KR20160089671A - Monitoring system using multicopter - Google Patents

Abstract

The present invention relates to a monitoring system using a multicopter, which comprises a control terminal for wirelessly controlling the operation of a multicopter using the internal structure of a pre-modeled building. According to the monitoring system using a multicopter, the convenience of remote use and the utilization of monitoring can be improved by combining the features of the multicopter to a conventional home monitoring system.

Description

[0001] MONITORING SYSTEM USING MULTICOPTER [0002]  

The present invention relates to a monitoring system using a multi-copter, and more particularly, to a system capable of monitoring the inside of a building by controlling a multi-copter remotely using a building internal structure created by three-dimensional modeling.

Conventional multi-copter is used in a variety of fields, such as small-sized toys, commercially called Helicam, commercially, and industrially, for forest fire monitoring and pesticide application. In recent years, it has been a hot topic to introduce a multi-copter in the form of delivery at a representative distributor, Amazon. Google also produced a drone, a new type of unmanned aerial vehicle for delivery purposes. However, since the aviation law for such unmanned airplanes is not yet specified and there is no countermeasure against the fall, the commercial unmanned airplane market has not been popularized until now.

And unmanned aircrafts as toys are dominated by DJI in China, parrot in France and 3DRobotics in the US, and have a significant share in the world. The purpose of such a toy is mostly a camera, and shooting in the sky is becoming the main focus. However, this is also used as a hobby in areas with wide plains because there is no preventive measures against falling.

Adjustment techniques used in multi-copter are mostly WIFI, and adjustment in a small range indoors or outdoors is the main adjustment technology as a toy. In the outdoors, 2.1 GHz band RF transmitter (Transmitter) is mainly used. Recently, a regulator that adjusts by watching a camera with a camera attached to a dron is popular.

In addition, recently, FPV (First Person View) has attracted attention. The FPV is to mount a camera on a model aircraft and adjust the model aircraft while observing the camera image in real time from the first person's point of view. And it came to technology that can see the screen with 3D stereoscopic glasses. It has the effect of making you feel like you are directly riding on a model airplane. This technology is attracting the attention of RC enthusiasts and has formed a large number of consumers.

Multi-copter is named according to the number of propellers. Four propellers are called quadcopters, six are called hexacopters, and eight are called octocopters. The more propellers, the stronger the strength, the heavier the object can be loaded and loaded. However, the size is very large and the capacity of the battery becomes very large.

In addition, the multi-copter rotates the neighboring propellers in opposite directions to prevent rotation by the reaction of the body by propeller rotation. And by adjusting the strength of each propeller, it is easy to operate up and down, right and left, front and rear. In recent years, due to the development of the sensor, it is possible to control the balance of the body very precisely by using the 3-axis geomagnetic sensor and the gyro sensor. The attitude control mainly uses the PID control and the attitude control is performed very precisely by using a Kalman filter or the like.

Home monitoring refers to a system that monitors the state of the house from the outside. Recently, the home network is advanced one step further, and IP and control system are attached to all household appliances so that the state and operation of each appliance can be easily performed from the outside. Here, home monitoring mainly refers to a system in which a camera is mounted on a terminal such as an Internet telephone, and a screen on the place where the camera is installed is received by a smart phone or a tablet PC to confirm the image.

 The problem with the conventional home monitoring system is that the camera is fixed so that only the image of the place where the camera is mounted can be checked. To compensate for this disadvantage, a system has been introduced that mounts a camera on a remote control car and performs home monitoring. However, there is a disadvantage that the utilization rate is very low due to the view from the threshold or the ground floor.

SUMMARY OF THE INVENTION It is an object of the present invention to solve the technical problems as described above, and it is an object of the present invention to provide a multi-copter system which combines the features of a multi-copter and a conventional home monitoring system, And to provide a monitoring system.

The monitoring system using the multi-copter according to a preferred embodiment of the present invention includes a control terminal for controlling the operation of the multi-copter by radio, wherein the control terminal comprises: And the operation of the multi-copter can be controlled. Specifically, the multi-copter includes a stereo camera, and the control terminal moves inside the building using the stereo camera, and controls the movement of the multi-copter by a modeling drawing inside the building based on photographed image information . In addition, the control terminal can perform monitoring by the multi-copter by designating a desired movement path for monitoring on the modeling drawing inside the building.

In addition, when the control terminal designates a destination position at which the control terminal desires to move the multi-copter, the multi-copter can move from the current location stored in the outside or inside of the multi-copter to the destination location .

Preferably, the multi-copter moves to the home position at a predetermined altitude when receiving a control signal to move from the control terminal to a previously stored home position. Further, the multi-copter moves to a position of a charger capable of charging when receiving a control signal to move from the control terminal to a previously stored home position. Preferably, after the contact between the multi-copter and the charger is recognized, charging of the multi-copter by the charger is turned on when the charger senses a constant load. Specifically, the charging is preferably performed by a magnetic induction method.

