KR101665315B1 - Estimation method and equipment of landing position of object dropped from UAV - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle control apparatus for dropping an object to a target point by using an unmanned airplane. The present invention relates to an image processing apparatus, an image processing method, an image processing method, an image processing method, an image processing method, an image processing method, an image processing method, And a falling position predicting unit for calculating a moving position of the UAV to reach the target point.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for estimating a landing position of an object to be unloaded from an unmanned airplane,

Field of the Invention [0002] The present invention relates to a method and apparatus for predicting a landing position of an object dropped from an unmanned aerial vehicle. More particularly, the present invention relates to a method and apparatus for estimating a landing position of an object to be unloaded from an unmanned airplane by dropping a dummy using an unmanned airplane and collecting image information containing positional information on the landed dummy.

Recently, interest in the development of an emergency maritime rescue system has emerged due to the occurrence of marine accidents in Korea. Early action in the event of a marine accident is very important in reducing disaster damage. However, since it is difficult to always place enough manpower for rescue in case of a marine accident, the government is promoting the research on the unmanned mobile body in earnest in recent years.

In the method of delivering rescue goods to people requesting rescue using an unmanned aircraft, it is now required to drop the rescue goods to the target point through latitude and longitude information about the target location. However, by the above method, it is difficult for the structural articles dropped due to the influence of the wind and the terrain of the disaster occurrence area to be accurately transmitted to the requestor of the structure.

Therefore, there is a need for a method and an apparatus for predicting landing position of an object to be unloaded in an unmanned airplane in consideration of environmental variables and geographical variables around the unloading point.

Korean Patent Publication No. 2008-0027214

An object of the present invention is to provide an unmanned aerial vehicle for dropping a dummy, collecting aerial images relating to a landing position of a dropped dummy, and determining a dropping position of the object using the surrounding aerial image.

Another object of the present invention is to provide an unmanned airplane that determines an unloading position of an object reflecting environmental parameters around a unloading area without mounting a high-level sensor on the unmanned airplane.

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

According to an aspect of the present invention, there is provided an apparatus for controlling an unmanned airplane, comprising: an image extracting unit for extracting an image of a dummy dropped from the unmanned airplane using image information received from the unmanned airplane; And a drop position predictor for estimating a position of an object to be dropped from the unmanned airplane from the image of the dummy provided from the unmanned airplane, and calculating a moving position of the unmanned airplane for the object to reach the target point.

The falling position predicting unit calculates a center point of the dropped dummies and calculates a distance between the center point and the target point so as to determine a drop position at the same altitude as the shooting altitude of the unmanned airplane, And calculating a movement position.

When the dropped dummy reaches a certain radius from the target point, the unmanned airplane control device issues a drop instruction to the object with the unmanned airplane, and when the dropped dummy does not reach within a certain radius from the target point, And repeating the loading of the dummy again at the unmanned airplane moving position calculated by the side portion.

According to an aspect of the present invention, there is provided an unmanned aerial vehicle including a dummy drop unit for dropping at least one dummy, a camera unit for capturing an image containing the dropped dummy and the target, And a UAV controller that moves the position so that the target can reach the target. At this time, when the dummy reaches the target, the object can be dropped.

The dummy drop portion can drop an object when a dummy for dropping the dummy at a constant speed reaches a target when dropping a plurality of dummy.

According to an aspect of the present invention, there is provided a method for dropping an object to a target point using an unmanned airplane, comprising: dropping at least one dummy near a target point; And moving the UAV according to the movement position information of the UAV calculated on the basis of the captured still image.

At this time, after the unmanned airplane moves, it can be repeatedly executed from the step of dropping the dummy.

The method for dropping an object to a target point using the unmanned airplane may further include dropping an object at the dropping position when the dropped dummy is dropped at a target point.

According to an aspect of the present invention, there is provided a method for controlling an unmanned airplane and dropping an object at a target point, the method including: receiving an image including at least one dummy and a target point; And extracting the dummy image from the image, calculating a drop point from the dummy image, and transmitting the information about the drop point.

The step of calculating the dropping point may include a step of drawing a circle with the center of the dummy image as an origin, a step of creating a line segment connecting a point where a plurality of circles overlap each other when the circle is plural, And a step of finding a center point having the same distance to the center of the line segment within the generated figure.

