KR101844726B1 - Drone for construction suprvision and the method of supervision using the same - Google Patents

Abstract

The present invention provides a drone for building inspection by mobile terminal control. According to the present invention, the drone for building inspection comprises: an RSS signal transceiving unit to transceive an RSS signal; a camera to photograph a surrounding image; a light emitting marking unit to emit a light mark having a prescribed diffusion rate per distance and having a prescribed vertical length and horizontal length component towards an object to be inspected; and a control unit to control operations of the RSS signal transceiving unit, the camera, and the light emitting marking unit. The control unit compares strength of an RSS signal received from a different drone and an RSS signal received from a separately provided RSS signal transmission device to calculate a relative position and a distance between the different drone and the RSS signal transmission device, and controls the light emitting marking unit and the camera to acquire a first image including a first light mark emitted to the object to be inspected by the light emitting marking unit, a second light mark emitted to the object to be inspected by the different drone, and the object to be inspected. Information of each object can be viewed on a screen simply by allowing a user to easily photograph a construction site to match stored information of an object to be inspected to touch a photographed image to easily manage and supervise a construction situation of the construction site.

Description

TECHNICAL FIELD [0001] The present invention relates to a drone for construction supervision and a method for supervising building using the same,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method of controlling a building using a mobile terminal and a drones used therein. More particularly, the present invention relates to a method of controlling a building using a mobile terminal.

In general, the supervisory work can be classified into field work, administrative work, and grant work. The field work is to perform confirmation and inspection work at any time according to work procedures before, during, and after construction. We can provide various approval services (quality, safety, environment plan, materials, subcontracting, slump process, design process, construction plan, construction details, etc.) and manual and complaint related tasks such as reply, confirmation, document reception, And the administrative affairs shall perform the records management of various licenses and permits, approval conditions, contract conditions, etc., inspection and audit of various external organizations, factory inspection, and various quality test enrollment.

In addition, related information and laws and regulations vary depending on the scope of supervisory work and the conditions of each field according to the work procedures and legal standards (laws, regulations, notices, guidelines, etc.) of each field. Technical books), you should refer to a vast array of materials and supervisory guidelines.

As such, the conventional construction supervision service is difficult to process easily without specialists and experienced professionals in each field, and there are problems such as omission and delays. In the procedure, the procedures to report to the owner, constructor, permission, And technical review documents are not known, and various approval, notification, report and other tasks are delayed and lead to process delays in construction, resulting in a problem of being expressed as a claim to the supervisory service.

In order to solve these problems, we are attempting to computerize the supervision work of the construction work. We connect the client, the designer, the supervisory company, the construction company, the supervisory operation system and the external organizations through the network via the Internet, In addition to the web service, data related to the corporation is databaseed.

However, according to this conventional technique, various forms are provided using a database, forms are downloaded from a system connected to the network, forms are created, and once the created form files are transmitted to the operating system, And various kinds of information are also transmitted through a database to a web service, which is a system in which a client can search for and use it by itself.

In addition, the user who controls the construction site must directly move to the corresponding location, and then perform various kinds of control over the various objects. Thus, there is a problem that the control task is inconvenient and difficult.

The present invention has been made in view of the above-mentioned needs, and it is an object of the present invention to provide a method and a system for controlling a building through a mobile terminal control for conveniently and easily performing a control through photographed images by photographing a control object, This is to provide a method.

The drones for building supervision according to the present invention include: an RSS signal transmitting and receiving unit transmitting and receiving RSS signals; A camera for photographing a surrounding image; A light emitting marking unit having a constant diffusion rate per distance and at least a light mark having a predetermined vertical length and a horizontal length component in the direction of the object to be inspected; And a control unit for controlling operation of the RSS signal transmitting / receiving unit, the camera, and the light emission marking unit,

The control unit calculates a distance to the treadmill by photographing an image including the treadmill and controls the path so that the center point between the treadmills is subjected to the first turning flight and the second turning flight at the center of rotation , The first image including the treadmill is photographed during the first turning flight, the position of the object to be inspected is determined by referring to the information of the object to be inspected transmitted from the server, A marking unit for obtaining a second image including a first light mark irradiated by the object to be inspected, a second light mark irradiated by the object to be inspected by the tardor, and a second image including the object to be inspected, And extracts the region in which the control object is photographed from the acquired second image.

Also, the camera and the light-emitting marking unit may be provided at the lower end of the drones, and the center of gravity of the camera and the light-emitting marking unit may be aligned with the lower center of gravity of the drones.

In addition, the control unit may receive information on the object to be supervised from any one of the mobile terminal and the server, and may match the display area of the object to be supervised extracted from the second image and the second image.

Also, the controller may match the physical information of the object to be inspected calculated from the second image and transmit the physical information to the mobile terminal.

