KR20170114458A - The drone built in stereo camera sensors for 3D virtual reality video or connected multi function VR device - Google Patents

Abstract

In the present invention, a stereoscopic camera is installed in the drones, and a side-by-side image is selectively synthesized with an image of each camera sensor or an image of two camera sensors, so that a virtual reality (VR) So that stereoscopic images can be viewed. This combination of a dron with a stereo camera and a virtual reality (VR) headset lets you enjoy a 3D image from a stereo camera while flying a dron with a stereo camera in a place that is not accessible by humans The new content business becomes possible in the tourism field.
It is enlarged and it is folded (folding) structure between the display and the lens (old camera camera) so that the distance between the display and the lens is fixed by extending the folded part only when necessary. And developed into a handy virtual reality headset. In addition, two camera sensors are installed on the front face of the virtual reality headset according to the characteristics of the visually handicapped person, and the corresponding image is displayed to be corrected according to the characteristics of the visually impaired person. . In addition, by connecting the vertical structure with the power supply cable, the drones (cable drone that prevents power supply and fall prevention) at a certain position and at a certain altitude and a predetermined direction are always stopped to fly, And developed as a method and means for building a video information service.

Description

[0001] The present invention relates to a VR device having a stereo camera and a multi-function VR device,

The drones are collectively referred to as helicopter-shaped unmanned aerial vehicles (UAVs) that can fly and steer by induction of radio waves, and have been used in various civilian and military applications before and after the 2010s. In the case of a flying object, such as a helicopter or a drone, which generates lift by rotation of the propeller, the reaction of the propeller rotation causes the body to rotate in the opposite direction of rotation of the propeller. In the case of a single rotor helicopter, a tail rotor is required to solve this problem, but the drones are based on the principle of counteracting the reaction caused by propeller rotation by reversing the propeller rotation. That is, the drones control the rotation of each rotor propeller so that the ascending, descending, forward, backward, right, left, It is available in roll left, yaw left, and yaw right modes. The drones use a relatively small number of propellers to gain lift and adjust the lift from each propeller to advance and backward and redirect. The drones are equipped with a camera sensor to confirm the peripheral image information with a remote control device equipped with a mobile device (including a smart phone) or a display on the ground via various wireless communication networks (including a mobile communication network). In the high performance drone, a gimbal mechanism that remotely controls the direction of the camera was installed to prevent camera shake in the flight and to rotate the camera in a desired direction to develop the image. In addition, FPV (First Person View) technology, which wears goggles equipped with a display liquid crystal display on the drones, is also applied in order to avoid the limitation that the drone can be operated only within the visual range when remotely controlling the drones It also provides a feeling of flying directly on the drones. However, the FPV technology uses a single camera sensor installed in the drone, which limits the display to a widescreen technology (2D) step that expands the display with the lens.

In the LCD era, a head-up display (HMD) has been created for use with FPVs, such as Sony's Glastron and Olympus' Eye Track, with a small screen in front and a lens. The HMD used a complex, expensive, thin lens to magnify the display without image distortion due to the combination of the prism and the lens, but the image quality was not high. Instead of this optical device, the concept of side by side virtual reality (VR), which displays the screen by dividing a large mobile high resolution display by half, has been introduced. In other words, Virtual Reality, which combines fisheye rendering (110 ° or less) and inexpensive convex lenses through image processing to match a large display, . The US Oculus lift and Google cardboard VR headset are equipped with two displays for the left and right eyes of the headset, producing a three-dimensional image by outputting different depth images for each display. With the development of smartphone mobile display technology, it has become possible to realize high resolution (2K class 1440x2560 pixels) that could not be realized and with the evolution of computer graphics technology, VR headset became popular by enabling two high resolution output in one device. In particular, Google Cardboard VR and Samsung Gear VR also solve the problem of high cost of Oculus lift equipped with a display and video board in a headset by attaching a smartphone to a headset instead of a display.

A big advantage of Virtual Reality (VR) is that users are immersed in virtual space. If you can get a 3D VR image of the surroundings such as sightseeing spots while you are navigating through the drones, you can get a new tourism and life innovation by going beyond the FPV step that shows the image of the flying drones in front of the 2D widescreen have.

