drones upward when the wind speed at the altitude where the structural drones are located exceeds the reference wind speed stored in the storage unit; And
Throwing the rescue equipment at a location where the position and altitude of the structural drones have been shifted,
Wherein the throwable altitude stored in the storage unit is set differently according to the size and weight of the rescue equipment. delete delete A sensor unit for sensing at least one of a flying direction, a flying speed, a position, an altitude, and a slope of the structural drones;
An image acquisition unit for acquiring an image of a structural site;
An image analysis unit extracting feature information of an object included in the image frame acquired by the image acquisition unit and determining a target based on the feature information of the object;
A storage unit for storing the throwable altitude and the reference wind speed at the structural site;
A plurality of opening / closing portions provided corresponding to a receiving space for accommodating a plurality of rescue equipment; And
Determining whether the target is located at the center point of the acquired image frame and extracting a direction vector having a start point of the center point of the image frame and an end point of the target position if the target is not located at the center point of the image frame Moving the structural drones based on the direction vector to control the opening and closing unit to throw the structural equipment at the moved position, moving the structural drones downward based on the storable altitude stored in the storage unit, And a controller for upwardly moving the structural drones based on the reference wind speed,
Wherein the control unit moves the structural drones downward when the height of the structural drones extracted by the sensor unit is higher than the storable altitude stored in the storage unit, Controls the elevation of the structural drones so that the elevation of the structural drones is moved upward,
Wherein the throwable altitude is set differently according to the size and weight of the structural equipment and is stored in the storage unit. delete 5. The method of claim 4,
Wherein the control unit calculates the wind speed at the altitude at which the structural drones are located based on the inclination of the structural drones extracted by the sensor unit.

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