Also, the control unit may calculate a center point bisecting the distance from the treadmill, calculate a turning radius around the center point, and control the path of the drone to swing around the center point.

The light emission marking unit may irradiate a plurality of discontinuous laser beams to form a line segment having a vertical length and a horizontal length component.

A method for controlling a building using a first dron, a second dron, and a mobile terminal, the method for controlling a building using a dron according to the present invention includes: a first step of providing a first dron and a second dron, step; A second step of calculating a distance between the first dron and the second dron by capturing an image including one of the first dron and the second dron including the remaining drones; The first dron and the second dron pivot about a center point of the first dron and the second dron, and at least one of the first dron and the second dron during the rotation pivots about the center of the first dron and the second dron, And a third step of photographing a swivel taking image including a pair of optical marks and an object to be inspected by the second drones; A fourth step of measuring physical information of the object to be supervised from the swing shot image and calculating information of an area in which the object to be controlled is displayed among the swing shot images; A fifth step of matching information of the object to be supervised included in the swing shot image with information of the object to be controlled transmitted from the outside; And a sixth step in which any one of the first and second drones transmits the matched swivel image and information of the object to be supervised to the outside.

In this case, the third step may include a first dron and a second dron which are opposed to each other in the course of turning the first dron and the second dron with respect to the center points of the first dron and the second dron, A first dron and a second dron rotating about a center point of the first dron and the second dron; and a third step of acquiring a position of the object to be controlled on the rotation path by capturing an image of the first dron and the second dron, Wherein the first dron and the second dron fly in a second position while the first dron and the second dron respectively irradiate the optical mark on the adjacent object to be inspected, And a third step (2-2) of photographing.

Also, the information of the object to be supervised may include at least one of manufacture, construction, specification, and process of the object to be supervised including the ID of the object to be supervised.

In the third step, any one of the first dron and the second dron may compare the sizes of the pair of optical marks diffused at a certain rate per distance to determine a distance between the object to be inspected and the first dron, The ratio between the distance between the object to be controlled and the second drones can be calculated.

From the first dron and the second dron, from the pair of optical mark irradiation angles with respect to a distance between the first dron and the second dron and a virtual line connecting the first dron and the second dron, The actual distance to the object to be supervised can be calculated.

Also, the direction of the object to be inspected can be calculated based on a virtual line connecting the first dron and the second dron.

According to at least one embodiment of the present invention, a user easily captures a construction site and matches the stored information with the stored information of the object to be inspected, and simply touches the photographed image, By doing so, it is possible to more easily manage and monitor the construction situation of the construction site. In particular, the user who is in charge of the construction site can perform the supervision task easily with only one mobile terminal without preparing for the construction site.

Further, according to the present invention, it is possible to conveniently and simply control a large building or a structure by using a mobile terminal connected to a server and a dron without needing to prepare a complicated and various information before work, I can do business.

Further, according to the present invention, the dron can be remotely controlled without requiring the user to move directly to the supervision site, thereby performing the supervision task conveniently and simply.

Further scope of applicability of the present invention will become apparent from the following detailed description. It should be understood, however, that the detailed description and specific examples, such as the preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art.

1 is a block diagram of a supervisory system according to an embodiment of the present invention.
2 is a block diagram of a mobile terminal according to an embodiment of the present invention.
3 is a block diagram of a drones in accordance with an embodiment of the present invention.
4 is a block diagram for explaining a method of object generation and DB matching according to an embodiment of the present invention.
FIGS. 5 and 6 are schematic views for explaining a turning shooting and marking method according to an embodiment of the present invention.
7 is a flowchart illustrating a method of controlling a mobile terminal according to an exemplary embodiment of the present invention.
8 to 9 are schematic views for explaining a method for photographing an object by a mobile terminal according to an embodiment of the present invention.
10 to 11 are views for explaining a method for confirming object information through a mobile terminal according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, 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.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

The use of the terms "comprising" or "having" in this application is intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Even if there is no corresponding symbol in the specific drawing described in the present application, if there is a corresponding symbol in the previously described drawing, it can be described by indicating it.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

Referring to FIG. 1, a supervision system 500 according to an embodiment of the present invention will be described. 1 is a block diagram of a supervisory system according to the present invention.

The control system 500 according to the present invention includes a mobile terminal 100, a drones 200, and a server 300.

The mobile terminal 100 can communicate with the drone 200 and the server 300 through various communication networks and also can communicate with each other between the drone 200 and the server 300. [

The mobile terminal 100 transmits a control signal to the drone 200, and the drone 200 performs various operations according to the received control signal. Accordingly, the user can control the operation of the drones 200 by using the mobile terminal 100.

