KR101911046B1 - A drone system having modes for monitoring a fire on a mountain and a water level at a bridge - Google Patents

Abstract

The present invention relates to a drones system. The dron system of the present invention includes a terrestrial control terminal for controlling drones and drones. The drones of the present invention include at least one camera, a drone driver, and a dron controller. The terrestrial control terminal of the present invention includes a terminal communication module for wireless communication, a control UI display unit for controlling the drone on the ground, a program storage unit for storing a forest fire monitoring program or a bridge water level monitoring program, and a terminal control unit. In the ground control terminal, when the forest fire monitoring mode or the bridge water level monitoring mode is enabled through the control UI display unit, the drone moves to the predetermined fire monitoring position or bridge monitoring position, captures an image with at least one camera, do. The terrestrial control terminal executes a forest fire monitoring program or a bridge water level monitoring program by using the received camera image to determine whether a forest fire has occurred at a location observed by the drone or whether the water level of the bridge has reached a danger level, do.

Description

[0001] The present invention relates to a drone system having a forest fire monitoring and bridge level monitoring mode,

The present invention relates to a drones system having a forest fire monitoring and bridge level monitoring mode. The drone system of the present invention is capable of monitoring the forest fire and monitoring the water level of the bridge.

Unmanned aerial vehicles, aka drone, have been developed and commercialized. The drones are equipped with cameras and various sensors, flying unmanned, and putting them into various tasks. Drones are used for a wide range of applications such as environmental monitoring, broadcast relay, sports relay, pesticide spraying, road surveillance, security, military, leisure, sports and the like.

 A fixed surveillance camera should be installed at a designated location to monitor the level of conventional forest fires or bridges. Therefore, it is impossible to monitor many areas.

It has also been recognized that attempts to monitor the level of forest fires or bridges using conventional drones are impossible. In particular, the drones must be stationary in the air and the images are shaken by vibration, making it impossible to observe clearly.

An object of the present invention is to provide a dron system that monitors forest fire from an image photographed by a dron using a ground control terminal that controls a flying dragon and a flying dragon on the ground, and monitors a water level of the bridge.

Another object of the present invention is to provide a dron system capable of early warning by wirelessly transmitting a result of monitoring using a dron and a terrestrial control terminal.

It is a further object of the present invention to provide a method and apparatus for monitoring a forest fire or bridges by using a ground control terminal of a drone to input a monitoring position of a forest fire or a bridge in advance and sending a command to the dron to regularly visit the designated location, , And the terrestrial terminal is provided with an internal fire alarm monitoring and bridging water level monitoring program for early warning.

According to an aspect of the present invention, there is provided a dron system comprising: a dron including at least one camera, a dron driver, and a dron controller; And a terrestrial control terminal including a terminal communication module for wireless communication, a control UI display unit for controlling the drones on the ground, a program storage unit for storing a forest fire monitoring program or a bridge water level monitoring program, and a terminal control unit, In the control terminal, when the forest fire monitoring mode or the bridge water level monitoring mode is enabled through the control UI display unit, the drones are moved to the predetermined forest fire monitoring position or the bridge monitoring position and the image is captured by the at least one camera, The ground control terminal executes the forest fire monitoring program or the bridge water level monitoring program using the received camera image to determine whether a forest fire has occurred at a location observed by the drone or whether the water level of the bridge is in danger level It is determined whether or not an alarm has been reached And a gong. Even if the terrestrial control terminal and the drone are located at a remote location, the terrestrial control terminal can remotely control the drones using a mobile communication network such as LTE to move the drones to the desired fire monitoring location or bridge monitoring location.

Wherein the terminal control unit of the terrestrial control terminal sets a plurality of the forest fire monitoring positions and the bridge monitoring positions when the forest fire monitoring mode or the bridge water level monitoring mode is set, The position can be sequentially moved and the image can be taken. The drones can take three to five minutes of video at each surveillance location and move to the next location.

The control UI display unit of the terrestrial control terminal displays map information of a place to which the dron wants to fly on a desktop, and displays a current position icon of the dron overlaid on the map information desktop, When the moving position icon is selected on the map information, the terminal control unit transmits to the drones a dronon moving command including positional information corresponding to the map information of the moving position icon, Receives the transmitted drone movement command, and drives the drone driver to move the drone to the position information. You can specify the monitoring location directly using the terrestrial control terminal. In this case, the monitoring position can be designated using the map information provided to the terrestrial control terminal.

Wherein the forest fire monitoring program includes: a location designating algorithm for designating a location of the drones in advance to monitor the forest fire; A flight control algorithm for controlling the drone to move to the forest fire monitoring position; And comparing a pixel value of a first image photographed using the at least one camera with a pixel value of a second image photographed at a time difference from the first image to determine whether a forest fire has occurred based on the image corresponding to the difference The image comparison algorithm.

