KR20180000110A - Drone and method for controlling the same - Google Patents

Abstract

The present invention relates to a drone capable of automatically photographing various images without any photographer, and a control method thereof. According to the present invention, a drone connecting communication with a mobile terminal comprises: a flight unit to generate a lift force; a communication unit to receive sensing data acquired by the mobile terminal from the mobile terminal; a camera to photograph a predetermined object; and a control unit. The control unit recognizes either or both of a change in movement of the predetermined object and a state change of the predetermined object based on the sensing data, changes a photographing frame of the predetermined object based on either or both of the recognized changes, and photographs the predetermined object through the camera based on the changed photographing frame.

Description

[0001] DRONDER AND METHOD FOR CONTROLLING THE SAME [0002]

The present invention relates to a drones and a control method thereof.

Recently, the number of drones that can be operated by individuals or companies is on the rise. The drones mean, for example, airplanes such as airplanes or helicopter shapes flying by control signals of a radio wave without a person being driven.

In recent years, images taken in the air using a camera built in the drones are increasingly shared on the Internet. In addition, in the shooting field, a drones are often used instead of a Jimmy house camera.

In recent years, a technique has been developed for shooting images while keeping the distance between the drone and the subject. However, in order to take an image while changing the image composition in consideration of a change in the motion of the subject and a change in the state of the subject, a separate photographer is required, and there is no technique for shooting images while the drone automatically changes the composition.

However, the number of individuals possessing drones is increasing, and the number of people who want to shoot images without additional photographers is increasing. Therefore, a need has arisen for a technique of shooting an image while changing the shooting composition by taking into consideration the change of the movement of the object and the change of the state of the object.

Therefore, there is a need to develop a drones and a control method thereof that solve the problems of the prior art drones.

The present invention is directed to solving the above-mentioned problems and other problems. An object of the present invention is to allow a drone to recognize a change in a motion of a subject and a change in a state of a subject, and automatically shoot an image while changing a shooting configuration.

According to an embodiment of the present invention, a drone himself shoots a video image similar to a video shot by a highly skilled photographer even if there is no manipulation of a separate photographer.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, unless further departing from the spirit and scope of the invention as defined by the appended claims. It will be possible.

According to an embodiment of the present invention, there is provided a drones for communicating with a mobile terminal, comprising: a flight unit for generating lift for flight; a communication unit for receiving sensing data obtained from the mobile terminal from the mobile terminal; Wherein the control unit recognizes at least one of a change in the movement of the specific object and a change in the state of the specific object based on the sensing data, and based on at least one of the recognized changes, Changes the shooting composition of the specific object, and shoots the specific object through the camera based on the changed shooting composition.

According to another aspect of the present invention, there is provided a method for controlling a drones connected to a mobile terminal, the method comprising the steps of: receiving sensing data obtained by the mobile terminal from the mobile terminal; Recognizing at least one of a change in the movement of the specific object and a change in the state of the specific object on the basis of the detected change and a change in the shooting composition of the specific object based on at least one of the recognized changes, A step of determining at least one of a shooting angle of the specific object and a shooting position of the specific object and a step of controlling the flying of the drones based on at least one of the shooting position of the determined specific object and the shooting angle of the determined specific object And the determined specific object And photographing the specific object by controlling the movement of the camera based on at least one of the photographing position and the determined photographing angle of the specific object.

According to another aspect of the present invention, there is provided a drones for communicating with a mobile terminal, the drones including a flying unit for generating lifting force for flying, a camera for photographing a specific object, The control unit recognizes the speed of the specific object, changes the image-capturing scheme of the specific object based on the recognized speed, and displays the image based on the changed image-capturing scheme And photographs the specific object.

