KR102075441B1 - Image processing system using drone - Google Patents

Abstract

The present invention relates to an image processing system. More particularly, the present invention relates to the image processing system capable of obtaining stereoscopic information of a geographical feature using a drone which can obtain a 360° video image of the geographical feature and obtain a stereoscopic video image through an image processing process. The image processing system comprises: a number of shooting drones which are spaced with a predetermined distance from a geographical feature, fly around the geographical feature, and acquire a video image; a wireless control device which controls operation of the shooting drones and receives and stores the video images captured by the shooting drones; and an image processing device which receives multiple video images and matches the same to be one stereoscopic video image.

Description

Image processing system that can acquire stereoscopic information of features using drones {IMAGE PROCESSING SYSTEM USING DRONE}

The present invention relates to an image processing system, and more particularly, to an image processing system capable of acquiring stereoscopic information of a feature using a plurality of drones.

Ortho-images are secured by declination correction of aerial projections, which are the central projections, and corrected in the form of orthographic projections as maps. Here, the deviation correction is a task of correcting the tilt (tilt) and the scale (shooting magnification) generated when the camera is photographed.

These ortho images secure the ground image by corrected projection, extract the error-free orthoimage using the digital elevation model (DEM) on the acquired still-photographed photographic image, correct the color of the orthoimage, aggregate and errors It is constructed by a series of processes that are organized after calibration and final quality inspection.

Correction projection for securing image image (ortho image) secures the projected photo image by overlapping more than 60% in the vertical direction by the aircraft route and at least 30% in the horizontal direction.

The digital elevation model is essentially used in the process of producing orthoimages to correct the geometric distortion of the aerial images projected by the central projection. The photographic image of the extracted orthoimage is subjected to a color correction process for correcting color and contrast, and an image aggregation process for synthesizing a sheet image image with a neighboring image image.

The final orthoimage map image is completed through image processing including color correction and image aggregation of the orthoimage image secured by the normal aerial projection, and precisely surveyed at each ground position corresponding to each point of the orthoimage map. It is common to synthesize coordinate information (positional information).

However, since the image image secured by the airspace projection using the aircraft is taken in the vertical direction, the user has no choice but to check the plane of the feature. However, most users do not have the experience of actually seeing the features of the feature, and have to grasp the feature only by associating the feature of the feature and the location of the layout, so it is difficult to understand it while applying it to the actual feature.

In particular, in the case of tourist attractions, temples, towers, and landmark buildings in the area, and the places and buildings that many users are looking for, existing video images that can only be identified on the flat surface are very difficult to represent the features of the feature. What is lacking is the reality.

In addition, since the height of the features are all the same as the image image taken only in the plane view in the vertical direction from the aircraft, even users familiar with the area may be difficult to identify the actual features.

The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

The present invention is to solve the above-mentioned problems of the prior art, by using a drone that can obtain a 360 ° image image of a feature using a plurality of shooting drones and obtain a stereoscopic image image through an image processing process Its purpose is to provide an image processing system capable of acquiring stereoscopic information of a feature.

In addition, the present invention provides an image processing system that can expose the ground camera of the shooting drone to the outside at a desired time point, and to obtain stereoscopic information of the feature using a drone that allows the shooting drone to rest on the ground stably. There is another purpose to provide.

Technical problems to be achieved by the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description of the present invention. .

The configuration of the present invention for achieving the above object, a plurality of shooting drones to be separated from the feature by a predetermined distance to fly around the feature to obtain a video image; A radio controller for controlling the operation of the photographing drone and receiving and storing a video image photographed by the photographing drone; And an image processing apparatus for receiving a plurality of image images and matching the same stereoscopic image images. Characterized in that it comprises a.

