KR20170009178A - Multicopter Installed A Plurality Of Cameras And Apparatus For Monitoring Image Received Therefrom - Google Patents

Abstract

The present invention relates to a multicopter having multiple cameras and a device for monitoring an image received from the multicopter. The multicopter has the multiple cameras to photograph an image beyond a front side of the multicopter and can obtain a view without a blind spot. Therefore, the multicopter can prevent an accident due to sudden collision. According to an embodiment of the present invention, the multicopter having the multiple cameras includes: a main body; multiple propellers providing buoyancy to the main body by rotating; an ordinary camera installed in the main body and photographing a front image in a driving direction; at least a fisheye camera installed in the main body and photographing a surrounding image in the driving direction; a storage unit storing the image photographed by the ordinary camera and the fisheye camera; a communications unit transmitting the image photographed by the ordinary camera and the fisheye camera or the image stored in the storage unit and receiving a control signal; and a control unit controlling flight in accordance with the received control signal and controlling the ordinary camera and the fisheye camera.

Description

TECHNICAL FIELD [0001] The present invention relates to a multi-copter having a plurality of cameras and a device for monitoring images received from the multi-copter.

The present invention relates to a multi-copter equipped with a plurality of cameras and an apparatus for monitoring images received therefrom. More particularly, the present invention relates to a multi-copter capable of securing not only a forward view but also a view in another direction, To an apparatus for simultaneously monitoring images.

Multi-copter, also called multi-rotor, is a small unmanned aerial vehicle that has been used and developed for military purposes for reconnaissance and topographic search. Recently, however, in civilian areas, .

Depending on the number of propellers, the multi-copter is called a tri-copter with three propellers, a quad copter with four, a hexacopter with six, and an octa-copter with eight. Such a multi-copter has many advantages over other unmanned aerial vehicles. The biggest advantage is that it is very simple to use and operate. That is, anyone can easily control, maintain, maintain, and manage the aircraft even if they do not have specialized knowledge of the aircraft or do not have a lot of training in advance. In addition, mechanical vibration is not large, and the probability of component damage due to fatigue is low.

Due to the above advantages, the demand for multi-copter is rapidly increasing, and the accident that multi-copter collides with algae and other airplanes during flight is increasing rapidly. Recently, a multi-copter was sucked into the engine of a passenger plane flying a passenger, and there was a case in which a major disaster would occur.

One of the biggest causes of these incidents is that a camera installed on a multi-copter is not enough to obtain a view. A conventional multi-copter can not see simultaneously with the front, even though the camera is only directed toward the front and can photograph the rear by rotating. Especially, when there is no camera to shoot upward or downward, when the elevation of the multi-copter is elevated or lowered, it is not possible to secure a field of view in the moving direction.

In recent years, a multi-copter equipped with a camera has been developed in an upward or downward direction. However, this is a camera equipped with a general lens, and the user must control the camera to rotate in order to take a desired direction. Accordingly, when another air vehicle or object approaches the camera in a direction not facing the camera, the user can not recognize the camera beforehand and can not rotate the camera, so unexpected collision may occur. Also, since a plurality of motors must be installed on the X, Y, and Z axes to rotate the camera upward or downward, the structure is complicated and the risk of failure is high. Since the user needs to control not only the multi-copter but also the camera rotation, the user may have trouble controlling the two. In addition, when the camera is rotated, the camera must be completely exposed to the outside of the multi-copter body so that the lens of the camera is not covered, thereby increasing the resistance of the air and raising the possibility of entry of rainwater and other waste materials. Since the multi-copter is flying in the air, there is a problem that the multi-copter rotates in the opposite direction due to the reaction due to the rotation force of the camera.

Korean Patent No. 1363066 Korean Laid-Open Publication No. 2012-0081500

A problem to be solved by the present invention is to prevent an accident due to unintentional collision by installing a plurality of cameras and capturing an image to an area other than the front of the multi-copter, and securing a field of view so that there is no blind spot as a whole.

Another problem to be solved by the present invention is to reduce the resistance of the air during operation of a multi-copter equipped with a plurality of cameras, reduce the possibility of inflow of rainwater and other waste materials, and prevent movement of the unintended multi-copter.