According to another aspect of the present invention, there is provided a method of controlling a drones connected to a mobile terminal, the method comprising: recognizing a speed of a specific object; Determining at least one of a photographing angle of the specific object and a photographing position of the specific object on the basis of the changed photographing composition, determining a photographing position of the specific object determined and a photographing angle of the determined specific object Controlling the flight of the drones based on at least one of the plurality of objects and photographing the specific object by controlling the movement of the camera based on at least one of the determined photographing position of the specific object and the photographing angle of the determined specific object .

The technical solutions obtained by the present invention are not limited to the above-mentioned solutions, and other solutions not mentioned are clearly described to those skilled in the art from the following description. It can be understood.

Effects of the drone and the control method according to the present invention will be described as follows.

According to at least one of the embodiments of the present invention, the drone recognizes the change of the motion of the subject and the change of the state of the subject, thereby automatically capturing an image while changing the composition of the image.

Also, according to at least one embodiment of the present invention, there is an advantage that a user of the mobile terminal can be photographed in consideration of various situations of the user of the mobile terminal even if there is no separate person to control the drones.

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

1 is a block diagram for explaining a drones related to the present invention.
2 is a view showing an example of the appearance of a dron according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating a method of photographing a specific object according to a change in movement of a specific object and a change in state of a specific object in the drone according to an embodiment of the present invention.
4 is a view for explaining an example of a method of photographing a specific object when there is no change in the movement of a specific object in the drone according to an embodiment of the present invention and there is no change in the state of the specific object.
5 to 8 are diagrams for explaining an example of a method of changing a photographing composition based on at least one of a change of movement of a specific object and a change of state of a specific object in the dron according to an embodiment of the present invention .
FIG. 9 is a view for explaining an example of a method of changing a photographing composition according to the kind of activity of a specific object in a drone according to an embodiment of the present invention.
FIG. 10 is a view for explaining an example of a method of changing a photographic composition according to a surrounding terrain in a drone according to an embodiment of the present invention.
11 is a view for explaining an example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention.
FIG. 12 is a view for explaining another example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention.
FIG. 13 is a view for explaining another example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention.
14 to 17 are diagrams for explaining an example of a method of controlling a dron according to an embodiment of the present invention.
FIGS. 18 to 21 are diagrams for explaining an example of a method of changing a photographing composition of an image stored in a memory of a mobile terminal and shooting through a drones. FIG.
22 is a flowchart for explaining a method of shooting a specific object according to the speed of a specific object in the drone according to an embodiment of the present invention.
23 is a view for explaining an example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention.
24 is a view for explaining another example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention.
25 is a view for explaining another example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention.
26 is a diagram for explaining an example of a method of changing a shooting configuration of a specific object based on the speed of a specific object in a drone according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

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

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

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

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The terminal for controlling the drones described herein may be a mobile phone, a smart phone, a laptop computer, a drones handset, a slate PC, a tablet PC, an ultrabook, A wearable device such as a smartwatch, a smart glass, an HMD (head mounted display), and the like.

1 is a block diagram for explaining a drones related to the present invention.

The drones 100 may include a flying part 110, a body part 120, a camera 130, and the like. The components shown in FIG. 1 are not essential for implementing the drones, so that the drones described herein may have more or fewer components than the components listed above.

More specifically, the flight portion 110 of the components may generate lift for flight of the drones. Flight 110 may include at least one propeller that is rotatable in association with the motor.

The flying part 110 can generate a lift by rotating the propeller, and can control the size of the lift by controlling the number of revolutions of the propeller. The elevation of the dragon 100 and the moving speed of the dragon 100 can be adjusted by controlling the magnitude of lift.

As a result, the flight unit 110 may control the flight of the drones under the control of the control unit 124. [

The body part 120 may be mounted with electronic parts constituting the drones 100. [ For example, the main body unit 120 may include a communication unit 121, a memory 122, a sensing unit 123, a control unit 124, and the like.

The communication unit 121 may include one or more modules that enable wireless communication between the drones 100 and a terminal (e.g., a mobile terminal, etc.) that controls the drones.