The bridge water level monitoring program includes: a location designating algorithm for designating a location of the drones so as to monitor the water level of the bridge; A flight control algorithm for controlling the drone to move to the bridge level monitoring position; And a control unit for photographing a first image of the target bridge using the at least one camera and rotating or shifting the first image to vertically process the leg of the target bridge, And a bridge water level determination algorithm that determines the degree of danger from the distance to the top plate of the target bridge.

In the present invention, when a forest fire or a bridge monitoring position is designated using a terrestrial control terminal and a monitoring command is issued, the dron captures an image and transmits the image to the terrestrial control terminal. The fire monitoring program and the bridge water level monitoring program on the terrestrial control terminal Can be determined. Therefore, forest fire monitoring or bridging monitoring is possible for a plurality of points using a drones.

Another effect of the present invention is that remote control of the terrestrial control terminal and the drones is possible. When the user designates multiple monitoring positions for the drone without having to go to the monitoring position individually, the drone sequentially flows each monitoring position and transmits the image at each position. Ground control terminals can determine the risk of fire or bridges at remote sites.

1 is a use state diagram of a drone system according to the present invention.
2 is a block diagram of a dron system in accordance with the present invention.
3 is a state diagram showing a state in which a fire control monitoring position or a bridge monitoring position is designated using the dron control UI of the terrestrial control terminal according to the present invention.
FIG. 4A is a view showing a first image of a dron according to the present invention taken at a forest fire monitoring position. FIG.
4B is a view showing a second image taken by the drones according to the present invention at a forest fire monitoring position.
FIG. 5 is a diagram showing an algorithm for detecting a forest fire by comparing a first image and a second image with a forest fire monitoring program according to the present invention.
6A is a view showing a first image taken by a dron according to the present invention at a bridge monitoring position.
6B is a view showing a second image taken by the dron according to the present invention at a bridge monitoring position.
FIG. 7 is a diagram showing an algorithm for monitoring a water level of a bridge by rotating or shifting a first image and a second image according to the bridge monitoring program according to the present invention.

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. The features and advantages of the present invention will become more apparent from the following description of the preferred embodiments with reference to the accompanying drawings.

1 is a use state diagram of a drone system according to the present invention.

The drones system 1000 according to the present invention includes a drones 100 and a ground control terminal 200.

The drone 100 and the terrestrial control terminal 200 are connected to an Internet network based on mobile communication through mobile communication base stations 510 and 530, respectively. The mobile communication base stations 510 and 530 correspond to a mobile communication infrastructure for recognizing a wireless communication terminal such as a mobile phone and transmitting and receiving voice and data. As examples of mobile communication technologies, technologies such as 3G, 4G, and 5G are being commercialized.

In the case of Korea, mobile telecommunication companies such as KT and SKT install basic infrastructure for mobile communication in the whole area of Korea to connect mobile phones and enable voice and data communication.

The United States, China, and other countries in the world also set up mobile base stations in their countries and provide voice and data communications to subscribers.

The present invention enables the ground control terminal 200 controlling the drone 100 and the drone 100 to be connected to the mobile communication wireless Internet network so that the drone can be controlled remotely.

The dron system 1000 of the present invention includes a video streaming server 520. The video streaming server stores the images taken by the drone in real time. The video streaming server 520 may transmit the video shot by the drones 100 to other devices.

The drones 100 and the terrestrial control terminal 200 may be connected to a mobile communication Internet network to transmit control signals or receive images.

When the mobile communication network is connected to the mobile communication network, the drones 100 and the terrestrial control terminals 200 can be controlled remotely without restriction on the distance. The image photographed by the camera mounted on the drone 100 can also be received from the ground terminal 200 at a remote site.

When the mobile phone terminal 300 or the personal computer 400 is connected to the mobile communication Internet network, the image of the drones 100 can be received by the mobile phone terminal 300 and the personal computer 400.

2 is a block diagram of a dron system in accordance with the present invention.

The drone 100 includes a drone control unit 110, an IR camera 120, an EO camera 130, a drone communication module 140, a power module 150, a plurality of sensors 160 and 170, and a drone driving unit 180 do.

The IR camera 120 corresponds to an infrared camera and is a camera for capturing an image in a special case such as night. The EO camera 130 refers to an electro-optical camera, and corresponds to a general optical camera.

The drone communication module 140 refers to an LTE communication module for connecting to, for example, a 4G (LTE) mobile communication Internet network, and all communication modules have unique IDs. As an example of the unique ID of the communication module, there is a MAC address.

The drone drive 180 refers to a drive means, such as a propeller and a motor, for causing the drone 100 to fly.

When such a drones 100 are produced and sold and handed over to the consumer, the consumer is allowed to pay for the carrier and network of the carrier according to the prescribed policy with the carrier.