Oculus Rift is a Virtual Reality (VR) headset made by Ocurus in the United States. It can connect to a computer or play video games or movies on a three-dimensional screen through its own video processing board. I can experience reality. Samsung's Gear VR (VR stands for Virtual Reality Headset) also uses the technology developed by Oculus VR to enjoy stereoscopic images through a smart phone, but with a simple structure and economical price (similar to Chinese $ 10) . LG Electronics announced in February 2016 that it will install a small display panel in the headset and connect it to the smartphone and connect it to the wired line, so that the inconvenience of inserting the smartphone into the headset and the weight of the headset to 1 / It is reduced to 118g, which is level 3, and it is worn like glasses instead of an inconvenient fixed band to improve portability. (Using a 1.88-inch IPS LCD display with 960x720 resolution)

In order to create a three-dimensional (3D) stereoscopic image, a two-dimensional camera and a three-dimensional camera and a program having different configurations are generally required. Three-dimensional (2D) cameras are generally expensive because of the complex structure of the equipment, such as two lenses, and the shooting technique is more complicated than the general camera. In the smartphone that supports one camera sensor on the back, a dual camera (stereo camera) has been supported as the performance of the processor has recently been improved. The original aim was to provide a high-resolution camera sensor that uses two low-resolution (1/2) camera sensors compared to one high-resolution camera sensor while implementing a variety of shooting methods like DSLR cameras through dual cameras, . Techniques have been introduced to easily capture side-by-side stereo images by attaching a reflector to a single-lens camera with only one lens, but there is a limit to implementing a complete 3D image as compared to a dual (or stereo) camera .

The current drone uses a monopod camera fixed to a drone body or a gimbal, and transmits the photographed image as image data to a remote control device on the ground through image processing means. Some use a virtual reality (VR) headset instead of the FPV goggles and manipulate the drones. However, in this case too, one image is displayed on both eyes, so it is provided as a widescreen image instead of a 3D image. Even if two cameras are applied to the drones, it is known to transmit each image information rather than a side-by-side image.

The following problem should be solved when a stereophonic camera is installed in a drones for shooting a virtual reality (VR) image. First, since there is a case in which a normal display device is always controlled without using a virtual reality (VR) headset at all times, it is necessary to select image information (one camera image or side-by-side image) Device (including display devices). Second, when the distance between the pupil of the user (about 65 mm in male) and the distance of the stereo camera sensor of the drones is different, the user feels dizzy to the side-by-side virtual reality (VR) image information and takes time to adjust . It usually takes about 3 hours to overcome dizziness when wearing glasses that do not match the distance between pupils. Third, a general user can not control a joystick equipped with two joysticks by using a virtual reality (VR) headset. Some people do not see the keyboard keyboard, but others like to see the keyboard. Fourth, virtual reality (VR) headsets should be thinner for convenient portability. Currently cardboard type VR devices have a problem of carrying around 12cm in thickness except for the head fixing belt. Currently, virtual reality (VR) headsets are equipped with a display, an image processing device and a lens in a headset like an oculus lift, a mechanism to attach and detach a smartphone like a Google Cardboard VR, In a classic way, it is possible to distinguish by installing an LCD of 2 inches or less and enlarging it by using an expensive lens.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above problems, and the present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a video camera, 3) When using a VR (Virtual Reality) headset, side-by-side images are made in real time on the drones with the image information of the two camera sensors, (Or a display device), or 4) or transmits image information of two camera sensors to a remote control device (or a display device), thereby providing a means for synthesizing the side-by-side image in a remote control device (or a display device). That is, two camera sensors for converting the light of an image passed through the lens into an electric signal are fixedly installed by being spaced apart by a predetermined distance (distance between the user), and the image signals are read from the two camera sensors and subjected to predetermined processing Side image is composed of a first image constituted by a first camera sensor and a second image constituted by a second camera sensor by executing a predetermined application program.

While using a virtual reality (VR) headset can be a cause of dizziness for many reasons, the main reason is that the left and right images are not captured at the distance between the two eyes of the user. Therefore, the user can adjust the distance between the two camera sensors of the dron according to the distance between the lenses of the fixed virtual reality (VR) headset according to the distance between his / her pupils, thereby providing a 3D image suitable for the user . For example, it is known that the user feels dizzy after replacing the lens of the eyeglasses because the human body adapts the minute distance between the pupils to be different from the lens used before, which takes about 3 hours.

In addition, when using a virtual reality (VR) headset to remotely control the drones, the user should be able to configure the controls to be easy to navigate without looking at the controls. In other words, a different type of remote control device is needed to control the drones from the eyes. To do this, the drones are controlled based on six keys such as front, back, left, right, up, down, and stop. Up, down, left, right keys for camera direction control are also required. This is configured as a remote control type that can be operated with one hand.