The communication unit 121 may transmit and receive a radio signal to and from a terminal that controls the drone in a communication network according to wireless Internet technologies. Wireless Internet technologies include, for example, wireless LAN (WLAN), wireless fidelity (Wi-Fi), wireless fidelity (Wi-Fi) Direct, DLNA (Digital Living Network Alliance), WiBro Interoperability for Microwave Access, High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), and Long Term Evolution-Advanced (LTE-A) And transmits and receives data to and from a terminal controlling the drone according to at least one wireless Internet technology in a range including Internet technologies not listed above.

The communication unit 121 may be a communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, Near Field Communication (NFC), Wi- -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. The communication unit 121 may support wireless communication between the terminal controlling the drones and the drones 100 through the wireless area networks.

Meanwhile, the communication unit 121 may include a location information module. The position information module is a module for obtaining the position (or current position) of the drones, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, the drones 100 can acquire the position of the drones 100 by using signals transmitted from GPS satellites by using a GPS module. As another example, the drones 100 may utilize the Wi-Fi module to acquire the location of the drones 100 based on information of a wireless access point (AP) that transmits or receives wireless signals with the Wi-Fi module can do. Optionally, the location information module may perform any of the other modules of the communication unit 121 to obtain data regarding the location of the drones 100, in addition or alternatively. The location information module is a module used to obtain the location (or current location) of the drones, and is not limited to modules that directly calculate or obtain the location of the drones.

The communication unit 121 may receive a control signal for controlling the flight of the drones 100, a control signal for controlling the camera 130, and the like from a terminal that controls the drones 100. Also, the communication unit 121 may transmit various sensing data sensed by the drones, images photographed through the camera 130, and the like to the terminal controlling the drones.

In addition, the memory 122 may store data supporting various functions in the drone 100. [ The memory 122 may store a plurality of application programs driven by the drones 100, data for flying the drones 100, data used for capturing images, and commands. At least one of these application programs may exist in the drones 100 from the time of shipment. Meanwhile, the application program may be stored in the memory 122, and may be driven by the control unit 124 to shoot an image while flying the drones.

The memory 122 stores image data shot through the camera 130 and stores data received from a terminal controlling the drones 100. [

The sensing unit 123 senses the state of the drones 100 and the surrounding environment. For example, the sensing unit 123 may detect a surrounding object and prevent the drones 100 from colliding with other objects while flying. Also, the sensing unit 123 may sense the current altitude of the drones and the current speed of the drones based on the detection signal.

In addition to the operations associated with the application program, the control unit 124 typically controls the overall operation of the drones 100. The control unit 124 processes signals, data, information, and the like input or output through the above-mentioned components, or drives an application program stored in the memory 122 to allow the drones to shoot images while flying along the flight path .

In addition, the controller 124 may control at least some of the components illustrated in FIG. 1 to drive an application program stored in the memory 122. Further, the control unit 124 may operate at least two or more of the components included in the drone 100 in combination with each other for driving the application program.

Although not shown in the drawing, the body 120 may include a power supply unit. The drones 100 are supplied with power from the power supply unit under the control of the control unit 124 and supply power to the respective components. Such a power supply may include a battery, which may be an internal battery or a replaceable battery.

The drones 100 may include one or more cameras 130. Here, the camera 130 may be exposed on the outer surface of the drones 100 to take a moving image or a still image.

When an image is photographed through the camera 130, the control unit 124 may transmit the photographed image data to the terminal controlling the drones.

On the other hand, the camera 130 may be installed so as to be tiltable vertically or horizontally to photograph a subject. The control unit 124 may control the movement of the camera 130 so that the subject is continuously photographed on the image.

The plurality of cameras 130 provided in the drones 100 may be arranged to have a matrix structure and the drones 100 may be provided with a plurality of Video information can be input. Also, the plurality of cameras 130 may be arranged in a stereo structure to acquire left and right images for realizing a stereoscopic image.