The ground control terminal 200 or the ground control system (GCS) terminal 200 is connected to an Internet network based on mobile communication, and controls the drones 100 or receives images taken by the drones.

The images photographed by the drone may be directly received from the drone 100 or may be received via the video streaming server 520. [

The terrestrial control terminal 200 includes a terminal control unit 210, a terminal communication module 230, a drones control UI generation unit 240, a display unit 220, and a video streaming reception unit 250.

The terminal communication module 230 is composed of an LTE communication module for connecting to the mobile communication network, like the drones communication module 140, and has a unique ID such as a MAC address.

The terrestrial control terminal 210 displays a drones control UI 240 for controlling the drones 100 on the display unit 220.

The terrestrial control terminal 200 receives the image streaming received from the drones 100 through the image number trimming receiving unit 250 and then displays the received streaming through the display unit 220.

The ground control terminal 200 includes a program storage unit 260 for storing a forest fire monitoring program 262 and a bridge water level monitoring program 264. [

The forest fire monitoring program 262 and the bridge water level monitoring program 264 may be installed not only in the terrestrial control terminal 200 but also in the cellular phone terminal 300 or the personal computer 400 receiving the image of the drones 100. [

3 is a state diagram showing a state in which a fire control monitoring position or a bridge monitoring position is designated using the dron control UI of the terrestrial control terminal according to the present invention.

The display unit 220 of the terrestrial control terminal 200 displays a control UI for controlling the drones.

The drones control UI can display map information on the desktop. The map information can be enlarged or reduced by using an enlargement button (+, 246) or a reduction button (-, 245).

The current position icon 241 and the movement position icons 242a and 242b of the drones overlaid on the map information desktop can be displayed.

The user of the drones 100 may control the drones to move to a desired position by operating the control UI displayed on the display unit 220 of the terrestrial control terminal 200 or may reserve and store the movement positions of the drones.

When the user touches and drags the movement position icon 242a once, the movement position icon 242b moves to the dragged position. When the user releases the drag or double-clicks the dragged position, the move instruction of the dragon is inputted.

The terminal control unit 210 of the terrestrial control terminal 200 recognizes the command from the control UI and grasps the position information of the movement position icon 242b from the map information and transmits the movement command and the movement coordinate information to the drones 100 .

When the user clicks the forest fire monitoring mode (243) icon on the control UI, it is possible to display the coordinates for the plurality of forest fire monitoring locations.

The user can set a plurality of fire fighting monitoring positions by using the map information and the movement position icons 242a and 242b as described above.

When the user clicks the bridge level monitoring mode (244) icon on the control UI, it is possible to display the coordinates for a plurality of bridge level monitoring positions.

The user can set a plurality of bridge level monitoring positions by using the map information and the movement position icons 242a and 242b as described above.

When the user clicks the home button 247, the screen can be changed to display the drone operation button in the map information display mode.

FIG. 4A is a view showing a first image of a dron according to the present invention taken at a forest fire monitoring position. FIG.

After designating the plurality of fire fighting monitoring positions and the bridge water level monitoring positions as described above, when the drones are commanded to fly, the drones can shoot the first image as shown in FIG. 4A at the forest fire monitoring position.

The drones perform a hovering operation, for example, for about 5 minutes at the first forest fire monitoring location. Hovering means that the drones are flying at a fixed position.

After 5 minutes, the drone (100) moves to the next forest fire monitoring position or bridge monitoring position. It is also hovering for 5 minutes here.

The present invention is not limited to hovering the drone and stopping the image for 5 minutes to take an image. But is not limited to a plurality of positions or a single position.

4B is a view showing a second image taken by the drones according to the present invention at a forest fire monitoring position.

The second image is an image taken at a time difference compared with the first image. May be 5 minutes or earlier or later.

FIG. 5 is a diagram showing an algorithm for detecting a forest fire by comparing a first image and a second image with a forest fire monitoring program according to the present invention.

In step (i), the difference between the pixel value of the second image and the pixel value of the first image is obtained. If there is no difference between the two pixel values, it will be completely black.

In the step (ii), the noise is removed. In step (iii), binarization is indicated. The binarization display is to display 0 or 1, excluding the intermediate value. Thereby making it possible to more reliably display the indication due to the smoke or the like generated in the fire.

In step (iv), color is assigned to the fire.

Through this process, the fire is identified, and when it is determined as a fire, an alarm signal is transmitted to the external device.

Even if the alarm signal is not generated, the user manually confirms the image image photographed by the drone through the ground control terminal 200 manually.

6A is a view showing a first image taken by a dron according to the present invention at a bridge level monitoring position.