Another problem to be solved by the present invention is to reproduce images captured by a plurality of cameras installed in a multi-copter on a plurality of monitors provided at positions corresponding to positions of respective cameras, The present invention provides an apparatus for monitoring an image received from a multi-copter which can feel the same feeling as flying.

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

According to an aspect of the present invention, there is provided a multi-copter provided with a plurality of cameras, the multi-copter having a plurality of cameras including a main body and a plurality of propellers for providing a floating force to the main body by a rotation operation A general camera installed in the main body and photographing a forward image with respect to a driving direction; At least one fisheye camera installed in the main body, the at least one fisheye camera photographing a surrounding image in the running direction; A storage unit for storing images taken from the general camera and the fisheye camera; A communication unit for transmitting the image captured from the general camera and the fisheye camera or the image stored in the storage unit and receiving a control signal; And a control unit for controlling the flight according to the received control signal or performing adjustment of the general camera and the fisheye camera.

According to another aspect of the present invention, there is provided an apparatus for monitoring an image received from a multi-copter equipped with a plurality of cameras, the apparatus comprising: a user accommodation space into which a user can enter; At least one monitor for reproducing the image photographed from the multi-copter; A manipulator capable of converting a command of a user into the control signal and transmitting the control signal to the communication unit to manipulate the flight of the multi-copter; And a video processor for performing video processing on the monitor so as to reproduce the plurality of videos transmitted from the communication unit, wherein the monitor is divided into a plurality of sections and simultaneously reproduces the plurality of videos received from the multi- It is possible to switch from one of the plurality of images to another image.

Other specific details of the invention are included in the detailed description and drawings.

The embodiments of the present invention have at least the following effects.

The multi-copter equipped with a plurality of cameras according to an embodiment of the present invention can view an image taken at a time in front of and in other directions. Especially, in the top and bottom of the multi-copter, a fisheye camera equipped with a fisheye lens, not a general lens, is installed to secure a view so that there is no blind spot, thereby preventing an accident caused by unexpected collision.

Since these fisheye cameras do not need to be exposed to the exterior of the multi-copter body, the possibility of entry of rainwater and other wastes is reduced, the possibility of failure is reduced, and the resistance of air is also reduced. In addition, since the fisheye camera does not need to be provided with a motor for changing the posture, it is possible to prevent the reverse rotation of the multi-copter caused by the reaction due to the rotational force of the motor. Since the user does not have to control the rotation of the camera, it can provide convenience to focus on the flight control of the multi-copter.

In addition, an apparatus for monitoring an image received from a multi-copter equipped with a plurality of cameras according to another embodiment of the present invention may feel the same feeling as if the user enters the inside of the multi-copter and fly directly. Therefore, it is possible to provide a convenience for the user to perform more accurate determination of the inclination, speed, altitude, etc. of the multi-copter and to perform precise control.

The effects according to the present invention are not limited by the contents exemplified above, and more various effects are included in the specification.

1 is a perspective view of a multi-copter according to an embodiment of the present invention.
2 is a general structural view of a fish-eye lens installed in a multi-copter according to an embodiment of the present invention.
3 is a front view of a multi-copter according to an embodiment of the present invention.
4 is a plan view of a multi-copter according to an embodiment of the present invention.
5 is a side view of a monitoring device according to another embodiment of the present invention.
6 is a block diagram illustrating image and signal movement between the main body of the multi-copter and the monitoring apparatus according to an embodiment of the present invention.

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

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms " comprises "and / or" comprising "used in the specification do not exclude the presence or addition of one or more other elements in addition to the stated element.

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

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

1 is a perspective view of a multi-copter 1 according to an embodiment of the present invention.

1, the multi-copter 1 includes a main body 10, a plurality of arms 13, one end of which is coupled to the main body, and a plurality of arms 13, And a plurality of legs 12 coupled to a lower portion or a side surface of the main body to support the multi-copter 1. The multi- The multi-copter 1 is preferably made of a lightweight material for smooth flight.

