KR20170019777A - Apparatus and method for controling capturing operation of flying bot - Google Patents
Apparatus and method for controling capturing operation of flying bot Download PDFInfo
- Publication number
- KR20170019777A KR20170019777A KR1020150114035A KR20150114035A KR20170019777A KR 20170019777 A KR20170019777 A KR 20170019777A KR 1020150114035 A KR1020150114035 A KR 1020150114035A KR 20150114035 A KR20150114035 A KR 20150114035A KR 20170019777 A KR20170019777 A KR 20170019777A
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- flying
- bot
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- camera
- image
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- H04N5/23216—
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/06—Aircraft not otherwise provided for having disc- or ring-shaped wings
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- H04N5/225—
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a photographing control apparatus and a control method of a flying bot capable of effectively photographing a user-selected region by using a flying boat equipped with a camera, ); And an image picked up by the camera of the flying robot is displayed on the display unit and the moving and rotating of the flying bots is controlled according to the photographing area set by the user on the photographing image displayed on the display unit, And a flying bot controller.
Description
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to an imaging control apparatus and a control method thereof for a flying bot capable of effectively photographing a user-selected region by using a flying boat equipped with a camera.
Flying Bot is an abbreviation for "fly robot" and means small aircraft that can be adjusted by induction of radio waves without pilots. One example of the flying bots is a "drones ". These flying bots are equipped with a high-resolution camera or a variety of sensors so that various information collected in a place or in the air that is difficult for the user to access can be transmitted to other devices such as a mobile terminal, Other communication device) through wireless communication.
However, since the flying bots are controlled by radio waves, it is necessary for the user to manually control the camera mounted on the flying bots to designate the photographing area by a special adjustment technique.
Accordingly, a control device and a control method of a flying robot for more efficiently controlling various functions added to a flying robot, as well as a simple flying function, have been studied actively.
It is therefore an object of the present invention to provide an image pickup control apparatus and method for a flying robot capable of controlling image pickup by a flying robot in various image pickup modes.
It is another object of the present invention to provide a photographing control apparatus and method of a flying bot in which a user can intuitively set a photographing area when photographing by a flying bot.
According to an aspect of the present invention, there is provided an imaging control apparatus for a flying bot, including: a flying bot equipped with at least one camera; And an image picked up by the camera of the flying robot is displayed on the display unit and the moving and rotating of the flying bots is controlled according to the photographing area set by the user on the photographing image displayed on the display unit, And a flying bot controller.
According to another aspect of the present invention, there is provided an imaging control method for a flying bot, the method comprising: moving a flying boat by determining a moving direction or a rotating direction of the flying bot in accordance with an imaging mode; Performing an initial photographing by controlling a camera mounted on the flying bot, receiving an initial photographing image from the flying bot, and displaying the initial photographing image on the display unit; Sensing an imaging area set by a user on an initial imaging image displayed on the display unit; And controlling the movement and rotation of the flying robot according to the set shooting area to photograph the set shooting area again.
The present invention is advantageous in that a photographing area is intuitively set when a close-up and a remote photographing are performed using a flying bot, so that a user can conveniently photograph only a desired area conveniently without operating a flying bot.
In addition, the present invention can perform special shooting (moving picture, continuous shooting, 3D scanning, 3D scanning) as well as general shooting by performing the shooting by controlling the position and the rotational direction of the flying bats according to various shooting modes There are advantages.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram for explaining a controller and a flying bot of a flying robot according to an embodiment of the present invention; FIG.
FIGS. 2A, 2B, and 2C are conceptual diagrams illustrating an example of a controller and a flying bot of a flying bot according to an embodiment of the present invention. FIG.
3 is a flowchart illustrating a concept of performing a photographing operation by controlling a flying
FIG. 4 is a flowchart showing a photographing control method of a flying bot according to an embodiment of the present invention. FIG.
5 is an embodiment of a method of controlling a shooting area of a flying bamboo according to an embodiment of the present invention in a general shooting mode.
5 is another embodiment of the method of controlling the shooting area of the flying bots according to the embodiment of the present invention in the general shooting mode.
FIGS. 7A and 7B illustrate a method of selecting an image capturing area on a captured image. FIG.
8 is an embodiment of a method of controlling a shooting area of a flying bot according to an embodiment of the present invention in an autonomous shooting mode.
9 is a view showing another embodiment of the method of controlling the shooting area of the flying robot according to the embodiment of the present invention in the autonomous shooting mode.
10 is an embodiment of a method of controlling an imaging area of a flying bot according to an embodiment of the present invention in a moving image and continuous shooting mode.
11 is an embodiment of a method for controlling an imaging area of a flying bot according to an embodiment of the present invention in a 3D imaging mode.
12 is an embodiment of a method of controlling an imaging area of a flying bot according to an embodiment of the present invention in a scan mode.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or similar elements are denoted by the same or similar reference numerals, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.