Fourth, virtual reality (VR) headsets should be thinner for convenient portability. Currently cardboard type VR devices have a problem of carrying around 12cm in thickness except for fixing belts. The existing smartphone screen or a display of about 5 inches or more is fixedly installed, and the folded structure (old camera camera) of the display and the lens is connected by a stretchable folding structure to open the folded portion only when necessary, If it is manufactured in a form that keeps the distance fixed, it can be provided within a thickness of 20 mm, so that the problem of portability according to the thickness can be solved. When a display of about 5 inches or more is fixed to a headset, side-by-side image information may be streamed from a smart phone by wire or wireless, including image processing means. When a headset and a smartphone are connected by a wired cable such as USB, the current of 500mA or more from a smart phone can be supplied according to the USB specification (USB3.0). In this case, when a motion sensor is installed in a virtual reality (VR) headset and transmitted to a smartphone, it is possible to link the virtual reality (VR) contents with immersive feeling.

As described above, according to the present invention, a stereoscopic camera is installed in the drones, and a side-by-side image is selectively synthesized with an image of each camera sensor or an image of two camera sensors, VR) headset for stereoscopic viewing. This combination of a dron with a stereo camera and a virtual reality (VR) headset allows you to enjoy a 3D stereoscopic video from a stereo camera while flying a dron with a stereo camera, The new content business becomes possible in the field of tourism. The user can produce 3D content and provide it to the outside. If the user develops the 3D content, the following effects are expected.

First, even if a stereo camera is installed in the drones, the user may use a virtual reality (VR) headset or remote control while viewing a general display screen. Therefore, the user may select one camera image or two camera sensor image information A side-by-side image can be selected and utilized.

Second, when a virtual reality (VR) headset is used to view a stereo camera image of a dron, the distance between the user's pupil and the distance of the stereo camera of the dron are adjusted to be the same, thereby minimizing dizziness.

Thirdly, side-by-side images corresponding to the distance of the user's eyes (in the middle) are synthesized and transmitted from the image contents captured by the 360-degree camera, thereby minimizing the dizziness side effect of the virtual reality (VR).

Fourth, since the remote control device can not be seen when using a virtual reality (VR) headset, it is provided as a remote control type that can be operated by one hand, so that it is easy to remote control the drones even when wearing a virtual reality (VR) .

Fifth, when used with a drone, to minimize the thickness and weight of a virtual reality (VR) headset, the display portion and the lens portion are connected by a folding structure so that they are normally folded in a folded state. So that the portability can be improved.

Sixth, in addition, two cameras are installed on the front face of the virtual reality (VR) headset to reconstruct and convert the camera sensor image according to the characteristics of the visually impaired person, thereby displaying a large VR image, thereby assisting the visually impaired .

Figure 1 is an image of a dron that installs a camera sensor and controls the goggles and virtual reality headset.
Figure 2 is an image of a dron with two camera sensors of the present invention installed.
FIG. 3 is a configuration diagram of a dron equipped with two camera sensors according to the present invention.
FIG. 4 is a configuration diagram of a remote-controlled remote-control device of the present invention.
FIG. 5 is a virtual reality headset image having a folded folding structure between the display and the lens and having a thin headset thickness during carrying.
FIG. 6 is a structural view of a virtual reality headset for visual correction, in which two camera sensors according to the present invention are installed on the front face.
FIG. 7 is a block diagram of a vertical structure for acquiring image information of a land area in real time by configuring the dron to fly at a predetermined position, altitude and direction by connecting the vertical structure set up at a certain position according to the present invention with a cable.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately in order to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

The present invention relates to a system and method for installing a stereo camera on a dron by side by side (a side by side) in which an image of one camera sensor or an image of two camera sensors is combined in a dron according to a user's steering mode (a display device or a virtual reality headset) ) Images are selectively transmitted. In addition, the drones are equipped with a stereo camera sensor that adjusts the distance to match the distance between the user's pupils and allows the user to view optimized stereoscopic images taken by the drones with a virtual reality (VR) headset. can do. Recently, the flight control computer unit installed in the drone along with the dedicated radio communication network (5.030 ~ 5.092GHz) is applied to the same processor as the smartphone (for example, Qualcomm Snapdragon 801 processor applied to the Galaxy S5) . The current drone is equipped with an optical flow metering function as a camera sensor to detect horizontal drift movement at the bottom, and a high-resolution camera sensor for monitoring and precise shooting. In addition to this, it is possible to measure the distance from the obstacle by installing two camera sensors in the front, and it is also possible to combine side by side images with images captured by two camera sensors and transmit them to the ground You can manipulate and utilize the drones while viewing virtual reality (VR) images with three-dimensional effects. The side-by-side image allows two images of a camera to be displayed on a single screen using two camera sensors, as shown by a human eye, and the side-by-side image is focused on two eyes of a person, (VR) headset for the most part. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