The camera 130 may include a plurality of lenses arranged along at least one line. The plurality of lenses may be arranged in a matrix form. Such a camera can be named an 'array camera'. When the camera 130 is an array camera, images can be taken in various ways using a plurality of lenses, and a better quality image can be obtained.

2 is a view showing an example of the appearance of a dron according to an embodiment of the present invention.

Referring to FIG. 2, the dron 100 may include a propeller guard 210, a propeller 220, a main body 230, a camera 240, and the like. However, the scope of the present invention is not limited to the shape of the drones 200 shown in FIG. That is, the present invention can be applied to various helicopter types such as a tri-copter using three propellers, a quad-copter using four propellers as shown in FIG. 2, and an octacopter using eight propellers, or an airplane-type dron Do.

The propeller guard 210 is configured to prevent a person or an animal from being hurt due to the operation of the propeller 220, and may be omitted.

The propeller 220 and the camera 240 operate in response to a control signal of the main body 230 and the main body 230 includes a communication unit capable of communicating with a terminal controlling the drones 100. [

Meanwhile, the camera 240 may be constituted by at least one camera, and may be configured to be tiltable up, down, left, and right. Accordingly, the camera 240 can move in response to the control signal of the main body 230. However, according to the embodiment, the camera 240 may be moved using a separate control signal different from the control signal of the main body 230.

Hereinafter, embodiments related to a control method that can be implemented in the drone constructed as above will be described with reference to the accompanying drawings. It will be apparent to 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.

FIG. 3 is a flowchart illustrating a method of photographing a specific object according to a change in movement of a specific object and a change in state of a specific object in the drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 and FIG. 2 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, the control unit 124 of the drones 100 may control the communication unit 121 to connect the communication with the mobile terminal that controls the drones. Here, the mobile terminal for controlling the drone may be any one of a mobile phone, a smart phone, a specific external terminal for controlling the drone, and a watch type mobile terminal.

The control unit 124 of the drones 100 may control the camera 130 to photograph the specific object when receiving a signal from the mobile terminal to shoot a specific object in a specific shooting mode. Here, the specific shooting mode is a photographing mode in which the specific object is continuously photographed while maintaining a predetermined distance from the specific object, and the shooting composition is changed in accordance with the motion change of the specific object and the state change of the specific object It is possible.

The specific object may be a user of the mobile terminal. Specifically, since the drone 100 photographs the mobile terminal at a predetermined distance from the mobile terminal, the user holding the mobile terminal is photographed. Therefore, the user having the mobile terminal can be the specific object.

The control unit 124 may control the flight unit 110 to fly while tracking the specific object in the specific shooting mode and may control the movement of the camera 130 so that the specific object is continuously captured .

Meanwhile, the control unit 124 may control the communication unit 121 to receive the sensing data obtained in the mobile terminal to which the communication is connected (S310).

The sensing data is sensing data obtained through a sensor of the mobile terminal. The sensing data includes information on a moving direction of the mobile terminal, information on the moving speed of the mobile terminal, information on the position of the mobile terminal, information on the altitude of the mobile terminal , Information on a gesture of a specific object, information on a pulse of a specific object, information on respiration of a specific object, information on a change in body temperature of a specific object, and information on the amount of perspiration of a specific object have.

The information on the movement direction of the mobile terminal may include information on the movement direction obtained through the gyro sensor included in the mobile terminal, information on the change in the movement direction, and the like.

The information on the moving speed of the mobile terminal may include information on the moving speed obtained through the speed measuring sensor included in the mobile terminal, information on the acceleration obtained through the acceleration sensor included in the mobile terminal, and the like .

The information on the location of the mobile terminal may include information on the current location of the mobile terminal obtained through the location information module of the mobile terminal, information on the location change of the mobile terminal, and the like.