In addition, if the charger can not detect a constant load after the charging of the charger of the multi-copter, charging by the charger is turned off. Further, by coupling the coupling portion provided in the multi-copter with the fixing portion provided in the charger, the multi-copter can be fixed to the charger. Preferably, when the multi-copter receives from the control terminal a control signal for releasing the fixed portion of the charger from the coupling portion of the multi-copter, only the predetermined propeller of the multi-copter is operated And releasing the fixation.

According to the monitoring system using the multi-copter of the present invention, the convenience of use and the utilization of monitoring can be increased remotely by combining the features of the multi-copter with the conventional home monitoring system.

1 is a block diagram of a monitoring system using a multi-copter according to a preferred embodiment of the present invention.
FIGS. 2A and 2B are a top perspective view and a bottom perspective view, respectively, of a multi-copter according to a preferred embodiment of the present invention. FIG.
FIG. 3 is an explanatory diagram of an AP function and a client function of the multicoperator of the present invention; FIG.
Fig. 4 is a structural example of a three-dimensional modeled building inside of a building using a stereo camera; Fig.
5 is a display example of a control terminal;
FIGS. 6 to 8 are explanatory views showing the connection of the multi-copter with the charger. FIG.

Hereinafter, a multi-copter monitoring system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

It should be understood that the following embodiments of the present invention are only for embodying the present invention and do not limit or limit the scope of the present invention. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

1 is a block diagram of a monitoring system 100 using a multi-copter 10 according to a preferred embodiment of the present invention.

1, a monitoring system 100 using a multi-copter 10 according to a preferred embodiment of the present invention includes a multi-copter 10, a server 20, a control terminal 30, and a charger 40).

The multi-copter 10 monitors at least one of the cameras 11 and 12 by means of an unmanned airplane. The control terminal 30 functions to control the operation of the multi-copter 10 wirelessly. Preferably, the control terminal 30 can control the operation of the multi-copter 10 by utilizing a three-dimensional structure diagram modeled inside a building created using the multi-copter 10. [ As the control terminal 30 of the present invention, various types of terminals such as a general desktop PC as well as a mobile terminal such as a smart phone and a tablet PC can be used. The server 20 may store the image file acquired by the multi-copter 10 or may create a three-dimensional structure diagram of the building using the image file. The charger 40 serves to charge the multi-copter 10 by a magnetic induction method.

When the user drives the dedicated application program by the control terminal 30, the connection is made to the Internet router and the router in the building, and the connection is made to the multi-copter. Because it has internet access, it can be connected via wireless WiFi or LTE. When the multi-copter 10, which is always waiting by the wireless WiFi, receives a connection request, it transmits the current status of the multi-copter 10 and is ready to take-off. When the user presses the take-off button, the multi-copter 10 hung as shown in FIG. 8 floats forward only while operating only two front propellers as shown in FIG. At this time, if you get close to level, the two rear propellers will also be running and you will be able to take off naturally.

Also, the user can control the multi-copter 10 while watching the images of the house using the cameras 11 and 12 mounted on the multi-copter 10 by using the control terminal 30. The multi-copter 10 moves while depressing the operation button simply by the user. If necessary, voice can be transmitted.

2A and 2B respectively show an upper perspective view and a lower perspective view of a multi-copter 10 according to a preferred embodiment of the present invention.

As can be seen from FIGS. 2A and 2B, the multi-copter 10 of the present invention has a stereo camera 11 capable of acquiring a stereo image on the front surface thereof and a rear camera 12 on the rear surface thereof. In the multi-copter 10 of the present invention, an ultrasonic wave or infrared ray sensor 13 for detecting an obstacle such as a wall or furniture is provided on the upper, lower, left, and right sides. The sensor 13 can continuously acquire the distance information and prevent it from approaching the wall. In addition, the multi-copter 10 preferably incorporates an algorithm that avoids obstacles even if the user makes a mistake.

The multi-copter (10) always needs to be connected to the building's wireless WiFi. In addition, the wireless WiFi must be able to cover every interior of the building, as wireless connections always require seamless connections to fly around the house.

The multi-copter 10 is always connected to the Internet by using a wireless wi-fi, and waits for an external connection request. In order to do this, the client must be connected to the wireless WiFi inside the building as a client. In order to do so, the multi-copter 10 should be set as a client so that it is automatically connected to the wireless WiFi router inside the building. If you change the wireless WiFi router in the building, you also need to change the setting. For this, the multi-copter 10 needs to have the AP function of the wireless WiFi.