In the following description, it is assumed that a flying boat is a quadcopter having four rotor rotors. However, it is needless to say that the flying bot may be a multi-copter having two, six, or eight rotor blades as well as four rotor blades. Further, the present invention can be applied not only to the flying type using the rotor blades, but also to the flying bots using other methods that do not use the rotor blades, for example, a jet propulsion type.
First, referring to FIG. 1, FIG. 1 is a block diagram for explaining a flying
A
More specifically, the
The
The
The
The
The
The
In addition, the
In addition to the operations related to the application program, the
For example, the
For example, the
In this case, the
Under the control of the
Meanwhile, the flying
More specifically, among the components, the
The
First, the proximity sensor can detect whether or not there is another object within a certain distance of the vicinity of the flying
In addition, the gyro sensor, the orientation sensor, and the inertial sensor sense the direction of rotation when the flying
The
In addition, the
The
The
Also, various signals required from the flying
2A, 2B, and 2C illustrate an example of a
Referring first to FIG. 2A, FIG. 2A shows an example of a flying
Referring to FIG. 2A, the flying
Further, the
2A, the number of the rotor blades is four. However, the number of the
Meanwhile, FIGS. 2B and 2C show various examples in which the flying
Referring to FIG. 2B showing an example of a flying
Meanwhile, the
For example, the
Meanwhile, as shown in FIG. 2B, the flying
FIG. 2C shows an example of a
2C, when a flying robot control application or a program according to an embodiment of the present invention is executed, the control unit of the
These graphic objects include a first
Meanwhile, when the Flying BOT control application or the program according to the embodiment of the present invention is executed, the control unit of the
For example, the control unit of the
The
In the above description, the flying
Hereinafter, embodiments related to a control method that can be implemented in the flying
Hereinafter, an operation for setting and controlling a photographing area will be described with reference to a
In the present invention, the flying bot controller may be implemented as a mobile terminal, a smart phone, and a mobile flying bot controller.
3 is a flowchart illustrating a concept of performing a photographing operation by controlling the flying
3, the control unit of the
The initial basic control method may be a third person control mode. Here, the third person control mode may be a flight control method for controlling the flying state of the flying
When the flying
Meanwhile, the controller may determine the flight control method of the flying
On the other hand, the control unit can detect the separation distance between the flying
The user can select a predetermined shooting mode through the
The
In addition, the smartphone control unit may include sensors for sensing the motion, inertia, and rotation of the flying
That is, the control unit of the
The control unit of the
The control unit of the
Accordingly, when the flying
4 is a flowchart illustrating a photographing control method of a flying bot according to an embodiment of the present invention.
As shown in FIG. 4, the flying
At this time, the smartphone control unit stores the camera pose at the time of the initial photographing from the flying
The user can select an imaging area for re-imaging in the initial imaging image displayed on the display unit 251 (S210). The photographing area can be set by the user directly by the touch gesture or by moving the guide information displayed on the
Once the photographing area for re-photographing is selected, the smartphone controller calculates a camera pose for photographing the selected area (S220), and transmits a control signal corresponding to the calculated camera pose to the flying bot 180 (S230).
In one embodiment, the camera pose for photographing the selected region may be calculated by comparing the photographed image according to the stored camera pose with the previously selected photographed region. The control signal compares the initial photographing screen and the selected photographing area with respect to the direction of the current camera or the direction of the
Accordingly, the flying
5 is an embodiment of a method of controlling a shooting area of a flying bamboo according to an embodiment of the present invention in a general shooting mode.
5, in the case of the general photographing mode, the
The user can determine the re-photographing by viewing the initial photographing image displayed on the
In the present invention, the photographing mode may be directly selected by the user, but may be automatically selected based on predetermined conditions. For example, the smartphone control unit can determine the shooting mode based on the analysis result or position of the image received from the flying
When the photographing
The
6 is another embodiment of a method of controlling a shooting area of a flying bamboo according to an embodiment of the present invention in a general shooting mode. The embodiment shown in FIG. 6 is an example in which a retake is performed when an area in which an initial photographing image is narrower than an area desired by the user is photographed.
As shown in FIG. 6, the user inputs a touch gesture on the initial shot image to select the
5, the smartphone control unit calculates a camera pose for the selected shooting area on the basis of a camera pose for the initial shot image, and outputs the camera pose to the flying
Accordingly, the
Figs. 7A and 7B show an embodiment showing a method of selecting an image capturing area on a captured image.
As described above, if the user does not like the initial photographed image, the user can select (set) the photographed
In this case, as shown in FIG. 7A, the photographing
As described above, the smartphone control unit can automatically determine the shooting mode based on the analysis result or position of the image received from the flying
FIG. 8 is an embodiment of a method of controlling an imaging area of a flying robot according to an embodiment of the present invention in an autonomous imaging mode.
8, the flying
If an area larger than the desired space is photographed as a result of checking the initial photographed image, the user can select a photographed
When the photographing
9 is another embodiment of a method of controlling an imaging area of a flying robot according to an embodiment of the present invention in an autonomous imaging mode.