The method for calculating a dropping point for dropping an object to a target point by controlling the unmanned aerial vehicle includes the steps of: determining whether the center point is located within a predetermined radius from the target point; and, if the center point is not located within a certain radius from the target point, Calculating a dropping point for dropping the dummy at a target point using an angle between the dropping point and the center point, and transmitting the calculated dropping point.

According to the present invention, it is possible to reduce the manpower required for the rescue operation by dropping the rescue goods using the UAV.

In addition, the unmanned airplane proposed in the present invention is capable of delivering more accurate structural articles by first dropping the dummy, calculating the dropping position of the UAV from the landing position of the dropped dummy, and dropping it.

In addition, by observing the landing position by dropping a cheap object such as a dummy in place of the structural article, it is possible to reduce the waste of the structural article, which is more expensive than the dummy, to the structural requester.

FIGS. 1 and 2 are diagrams for explaining problems that may arise in a disaster accident structure using an unmanned aerial vehicle.
3 is a view for explaining a method of operating a dummy mounted on an unmanned aerial vehicle according to an embodiment of the present invention.
4 is a diagram illustrating an operation of dropping a dummy to predict a landing point of an object dropped by an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 5 is a view for explaining an operation after a dummy is dropped to predict a landing point of an object dropped by an unmanned aerial vehicle according to an embodiment of the present invention.
FIG. 6 is a view for explaining a method of determining a center point of a landing position when landing positions of dummies are different according to an embodiment of the present invention.
FIGS. 7 and 8 are diagrams for explaining a method of calculating an object dropping position of an unmanned aerial vehicle when a landing position and a target point of a dummy are different, according to an embodiment of the present invention.
9 is a block diagram of a controller for controlling the UAV and the UAV.
FIG. 10 is a diagram illustrating a signal flow diagram of the unmanned air vehicle according to FIG. 9 and the controller for controlling the unmanned air vehicle.

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

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

FIGS. 1 and 2 are views for explaining a problem occurring in a disaster accident structure using an unmanned aerial vehicle.

Referring to FIGS. 1 and 2, a description will be given in detail of a problem that may occur in a disaster accident structure using an unmanned aerial vehicle.

The UAV 100 may include many types of UAVs, including quadcopters and hexacopters using small electric motors, due to technological advances in the field of electric batteries. Unmanned aerial vehicles can be manufactured in a small size, and electric motors are used.

By using the UAV 100, it is possible to speed up the initial response in case of a disaster, thereby preventing the accident from spreading. The UAV 100 may be remotely adjustable. Accordingly, if the rescue goods can be delivered to the rescue requester 110 through the UAV 100, it is possible to respond quickly to disasters even when a large number of rescue personnel are not secured.

The unmanned airplane 100 can carry the structural article 2 for a disaster relief structure. At this time, the UAV 100 may further include a connection unit 1 for connecting the structural article 2 to the UAV 100 and allowing the UAV 100 to be dropped into the request area.

The structural article (2) may include an airbag, a necessity item, or a thing requiring a person suffering various disasters. The structural article 2 may be a deformable article such as a parachute in the process of being transmitted to the structural requestor 110. The control unit of the UAV 100 may further include a configuration for adjusting the drop height of the UAV 100 when the UAV 100 is deformed.

The connecting portion 1 includes a structure for freely detachably attaching the unmanned airplane 100 and the structural article 2.

Even if the structural article 2 is dropped in a space above the sea corresponding to the latitude and longitude of the structural requestor 110 as shown in FIG. 2, the structural requester 110 can be accurately It will not be delivered. If the rescue goods 2 arrive at the rescue requester 100 if the distance 3 between the unloading point of the rescue equipment 2 and the rescue requester 110 is measured and dropped at the distance 3 distance The possibility increases.

In another way, in order to solve the problem as shown in FIG. 2, the UAV 100 may measure the strength and direction of the wind direction, the inclination of the terrain, and the intensity of the waves in the accident area.

However, the UAV 100 is very sensitive to weight because it uses a small electric motor, and the speed of the UAV 100 is considerably lowered by weight. Accordingly, as shown in FIG. 2, various sensors mounted on the UAV 100 may be limited to reduce the distance 3.

Therefore, the present invention provides a method for predicting a landing point of an unmanned air vehicle 100 when the object is unloaded by using the camera 410 and the dummy 320, And determines a delivery position. Hereinafter, the configuration of the present invention will be described.