In the image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the radio controller transmits a control signal for flight by communicating with a photographing drone, A wireless communication unit for receiving an image image; A storage unit for storing the received image image; A flight control unit for determining a current position of the photographing drone in response to the location information of the photographing drone, and calculating a flight path of the photographing drone; A display unit displaying an image image; An operation unit generating an input signal corresponding to a user's operation; And a device controller for controlling the wireless communication unit and the flight control unit. It is preferable to include.

In an image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the image processing apparatus includes: a preprocessing module configured to preprocess a plurality of image images photographed from a plurality of photographing drones; A labeling module for setting a label in each of a plurality of pre-processed video images according to a photographing time point; An image analysis module for identifying the viewpoints of the labeled image images based on the feature appearing in the image image, and classifying the image image corresponding to each viewpoint from 0 ° to 360 °; And an image registration module for generating one stereoscopic image by matching the image images determined by the image analysis module. It is preferable to include.

In the image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the photographing drone includes: a plurality of propellers respectively coupled to end portions of a plurality of drone wings extending to the side of the drone body; A drone camera unit coupled to the bottom of the drone body and having a ground camera for photographing a feature; And a drone buffer unit coupled to the lower portion of the drone wing to mitigate an impact when the ground drone is seated. It is preferable to include.

In the image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the drone camera unit is coupled to the bottom of the drone main body, the camera case is empty; A ground camera coupled to an inner side of the camera case and photographing the ground; A cylinder coupled to the other side of the camera case and movable up and down; And a camera opening / closing unit coupled to the inside of the camera case via a camera spring and movable left and right; It includes, the lower part of the camera case is formed with an opening opening for exposing the ground camera to the outside, the camera opening and closing portion is spaced apart from the opening opening and the opening and closing hole is selectively formed in accordance with the movement of the camera opening and closing portion In the side of the cylinder, an inverted triangular pressing part is formed, and at the end of the camera opening and closing part is formed a triangular moving part corresponding to the pressing part, the lower end of the cylinder is preferably coupled to the ultrasonic launcher.

In the image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the drone buffer unit includes: a buffer support unit coupled to a lower portion of a drone wing and having a buffer coupling hole formed with a thread; A cushioning body portion coupled to a lower portion of the buffer support portion and having a rectangular parallelepiped shape in which a buffer through hole is formed; A buffer cover portion coupled to cover the lower surface of the buffer body portion and having a buffer head hole formed therein; And a buffer bolt that penetrates the buffer head hole and the buffer through hole, and is connected to the buffer coupling hole and connects the buffer cover part, the buffer body part, and the buffer support part into one. It is preferable to include.

In the image processing system capable of acquiring stereoscopic information of a feature using a drone according to an embodiment of the present invention, the buffer bolt includes a bolt screw portion having a diameter equal to that of the buffer coupling hole and a thread formed on an outer circumferential surface thereof; A bolt through portion having the same diameter as the buffer through hole and having no thread formed on its outer circumferential surface; And a bolt head portion having the same diameter as that of the buffer head hole and having no thread formed on the outer circumferential surface thereof. It is preferable to include.

The present invention having the configuration as described above, by using a plurality of shooting drones can obtain a 360 ° image image of the feature, can be matched through the image processing device to generate a three-dimensional image image regardless of location There is an advantage in that it is possible to obtain a high quality stereoscopic image image at low cost without.

In addition, the present invention can be prevented from being contaminated from external foreign matters because the ground camera is exposed only at the desired time point, it can be stabilized by relieving the impact when the ground drone of the shooting drone using the drone shock absorber.

1 is a view showing the overall configuration of an image processing system that can obtain stereoscopic information of a feature using a drone according to an embodiment of the present invention.
Figure 2 is a block diagram showing each configuration of a radio control apparatus according to an embodiment of the present invention.
3 is a block diagram showing each configuration of an image processing apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating an image processing method of an image processing apparatus according to an embodiment of the present invention.
5 is a view showing the overall appearance of the shooting drone according to an embodiment of the present invention.
6 is a view showing a cross-sectional view of the drone camera unit according to an embodiment of the present invention.
Figure 7 is a view showing a disassembled state of each component of the drone buffer unit according to an embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily practice the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and like reference numerals designate like elements throughout the specification.