The information about the altitude of the mobile terminal may include information about the altitude obtained through the altitude measurement sensor included in the mobile terminal, information about the altitude change of the mobile terminal, and the like.

The information on the gesture of the specific object may include information on the gesture of the user obtained through the motion detection sensor included in the mobile terminal and information on the change of the gesture according to the motion of the user of the mobile terminal.

The information on the pulse of the specific object may include information on a pulse pattern of a user of the mobile terminal measured through a PPG (PhotoPlethysmoGraphy) sensor included in the mobile terminal, information on a pulse change of the user, and the like.

The respiration information of the specific object may include information on a respiration pattern of a user of the mobile terminal obtained through a sensor included in the mobile terminal, information on a respiration change of the user of the mobile terminal, and the like.

The information on the body temperature of the specific object may include information on the current body temperature of the user of the mobile terminal obtained through the sensor included in the mobile terminal, information on the body temperature change of the user of the mobile terminal, and the like.

The information on the amount of sweat of the specific object includes information on the amount of sweat of the user of the mobile terminal obtained through the sensor included in the mobile terminal, information on the change in the amount of sweat of the user of the mobile terminal, can do.

The control unit 124 may recognize at least one of a change in the movement of the specific object and a change in the state of the specific object based on the received sensing data (S320).

The change in the motion of the specific object may correspond to a change in movement of the mobile terminal to which the drones are connected.

Specifically, the controller 124 receives information on the moving direction of the mobile terminal, information on the moving speed of the mobile terminal, information on the acceleration of the mobile terminal, information on the position of the mobile terminal, The change of the movement of the mobile terminal can be recognized based on at least one of the information on the altitude of the mobile terminal. The control unit 124 can recognize a change in the motion of the mobile terminal as a change in the motion of the specific object.

The change in the state of the specific object may be a change in the excitement state of the user of the mobile terminal to which the drones are connected. Here, the excited state is a state in which the user is measured according to changes in respiration, body temperature, amount of sweat, pulse, etc. of the user of the mobile terminal.

Specifically, the control unit 124 determines whether or not the body temperature of the specific object is greater than the body temperature of the specific object, based on the information about the gesture of the specific object included in the received sensing data, information about the pulse of the specific object, Information on the amount of sweat of the specific object, and information on the amount of sweat of the specific object may be used to recognize a change in the excited state of the user of the mobile terminal. The control unit 124 can recognize the change in the excited state as a change in the state of the specific object.

For example, when the controller 124 recognizes that the user's pulse of the mobile terminal has rapidly risen and the body temperature has risen through the received sensing data, the state of the specific object changes to an excited state Can be recognized.

In other words, when the controller 124 recognizes the information such as the user's pulse of the user of the mobile terminal is slow, the body temperature is low, and the breath is stable through the received sensing data, As shown in Fig.

According to an embodiment, the controller 124 may recognize at least one of the degree of change of the motion of the specific object and the degree of the state change of the specific object using the received sensing data.

For example, the control unit 124 may recognize the degree of movement change of the mobile terminal by using the information about the altitude of the mobile terminal and information about the position of the mobile terminal, which are included in the received sensing data. The control unit 124 can recognize the degree of motion change of the specific object by using the degree of motion change of the mobile terminal.

In another example, the control unit 124 may include information on pulse of the specific object included in the received sensing data, information on respiration of the specific object, information on the amount of perspiration of the specific object, The degree of excitement of the specific object can be recognized using at least one of the information on the body temperature. Then, the control unit 124 can recognize the degree of state change of the specific object based on the recognized excitation level. That is, it is possible to recognize the degree of excitement based on the change of at least one of the pulse, the amount of sweat, the body temperature, and the respiration according to the degree of excitement of the person, It is possible to recognize the degree.

On the other hand, the control unit 124 can change the shooting configuration of the specific object based on at least one of the recognized changes (S330). In this case, the shooting composition of the specific object may be changed using at least one of the degree of change of the motion of the specific object and the degree of state change of the specific object.