9, the flying
If a region narrower than the desired space is photographed as a result of checking the initial photographed image, the user can select a photographed
When the photographing
10 is a view illustrating an embodiment of a method of controlling a shooting area of a flying robot according to an embodiment of the present invention in a moving picture and continuous shooting mode.
Referring to FIG. 10, in the moving image and continuous shooting mode, the user can designate the
In the present invention, at least two or
FIG. 11 shows an embodiment of a method of controlling an imaging area of a flying robot according to an embodiment of the present invention in a 3D imaging mode, FIG. 12 is a flowchart illustrating a method of controlling an imaging area of a flying robot according to an embodiment of the present invention in a scan mode Yes.
11, the user sets a rectangular parallelepiped or spherical three-dimensional photographing
12, when the
The present invention is not limited to this example. For example, the flying
As described above, the present invention is advantageous in that a photographing area is intuitively set when performing a close-up and a remote photographing using a flying robot, so that a user can selectively photograph only a desired area conveniently without operating a flying bot .
In addition, the present invention can perform special shooting (moving picture, continuous shooting, 3D scanning, 3D scanning) as well as general shooting by performing the shooting by controlling the position and the rotational direction of the flying bats according to various shooting modes There are advantages.
The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). Also, the computer may include a
50, 50a: photographing area 60: three-dimensional photographing area
70: Scan area 100: Flying bot controller
180; Flying bot 182:
183: Bot camera 200: Smartphone
251:
Claims (19)
And a control unit for controlling the movement and rotation of the flying bots according to the shooting area set by the user on the shooting image displayed on the display unit, And a controller for controlling the shooting of the flying bot.
Wherein the guide information is automatically displayed in a region input by a user with a touch gesture or when a resampling menu is selected.
Is set to be smaller or larger than that of the initially photographed image,
Wherein the photographing area is set to a regular figure shape or an irregular curved shape.
And a three-dimensional imaging area of a rectangular parallelepiped or spherical shape.
Wherein the control unit determines and controls the moving direction or the rotating direction of the flying robot based on the shooting mode.
The mobile terminal, the smart phone, and the flying bot controller.
Wherein the camera pose for the initial shot image captured by the camera of the flying bot is stored and the camera pose for the selected shot area is calculated using the camera pose for the stored initial shot image, Device.
Wherein the control unit moves and / or rotates in a position and direction corresponding to the camera pose transmitted from the flying bot control unit, and re-captures the set shooting area using the camera.
And automatically determines the shooting mode based on the result of analysis or the distance of the initial shot image received from the flying robot.
Wherein the flying control system changes the flying control method of the flying bot based on a result of further sensing a current altitude of the flying bot and a weather condition sensed by the flying bot.
The continuous shooting mode, the normal shooting mode, the autonomous shooting mode, the moving picture and continuous shooting mode, the 3D shooting mode, and the scan mode. In the moving picture and continuous shooting mode, 3D shooting mode and scan mode, Wherein the controller is configured to control the shooting controller.
Performing an initial photographing by controlling a camera mounted on the flying bot, receiving an initial photographing image from the flying bot, and displaying the initial photographing image on the display unit;
Sensing an imaging area set by a user on an initial imaging image displayed on the display unit; And
And controlling the movement and rotation of the flying robot according to the set shooting area to re-photograph the set shooting area.
Wherein the guide information is automatically displayed in a region input by a user with a touch gesture or when a resampling menu is selected.
Is set to be smaller or larger than that of the initially photographed image,
Wherein the shooting region is set to a regular graphic form or an irregular curved surface form.
And a three-dimensional photographing area of a rectangular parallelepiped or spherical shape.
Wherein the camera pose for the selected shooting area is calculated using the camera pose for the stored initial shot image in the re-shooting step.
Moving and / or rotating the camera in a position and direction corresponding to the camera pose transmitted from the flying bot control device, and re-capturing the set shooting area using the camera.
A normal shooting mode, an autonomous shooting mode, a moving picture and continuous shooting mode, a 3D shooting mode, and a scan mode,
Wherein in the moving image and continuous shooting mode, the 3D shooting mode, and the scan mode, the flying bot captures an image of a shooting area or an object to be shot.
Priority Applications (1)
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KR1020150114035A KR20170019777A (en) | 2015-08-12 | 2015-08-12 | Apparatus and method for controling capturing operation of flying bot |
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KR1020150114035A KR20170019777A (en) | 2015-08-12 | 2015-08-12 | Apparatus and method for controling capturing operation of flying bot |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102402949B1 (en) * | 2021-07-28 | 2022-05-30 | 주식회사 네스앤텍 | Acquisition method of image information with improved precision |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR102402949B1 (en) * | 2021-07-28 | 2022-05-30 | 주식회사 네스앤텍 | Acquisition method of image information with improved precision |
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