Meanwhile, the drones 200 can transmit the collected information to the mobile terminal 100. Accordingly, the mobile terminal 100 can receive the information collected by the drones 200 and transmit the received information to the server 300. Or the mobile terminal 100 may control the drones 200 to transmit the collected information directly from the drones 200 to the server 300. [

The server 300 receiving the information from the mobile terminal 100 or the drone 200 can extract information corresponding to the received information from the database. For example, when the received information is an image including a specific object (e.g., a window frame), the server 300 transmits object information (e.g., window frame ID, manufacturing information, Etc.) can be extracted from the database. Accordingly, the server 300 can transmit the extracted object information to the mobile terminal 100.

A mobile terminal according to an embodiment will be described with reference to FIG. 2 is a block diagram of a mobile terminal according to the present invention.

The mobile terminal 100 according to the present invention may be a mobile phone, a smart phone, a tablet computer, a notebook computer, a digital broadcasting terminal, a PDA (personal digital assistant), a portable multimedia player (PMP) . In the following description, it is assumed that the mobile terminal 100 is a smart phone.

A mobile terminal according to the present invention will now be described.

A mobile terminal 100 according to the present invention includes a wireless communication unit 110, an audio / video (A / V) input unit 120, a user input unit 130, a sensing unit 140, an output unit 150, , An interface unit 170, a control unit 180, and a power supply unit 190, for example.

The wireless communication unit 110 may include one or more components that allow wireless communication between the mobile terminal 100 and the wireless communication or mobile communication system or wireless communication between the mobile terminal 100 and the network in which the mobile terminal 100 is located have. For example, the wireless communication unit 110 may include at least one of a broadcast receiving module 111, a mobile communication module 112, a wireless Internet module 113, a short distance communication module 114, and a location information module 115 .

The wireless Internet module 113 or the mobile communication module 112 refers to a communication module that communicates with the drones 200 or the server 300. Examples of applicable wireless Internet technologies include WLAN (Wi-Fi), Wibro (wireless broadband), Wimax (World Interoperability for Microwave Access), and HSDPA (High Speed Downlink Packet Access).

An A / V (Audio / Video) input unit 120 is for inputting an audio signal or a video signal, and may include a camera 121 and a microphone 122. And processes image frames of still images or moving images obtained by the image sensor in the video communication mode or the photographing mode. The processed image frame can be displayed on the display unit 151. [

The image frame processed by the camera 121 may be stored in the memory 160 or transmitted to the outside through the wireless communication unit 110. [ The camera 121 may include two or more cameras according to the configuration of the mobile terminal 100.

The camera 121 includes a lens unit for imaging an image of a subject and an imaging device for converting an image formed by the lens unit into a video signal as an electrical signal. The image pickup device is a device for photoelectrically converting an image of an image of a formed object, and a charge coupled device (CCD) image pickup device or a complementary MOS (CMOS) image pickup device can be used.

The microphone 122 receives an external sound signal through a microphone in a communication mode, a recording mode, a voice recognition mode, or the like, and processes it as electrical voice data.

The user input unit 130 generates input data for controlling the operation of the mobile terminal 100 by a user. The user input unit 130 may include a key pad, a dome switch, a touch pad (static / static), a jog wheel, a jog switch, and the like. Particularly, when the touch pad has a mutual layer structure with the display unit 151 described later, it can be called a touch screen.

The sensing unit 140 senses the current state of the mobile terminal 100 such as the open / close state of the mobile terminal 100, the presence of the user, the acceleration / deceleration of the mobile terminal, Signal. For example, when the mobile terminal 100 is in the form of a slide phone, it is possible to sense whether the slide phone is opened or closed. And a sensing function related to whether or not the power supply unit 190 is powered on, whether the interface unit 170 is coupled to an external device, and the like.

The interface unit 170 may be a path through which power from the cradle is supplied to the mobile terminal 100 when the mobile terminal 100 is connected to an external cradle or various command signals input from the cradle by the user are moved And may be a passage to be transmitted to the terminal 100. The various command signals or power from the cradle may be operated as a signal for recognizing that the external electronic device is correctly mounted on the cradle.

The output unit 150 may include a display unit 151, an audio output module 152, an alarm unit 153, and the like for generating an output related to visual, auditory or tactile sense.

The display unit 151 displays and outputs the information processed by the mobile terminal 100, as well as the information related to the call. For example, in a call mode, a UI (User Interface) or a GUI (Graphic User Interface) related to a call is displayed. In addition, the display unit 151 displays and outputs information processed by the drones 200. For example, the display unit 151 may display the vector photographing information detected by the drones 200 or the processing data of the server 300.

The display unit 151 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a three-dimensional display 3D display).

There may be two or more display units 151 according to the embodiment of the mobile terminal 100. For example, in the mobile terminal 100, a plurality of display units may be spaced apart from one another or may be disposed integrally with each other, or may be disposed on different surfaces.