In addition, the terms or words used in the specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own inventions. It should be interpreted as meaning and concept corresponding to the technical idea of the present invention based on the principle that it can be defined.

1 is a view showing the overall configuration of an image processing system that can obtain stereoscopic information of a feature using a drone according to an embodiment of the present invention.

As shown, the image processing system according to an embodiment of the present invention includes a radio control apparatus 1000, an image processing apparatus 2000, and a plurality of photographing drones 3000.

The radio controller 1000 may be manipulated by a user and control one or more imaging drones 3000. The radio control apparatus 1000 communicates with the photographing drone 3000 to control its flight path, and receives the original image image photographing the feature A such as a building from the photographing drone 3000, and in real time. Can be stored on the displayed and mounted memory device.

In addition, when there are a plurality of photographing drones 3000, any one photographing drone may be set as a master, and the other photographing drones may be set as slaves. The radio control apparatus 1000 receives the location information from each of the photographing drones 3000, calculates a distance between the photographing drones based on the master photographing drone, and calculates a route for maintaining the distance between the photographing drones. It can be reflected in the control signal of the imaging drone. Accordingly, the radio control apparatus 1000 may control the plurality of photographing drones 3000 by the device by controlling the flight of one master device.

The user places one or more photographing drones 3000 around the feature A, which is the object for which the user wants to create a stereoscopic image, and rotates the feature A around a feature A at a predetermined height. A 360 ° image of the feature A may be acquired.

The photographing drone 3000 may photograph the corresponding feature A under the control of the radio controller 1000. The photographing drone 3000 may be equipped with a wireless communication means, a flight means and a power supply means, and in particular, it is equipped with a photographing means, and the image obtained by photographing a certain area during the flight under the control of the radio controller 1000. It can be transmitted to the radio controller 1000.

In addition, a plurality of photographing drones 3000 may be provided, and as a pair of photographing drones 3000 are opposed to each other about a feature, a pair of photographing drones 3000 may correspond to the same feature. If you take a picture from a viewpoint, and rotate it clockwise or counterclockwise, you get a 360 ° image.

For example, if the plurality of photographing drones 3000 is composed of four, and the first drone is located at 0 ° with respect to the feature, the second drone is located at 90 °, and the third drone is 180 ° and the fourth drone. May be positioned corresponding to 270 °. The two pairs of photographing drones 3000 may move in the same path by forming a cluster, and may be disposed at the same distance around a feature to obtain an image image.

The image image obtained in this manner may be transmitted and stored in real time to the radio controller 1000, and the stored image image may be analyzed and matched through the image processing apparatus 2000 and then converted into a stereoscopic image image.

2 is a block diagram showing each configuration of a radio controller according to an embodiment of the present invention.

As shown, the radio control apparatus 1000 transmits a control signal for flight by communicating with the photographing drone 3000 through an information communication network, and receives the location information and the original image image from the photographing drone 3000. The wireless communication unit 1100, the storage unit 1200 storing the original image image, the flight control unit 1300 for determining the current position of the shooting drone 3000 in response to the position information, and calculates the flight path of the shooting drone 3000 The control unit 1400 generates an input signal corresponding to a flight path through the display unit 1400 for displaying an image image, an operation unit 1500 for generating an input signal corresponding to a user's operation, and a flight control unit 1300, and converts the input signal into a control signal. It may include a device controller 1600 reflected in.

The wireless communication unit 1100 may be connected to the photographing drone 3000 through an information communication network to transmit a control signal for control, and receive an original image image of the feature obtained therefrom.

The storage unit 1200 may store the original image image received through the wireless communication unit 1100. The storage unit 1200 may be initialized with a file system in which a plurality of divided storages are defined, and the images acquired by the plurality of photographing drones 3000 are respectively divided into first to fourth images in the plurality of storages. Can be stored.