Figure 1 is an image of a dron that installs a camera sensor and controls the goggles and virtual reality headset. Figure 2 is an image of a dron with two camera sensors of the present invention installed. FIG. 3 is a configuration diagram of a dron equipped with two camera sensors according to the present invention. An inertial sensor means 2 and a flight control computer means 3 for mounting a stereo camera on the drones and controlling the flight path and attitude of the drones 1 for photographing such virtual reality contents; Two camera sensor means (4); Image processing means (5) for synthesizing side by side images with image information of two camera sensors (4); And wireless and mobile communication means (7) for transmitting the side by side video information to the display device or the remote control device (6) wirelessly (including the mobile communication network). Thereby providing a side-by-side image content service of a drones and drones having a function of transmitting a side-by-side image. However, when driving the drones, images must be viewed through a remote control device with a display for displaying camera images or a separate display means such as a mobile device. That is, in the mode for transmitting the image information in the drone 1, the image information of one camera sensor is transmitted or the image information of the two cameras 4 is selected to transmit the synthesized side by side image information Information selecting means (8); And wireless and mobile communication means 7 for transmitting the image information of the one camera sensor or the side by side image information wirelessly to the display device or remote control device 6.

There may be several reasons for dizziness when using a virtual reality (VR) headset, but the problem may be that the left and right images are not captured in accordance with the distance between the user's two eyes. Therefore, the user can adjust the distance between the two camera sensors of the dron according to the distance between the lens of the fixed virtual reality (VR) headset according to his / her pupil distance, thereby providing the optimal 3D image for the user. That is, the distance control unit 9 includes a distance adjusting unit 9 for adjusting the distance between the two camera sensor units 4 installed on the drone 1 according to the distance between the eyes of the user. (9) for adjusting the separation distance between the two camera sensor means (4); The distance between the two camera sensor means 4 may be physically adjusted or the distance between the two camera sensor means 4 may be fixed and the distance between the two camera sensor means 4 may be adjusted in accordance with the distance between the user's eyes. (10) for converting the image data. Recently, as the smart phone has become more sophisticated, accessories have also been diversified. A 360-degree camera has also been introduced, which selects the desired image by shooting the entire 360-degree area. Means for using a 360 degree or wide angle camera instead of the two camera sensor means 4; Means for inputting a distance between eyes of a user; Means for transforming two images determined according to a distance between a user's eyes in a 360-degree or wide-angle image; And composing the side by side image with the two converted image information.

FIG. 4 is a configuration diagram of a remote-controlled remote-control device of the present invention. In addition, when using the Virtual Reality (VR) headset to remotely control the drones, the user should be able to control the remote control without looking at it. A different type of remote control device is needed to look at and control the drones. To do this, the drones are controlled based on six keys such as front, back, left, right, up, down, and stop. An optional up and down left and right keys are also required for camera direction control. In order to do this, it is appropriate to configure the remote control type to be operated by one hand. That is, the remote control device 11 includes a drones hovering indication key 12 at the center; A four-way key 13 for controlling the direction of the dron as a circle outside the key for indicating stop flight; A drones rising key 14 at the outer upper end and a dron lowering key 15 at the lower end of the four-way key controlling the direction of the drones; And a four direction key 16 for controlling the camera direction is provided between the drones rising key 14 and the dron lowering keys 15. [ In addition, in the mode for transmitting image information from the drones, the image information of one camera sensor is transmitted, or the image information of the two camera sensors is transmitted as synthesized side by side image information, And a mode selection key 17 for transmitting the mode selection key 17. If a dron equipped with a stereo camera at a tourist spot can be used to autonomously fly a dron equipped with a stereo camera according to a predetermined tour course and to view it as a virtual reality (VR) headset, It can be a turning point (an unexplored sight without human touch). The remote control device, which can be configured to autonomously fly the dron according to a predetermined tour course, and which can be used by the tourist with one hand, uses a forward key and a backward key and a stop key (optionally a range of up and down keys) It is configured to control the basic flight while watching with a virtual reality (VR) headset. In this case, a four direction key 16 for controlling the camera direction can be included.