(Hereinafter, referred to as a 'touch screen') in which a display unit 151 and a sensor for sensing a touch operation (hereinafter, referred to as 'touch sensor') form a mutual layer structure, It can also be used as an input device. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

The audio output module 152 outputs audio data received from the wireless communication unit 110 or stored in the memory 160 in a call signal reception mode, a call mode or a recording mode, a voice recognition mode, a broadcast reception mode, Also, the sound output module 152 outputs sound signals related to functions (e.g., call signal reception sound, message reception sound, and the like) performed in the mobile terminal 100. The audio output module 152 may include a receiver, a speaker, a buzzer, and the like.

The alarm unit 153 outputs a signal for notifying the occurrence of an event of the mobile terminal 100. Examples of events include call signal reception, message reception, key signal input, touch input, and the like. The alarm unit 153 may output a signal for notifying the occurrence of an event in a form other than an audio signal or a video signal, for example, by vibration. The video signal or the audio signal may be output through the display unit 151 or the audio output module 152 so that they 151 and 152 may be classified as a part of the alarm unit 153. [

The memory 160 may store a program for processing and controlling the control unit 180 and may store a function for temporarily storing input / output data (e.g., a phone book, a message, a still image, .

The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (for example, SD or XD memory), a RAM (Random Access Memory) SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read- And an optical disc. Also, the mobile terminal 100 may operate a web storage for storing the memory 160 on the Internet.

The control unit 180 typically controls the overall operation of the mobile terminal. The control unit 180 transmits and receives various kinds of information (e.g., real image, vector photographing information, identification value, attribute value, etc.) with the drones 200 or the server 300 through the wireless communication unit 110.

When the entire attribute value and the matching information are received from the drones 200, the control unit 180 combines the matching information transmitted to the photographed real image, and activates the active image in such a manner that the outline of each object on the real image is highlighted with a fire frame And outputs it to the screen of the display unit 151. When a user input that touches the activated objects on the real image is detected, the attribute information of the object is displayed on the display unit 151 screen.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for operation of the respective components.

3, a drones according to an embodiment of the present invention will be described. 3 is a block diagram of a drones according to the present invention.

The dron 200 according to the present invention includes a wireless communication unit 210, an AV input unit 220, an interface unit 230, a sensing unit 240, an output unit 250, a memory 260, a control unit 280, And a supply unit 290. Such components may be the same as those described with reference to Fig.

The camera 221 may be coupled to a plurality of external portions of the external surface of the drone 200, or may be rotatably installed at a lower end of the drone 200. A real image can be generated by photographing a construction site (for example, a building structure on the site) that requires a supervision according to an operation of the mobile terminal 100. [

The sensing unit 240 may measure the distance between the drone 200 and a specific object by using various sensors such as a distance measuring sensor. Also, the sensing unit 240 may measure the size of a specific object, for example, a length, a length, a diagonal length, a diameter, and a circumferential length of the specific object using the measured distance. However, in the case of radar and radar sensors for precise measurement, the cost is very high and the weight is not suitable for use as a sensor for a drone. Therefore, by analyzing an image using a light mark described later, It is desirable to measure the direction of the object and the like.

And an RSS signal transmitting and receiving unit 215 for transmitting and receiving an RSS signal. The RSS signal can be used to calculate each position and distance by triangulation by comparing the sizes of the RSS signals measured through transmission and reception of RSS signals between a pair of drone and mobile terminal. In this case, a separate RSS signal transceiver may be used instead of the mobile terminal to use the same method.

The result of the calculation using the RSS signal can be used as basic data for measuring the standard of the object using the optical mark described later or can be used for correcting the process of measuring the standard.

The light emission marking unit 254 irradiates a light mark having a constant diffusion rate per distance and at least a constant vertical length and a horizontal length component in the direction of the object to be inspected. The light emission marking unit 254 can use laser light or the like, and irradiates the light to diffuse at a constant rate per distance. That is, if the object distance from the light-emission marking unit 254 is known, the light-emission marking unit 254 can recognize the size or length of the light mark irradiated on the object, The size or the length of the object can be calculated by comparing the size or the length of the object with the optical mark.

At this time, it is also possible to irradiate the laser light so that a plurality of points or discontinuous light irradiated by the plurality of light-emitting portions form one line segment. That is, assuming a cross-shaped optical mark, the vertical and horizontal line segments can be embodied as a set of light in a dotted line shape.

The light mark irradiated by the light emission marking section 254 should include a vertical length component and a horizontal length component. The overall shape is freely selectable, but should include both a line segment with a vertical length, such as at least a cross, and a line segment with a horizontal length. In addition, it is also possible to use as the data for determining the direction in which the surface of the object is formed by irradiating a light mark including a plurality of straight lines having a radial length with respect to the center point. In this case, the length of the straight line having the vertical component and the horizontal component is differentiated from the length of the other straight line, so that the direction can be easily determined.