For example, when the movement of the specific object is hardly changed and the state of the specific object is recognized as a stable state, the control unit 124 sets the shooting composition of the specific object to a first shooting composition (for example, A shot composition in which only a head shot is taken in close proximity).

In another example, when the control unit 124 recognizes that the motion of the specific object slightly changes and the state of the specific object changes to the first excited state (for example, a slightly excited state) The composition may be set to a second photographing composition (for example, a photographing composition in which the specific object is photographed while following the specific object at a position separated by a predetermined distance).

In another example, when the control unit 124 recognizes that the movement of the specific object changes a lot and the state of the specific object changes to a second excited state (for example, a very excited state) The composition may be set to a third shooting composition (for example, a shooting composition in which the specific object is photographed before).

The memory 122 may previously store information on the image composition mapped to the degree of change.

According to the embodiment, the control unit 124 can recognize the kind of the current activity of the specific object, and change the shooting composition of the specific object based on the recognized change and the recognized current activity type. Here, the types of activities may include sports activities such as skiing, running, and baseball, and may include general activities such as traveling.

For example, when the type of the current activity of the specific object is recognized as skiing, the control unit 124 changes the shooting composition so as to take a ski track mainly based on the change of the motion of the specific object and the change of the state of the specific object .

In another example, when the type of the current activity of the specific object is recognized as a baseball, the control unit 124 may change the image composition so as to photograph the baseball ball together with the specific object.

In another example, when the controller 124 recognizes that the current activity type of the specific object is a yacht-riding activity, the control unit 124 may change the shooting configuration so that the surrounding scenery is photographed as well as the specific object.

As another example, when the control unit 124 recognizes that the type of the current activity of the specific object is running, the control unit 124 performs control so as to photograph the center of the running track based on the change of the motion of the specific object and the state change of the specific object You can change the composition.

In another example, when the controller 124 recognizes that the current activity type of the specific object is a travel, the controller 124 may change the imaging configuration so that the background of the specific object is photographed while tracking the movement of the specific object.

A method of recognizing the type of the current activity of the specific object will now be described.

The type of the current activity of the specific object may be recognized based on at least one of the change of the movement of the specific object and the change of the state of the specific object and information on the kind of the selected activity in the mobile terminal is transmitted to the drone May be recognized.

Meanwhile, according to the embodiment, the point of time when the photographing is started and the time when the photographing is finished may be different depending on the type of the activity.

For example, when the type of the current activity of the specific object is recognized as skiing, the control unit 124 receives map information of a skiing track, changes the movement of the specific object, The image capturing may be started based on the change in the state of the object, or the image capturing may be terminated.

In another example, when the type of current activity of the specific object is recognized as a baseball, the control unit 124 may start capturing an image by receiving a capturing start command or a capturing end command from the mobile terminal, You may.

In another example, when the type of the current activity of the specific object is recognized as a yacht activity, the control unit 124 may start shooting the image based on the degree of change of the motion of the specific object, . That is, the control unit 124 may start image capturing when the degree of movement of the specific object is high, and terminate image capturing when the degree of movement of the specific object is low.

In another example, when the controller 124 recognizes that the type of the current activity of the specific object is running, the control unit 124 may start shooting the image based on the change of the motion of the specific object and the change of the state of the specific object, The image capturing may be terminated.

In another example, when the current activity type of the specific object is recognized as a travel, the control unit 124 may start shooting a video image by receiving a shooting start command or a shooting termination command from the mobile terminal, It may terminate.

Meanwhile, according to the embodiment, the control unit 124 may recognize the surrounding terrain information of the specific object and change the shooting composition of the specific object based on the recognized surrounding terrain information. In this case, the control unit 124 may change at least one of the state change of the specific object and the motion change of the specific object.