FIG. 5 is a virtual reality headset image having a folded folding structure between the display and the lens and having a thin headset thickness during carrying. Virtual reality (VR) is emerging as the mainstay of new culture and contents industry, and various virtual reality headsets are being sold along with production of virtual reality contents. In order to use the VR headset for portable and convenient use, thickness of the virtual reality (VR) headset should be reduced. However, card board type virtual reality (VR) devices have a problem of carrying around 12cm in thickness except for the head fixing belt. Currently, virtual reality (VR) headsets are equipped with a virtual reality (VR) headset like a Oculus lift, a display, an image processing device and a lens installed in the headset, a smartphone attach / detach mechanism like a Google card board, In the former, it is divided into a means to receive side-by-side image information by connecting (or wirelessly) with a smartphone and a cable, and a virtual reality (VR) headset to install a display within 2 inches (LCD) . The current smartphone screen or a display of about 5 inches or more is fixedly installed, and a foldable folding structure between the display and the lens is connected (see an old camera camera) to expand the folding portion only when necessary, Can be provided within a thickness of 2 cm, thereby solving the virtual reality (VR) headset portability problem. That is, the foldable folding mechanism 20 is provided between the screen portion 18 on which the display means is installed and the lens portion 19 on which the lens is mounted, and when the portable foldable folding mechanism 20 is folded, Folding folding mechanism 20 is unfolded to enlarge and fix the distance between the screen portion 18 and the lens portion 19 in use. Accordingly, it is possible to provide a virtual reality (VR) headset in which a folding folding mechanism is provided between a screen portion and a lens portion. In this case, the smartphone can be attached to form the screen portion 18 on the display screen of the smartphone. Alternatively, the screen portion 18 may comprise means for receiving a side by side video signal transmitted wirelessly from a user's smartphone; And display means installed in the virtual reality (VR) headset itself; And image processing means for directly reproducing the side by side image on the display means.

FIG. 6 is a structural view of a virtual reality headset for visual correction, in which two camera sensors according to the present invention are installed on the front face. People with visual impairments are restricted to normal vision in many forms, such as amblyopia or astigmatism, insufficient color identification, short focal lengths, or extremely narrow field of view. The virtual reality (VR) headset has a magnifying effect (100-inch class) as a display means capable of adjusting the brightness and color and image size in front of the eyes. Therefore, according to the characteristics of the visually impaired, It is possible to utilize it as a useful visual assistant means except for the case of blindness. A virtual reality (VR) headset for the visually impaired, comprising: display means provided in a virtual reality (VR) headset; And means for installing two camera sensors in front of a virtual reality (VR) headset; And image correction means for correcting the image information of each camera sensor according to the visual acuity of the visually impaired person (for example, amblyopia, astigmatism, color blindness, short focus, narrow field of view) characteristics; And means for displaying the corrected image on the display means of the virtual reality headset. As a method of correcting each camera sensor image, strong contrast, color conversion, image enlargement, and image sequential movement technique with a narrow field of view can be applied according to the characteristics of visual disturbance. That is, it includes a programming means for setting the visual acuity of the visually impaired person (for example, amblyopia, astigmatism, color blindness, short focus, narrow field of view). In addition, means for measuring the distance from the forward object with the two camera sensors 23; Means for informing the distance to the forward object by voice; And, optionally, means for automatically recognizing an image in the image correction means (23); And means for informing the type of the forward object by voice.