On the other hand, it is preferable that the light emitting marking unit 254 is provided so that the pair of drones emits light of different colors. It is advantageous to calculate the physical characteristics, i.e., the distance and the direction, of the object by recognizing the optical mark of the other color from the photographed image by the camera 221. [

The camera 221 and the light emission marking unit 254 are preferably provided at the lower end of the drones 200. Particularly when the center of gravity of the camera 221 and the light emitting marking unit 254 is provided so as to coincide with the lower right end of the center of gravity of the drones 200 and the camera 221 and the light emitting marking unit 254 rotate in the horizontal direction It is preferable that the center of gravity is not changed. The camera 221 and the light emission marking unit 254 may be integrally formed and rotated together.

The control unit 280 typically controls the overall operation of the drone 200. The control unit 280 transmits and receives various kinds of information (e.g., a real image, etc.) with the mobile terminal 100 or the server 300 through the wireless communication unit 210. [ The control unit 280 controls the operation of each component according to the signal of the mobile terminal 100 received through the wireless communication unit 210. [

Also, the controller 280 compares the RSS signal received from the tardor with the RSS signal received from the RSS signal transmitter to calculate the relative position and distance between the tardron and the RSS signal transmitter. In addition, the control unit 280 can calculate the distance between the drones from the photographed image at the time of the first turning flight or at the time of the stoppage just before the first turning flight, which will be described later.

The light-emission marking unit 254 and the light-emission marking unit 254 are configured to acquire an image including the first light mark irradiated by the light-emission marking unit 254 on the object to be inspected, the second light mark irradiated on the object to be inspected by the tardor, And controls the camera 221.

In addition, the control unit 280 calculates various physical data from the photographed image through the camera 221, matches the data of the control target device received from another apparatus such as a mobile terminal or a server, Can be extracted. The calculation of the physical data may be performed by the mobile terminal or the server by receiving the photographed image from the drones 200. Only the operations necessary for matching and matching may be performed by the drone 200, Server or the like. The control unit 280 may match the ID of the object to be controlled, the physical information, the first image, and the display area information of the object to be inspected, among the first image, and transmit the matching information to the mobile terminal or the server.

The control unit 280 calculates an angle between the photographing direction of the camera 221 and the direction in which the light-emitting marking unit 254 irradiates the light mark described above and calculates an angle of the object based on a virtual line segment connecting the pair of drones Directions, and distances. It is sufficient that the control unit 280 is provided in any one of the pair of drones for the configuration for calculating the angle between the photographing direction of the camera 221 and the direction in which the light emitting marking unit 254 irradiates the light mark .

Meanwhile, the controller 280 may perform the following process to calculate the physical data of the object. The control unit 280 may calculate a center point bisecting the distance between the treadmill and the treadmill and calculate a turning radius around the center point and control the flight path of the drones 200 so as to turn around the center point. Other calculation data and principles will be described later.

The operation method of the supervisory system according to the present invention will be described in detail with reference to FIGS. 4 to 6. FIG. FIG. 4 is a block diagram for explaining a method of object generation and DB matching according to an embodiment of the present invention. FIGS. 5 and 6 are schematic diagrams for explaining a turning shooting and marking method according to an embodiment of the present invention. to be.

The present invention takes a photograph of a subject (e.g., an architectural structure of a site) requiring a supervision (for example, a work for confirming whether a drawing and an actual construction are consistent with each other) at a construction site through the mobile terminal 100, And downloads the property information about the photographed building (building structure) and displays it on the screen of the mobile terminal 100. [ A user of a construction site (e.g., a supervisor, a construction supervisor, a surveyor, etc.) can select a desired object (touch a screen) on the screen of the mobile terminal 100 on which the photographed image is displayed, (For example, ID information, manufacturing information, construction charge, specification, time limit, etc.) can be browsed.

However, in order to perform such a process, an image or an image captured by a drone must be analyzed to match object information transmitted from an object or a server captured in an image or an image. That is, it is necessary to judge which part of the area in which the specific object is photographed in the image corresponds to which object in the server, and match the determined area.

For this process, proceed as follows.

First, a first dron and a second dron are provided in positions for building supervision. In this process, the location information module 115 of the mobile terminal pre-loads information of objects adjacent to the corresponding location from a server or the like.

Next, either the first dron or the second dron captures an image including the remaining drones to calculate the distance between the first dron and the second dron (S110). This process corresponds to a basic setting process for calculating the physical characteristics of objects through image shooting. For example, if the length of an image of a specific part of the dron is calculated from the image of the remaining one taken in the drones, the distance D1 to the corresponding dron can be calculated.