In addition, the storage unit 1200 may store an environment setting value for driving the radio controller 1000. The storage unit 1200 may be implemented as a memory device detachable from the radio controller 1000 such as a flash memory.

The flight controller 1300 may receive a location signal from the photographing drone 3000 to identify a current location, calculate a route of each of the plurality of photographing drones 3000 set to a group flight, and generate a control signal corresponding thereto. can do.

In order to implement such a function, the flight control unit 1300 according to an embodiment of the present invention has a predetermined distance according to the position identification module for identifying the position of each photographing drone 3000 and a plurality of photographing drones 3000. According to the route calculation module and the operation signal for calculating the maintained cluster route, one of the plurality of photographing drones 3000 determines a flight path, and according to the flight path for one flight path of the remaining photographing drone 3000 It may include a route determination module for generating a control signal by calculating a.

The display unit 1400 may display an image image captured by the ground camera 3420 mounted on the imaging drone 3000 in real time. The user may check whether the one or more photographing drones 3000 that he or she currently controls are properly photographing the intended feature.

The manipulation unit 1500 may generate an input signal for controlling the flight of the photographing drone 3000 and the photographing of the feature according to a user's manipulation. The operation unit 1500 may include one or more sticks or buttons for designating a predetermined direction and height, and the input signal by the operation unit 1500 is reflected in the control signal.

The device controller 1600 controls each component of the radio controller 1000, and may control to communicate with the photographing drone 3000 by the wireless communication unit 1100. The input signal may be reflected in the control signal to allow the photographing drone 3000 to fly to a corresponding position according to a user's intention.

In addition, the device controller 1600 may control the flight controller 1300 to calculate a route according to a group flight, and generate a control signal accordingly. The device controller 1600 may be implemented as an MCU in which the above functions are programmed.

According to the above-described structure, the radio control apparatus 1000 according to an embodiment of the present invention, can control the flight to one or more than one shooting drone 3000, when there are a plurality of shooting drones 3000, the group flight It may be implemented, and can receive and store the original image image of the feature taken by each shooting drone (3000).

3 is a block diagram showing each configuration of an image processing apparatus according to an embodiment of the present invention.

As shown, the image processing apparatus 2000 includes a preprocessing module 2100 for preprocessing a plurality of original image images, a labeling module 2200 for setting a label in each of the preprocessed plurality of image images according to a photographing time point, and an image. Identifies the viewpoints of the labeled image images based on the feature appearing in the image, and matches the image analysis module 2300 and the image images for each viewpoint from 0 ° to 360 ° to classify the image images corresponding to each viewpoint. It may include an image registration module 2400 for generating one stereoscopic image.

The preprocessing module 2100 may convert original image images having various formats into a form that may be processed by the image processing apparatus 2000. The preprocessing module 2100 may include a noise removing function by filtering the original image image.

The labeling module 2200 may set a label on a plurality of image images respectively obtained from the plurality of photographing drones 3000. This labeling process can then be used to identify each image in the registration process.

The image analysis module 2300 may classify which point the corresponding image image corresponds to from 0 ° to 360 ° of the feature according to the shape of the feature appearing in each image.

The image matching module 2400 may generate one stereoscopic image by matching the image images determined by the image analysis module 2300. One stereoscopic image may be generated by combining image images of all views of a feature into one, and such stereoscopic image may be reproduced by a user.

As described above, the image processing apparatus 2000 of the image processing system according to the exemplary embodiment of the present invention may generate one stereoscopic image by analyzing and matching one or more input original image images.

Hereinafter, an image processing method by an image processing apparatus 2000 of an image processing system according to an exemplary embodiment of the present invention will be described with reference to the drawings.

4 is a flowchart illustrating an image processing method of an image processing apparatus according to an embodiment of the present invention. In the following description, even if there is no separate description, the execution subject for each step is the above-described image processing apparatus 2000 and components thereof.