3 is an explanatory diagram of an AP function and a client function of the multicoperator 10 of the present invention.

The multi-copter 10 can switch from the client mode to the AP mode using the mode changeover switch. Next, the remote control terminal 30 such as a smart phone is used to access the multi-copter 10 in the AP mode. It is preferable that the AP mode of the multi-copter 10 is configured to be easily connected to the public key. After the control terminal 30 connects to the multi-copter 10, it can input SSID, secure type, password type, network key, etc. of the router in the building as shown in FIG. This setting is to allow the multi-copter 10 to automatically access the router when switching to the client mode. The AP mode can be used when a user wants to use a toy or the like in a building.

After the client setting of the multi-copter 10 is completed, the multi-copter 10 is switched to the client mode. You will then be connected to the wireless home WiFi that is automatically set up. The router of the house should be configured for IP forwarding so that the multi-copter 10 can access from outside the home.

The multi-copter 10 measures its altitude when taking off at the earliest, using an infrared or ultrasonic sensor 13 or the like. Then, the position of the surrounding wall and the position of the obstacle are measured using the stereo camera 11. The multi-copter 10 of the present invention continuously updates the inside of the building and stores the structure inside the building. When moving to the home position, the user can memorize the trajectory moved, and move back to the home position.

The multi-copter (10) of the present invention has a function of automatically moving to a desired position when a position of a wall inside a building and a position of rough obstacles are inputted. When the user selects a desired position by using the menu for automatic movement to the control terminal 30, the user automatically moves from the current position to the position desired by the user at the route known by the multicoperator 10 . That is, when the control terminal 30 designates a target position to which the multi-copter 10 is desired to move, the multi-copter 10 moves from the current position stored in the outside or the inside of the multi-copter 10 to the target position Path can be used to move. The control terminal 30 and the server 20 may be exemplified as the stored positions outside the multi-copter 10. [

However, when the multi-copter 10 does not accurately grasp the positions of structures and obstacles such as a wall inside the building, there is no known route, and a message indicating that the automatic moving function is not supported is displayed. ) Manually navigate through the house to induce stereoscopic 3D modeling.

In addition, the user may perform monitoring by the multi-copter 10 by designating a desired movement path for monitoring by the multi-copter 10 on the three-dimensional modeled structure diagram using the control terminal 30 . Alternatively, monitoring may be performed by the multi-copter 10 by setting a predetermined moving condition using the control terminal 30 at a predetermined time.

FIG. 4 is a structural example of a three-dimensional modeled building inside the building using the stereo camera 11. FIG.

After the control terminal 30 is connected to the multi-copter 10 inside the building outside the building, the take-off button is pressed to take-off preparation. When the takeoff button is depressed, as shown in FIG. 7, only the front propeller is started, and the front portion starts slowly. When the airplane starts approaching horizontally, the rear propeller is operated. Then, the inside of the building as shown in FIG. 5 can be seen through the control terminal 30 by the user. The user can move the multi-copter 10 to a desired position by using the control terminal 30. [

The user can operate the multi-copter 10 using the menu function displayed on the control terminal 30. [ For example, the forward, backward, leftward, and rightward rotations can be performed using the up, down, left, and right arrows M1. It is also possible to control the flight altitude of the multi-copter 10 using the altitude adjustment bar M2. When you move the altitude adjustment bar (M2) up and down, it will float while maintaining the desired altitude between the ceiling and floor. In addition, it is preferable that the distance measuring sensor 13 is mounted on the top and bottom of the multi-copter 10 so that it does not touch the floor or stick to the ceiling.

If there are children or elderly people whose behavior is uncomfortable, a speech signal is output from the multi-copter 10 when speaking using the speakerphone function of the control terminal 30, It is possible.

After completing the home monitoring function desired by the user, the multi-copter 10 is automatically moved to the home position by pressing the home return button. Since the multi-copter 10 recognizes the structure inside the building, which is initially set, moves to the home position, the home position is searched by itself after changing to the default altitude. That is, when receiving a control signal to move from the control terminal 30 to a previously stored home position, it is preferable that the multi-copter 10 moves to the home position at a predetermined altitude.

The position of the home position is preferably a fixed portion 41 protruding forward from the wall provided on the wall. The multi-copter 10 moves to the home position using the stereo camera 11 in front. After reaching the home position, the user rotates 180 degrees and recognizes the home position fixing portion 41 using the rear camera 12. Specifically, a picture or a shape capable of recognizing the home position is provided to the fixing part 41 so that the rear camera 12 recognizes the picture or shape, maintains the height and the posture so that the shape is at the center, After reaching a distance enough to be mounted on the fixing portion 41, when the state shown in FIG. 6 is reached, the propeller is stopped to allow the multi-copter 10 to fall. 8, the multi-copter 10 is caught by the fixing portion 41 and naturally positions at the charging position. When the multi-copter 10 is mounted on the fixed portion 41, the weight of the multi-copter 10 is recognized, the charger 40 is activated, and the multi-copter 10 is charged.