Next, the first dron and the second dron are pivoted on the basis of the center points of the first dron and the second dron, and at least one of the first dron and the second dron is swung between the first dron and the second dron, A swirling shot image including a pair of the optical marks and the object to be inspected is irradiated (S120). At this time, a point at which the distance D1 to the drone is bisected, that is, a point R1 that is 1/2 of D1 from the first drones 200a is calculated as a center point.

Specifically, the turning shooting proceeds in detail through the following two processes.

In the first process of turning shooting, the first drones and the second drones rotate around the calculated center point, and one of the drones controls the camera in the direction toward the other one of the drones to shoot an image or an image. At this time, when both the drones of the first and second drones are used, the first and second drones are rotated 180 degrees (half a turn) to take an image. In this case, each of the drones continuously travels without stopping during the turn, and the image is resized to the minimum resolution provided. The photographed image is photographed in a state in which the photographed image does not fit horizontally, and the detailed features of the photographed objects on the image are difficult to be photographed. However, since the first photographed image is for recognizing the approximate position of the object, such photographed is sufficient. After extracting the keyframe from the photographed image, the edge is extracted by image processing such as gray scale and binarization, and the shape is recognized. The shape of the object continuously recognized during the first turning shooting is compared with the information of the object adjacent to the position being photographed transmitted from the server or the like and the adjacent object based on the virtual line segment connecting the first dron and the second dron, And calculates the direction of the target objects.

In the second process of turning shooting, the first and second drones rotate to calculate detailed information, and each of the drones irradiates the optical marks M1 and M2 with respect to the specific object to be inspected, and the light marks M1, M2) and the object to be supervised (Obj1). In the second process, a pair of drones can be turned by 180 degrees (half a turn) if both drones are assumed to shoot with the camera. It is preferable that the photographing in this step proceeds with a sufficiently high resolution so that the length of the optical mark and the length of the object to be inspected can be distinguished. In the case where the detailed feature of the object to be inspected is simultaneously photographed, it is also possible to raise the resolution sufficiently so that detailed features can be distinguished.

On the other hand, it is preferable that photographing of the object to be supervised in the second process of turning shooting proceeds in a state in which one of the pair of drones is close to the object to be inspected. Recording in the second step The shooting is carried out with the drones stopped. When a droneman reaches a suitable position for shooting the object to be sensed, it will stop the turning flight and fly in place. For example, as shown in FIG. 6, when the second drones 200b are close to the object to be controlled Obj1, the first drones 200a and the second drones 200b respectively output the optical marks to the object object Obj1 The second drones 200b close to the object object Obj1 can take an image of the object object Obj1. At this time, the first drones 200a and the second drones 200b are continuously controlled to be located at opposite positions with respect to the center of rotation.

Next, physical information of the object to be inspected is measured from the turning image, and information of the area in which the object to be controlled is displayed is calculated (S130). In this step, the distance from the photographed dron to the optical mark and the absolute size of the optical mark are calculated and used as a reference for calculating the physical characteristics of the object to be inspected (Obj1).

Specifically, when the sizes of the light marks irradiated from the respective drone are compared, the ratio of the distance from each dron to the object to be inspected Obj1 can be known, and the distance between the first dron 200a and the second dron 200b The distance between the second drones 200b and the object object Obj1 can be calculated in consideration of the line segment of the second dron 200b and the direction of the light emitted by the second drones 200b. The distance between the first drones 200a and the object object Obj1 can also be calculated.

Then, an absolute size of the optical mark is calculated by multiplying the distance between the second drones 200b and the object object Obj1 by the diffusion rate per distance of the irradiated optical mark. The absolute size or length of the calculated optical mark is used to calculate the physical size and direction of the object to be inspected Obj1 on the photographed image. Also, as described above, it can be used to measure the vertical and horizontal installation directions of the object to be supervised (Obj1).

At this time, the area of the object to be inspected is extracted more accurately through image processing from the image taken in the second turning shooting.

Next, information of the object to be supervised included in the rotation photographing image is matched with information of the object to be supervised transmitted from the outside (S140). That is, information of the object to be supervised transmitted from the server, And updates and stores information on the image area.

Then, the information of the matched inspection object object is transmitted to the outside such as the mobile terminal or the server (S150), and if necessary, the comparison of the information of the inspection object stored in the database, such as the server, have.

At this time, the information of the object to be supervised includes IDs of the object to be supervised, and may include at least one of manufacture, construction, specification, and process of the object to be supervised.

A control method of the mobile terminal 100 will be described with reference to FIG. 7 is a flowchart illustrating a control method of the mobile terminal 100 according to the present invention.

The mobile terminal 100 displays the first image on the display unit 151. [ Specifically, the mobile terminal 100 communicates with the drones 200 through the wireless communication unit 110, and the controller 180 can control the movement of the drones 200 according to user inputs.