3 is a view for explaining a method of operating the dummy 320 mounted on the UAV 100 according to an embodiment of the present invention.

Referring to FIG. 3, the UAV 100 according to an embodiment of the present invention may include a dummy housing 300, a dummy 320, and a dummy loader 310.

The UAV 100 according to an embodiment of the present invention may include a quadcopter or a hexacopter. Hexacopters can take off vertically and can be advantageous for aerial photography because they can stay at certain points in the air.

The dummy housing 300 includes a dummy 320, and one end includes an outlet for allowing the dummy 320 to be pushed out by the dummy loader 310 to be discharged. At one end of the dummy housing 300, a dummy loader 310 can be moved so as to push out the dummy 320 of the dummy housing 300.

In the UAV 100 according to an embodiment of the present invention, the dummy 320 may be discharged in a non-inductive manner. In this case, the non-inductive system means that, due to environmental changes, a drop is caused by a constant force without any factor affecting the initial speed. Thus, the dummy 320 can be discharged at the same rate if there is an initial discharge rate.

Unlike the structural article 2 to be delivered using the UAV 100, the dummy 320 drops several dams 320 at one time for landing position prediction. At this time, if the dummy 320 is dropped at a constant speed, the landing position can be predicted by reflecting the direction and direction of the changing wind direction at a predetermined time interval.

Therefore, the dummy loader 310 can maintain a constant force applied to the dummy 320 at a constant time interval. In contrast, according to another embodiment of the present invention, the dummy loader 310 is fixed, and the dummy housing 300 moves in the direction opposite to the direction of the dummy load 320, It may be dropped.

The dummy 320 according to an embodiment of the present invention is discharged in the direction of the force applied by the dummy loader 310 by the force applied by the dummy loader 310 and is discharged to the dummy 320 located away from the dummy loader 310. [ .

The dummy 320 may have a mass, density, volume, and shape similar to those of the structural article 2. Therefore, the shape of the dummy 320 is not necessarily limited to a circle. The fluorescent material may be applied to the surface of the dummy 320 to increase the efficiency in extracting the dummy from the captured image of the discharge position of the dummy. The dummy 320 may be made of a material having a certain elasticity so as to maintain the original shape even if the dummy 320 is discharged from the dummy housing 300 through a discharge port that is narrower than the dummy 320.

When the dummy housing 300 is mounted on the UAV 100, the dummy housing 300 can be arranged to be horizontally disposed as shown in FIG. 3, to be dropped in a parabolic shape, and to be vertically disposed with respect to a horizontal plane. However, the present invention is not limited thereto.

4 is a diagram illustrating an operation of dropping the dummy 320 to predict a landing point of an object dropped by the UAV 100 according to an embodiment of the present invention.

An apparatus 440 for predicting a landing position of an object dropped by the UAV 100 according to an exemplary embodiment of the present invention may include a camera unit 410 and a dummy drop unit 400.

The camera unit 410 can be manufactured by using an image sensor such as CCD or CMOS as a main component. The camera unit 410 may store the image of the object on the memory in the device 440 for estimating the landing position of the object dropped by the UAV 100 by condensing the image of the object through the image sensor. The device 440 for predicting the landing position of the object dropped by the UAV 100 may transmit the stored data to the controller for controlling the UAV 100. [

The camera unit 410 may be mounted on the underside of the UAV 100 to photograph the dummy 320 dropped on the water surface as shown in FIG. More specifically, it is preferable that the camera unit 410 is designed to be rotatable up, down, left, and right so that the still image captured by the dummy 320 is captured.

4, the dummy drop unit 400 may be disposed on the side of the device 440 for predicting the landing position of the object dropped by the UAV 100 and may be disposed on the lower side in the same direction as the camera unit 410 It is possible. However, it is preferable that the dummy dropping unit 400 is disposed in the same direction as the dropping portion of the structural article 2 to be unloaded from the UAV 100.

FIG. 5 is a view for explaining an operation after a dummy is dropped to predict a landing point of an object dropped by an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 5, a dummy 320 dropped by an apparatus 440 for predicting a landing position of an object dropped by the UAV 100 according to FIG. 4 is landed near the structure requestor 110.