As shown, the image processing method of the image processing apparatus 2000 according to the present invention, the step of receiving a plurality of original image images for the features obtained from the plurality of photographing drones (S100), Pre-processing a plurality of original image images (S200), setting a label according to a photographing time point in each of the preprocessed plurality of image images (S300), and labeling the image image based on a feature appearing in the original image image Identifying a viewpoint of the image (S400), classifying the image image corresponding to each viewpoint from 0 ° to 360 ° of the feature (S500), and matching the image images of each viewpoint to generate one stereoscopic image image It may include the step (S600).

The step S100 of receiving a plurality of original image images is a step in which the image processing apparatus 2000 receives an original image image of a feature acquired by a plurality of photographing drones 3000. In this case, the original image image may be received from the radio controller 1000 through a wired or wireless network, or may be input through a memory device.

The preprocessing of the plurality of original image images (S200) is a step in which the preprocessing module 2100 performs an image processing process such as noise removal on the original image image to be suitable for matching.

The setting of the label on the image image (S300) is a step in which the labeling module 2200 sets a label for identification of each of the pre-processed image images.

Identifying the viewpoint of the image image (S400) is a step in which the image analysis module 2300 analyzes the shape of the feature appearing in each image image and identifies the viewpoint at which each image image is photographed based on this.

In addition, the step of classifying the image image (S500) is the step of classifying the image image corresponding to the image analysis module 2300 according to the time point identified from 0 ° to 360 ° for the feature.

The generating of the stereoscopic image image (S600) is a step in which the image matching module 2400 generates one stereoscopic image image by matching the image images classified in operation S500 according to a viewpoint.

5 is a view showing the overall appearance of the shooting drone according to an embodiment of the present invention.

As shown, the photographing drone 3000 has a drone main body 3100 disposed in the center, four drone wings 3200 extending from the side of the drone main body, and four propellers 3300 coupled to the drone wing end, respectively. ) Is included by default.

As the propeller 3300 operates, the imaging drone 3000 may move up or down and move to a desired point. Although not shown, a drone main body 3100 may include a controller, a communication unit, and the like, which may communicate with the radio controller 1000, and an infrared or ultrasonic sensor may be embedded to prevent a feature, a tadron, and other obstacles around the drone. The flight path can be calculated by detecting the distance to the. Infrared sensors are also used to control crowded flights.

Specifically, the propeller 3300 is disposed in the center is coupled to surround the center portion 3310 and the outside of the central portion connected to the rotary motor (not shown) to receive a rotational force from the central portion and the rotary blade 3330 is coupled to the outside It includes a wing rotating part 3320.

The blade rotation part 3320 is formed in a ring shape, a plurality of 'T'-shaped melting part 3321 is formed to protrude inside the blade rotation part 3320. The center portion 3310 has a groove formed in a corresponding shape so that the 'T'-shaped melting portion 3331 can be inserted therein. As the melting portion 3331 is engaged with the groove, the rotational force of the rotating motor is rotated by the blade rotation portion 3320. Is delivered.

In this case, the melting part 3321 may be formed of a material having a lower melting point than the center part 3310 and the wing rotation part 3320. That is, when foreign matter is stuck in the propeller 3300 and the propeller does not rotate properly and heat is generated due to overcurrent, the melting part 3321 having a low melting point is melted and broken between the expensive rotary motor and the blade rotating part 3320. Can be separated.

The melting part 3321 may be made of a polypropylene material, and the center part 3310 and the wing rotating part 3320 may be made of a polyamide material. The polypropylene material has a melting point about 80 ° C. lower than that of the polyamide material.

Accordingly, the expensive rotary motor is not damaged by heat, and the user can reuse the propeller 3300 again by replacing only the blade rotation part 3320 and the rotor blade 3330 part.