The bridge water level monitoring also designates the bridge water level monitoring position through the ground control terminal 200, and the drone moves to the bridge monitoring position, hovering there, capturing an image of the water level of the bridge and transmitting it to the ground control terminal.

6B is a view showing a second image taken by the dron according to the present invention at a bridge monitoring position.

The second image is an image taken at a time difference from the first image.

FIG. 7 is a diagram showing an algorithm for monitoring a water level of a bridge by rotating or shifting a first image and a second image according to the bridge monitoring program according to the present invention.

In step (i), the first image or the second image is rotated or shifted. Because the drones shoot the image while flying in the air, the image may fluctuate due to the position of the drones or disturbance. Therefore, the leg portion of the bridge is rotated or shifted to be vertical.

In step (ii), an aligned image is created. In step (iii), a measurement image (reference) is created. In step (iv), a measurement image (target) is created.

The water level monitoring program of the bridge can allow the user to directly confirm the measurement image on the ground control terminal 200 and monitor when the water level reaches the danger level even before the bridge reaches the danger level.

If the water level adjacent to the bridge of the bridge and the distance to the top of the bridge are within a predetermined distance, a danger warning for the bridge is issued.

Meanwhile, in the embodiment of the present invention, the forest fire monitoring program and the bridge water level monitoring program are mounted on the terrestrial control terminal and the image is transmitted from the dron to alert the danger of the fire and the bridge prematurely. The present invention is not limited to these embodiments.

1000: Dron system
100: Drones
110: Drone control unit
120: IR camera
130: EO camera
140: Drone communication module
150: Power module
160: first sensor
170: second sensor
180: Drone drive
200: Ground control terminal (GCS terminal)
210:
220:
230: Terminal communication module
240: Drone control UI generation unit
241: Current location icon
242a: Move position icon (before adjustment)
242b: Move position icon (after adjustment)
243: Wildfire monitoring mode icon
244: Bridge level monitoring mode icon
245: Map Shrink command icon
246: Map Enlarge command icon
247: Home menu icon
250: Video Streaming Receiver
260: Program storage unit
262: Wildfire monitoring program
264: Bridge water level monitoring program
300: mobile phone terminal
400: personal computer
510: mobile communication base station 1
520: video streaming server
530: mobile communication base station 2

Claims (5)

In the drones system,
A dron including at least one camera, a dron driver and a dron controller; And
A terrestrial control terminal including a terminal communication module for wireless communication, a control UI display unit for controlling the drone on the ground, a program storage for storing a forest fire monitoring program or a bridge water level monitoring program, and a terminal control unit,
In the terrestrial control terminal, when the forest fire monitoring mode or the bridge water level monitoring mode is enabled through the control UI display unit,
Wherein the drones are moved to a predetermined forest fire monitoring position or a bridge monitoring position and the at least one camera stops at the forest fire monitoring position or the bridge monitoring position for a predetermined time, Capturing an image and transmitting the captured image to the terrestrial control terminal,
The terrestrial control terminal executes the forest fire monitoring program or the bridge water level monitoring program using the received first image and the second image to determine whether a forest fire has occurred at the location observed by the drone or whether the water level of the bridge is dangerous And when the water level has reached the water level, it is alarmed.
The method according to claim 1,
Wherein the terminal control unit of the terrestrial control terminal sets a plurality of the forest fire monitoring positions and the bridge monitoring positions when the forest fire monitoring mode or the bridge water level monitoring mode is set,
Wherein the drones move the predetermined plurality of fire fighting monitoring positions or bridge monitoring positions.
3. The method of claim 2,
The control UI display unit of the terrestrial control terminal displays map information of a place to which the dron wants to fly on a desktop, and displays a current position icon of the dron overlaid on the map information desktop, Lt; / RTI >
When the mobile position icon is selected on the map information, the terminal control unit transmits to the drones a dronon movement command including position information corresponding to the map information of the mobile position icon,
Wherein the drones control unit receives the transmitted dronon movement command and drives the dronon driver to move the dronon to the position information.
The method of claim 3,
Wherein the forest fire monitoring program includes: a location designating algorithm for designating a location of the drones in advance to monitor the forest fire;
A flight control algorithm for controlling the drone to move to the forest fire monitoring position; And
And an image comparison algorithm for comparing the pixel values of the first image and the second image captured using the at least one camera with each other to determine whether a forest fire has occurred based on the image corresponding to the difference The drones system.
The method of claim 3,
The bridge water level monitoring program includes: a location designating algorithm for designating a location of the drones so as to monitor the water level of the bridge;
A flight control algorithm for controlling the drone to move to the bridge level monitoring position; And
Wherein the controller is configured to vertically process the leg portion of the target bridge by photographing the first image of the target bridge using the at least one camera and rotating or shifting the first image, And a bridge level judging algorithm for judging the degree of danger from the distance to the upper plate of the target bridge.

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