In particular, the control unit 180 may control the drones 200 to activate the camera 221 mounted on the drones 200 in order to acquire detailed image detail information about the object, as well as the above- have. Accordingly, the control unit 180 controls the camera 221 of the drones 200 to photograph the subject, receives the photographed first image, and displays it on the display unit 151 (S410). In this case, it is possible to use only one drones.

The photographed first image may be related to the dry matter which is the subject of the inspection. In this case, the displayed image may include images of various objects such as a window of a building, a door, a lamp, an outlet, and the like. Accordingly, the user can select one of images for various displayed objects (S420). In this case, the user can select by touching one object image on the display unit 151 (touch screen).

When one object image is selected, the drone 200 can automatically move to the object corresponding to the selected object image. Specifically, the selection of an object image may mean a command to shoot a full shot of the object corresponding to the selected object image from the front. Accordingly, the control unit 180 may control the drone 200 to move to the corresponding position in order to capture the object from the front in a full shot (S430).

While the activation of the camera 221 is being maintained, the dragon 200 moves to the front of the object, and a second image photographed from a predetermined distance in front of the object is displayed on the display unit 151 S440). That is, the second image is displayed on the display unit 151, and in particular, the front image of the object included in the second image is displayed as a full shot. In this case, the controller 180 may adjust the distance between the drones 200 and the object so that the entire image of the object is displayed on the entire screen of the display unit 151.

When the front image of the object is displayed on the display unit 151 in a full shot, the controller 180 controls the drones 200 to photograph the second image including the object. The control unit 180 receives the photographed second image from the drone 200 and transmits it to the server 300 (S450). Or the control unit 180 may control to transmit the photographed second image directly from the drones 200 to the server 300. [

The server 300 receiving the second image can search and extract the object information corresponding to the object image included in the second image from the database. The object information may include ID information, production information, construction charge information, standard information, and process information of an object corresponding to the object image transmitted to the server 300. The object information is transmitted from the server 300 to the mobile terminal 100.

The mobile terminal 100 displays the object information received from the server 300 on the display unit 151 (S460). Thus, the user can perform the control of the specific object from the image photographed at the construction site.

Hereinafter, a method of controlling the mobile terminal will be described with reference to specific examples.

8 to 9 are views showing an example of a method for photographing an object by a mobile terminal according to the present invention.

8 (a) shows a pre-view image of the construction site through the camera 221 mounted on the drone 200. FIG. Assuming that the camera 221 is mounted on the front portion of the dron 200, in order to obtain a preview image as shown in FIG. 8 (a), the camera 221 of the dron 200 ) Are directed to the A region and the B region at the same time. In other words, the drones 200 may be in a state of shooting the entire object to be inspected.

The camera 221 photographs one image including a subject such as a door, a window, a lamp, a wall, a ceiling, and a floor as a preview image, and the drone 200 transmits the photographed preview image to the mobile terminal 100 . Accordingly, the control unit 180 of the mobile terminal 100 displays the received preview image on the display unit 151. [ That is, as shown in FIG. 8 (c), the control unit 180 can display the preview image taken by the camera 221 of the drones 200 directly on the display unit 151.

On the other hand, as shown in FIG. 8 (c), the user can select one object to be supervised among the displayed preview images. For example, if the user intends to conceal a window, the user can touch the window image 400 on the display unit 151. In this case, in order to indicate that the selected window image 400 is selected by the user, various visual effects such as the size, color, and thickness of the image may be given to distinguish the selected object from the remaining objects.

Then, the drone 200 moves to the front of the window, which is the selected object, and a preview image as shown in Fig. 9 (a) is obtained. In order to obtain such a preview image, the camera 221 of the drones 200 should direct only to the region B as shown in FIG. 9 (b). In other words, the drones 200 may be in a state of shooting only specific objects (windows) to be inspected.

The camera 221 photographs the window in a full shot from the front, and the drone 200 transmits the preview image of the photographed window to the mobile terminal 100. Accordingly, the control unit 180 of the mobile terminal 100 displays the received preview image on the display unit 151. [ That is, as shown in FIG. 9 (c), the control unit 180 can display the preview image taken by the camera 221 of the drones 200 directly on the display unit 151.

Also, the drone 200 can acquire positional information of the photographing point and transmit it to the mobile terminal 100 together with the preview image. Accordingly, the mobile terminal 100 receives the preview image including the location information.

On the other hand, when the user touches the preview image shown in FIG. 8C and selects the preview image, the controller 180 can transmit the selected image to the server 300. In this case, in order to indicate that the selected window image 400 is selected by the user, various visual effects such as image size, color, border thickness, and the like can be given. The control unit 180 may automatically transmit the preview image shown in FIG. 8 (c) to the server 300 even if there is no user selection. The server 300 may then determine the object included in the received image. For example, if the received image is the same as shown in FIG. 9C, the server 300 extracts the window or window frame image 400 included in the received image, and extracts the object from the extracted window or window frame image 400 A window or a window frame. Accordingly, the server 300 can extract information about the window or the window frame from the database.