An apparatus 440 for predicting a landing position of an object dropped by the UAV 100 shoots a still image of the landed dummy 320. The still image may be photographed after all the dummy 320 is dropped, or may be photographed every time one dummy 320 is dropped.

As shown in FIG. 5, the statistical clustering theory can be used as a method of predicting the landing position of an object dropped by the UAV 100 in the case of a still image of a state where a large number of dummies 320 are dropped and landed. The position of the object to be dropped can be predicted in the future by estimating the posterior probability from the extracted Gibbs sample by applying the Gibbs Sampler algorithm to the position of the dropped dummy 320 with a prior probability distribution.

On the other hand, when the still image is taken every time the dummy 320 is dropped, the landing position of the object to be unloaded considering the direction and direction of the wind direction from the moving direction of the dummy 320 dropped at the same initial velocity at the same position . ≪ / RTI >

As shown in FIG. 5, when it is difficult to deliver the structural article 2 to the structural requestor 100 by rain or wind, the distance 3 between the landed position of the predicted object and the structural requestor 110 is minimized. Therefore, in order to lower the error tolerance range, the device 440 for predicting the landing position of the object dropped by the UAV 100 according to the present invention may repeat the dummy drop after moving the position of the UAV 100 .

FIG. 6 is a view for explaining a method of determining a center point of a landing position when landing positions of dummies are different according to an embodiment of the present invention.

Only the image of the dummy 320 can be extracted from the image captured by the camera unit 410 as shown in FIG. The shape extracted from the image of the dummy 320 of FIG. 6 may be circular rather than the shape of the actual dummy 320, and may be larger than the size of the actual dummy 320. This is because the rescue operation is possible when the rescue requester 110 is located within a certain radius in the landing position even if the landed position of the object such as the rescue article 2 is not equal to the target point.

The dummy 320 image is extracted and connected to the center 600 of the line segment connecting the end points of the created figure. The center point 620 having the same distance from each vertex 600 can be easily found in the figure 610 formed by connecting the center 600 of the line segment.

If the center point 620 is smaller than a certain radius used when drawing the circle from the landing position of the dummy 320, It is possible to deliver it to the resident requester 110. [ Accordingly, the UAV 100 can drop the structural article 2, which is a target object, at the above position.

On the other hand, if the center point 620 is larger than a certain radius used when drawing the circle from the landing position of the dummy 320, the position of the UAV 100 may be re- 320) can be repeated.

If the disaster rescue area has a large number of environmental variables as shown in FIG. 5, the predetermined radius can be set small. This is because the structural object 2 needs to be landed more accurately to the rescue requester 110.

7 and 8 are views for explaining a method of calculating the object drop position of the UAV 100 when the landing position and the target point of the dummy 320 are different according to an embodiment of the present invention.

It is possible to find a line segment passing through the vertical point 700 vertically lowered from the UAV 100 to the surface among the line segments passing through the midpoint 620 of the landing position of the dummy 320 released from the UAV 100. An isosceles triangle 710 having a bisected line segment connecting the UAV 100 and the vertical point 700 can be drawn using the found line segment as a base line. A line segment 720 connecting the center point 620 from the vertex of the isosceles triangle 720 toward the UAV 100 may be shown. At this time, the value a, which is the angle between the line segment connecting the vertical point 700 and the line segment 720 connecting the center point, can be measured.

If the external environmental variables do not work, the dummy released from the UAV 100 must reach the vertical point 700. However, the dams 320 that have fallen free from the UAV 100 due to the direction and direction of the wind direction, geographical factors, etc. may not reach the vertical point 700 and may be inclined to the center point 620 ).

At this time, if the rescue requester 110 is located at the vertical point 700, it is predicted that the UAV 100 will not reach the rescue requester 110 when the UAV 100 drops the rescue item 2 . Therefore, it is necessary to move the position of the UAV 100 as shown in FIG.

As shown in FIG. 8, if the unmanned airplane 100 is located at the rescue requester 700a, the unloading object should search for the dropping point of the unmanned airplane 100, which can be landed at the point 700a.

The searching method may be a line segment 720b which is parallel to the 720a line segment having the slope of the measured a value and passes through the target point 700a. 720b can be obtained from the longitude and latitude of the unmanned airplane 100 that dropped the previous dummy. The UAV 100 can move the position of the UAV 100 with the obtained hardness and latitude while maintaining the same height.