FIG. 7 is a block diagram of a vertical structure for acquiring image information of a land area in real time by configuring the dron to fly at a predetermined position, altitude and direction by connecting the vertical structure set up at a certain position according to the present invention with a cable. It is difficult to obtain real-time video (15 km / day 300km low-earth orbit satellite) according to the altitude of the satellite and the scan period of the satellite. The distance between the satellite and the ground (36,000 km of geostationary orbit) There are many limitations on the image resolution to be scanned. In order to overcome this problem, the present invention proposes a method of photographing a ground image by fixedly arranging a drone in a predetermined direction at a predetermined position and at a predetermined altitude (for example, about 150 m or more). If you shoot a 5km x 5km region from 150m above the appointed location, you can fly a total of 60x80 = 4,800 drones on Korean territory (300km east and 400km north-south) to get real-time video and high- . Of course, in urban areas where detailed real-time imaging is required, the interval between drones may be narrowed, the camera resolution may be increased, and other areas (rural, forest, and ocean) may be widened. In this way, real-time image information of the entire country can be created by superimposing the images taken by each of the drones, and real-time image information such as fire, security, weather, accident, fire, moving information, Service can be provided. However, it is not possible to acquire real-time image information about the territory of the country when shooting the drones according to the predetermined trajectory, and it is not possible to cover the drones with the battery capacity limit for 24 hours. ). In order to solve this, means for positioning the drone at a predetermined position and altitude over the territory of the country to be monitored; Means for installing camera sensors in directions to be observed in the drone; An image information reception server means for receiving camera sensor image information of drones photographed at the corresponding location; And converting the image information of the drones photographed at the corresponding location into image information of the corresponding national territory area. Means for locating the drone at predetermined positions (or intervals) and altitudes over the land area include means for erecting a vertical structure at the location; And means for powering the drones through a cable in a vertical structure; And optionally means for rapidly draining the cable when the drones are faulty and recovering the drones prior to ground crash. Docking means for landing in bad weather is installed on a vertical structure, and power is supplied through a power cable installed in a vertical structure, so that it can be photographed at all times except during bad weather (mainly typhoon). When the power cable includes a communication line, the image information can be transmitted to the communication device of the vertical structure. Alternatively, video information can be transmitted to a wireless communication device of a vertical structure using a wireless communication network (Wi-Fi or Bluetooth or a dedicated wireless communication network) of the drones. Telephone cable 4P 150m Cable weight is about 4kg. In order to lower the payload of the drone, it should be light and able to supply enough power, and flexible material should be chosen so that it does not break. (Conductor resistance: 9Ω / 100m, Capacitance: 6nF / 100m, Propagation delay: 500ns / 100m for UTP LAN cable.) Index that is used when converting the image information of the drone taken at the relevant position to the image information of the land area Or the image means is set so that the image information of the drone photographed at the corresponding position is connected and converted into the image information of the land area. The present invention takes an image (or an index) at a position (or an index) cut out from a photographed image (for example, at intervals of 4 km x 4 km) in advance by photographing a dron camera sensor at a predetermined position . The direction of the camera sensor of each of the drones is adjusted to be the same as that of the drones (east, west, north, north) in order to connect the image information of the drone photographed at the corresponding location to the image information of the land area. The camera sensor of the drone can be configured to have a mode for scanning the entire area managed by the drone at one time, a mode for sequentially scanning some areas in the entire area to be managed, and a mode for scanning only a specific part in detail . In addition to the ground observation of the lower camera sensor of the drones, a camera sensor can be installed on the top of the drone to observe the sky. In this case, it is possible to construct the weather information or the emergence information of the flying object (including the drones) over the image by observing the sky by installing the camera sensor on the upper end of the drone. A means of locating the drones at predetermined intervals and altitudes over the sea (in the territorial waters) is to set up buoys (not chained with the undersea) connected to wind power and photovoltaic units at the location, To supply power to the corresponding drone, and to collect the corresponding drone by winding the cable when an abnormality occurs in the drone. In this case, a camera sensor is installed in the drone so that the illegal fishing boats emergence information is recognized and notified in the image observing the sea. A camera sensor is installed on the drones, and the fire occurrence information is recognized in an image observing the ground and the forest area. Alternatively, a vertical structure may be installed at regular intervals within a country boundary, and a camera sensor may be installed in a dron connected to a vertical structure and a power cable so as to recognize image information penetrating the national boundary line in a video image which is observed around the boundary line between countries . As described above, when the entire country is configured at a certain distance (eg, at a distance of 5 km in the case of a drone height of 150 m), it is necessary to monitor the whole territory of the country (for example, Thus, it is possible to construct a real-time monitoring service of nationwide image information using a drones.

As described above, according to the present invention, a stereo camera is installed in the drones, and a side-by-side image is selectively synthesized with images of respective camera sensors or images of two camera sensors, ) Stereo image with a headset. This combination of a dron with a stereo camera and a virtual reality (VR) headset lets you enjoy a 3D image from a stereo camera while flying a dron with a stereo camera in a place that is not accessible by humans The new content business becomes possible in the tourism field. It is equipped with a virtual reality headset that is easy to carry and an image correction function that assists visually impaired people to overcome the visual impairment, a virtual reality headset that is installed on the front side, a drones And to provide a real-time image information service for the whole country by shooting the area by stopping flight at all times.