As shown in Fig. 1, at least one general camera 101 is installed in the main body 10. [ The general camera 101 can be directed in any direction from the main body 10 but at least one general camera 101 can be moved toward the front of the main body 10 so that the multi- . The general camera 101 may be installed inside the main body 10 and in this case the general camera 101 may be configured such that the lens of the general camera 101 or the light- As shown in FIG.

On the other hand, a fisheye camera 102 is installed on the main body 10 so as to simultaneously photograph images in various directions. Although only one such fisheye camera 102 can be installed, it is preferable that a plurality of fisheye cameras 102 are installed as shown in FIG. The plurality of fisheye cameras 102 can be oriented in any direction from the main body 10 but at least two fisheye cameras 102 are provided on the main body 10 in order to avoid interference with the general camera 101 if the general camera 101 is facing forward 10 in a direction perpendicular to the longitudinal direction of the vehicle. If one fisheye camera 102 can capture an image at an angle of view of 180 degrees, it is possible to acquire an image of the entire 360 degrees from the images taken by the two fisheye cameras 102 installed above and below .

The fisheye camera 102 may be installed inside the main body 10 and may be exposed to the outside of the main body 10 so that the outermost lens of the fisheye camera 102 may be exposed to the outside of the main body 10 to photograph the outside of the main body 10. The image captured by the fisheye camera 102 includes both a still image and a moving image.

2 is a structural diagram of a fisheye lens 1020 used in a fisheye camera 102 installed above a main body 10 in a multi-copter 1 according to an embodiment of the present invention . As shown in FIG. 2, the fisheye lens has a wide angle of view of about 180 degrees by making various lens elements 1020a to 1020h by stacking at least six, at least ten, or more. These various lens elements 1020a through 1020h include convex, concave, and spherical, aspherical lenses. As shown in Fig. 2, a ray of light incident on the lens element 1020a at 180 degrees is irradiated to the imaging element 1021 after transmitting all the lens elements 1020a to 1020h. The image pickup device 1021 generates different signals according to the wavelength of the irradiated light beam, thereby converting the information about the image into electric signals. The fisheye lens 1020 is installed in a fisheye camera 102 included in the multi-copter 1 according to an embodiment of the present invention.

The image generated using the fisheye lens 1020 does not provide a wide viewing angle but becomes more distorted due to refraction toward the edge region of the image moving away from the optical axis. Therefore, the subject at the center of the lens is extremely large and the subject at the periphery is very small. Although it is possible to use such a distorted image as it is, there are many cases where it is necessary to correct distorted images in a specific field. The correction of the distorted image formed by the fisheye lens 1020 in this way is generally called "distortion calibration ", and such distortion correction is performed in accordance with the projection method used in the fisheye lens 1020, And is performed through appropriate formulas using parameters such as a focal distance and an optical center position.

The most common method for camera linear distortion-free mapping is perspective projection. This is a method of locating and mapping a point in a perspective image photographed by a general camera. And a linear-scaled projection method as the simplest mapping function for a fisheye lens. This is a method of finding the radiation position of a point in a fisheye image photographed through a fisheye lens. In order to correct the distorted fisheye image, the actual fisheye image should be mapped as a perspective image. Therefore, we can correct the distorted fisheye image by solving the two simultaneous equations that define the above-mentioned perspective mapping and the fisheye mapping and finding the relation between and.

The main body 10 is provided with a storage unit 103, a communication unit 104 and a control unit 105 (see FIG. 6), and a battery (not shown) for supplying power to the multi-copter 1. The rated voltage and shape of the battery may be changed according to the specification of the multi-copter 1. [ The manner in which the battery (not shown) supplies power is a general matter, and a detailed description thereof will be omitted.

Hereinafter, the configuration of the multi-copter 1 according to the embodiment of the present invention will be described in more detail with reference to the drawings.

3 is a front view of the multi-copter 1 according to an embodiment of the present invention.