A battery (BAT) is mounted on the lower part of the multi-copter (10). And is hooked to the fixing portion 41 of the hook shape of the charger 40 when it is in the home position. To this end, the engaging portion 14 for engaging the fixing portion 41 is provided. The engaging portion 14 has a shape that does not involve the engagement of the fixing portion 41 even if there is a positional error sideways, and the shape should be set so that the engaging portion 14 is caught at the corner exactly once. The locking part 41 is slightly bent downwardly of the camera 12 so as not to cover the image of the camera 12 and flows to the edge part of the coupling part 14 where the fixing part 41 is hooked, And it has a position of the shape shown in FIG. As shown in the third figure of FIG. 8, the distance from the wireless charger 40 to the magnetic induction type is maintained at 1 cm or less, and it is located at the correct position, thereby maximizing the charging efficiency.

The charging process of the multi-copter 10 as described above is summarized as follows.

When the multi-copter 10 receives a control signal to move from the control terminal 30 to a pre-stored home position, the multi-copter 10 determines the position of the charger 40 that can charge the multi- . ≪ / RTI > Next, after the contact between the multi-copter 10 and the charger 40 is recognized, when the charger 40 senses a certain load, charging of the multi-copter 10 by the charger 40 is turned on , And is charged. In this case, it is preferable that the charging is performed by a magnetic induction type wireless charging which does not require insertion of a separate plug or the like. The fixing of the multi-copter 10 to the charger 40 can be achieved by engaging the engaging portion 14 provided in the multi-copter 10 with the retaining portion 41 of the hook 40 provided in the charger 40 have.

If the charger 40 can not detect a certain load after the charging of the charger 40 of the multi-copter 10, it means that the multi-copter 10 which is hung on the fixing unit 41 has moved. (40) is turned off.

When the multi-copter 10 of the present invention receives a control signal for releasing the fixation between the fixed portion 41 of the charger 40 and the engaging portion 14 of the multi-copter 10 from the control terminal 30 , It is preferable to release the fixation by operating only the propellers of the multi-copter 10, for example, by operating only the two propellers on the rear side.

As described above, according to the monitoring system 100 using the multi-copter 10 of the present invention, by combining the features of the multi-copter 10 with the conventional home monitoring system, Can be increased.

100: Multi-copter monitoring system
10: Multicopter 20: Server
30: control terminal 40: charger
11: Stereo camera 12: Rear camera
13: sensor 14:
41: Fixed BAT: Battery
M1: Arrow M2: Altitude adjustment bar

Claims (11)

In a multi-copter monitoring system,
And a control terminal for controlling operation of the multi-copter wirelessly,
The control terminal,
Wherein the operation of the multi-copter can be controlled by using a structure of a pre-modeled building. The method according to claim 1,
The multi-copter includes a stereo camera,
The control terminal,
Wherein the movement of the multi-copter can be controlled by a modeling drawing inside the building based on the photographed image information while moving inside the building using the stereo camera. 3. The method of claim 2,
The control terminal,
Wherein monitoring by the multi-copter can be performed by designating a desired movement path for monitoring on the modeling drawing inside the building. The method according to claim 1,
The multi-
Wherein when the control terminal designates a destination position to which the multi-copter is desired to move, the multi-copter can move from the current location stored in the outside or inside of the multi-copter to the destination location using the movement path. Monitoring system used. The method according to claim 1,
The multi-
Wherein the controller is configured to move to the home position at a predetermined altitude when receiving a control signal to move from the control terminal to a previously stored home position. The method according to claim 1,
The multi-
When the control terminal receives a control signal to move from the control terminal to a pre-stored home position, moves to a position of a charger capable of charging the multi-copter. The method according to claim 1,
Wherein the charging of the multi-copter by the charger is turned on when the charger senses a predetermined load after the contact between the multi-copter and the charger is recognized. 8. The method of claim 7,
The above-
Wherein the monitoring system is a magnetic induction system. 8. The method of claim 7,
Wherein the charging by the charger is turned off when the charger fails to detect a constant load after the charging of the charger by the multi-copter. The method according to claim 1,
Wherein the multi-copter is fixed to the charger by engaging a coupling part provided in the multi-copter with a fixing part provided in the charger. 11. The method of claim 10,
The multi-
And when the control terminal receives a control signal for releasing the fixing of the charger to the fixed portion of the coupling portion of the multi-copter from the control terminal, the multi-copter releases the fixing by operating only the predetermined propeller of the multi- Monitoring system using copter.

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