1: Dron 2: inertia sensor means
3: flight control computer means 4: two camera sensor means
5: Image processing means
6: Display device and remote control device
7: wireless and mobile communication means 8: video information selection means
9: Separation distance adjustment means 10: Image conversion means
11: Remote control unit 12: Stopping flight
13: Dron 4 direction key 14: Dron rise key
15: Drone descent key 16: Camera 4 direction key
17: Mode selection key 18: Screen portion
19: Lens part 20: Folding folding mechanism
21: display means 22: two camera sensors
23: image correcting means 24: lens

Claims (28)

In a drones equipped with a stereo camera,
Inertial sensor means (2) and flight control computer means (3) for controlling the flight path and attitude of the drones (1);
Two camera sensor means (4);
Image processing means (5) for synthesizing side by side images with image information of two camera sensors (4);
And a wireless and mobile communication means (7) for wirelessly transmitting the side by side video information to the display device or remote control device (6). The side and the side of the drones BISIDE IMAGE CONTENT SERVICE
The method according to claim 1,
In the mode for transmitting image information from the drone 1
Image information selecting means (8) for selecting to transmit the image information of one camera sensor or to transmit the synthesized image information of the two camera sensors as side by side image information;
And a wireless and mobile communication means (7) for transmitting the image information of the one camera sensor or the side by side image information to the display device or the remote control device (6) wirelessly. Side-by-Side Image Content Services for Drones and Drones
The method according to claim 1,
Depending on the distance between the user's eyes
Side image having a function of adjusting the distance between the camera sensors, characterized by comprising a distance-adjusting means (9) for adjusting the distance between the two camera sensor means (4) installed on the drone (1) Side-by-Side Image Content Services for Drones and Drones
The method of claim 3,
(9) for adjusting the separation distance between the two camera sensor means (4);
Means for physically adjusting the separation distance of the two camera sensor means 4,
And an image converting means (10) for converting the images of the two camera sensor means (4) in accordance with the distance between the two camera sensor means (4) and the distance between the pupils of the user. Side-by-side image content service of a dron and a dron having a function of transmitting a side-by-side image having a distance control function
The method according to claim 1,
Means for using a 360 degree or wide angle camera instead of two camera sensor means 4;
Means for inputting a distance between eyes of a user;
Means for transforming two images determined according to a distance between a user's eyes in a 360-degree or wide-angle image;
And a side-by-side image combining unit that synthesizes the side-by-side image with the two converted image information. The side-by-side image content service of the drones and drones having the function of controlling the distance-
The method according to claim 1,
As the remote control device 11,
A key 12 for directing stopping the drone in the center;
A four-way key 13 for controlling the direction of the dron as a circle outside the key for indicating stop flight;
A drones rising key 14 at the outer upper end and a dron lowering key 15 at the lower end of the four-way key controlling the direction of the drones;
A four-way key (16) for controlling the camera direction is provided between the drones rising key (14) and the dron lowering key (15). The remote control device
The method according to claim 6,
It transmits the image information of one camera sensor in the mode of transmitting image information
Alternatively, a mode selection key 17 for selecting to transmit the combined image information of the two camera sensors as the synthesized side by side image information and transmitting the synthesized image information to the dron 1 is provided. One-handed remote control of the transferring drones
In a drones equipped with a stereo camera,
A satellite coordinate receiving means, an inertial sensor means 2 and a flight control computer means 3 for controlling the flight path and posture of the drones 1 autonomously flying according to the tour course set in the tourist spot;
Two camera sensor means (4);
Image processing means (5) for synthesizing side by side images with image information of two camera sensors (4);
Side wireless communication means (7) for transmitting side-by-side image information wirelessly to a display device or a remote control device (6), and an autonomous flight drones having a function of transmitting a side- Useful tourist attractions
9. The method of claim 8,
When the drones are self-propelled according to the predetermined tour course, the remote control device 11
A key 12 for instructing stop flight of the drones during flight;
A forward key and a backward key for instructing forward and backward according to the tour course;
The remote control device according to claim 1, further comprising a drows-up key (14) and a drowner descending key (15)
In a virtual reality (VR) headset,
A screen portion 18 on which the display means is installed
A foldable folding mechanism 20 is provided between the lens portions 19 for mounting the lenses
The folding folding mechanism 20 is folded to reduce the thickness thereof
Wherein the foldable folding mechanism (20) is extended to extend the distance between the screen portion (18) and the lens portion (19) to use the foldable folding mechanism (20) headset
11. The method of claim 10,
And a screen portion (18) is formed as a display screen of a smart phone by attaching a smart phone. The virtual reality headset
11. The method of claim 10,
The screen portion 18