8, the probability of landing the dropped object at the target point 700a is somewhat higher than that at which the object is dropped at the position of the UAV 100 in FIG. 7 .

FIG. 9 is a block diagram of a controller for controlling the UAV and the UAV according to an embodiment of the present invention. Referring to FIG.

The controller 900 may include a first communication unit 910, an image extraction unit 920, a drop position predicting unit 930, and a flight control unit 940.

The UAV 100 may include a second communication unit 950, a UAV control unit 960, a dummy drop unit 970, and a camera unit 980.

The first communication unit 910 and the second communication unit 950 should be configured to communicate with each other. The first communication unit 910 and the second communication unit 950 can use any one of WiFi, Bluetooth, 3G, Long Term Evolution (LTE) or LET-A.

The image extracting unit 920 can extract only the feature points from the still image provided from the UAV 100. [ At this time, the image can be extracted using color, texture, shape, and the like, which are feature information in the image, and the search can be performed using the extracted information. Such software can use VisualSeek, QBIC, etc.

The falling position predicting unit 930 can predict the drop position using the algorithm shown in Figs. 7 to 8 of the present invention. If the still image is photographed every time the dummy 320 is dropped as in the other embodiment of the present invention, the falling position predicting unit 930 estimates the drop position of the dropped dummy as a prior probability distribution and outputs the Gibbs sampler, Algorithm, etc., it is possible to predict the landing position of the object to be dropped in the future by estimating the posterior probability from the extracted cast sample.

The flight control unit 940 may be provided with a dropping point for dropping the drop position calculated by the fall position prediction unit 930 to the target spot. The flight control unit 940 can move the UAV 100 to the provided dropping point.

The flight control unit 940 can instruct the unmanned airplane 100 to drop an object such as the structural article 2 when it is determined that the dummy dropping has reached the target point from the drop position predicting unit 930. [

The UAV control unit 960 can move the UAV 100 to the moving position of the UAV 100 controlled by the flight control unit 940. [ The UAV control unit 960 controls each propeller and the direction adjusting device to maintain the horizontal balance of the UAV 100 and to control the moving direction.

The dummy drop-off portion 970 can drop the dummy 320 through the dummy loader 310 and the dummy house 300.

When the dropped dummies are landed, the camera unit 980 generates a still image representing the landing position, stores the still image, and provides the still image to the image extracting unit 920 of the controller 900.

FIG. 10 is a signal flow diagram of the UAV 100 and the controller 900 according to an embodiment of the present invention.

The flight control unit 940 of the controller 900 may input the location of the disaster area and move the unmanned airplane 100 to the disaster area (S1000). The location may be entered with latitude and longitude, etc. At this time, the UAV 100 may include GPS. If the target point is not the latitude and the longitude but is represented by the coordinate system of the x-axis and the y-axis with the starting point at zero point, it may include a moving distance measuring device.

If it is determined that the UAV 100 has arrived near the target point (S1010), the dummy 320 is dropped from the position (S1020). When the dummy 320 is landed on the ground surface or the water surface, a still image in which the landed position of the dummy 320 is released and a target such as the rescue requester 110 are displayed together (S1030). The still image is transmitted to the controller 900 (S1040).

The controller 900 may extract only the dummy 320 from the received image (S1050). A circular radius having a predetermined radius at the center of the dummy 320 can be shown in FIG. 6 (S1060). The circle radius means a limit zone in which the object can reach the rescue requester 110 when the object landed.

A figure 610 may be generated in which a line segment is formed by connecting two points overlapping from the circle and the center of the line segment is a vertex 600 (S1070). A center point 620 having the same distance from the graphic form 610 to each vertex 600 of the graphic form 610 can be calculated (S1080).

It is determined whether the target point 700a exists within the radius of the circle around the center point 620 (S1090). If it is determined that the airplane has been dropped at the target point (S1090, S1120), the flight control section 940 of the controller 900 instructs the unmanned airplane 100 to drop the structural article 2 such as an air bag at the time of a marine accident (S1120).

If it is determined that the dummy 320 has not reached the target point (S1090, S1100), the drop position predicting unit 930 calculates the drop point of the UAV 100 and calculates the drop position of the UAV 100 . The movement position is transmitted to the UAV 100 in operation S1110, and the UAV controller 960 moves the UAV 100 to the movement position in operation S1130. At the shifted position, the UAV 100 executes step S1020 again to repeat the process for dummy delivery.