As shown in FIGS. 1 and 3, a plurality of fisheye cameras 102 may be installed in the main body 10, and at least two fisheye cameras 102 may be disposed on the upper side of the main body 10, And downward. The fisheye camera 102 may be installed inside the main body 10 to reduce the volume of the main body 10 so as to minimize the resistance of the air of the multi-copter 1. [ The lens of the fisheye camera 102 protrudes outside the main body 10 so that the fisheye camera 102 can photograph the outside of the main body 10 because the lens of the fisheye camera 102 has a dome shape. At this time, the lens of the fisheye camera 102 is protruded to the outside of the main body 10 to such an extent that the view of the fisheye camera 102 is not disturbed and the resistance of the air of the multi-copter 1 is minimized.

As shown in FIGS. 1 and 3, the multi-copter 1 may further include a plurality of legs 12. The plurality of legs 12 may be attached to the lower side or the side surface of the main body 10 and may have any shape as long as they can easily support the multi-copter 1 when the multi-copter 1 lands. These legs 12 may be separately molded and attached to the body 10, but may also be molded integrally with the body 10.

4 is a plan view of the multi-copter 1 according to an embodiment of the present invention.

As shown in FIG. 4, the multi-copter 1 may further include a plurality of arms 13. The number of the arms 13 is preferably four, but the number of the arms 13 can be variously changed as long as the multi-copter 1 can fly easily. One end of each of the plurality of arms 13 is coupled to the main body 10, and each of the arms 13 can be radially arranged at equal intervals around the main body 10. [ The case where the arm 13 is formed separately from the main body 10 and is combined with the main body 10 as well as the case where the arm 13 is formed integrally with the main body 10 is also included.

As shown in Figs. 1 and 4, a plurality of propellers 11 are coupled to the other end of the plurality of arms 13, respectively. A pair of propellers 11 are provided at the upper and lower ends of the other end of the arm 13 as well as the case where one propeller 11 is coupled to the other end of the arm 13 at the other end of each arm 13, And the case where they are combined at the same time. The propeller 11 may take any form as long as it can fly and fly the multi-copter 1 easily into the air.

The propeller 11 is rotated by a drive motor (not shown) supplied with power by the battery (not shown). The mechanism by which the drive motor (not shown) rotates the propeller 11 is a general matter, and a detailed description thereof will be omitted.

5 is a side view of a monitoring device 2 according to another embodiment of the present invention.

5, the monitoring apparatus 2 includes a monitor 20, a user accommodation space 21, a control device 22, and an image processing section 23. [

As shown in FIG. 5, a user accommodation space 21 into which a user can enter is provided. Since the user views the image photographed by the fisheye camera 102 in the user accommodation space 21, the user accommodation space 21 preferably has a sphere shape for a more realistic view of the user, If you can watch it, you can have a different shape.

At least one monitor 20 for reproducing an image photographed by the general camera 101 and the fisheye camera 102 installed in the multi-copter 1 is installed in the user accommodation space 21. [ The monitor 20 may be divided into a plurality of sections and may reproduce a plurality of images received from the multi-copter 1 at the same time, or may reproduce one of the plurality of images as a full screen but switch to another image. The user can arbitrarily change the image playback setting of the monitor 20 as described above. A plurality of monitors 20 may be installed at positions corresponding to positions where the general camera 101 and the fisheye camera 102 are installed in the multi-copter 1, respectively, in the user accommodation space 21 have. The images photographed by the general camera 101 and the fisheye camera 102 can be respectively reproduced on a monitor provided at a position corresponding to the position of each camera.

Particularly, in the multi-copter 1 according to the preferred embodiment, one general camera 101 facing forward and two fisheye cameras 102 facing upward and downward are provided, , And a monitor 20 may be installed in the user accommodation space 21, one at the front, one at the top, and one at the bottom of the user. The image captured by the forward camera 101 is reproduced on the front monitor 201 and the image captured by the upward fisheye camera 102 is reproduced on the top monitor 202, The image photographed by the video monitor 102 can be reproduced in the lower monitor 203.

5, the upper monitor 202 and the lower monitor 203, among the monitors 20 in particular, are connected to a flexible display (not shown) to form a curved surface for a more realistic implementation of the image captured by the fisheye camera 102 Flexible Display) can be used.