On the other hand, the drone main body 3100 is coupled to the drone camera unit 3400, the lower portion of the drone wings 3200, the drone buffer unit 3500 is coupled. The drone camera unit 3400 has a built-in ground camera 3420 to capture a feature of the ground to obtain an image image, the drone buffer unit 3500 to mitigate the impact when the ground drone (3000).

6 is a view showing a cross-sectional view of the drone camera unit according to an embodiment of the present invention.

As shown, the drone camera unit 3400 includes a camera case 3410, a ground camera 3420, a cylinder 3430, and a camera opening and closing unit 3440.

The camera case 3410 is coupled to the bottom of the drone body 3100, and is made of a cylindrical or square cylinder shape and the like empty.

The ground camera 3420 is coupled to an inner side of the camera case 3410, and is disposed in a vertical direction to face the ground to photograph ground features of the ground. In the present invention, the ground camera 3420 is used to obtain the original image of the feature to obtain a three-dimensional image.

The cylinder 3430 is coupled to the other side of the camera case 3410, and is movable up and down. An ultrasonic hole is formed in the lower portion of the camera case 3410, and an ultrasonic launcher 3432 is coupled to the lower end of the cylinder 3430, so that the ultrasonic launcher 3432 is moved to the camera case 3410 when the cylinder 3430 is moved downward. It may be exposed to the outside of the), and when the cylinder 3430 is moved upward, the ultrasonic launcher 3432 may be stored inside the camera case 3410.

The ultrasonic launcher 3432 generates a frequency relatively higher than an audible frequency of a person, thereby preventing algae from approaching the photographing drone 3000, thereby allowing the feature to be accurately photographed.

 The camera opening and closing part 3440 is coupled to the inside of the camera case 3410 so as to be movable from side to side through the camera spring 3401. The opening and closing hole 3442 is perforated in the central portion of the camera opening and closing portion 3440.

An opening hole 3411 exposing the ground camera 3420 to the outside is formed at a lower portion of the camera case 3410 in response to the position of the ground camera 3420. In accordance with the movement may be spaced apart or overlapped from the opening (3411).

That is, when the camera opening / closing portion 3440 is moved to the right side by the elastic force of the camera spring 341, the opening / closing hole 3442 is spaced to the right from the opening hole 3411, and thus the camera opening / closing portion 3440 is Cover the opening hole 3411 so that the ground camera 3420 is not exposed to the outside.

When the camera opening / closing portion 3440 overcomes the elastic force of the camera spring 341 and moves to the left side, the opening / closing hole 3442 is disposed to overlap with the opening hole 3411, and thus the ground camera 3420 opens and closes the opening 3344. And it can be exposed to the outside through the opening hole (3411).

In this case, an inverted triangular pressing portion 3431 is formed at the side of the cylinder 3430, and a triangular moving portion 3443 is formed at the right end of the camera opening and closing portion 3440 corresponding to the pressing portion 3431. do.

As the cylinder 3430 is moved downward, the pressing part 3431 presses the moving part 3443 to move the moving part 3443 to the left side, and the camera opening / closing part 3440 overcomes the elastic force of the camera spring 3431. You can move to the left.

When the cylinder 3430 is moved upward, the pressing part 3431 no longer presses the moving part 3443, so that the camera opening and closing part 3440 naturally moves to the right by the elastic force of the camera spring 341.

As described above, the present invention may allow the ground camera to be exposed only when the user wants the ground camera 3420 to be exposed, thereby preventing the ground camera from being exposed to external foreign matters and further increasing the life of the ground camera. .

FIG. 7 is a view illustrating an exploded state of each component of the drone buffer unit according to the exemplary embodiment of the present invention.

As shown, the drone buffer unit 3500 includes a buffer support unit 3510, a buffer body unit 3520, a buffer cover unit 3530, and a buffer bolt 3540.