If the object is dropped by the airbag drop command S1120, the UAV 100 no longer repeats the dummy 320 drop algorithm and terminates the algorithm.

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

Unmanned aircraft 100
Dummy 320
Apparatus for predicting landing position of an object to be dropped from a UAV 440
The controller 900

Claims (11)

An image extracting unit for extracting an image of a dummy dropped from the unmanned airplane using image information received from the unmanned airplane; And
A circle is formed with the center of the image of the dummy provided from the image extracting unit as an origin, and when a plurality of the circles are present, a line connecting the points where the circles overlap each other is generated, And calculating a dropping point for dropping the object on the basis of the center point, and calculating a dropping point for dropping the object on the basis of the center point, A falling position predicting unit for calculating a moving position of the UAV;
/ RTI >
Unmanned aircraft control system. delete The method according to claim 1,
The unmanned aerial vehicle control device includes:
When the center point reaches a certain radius from the target point, the unmanned airplane makes a drop command for an object,
Further comprising a flight control section for repeatedly releasing the dummy again at the unmanned airplane moving position calculated by the falling position predicting section when the center point does not reach within a certain radius from the target point.
Unmanned aircraft control system. A dummy drop portion dropping at least one dummy;
A camera unit for capturing an image containing the dropped dummy and the target together; And
Extracts the image of the dropped dummy from the image, generates a circle with the center of the extracted dummy image as an origin, and creates a line connecting the points where the plurality of circles overlap each other when the circle has a plurality of circles A center point of the line segment is calculated, a center point of the line segment is found, and a point of dropping the object is calculated based on the center point and the captured target point And a UAV control unit for moving an unmanned airplane based on the calculated information about a dropping point, wherein, when the center point reaches within a certain radius from the target,
Unmanned airplanes that drop objects. 5. The method of claim 4,
Wherein the dummy dropping portion drops an object for dropping the dummy at a constant speed when dropping a plurality of dummy. A method for delivering an object to a target location using an unmanned aircraft,
Dropping at least one dummy near the target point;
Photographing a still image such that the dummy and the target point are displayed;
Extracting an image of the dummy from the still image;
Drawing a circle with the center of the extracted image of the dummy as an origin;
Generating a line segment connecting points where a plurality of circles overlap each other when the circles are plural;
Connecting the centers of the line segments to generate a figure;
Finding a center point having a distance to the center of the segment within the generated figure;
Calculating a point to drop the object based on the center point and the target point;
Moving the unmanned airplane based on the calculated information about a dropping point; And
Wherein the unmanned airplane, which has moved to a point at which the object is to be dropped,
A method for delivering an object to a target location using an unmanned aircraft. The method according to claim 6,
Wherein the moving of the unmanned aerial vehicle comprises:
Repeating the step of dropping the dummy to the step of moving the unmanned airplane after the unmanned airplane moves.
A method for delivering an object to a target location using an unmanned aircraft. 8. The method of claim 7,
A method for dropping an object to a target point using the unmanned air vehicle,
When the dropped dummy is dropped at a target point,
Further comprising dropping an object at said dropping position.
A method for delivering an object to a target location using an unmanned aircraft. An apparatus for estimating a landing position of an object,
Receiving an image including at least one dummy and a target point;
Extracting the dummy image from the image;
Drawing a circle with the center of the extracted dummy image as an origin;
Generating a line segment connecting points where a plurality of circles overlap each other when the circles are plural;
Connecting the centers of the line segments to generate a figure;
Finding a center point having a distance to the center of the segment within the generated figure;
Calculating a point to drop the object based on the center point and the target point; And
And transmitting information on the point to be released to a controller that controls the unmanned aerial vehicle,
A method of controlling the unmanned airplane to calculate a dropping point for dropping an object to a target point. delete 10. The method of claim 9,
The step of estimating the point at which the object is dropped may include:
Determining whether the center point is within a certain radius from the target point;
If the center point is not located within a certain radius from the target point, using the angle between the dropping point and the center point to re-entrust the drop point for dropping the dummy at the target point; And
And transmitting the registered point to be dropped to a controller that controls the unmanned airplane,
A method of controlling the unmanned airplane to calculate a dropping point for dropping an object to a target point.

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