Means for receiving a side-by-side video signal transmitted wirelessly from a user's smartphone; And
Display means provided in the virtual reality headset itself; And
And a video processing means for reproducing the side-by-side video on the display means. The virtual reality headset
A virtual reality (VR) headset for the visually impaired,
Display means (21) provided in the virtual reality headset; And
Means for installing two camera sensors (22) on the front face of the virtual reality headset; And
An image correction means (23) for correcting image information of each camera sensor according to a visual acuity (amblyopic and astigmatism) characteristics of a visually impaired person; And
And displaying the corrected image on the display means (21) of the virtual reality headset. The virtual reality headset
14. The method of claim 13,
Characterized in that it includes programming means for setting the visual acuity of the visually impaired person (e.g. amblyopia, astigmatism, color blindness, short focus, narrow field of view)
14. The method of claim 13,
Means for measuring a distance to a forward object with two camera sensors (23);
Means for informing the distance to the forward object by voice; And
Alternatively, the image correction means 23 may automatically recognize the image. And
And a means for informing the type of the forward object by voice. The virtual reality headset
In a video information service using images photographed by a drone,
Means for locating the drone at a predetermined location (or interval) and altitude over the territory of the country to be monitored;
Means for installing camera sensors in directions to be observed in the drone;
An image information reception server means for receiving camera sensor image information of drones photographed at the corresponding location;
And converting the image information of the drones taken at the corresponding location into image information of the land area by connecting the image information of the drones photographed at the corresponding location.
17. The method of claim 16,
Means for locating the vertical structure at the location by means of locating the drone at a predetermined spacing and elevation over the land area; And
Means for powering the drones through a cable in a vertical structure; And
And a means for collecting the drone by winding a cable when an abnormality occurs in the drones.
17. The method of claim 16,
Means for locating the vertical structure at the location by means of locating the drone at a predetermined spacing and elevation over the land area; And
Means for powering the drones through a cable in a vertical structure; And
Means for including a cable for communication; or,
(For example, wireless LAN or Bluetooth) is installed in the drones and wireless receiving means (for example, wireless LAN or Bluetooth) is installed in the vertical structure,
And a communication processing means for receiving image information of the camera sensor of the drone on the vertical structure and delivering the image information to a designated server.
17. The method of claim 16,
The image information of the drones photographed at the corresponding location is connected and the reference index or image means is set when converting into the image information of the land area,
And the image information of the drones photographed at the corresponding location is connected and converted into the image information of the land area.
17. The method of claim 16,
In order to link the image information of the drone photographed at the corresponding location to the image information of the land area,
And the direction of the camera sensor of each of the drones is aligned in the same direction (east, west, north, north).
17. The method of claim 16,
The drones' camera sensors
A mode in which the entire area managed by the drone is scanned at once
A mode for sequentially scanning some areas in the entire area to be managed, and
And a mode for scanning only a specific part in detail.
17. The method of claim 16,
Along with ground observation of the lower camera sensor of the drones,
And a camera sensor is installed on the top of the drone so as to observe the sky. The real-time monitoring service
23. The method of claim 22,
A camera sensor installed on the top of the drone
Weather information,
(Including a drone) of the above-mentioned object is recognized by using a dron,
17. The method of claim 16,
A vertical structure in which a buoy and a drone can be docked at a predetermined position and at a predetermined interval and an altitude by means of a drill,
In the vertical structure on the buoy, power is supplied to the corresponding drone through a cable,
And the cable is wound when the drones are abnormally generated to recover the corresponding drones to the vertical structure. The real-time monitoring service of the land marine image information using the dron
25. The method of claim 24,
In a video observing the sea by installing a camera sensor on the drones
And real-time monitoring service of land marine image information using a dron, which is characterized in that it is configured to recognize and inform the illegal fishing vessel emergence information
17. The method of claim 16,
In the image observing the ground and the forest area by installing the camera sensor on the drones
And the fire occurrence information is recognized by using the drones.
17. The method of claim 16,
A camera sensor installed on the drones to observe the boundary line between countries
And recognizing image information penetrating the national boundary line. The real-time monitoring service of the land boundary line image information using the dron
17. The method of claim 16,
When the entire country is constructed at a certain distance (eg, 5 km intervals for a drone height of 150 m)
Real-time monitoring of nationwide land information using drones, which monitors the entire area of the country (for example, 4,800 in total at 400km east-west 300km north-south Korea)

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