The buffer support part 3510 is vertically coupled to the lower portion of the drone wing 3200, and a buffer coupling hole 3511 is formed at the center thereof. A plurality of threads are formed in the inner diameter of the buffer coupling hole 3511 along the longitudinal direction.

In the illustrated embodiment, the buffer support part 3510 is formed in a cylindrical shape, but is not limited thereto, and may be formed in various shapes such as a rectangular parallelepiped. The buffer support part 3510 has a length such that a component such as the drone camera part 3400 does not touch the ground when the photographing drone 3000 sits on the ground.

The buffer body portion 3520 is coupled to the lower portion of the buffer support portion 3510, and a buffer through hole 3351 is formed at the center thereof. The inner diameter of the buffer through hole (3521) is different from the buffer coupling hole (3511) in that no thread is formed.

The buffer body part 3520 is formed in a rectangular parallelepiped shape and is made of a material having elasticity to prevent shock or vibration from being applied to the shooting drone 3000 from the ground when the landing drone of the shooting drone 3000 falls or falls. .

For example, the buffer body part 3520 is preferably made of a thermoplastic elastomer. Thermoplastic elastomers have a function of rubber at room temperature but are plasticized at high temperatures to enable various molding processes.

The buffer cover part 3530 is coupled to cover the lower surface of the buffer body part 3520, and a buffer head hole 3531 is formed at the center thereof. Similar to the buffer through-hole 3351, no thread is formed in the inner diameter of the buffer head hole 3531.

The buffer cover portion 3530 is formed to have a cross-section of the 'c' shape corresponding to the shape of the lower surface of the buffer body portion 3520. The shock absorbing cover part 3530 prevents the shock absorbing body part 3520 from being easily contacted with the outside.

In other words, the buffer cover part 3530 is made of a material having a relatively higher hardness than the buffer body part 3520. The buffer cover part 3530 may be made of various materials such as plastic or metal of high hardness.

As described above, the shock absorbing body part 3520 performs a function of buffering an external shock. If the hardness is too high, the shock absorbing body part 3520 may hardly perform the shock absorbing function. . That is, it is very difficult to satisfy both performances at once.

In the present invention, by improving the problem, the buffer body part 3520 is made of a material that is as smooth and elastic as possible to maximize the cushioning function, and the buffer cover part 3530 is made of a material of high hardness to prevent wear, Both functions can be satisfied at the same time.

The buffer bolt 3540 is fastened to the buffer coupling hole 3511 by passing through the buffer head hole 3531 and the buffer through hole 3531, and the buffer cover part 3530, the buffer body part 3520, and the buffer support part 3510. )) Into one.

Specifically, the buffer bolt 3540 has the same diameter as the buffer coupling hole (3511) and has the same diameter as the bolt screw portion (3541), the threaded through hole 3351, the thread is formed on the outer peripheral surface and the thread is not formed on the outer peripheral surface It includes a bolt head portion 3543 having the same diameter as the bolt through portion (3542) and the buffer head hole (3531), the thread is not formed on the outer peripheral surface.

The length of the bolt through portion (3542) is formed to be the same as the height of the buffer through hole (3521) can maintain the hardness without the buffer body portion 3520 is pressed by the buffer bolt (3540). In addition, the length of the bolt head portion 3543 is the same as the height of the buffer head hole 3531, so that the bolt head portion 3543 does not protrude out of the buffer head hole 3531.

The present invention described above is not limited to the above-described embodiment and the accompanying drawings, and it is common in the art that various substitutions, modifications, and changes can be made without departing from the technical spirit of the present invention. It will be apparent to those who have the knowledge of.