In addition, if the user selects the preview image shown in FIG. 8C by touching, the control unit 180 can determine the object included in the displayed preview image. That is, when the window image 400 included in the preview image is selected, the control unit 180 can determine that the object is a window from the selected window image 400. Accordingly, the controller 180 may transmit a signal to the server 300 requesting information about the object (e.g., window or window frame). In this case, in order to indicate that the selected window image 400 is selected by the user, various visual effects such as image size, color, border thickness, and the like can be given. The server 300 may then extract information about the received object (e.g., window or window frame) from the database.

Meanwhile, the mobile terminal 100 may transmit the information about the object image or the object together with the information request signal and the location information of the object image or object to the server 300. Accordingly, the server 300 may transmit object information (e.g., window frame or window information) corresponding to a specific location (e.g., 1203, YANG, 123, Kangnam-gu, Seoul) to the mobile terminal 100. Accordingly, the server 300 can extract information about a specific object at a specific location from the database.

The extracted object information is transmitted from the server 300 to the mobile terminal 100. Hereinafter, a method of displaying the object information in the mobile terminal 100 will be described.

10A, the object image 400 is displayed in a partial area 151-1 of the entire screen of the display unit 151, and the object information is displayed in the remaining area 151-2 . Therefore, the user can easily grasp the object and information about the object.

The object image 400 may be displayed on the entire area of the display unit 151 and the object information may be displayed on the pop-up screen 151-3 as shown in FIG. 10 (b).

Then, the user can confirm detailed information on any one of the displayed object information. Specifically, as shown in Fig. 11 (a), the user can select a manufacturing information item. In this case, as shown in FIG. 11 (b), a screen including detailed information on the selected item may be switched or an additional screen may be displayed on the display unit 151. 11, the mobile terminal 100 receives information about a specific object (a window or a window frame) of a specific construction site (eg, 1203, No. 123, Kangnam-gu, Seoul, So that the control by the user can be performed.

The present invention described above can be embodied as computer readable codes on a medium on which a program is recorded. A computer readable medium includes any type of recording device 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). The computer may also include a controller 180 of the terminal. The foregoing detailed description, therefore, should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

500: Supervision system 300: Server
200, 200a, 200b: Drones 100: Mobile terminals
110: wireless communication unit 120: A / V input unit
130: user input unit 140: sensing unit
150: output unit 160: memory
170: interface unit 180: control unit
190: Power supply

Claims (11)

delete delete delete delete delete delete A method for controlling a building using a first dron, a second dron, and a mobile terminal,
A first step of providing a first dronon and a second dronon at a position for building supervision;
A second step of calculating a distance between the first dron and the second dron by capturing an image including one of the first dron and the second dron including the remaining drones;
The first dron and the second dron pivot about a center point of the first dron and the second dron, and at least one of the first dron and the second dron during the rotation pivots about the center of the first dron and the second dron, And a third step of photographing a swivel taking image including a pair of optical marks and an object to be inspected by the second drones;
A fourth step of measuring physical information of the object to be supervised from the swing shot image and calculating information of an area in which the object to be controlled is displayed among the swing shot images;
A fifth step of matching information of the object to be supervised included in the swing shot image with information of the object to be controlled transmitted from the outside; And
And a sixth step in which any one of the first drones and the second drones transmits information of the matched swing shot image and the object to be supervised to the outside,
In the third step,
The first dron and the second dron are photographed in the course of turning the first dron and the second dron with respect to the center points of the first dron and the second dron, A step 3-1 of grasping the position of the object to be supervised by the user;
Wherein at least one of the first and second drones is rotating with respect to a center point of the first and second drones, And (3-2) photographing a second image in a state in which the first dron and the second dron irradiate the adjacent object to be inspected with the optical mark, respectively. 8. The method of claim 7,
Wherein the information of the object to be supervised includes an ID of the object to be supervised, and includes at least one of manufacture, construction charge, specification, and process of the object to be supervised. 8. The method of claim 7,
In the third step,
Wherein any one of the first dron and the second dron compares the sizes of the pair of optical marks diffused at a predetermined ratio per distance to determine a distance between the object to be controlled and the first dron, A method of building supervision using a dron that calculates the ratio of the distance of two drones. 10. The method of claim 9,
From the first dron and the second dron from the pair of optical mark irradiation angles with respect to a distance between the first dron and the second dron and a virtual line connecting the first dron and the second dron, A method of building supervision using a dron to calculate the actual distance to the target object. 11. The method of claim 10,
And calculating a direction of the object to be inspected based on a virtual line connecting the first dron and the second dron.

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