As shown in FIG. 5, the monitoring device 2 includes a steering device 22. The control device 22 converts the command of the user into a control signal and transmits the control signal to the multi-copter 1 so that the user can control the flight of the multi-copter 1. The control device 22 is preferably fixed inside the user accommodation space 21 but may not be fixed inside the user accommodation space 21 if the multi-copter 1 can be easily controlled.

The monitoring device 2 includes an image processing unit 23. [ The concrete contents will be described later with reference to Fig.

FIG. 6 is a block diagram illustrating image and signal movement between the main body 10 and the monitoring device 2 of the multi-copter 1 according to an embodiment of the present invention.

6, the main body 10 includes a storage unit 103 and a communication unit 104, and the monitoring device 2 includes an image processing unit 23. The storage unit 103 stores images photographed from the general camera 101 and the fisheye camera 102 or stores the flight record and the like of the multicoperator 1. [ The communication unit 104 transmits the image stored in the storage unit 103 to the image processing unit 23 or transmits the image photographed by the general camera 101 and the fisheye camera 102 directly to the image processing unit 23 do. The image processing unit 23 performs image processing so that the image transmitted from the communication unit 104 can be reproduced on the monitor 20. The monitor 20 included in the monitoring apparatus 2 can reproduce the image processed by the image processing unit 23. [

As shown in FIG. 6, the main body 10 includes the control unit 105, and the monitoring device 2 includes the control device 22. [ The user can input a control signal for controlling the flight of the multi-copter 1 and the control of the general camera 101 and the fisheye camera 102 to the control device 22, and the control device 22 can input the control signal To the communication unit 104 in the main body 10 of the multi-copter 1. [ The control unit 105 processes the control signal received by the communication unit 104 or processes control signals generated in the multi-copter 1 such as a gimbal or a gyro sensor, And performs adjustment of the general camera 101 and the fisheye camera 102.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

1: Multi-copter 2: Monitoring device
10: main body 11: propeller
12: leg 13: arm
20: Monitor 21: user accommodation space
22: Steering device 23: Image processing section
101: general camera 102: fisheye camera
103: storage unit 104: communication unit
105: control unit 201: front monitor
202: upper monitor 203: lower monitor

Claims (6)

1. A multi-copter comprising a main body and a plurality of cameras including a plurality of propellers for providing a floating force to the main body by a rotation operation,
A general camera installed in the main body and photographing a forward image with respect to a driving direction;
At least one fisheye camera installed in the main body, the at least one fisheye camera photographing a surrounding image in the running direction;
A storage unit for storing images taken from the general camera and the fisheye camera;
A communication unit for transmitting the image captured from the general camera and the fisheye camera or the image stored in the storage unit and receiving a control signal; And
And a controller for controlling the flight according to the received control signal or performing adjustment of the general camera and the fisheye camera. The method according to claim 1,
Wherein the at least one fish-eye camera includes a first fisheye camera installed toward the upper side of the main body and a second fisheye camera installed toward the lower side of the main body, the plurality of cameras being installed Multi-copter. The method according to claim 1,
Wherein the plurality of cameras further comprise a plurality of arms on which the plurality of propellers are installed and a plurality of legs installed on a lower portion of the main body. The method of claim 3,
Wherein the plurality of arms are radially disposed at predetermined intervals around the main body, respectively, the ends of the arms being disposed at predetermined intervals around the main body, and the plurality of propellers are installed at the other ends of the arms, Copter. A user acceptance space into which a user can enter;
At least one monitor for reproducing the image photographed from the multi-copter;
A manipulator capable of converting a command of a user into the control signal and transmitting the control signal to the communication unit to manipulate the flight of the multi-copter; And
And an image processing unit for performing image processing so that the plurality of images transmitted from the communication unit can be reproduced on the monitor,
The monitor is divided into a plurality of sections and monitors the images received from the multi-copter equipped with a plurality of cameras, which can simultaneously reproduce the plurality of images received from the multi-copter or switch from one of the plurality of images to another Device. In the fifth aspect,
Wherein the monitor is a plurality of monitors and the monitor is disposed at a position corresponding to a position where the general camera and the fisheye camera are installed in the multi-
Wherein the images photographed by the general camera (101) and the fisheye camera (102) are respectively reproduced by the monitor disposed at the corresponding position.

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