1000: radio controller 1100: wireless communication unit
1200: storage unit 1300: flight control unit
1400: display unit 1500: operation unit
1600: device control unit 2000: image processing device
2100: pretreatment module 2200: labeling module
2300: image analysis module 2400: image registration module
3000: Shooting Drone 3100: Drone Body
3200: Drone wing 3300: Propeller
3310: center part 3320: wing rotation part
3321: melting part 3330: rotary wing
3400: drone camera unit 3410: camera case
3411: open hole 3420: ground camera
3430 cylinder 3431 push part
3432: ultrasonic launcher 3440: camera opening and closing
3441: camera spring 3442: opening and closing hole
3443: moving unit 3500: drone buffer unit
3510: buffer support portion 3511: buffer coupling hole
3520: buffer body portion 3521: buffer through hole
3530: buffer cover 3531: buffer head hole
3540: buffer bolt 3541: bolt screw part
3542: bolt through part 3543: bolt head part

Claims (1)

A plurality of photographing drones spaced apart from the feature by a predetermined distance and flying around the feature to obtain a video image; A radio controller for controlling the operation of the photographing drone and receiving and storing a video image photographed by the photographing drone; And an image processing apparatus for receiving a plurality of image images and matching the same stereoscopic image images. Including but not limited to:
The radio control device,
A wireless communication unit which transmits a control signal for flight by communicating with a photographing drone, and receives position information and an image image from the photographing drone; A storage unit for storing the received image image; A flight control unit for determining a current position of the photographing drone in response to the location information of the photographing drone, and calculating a flight path of the photographing drone; A display unit displaying an image image; An operation unit generating an input signal corresponding to a user's operation; And a device controller for controlling the wireless communication unit and the flight control unit. Including,
The image processing apparatus,
A preprocessing module for preprocessing a plurality of image images photographed from a plurality of photographing drones; A labeling module for setting a label in each of a plurality of pre-processed video images according to a photographing time point; An image analysis module for identifying the viewpoints of the labeled image images based on the feature appearing in the image image, and classifying the image image corresponding to each viewpoint from 0 ° to 360 °; And an image registration module for generating one stereoscopic image by matching the image images determined by the image analysis module. Including;
The shooting drone,
A plurality of propellers each coupled to an end portion of the plurality of drone wings extending to the side of the drone body; A drone camera unit coupled to the bottom of the drone body and having a ground camera for photographing a feature; And a drone buffer unit coupled to the lower portion of the drone wing to mitigate an impact when the ground drone is seated. Including;
The drone camera unit,
A camera case coupled to the bottom of the drone body and having an empty interior; A ground camera coupled to an inner side of the camera case and photographing the ground; A cylinder coupled to the other side of the camera case and movable up and down; And a camera opening / closing unit coupled to the inside of the camera case via a camera spring and movable left and right; Including,
The lower part of the camera case is formed with an opening opening for exposing the ground camera to the outside, the camera opening and closing portion is spaced apart from the opening and the opening and closing hole is selectively formed in accordance with the movement of the camera opening and closing is formed, the cylinder The side portion is formed with an inverted triangular press portion, the end of the camera opening and closing portion is formed in a triangular shape corresponding to the pressing portion, the lower end of the cylinder is coupled to the ultrasonic launcher,
The drone buffer unit,
A buffer support portion coupled to a lower portion of the drone wing portion and having a threaded buffer coupling hole formed therein; A cushioning body portion coupled to a lower portion of the buffer support portion and having a rectangular parallelepiped shape in which a buffer through hole is formed; A buffer cover portion coupled to cover the lower surface of the buffer body portion and having a buffer head hole formed therein; And a buffer bolt that is fastened to the buffer coupling hole through the buffer head hole and the buffer through hole, and connects the buffer cover part, the buffer body part, and the buffer support part into one. Including;
The buffer bolt,
A bolt screw part having the same diameter as the buffer coupling hole and having a thread formed on an outer circumferential surface thereof; A bolt through portion having the same diameter as the buffer through hole and having no thread formed on its outer circumferential surface; And a bolt head portion having the same diameter as that of the buffer head hole and having no thread formed on the outer circumferential surface thereof. Image processing system capable of acquiring stereoscopic information of a feature using a drone characterized in that it comprises a.

Images