The surrounding terrain information may include information about the inclination of the specific object, information indicating that an obstacle exists around the specific object, and the like. However, the present invention is not limited to this, and the surrounding terrain information may include information that a famous building exists in the vicinity, information that a famous tourist destination exists in the vicinity, and the like.

The control unit 124 may receive the surrounding terrain information from the mobile terminal or may analyze the image obtained through the camera 130 and recognize the image.

For example, when the control unit 124 recognizes that there is a famous sightseeing spot in the vicinity, the control unit 124 may change the shooting plan to photograph the famous sightseeing spot together with the specific object based on the recognized information. In this case, when the state of the specific object changes to the excited state and it is recognized that there is no movement of the specific object, the control unit 124 recognizes that the sightseeing place is being looked at and shoots the photographing object more focused on the sightseeing place than the specific object Can be changed.

On the other hand, the control unit 124 may determine at least one of the photographing angle of the specific object and the photographing position of the specific object based on the photographing scheme changed in step S330 (S340).

The photographing angle may mean an angle at which the specific object is photographed in the air. Here, the shooting angle may be an angle that is changed by changing the flight path of the drones, the height of the drones, and the movement of the camera 130, and the like.

For example, assuming that the specific object does not move, if the specific object is continuously photographed through the camera 130 while changing the altitude of the dron, the shooting angle of the specific object changes.

As a result, when the shooting angle is determined, the flight path of the drones, the altitude of the drones, and the movement of the camera 130 can be determined.

The photographing position of the specific object may be a position for photographing the specific object, such as a front side, a back side, a right side, a left side, and the like of the specific object.

For example, when the photographing position of the specific object is behind the specific object, the drones can photograph the specific object while flying the specific object in the back track.

In another example, when the shooting position of the specific object is the right side of the specific object, the drones can shoot the specific object while flying from the right side of the specific object at the same speed as the specific object.

In the memory 122, photographing positions and photographing angles corresponding to respective photographing schemes may be stored in advance.

The control unit 124 may control the flight unit 110 to fly the drones based on at least one of the determined photographing position of the specific object and the determined photographing angle of the specific object in operation S350.

An algorithm for setting the flight path of the drones may be stored in advance in the memory 122 using the photographing position of the specific object and the photographing angle of the specific object.

The control unit 124 may control the movement of the camera 130 based on at least one of the determined photographing position of the specific object and the determined photographing angle of the specific object to photograph the specific object (S360).

An algorithm for setting the motion of the camera 130 may be stored in advance in the memory 122 using the photographing position of the specific object and the photographing angle of the specific object.

As a result, the shooting composition for shooting the specific object is changed based on the motion change of the specific object and the state change of the specific object, and the flight path of the dron 100 and the camera movement are determined according to the changed shooting composition .

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to transmit an image including a specific object photographed through the modified photographing scheme to a mobile terminal to which the communication is connected.

According to the present embodiment, there is an advantage that even if there is no person who controls the drones, it is possible to shoot images of various compositions using the drones.

4 is a view for explaining an example of a method of photographing a specific object when there is no change in the movement of a specific object in the drone according to an embodiment of the present invention and there is no change in the state of the specific object. The contents overlapping with those described above with reference to Fig. 1 to Fig. 3 in conjunction with Fig. 4 will not be described again, but the differences will be mainly described below.

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to receive the sensing data obtained from the mobile terminal from the mobile terminal. Here, the sensing data may include information on the moving direction of the mobile terminal, information on the speed of the mobile terminal, information on the position of the mobile terminal, information on the altitude of the mobile terminal, information on the gesture of the specific object , Information about a pulse of a specific object, information about respiration of a specific object, information on body temperature of a specific object, and information on the amount of perspiration of a specific object.

Meanwhile, according to the embodiment, the control unit 124 can recognize the type of the current activity of the specific object. In FIG. 4, for convenience of explanation, it is assumed that the kind of the current activity of the specific object is an activity of skiing.

4 (a) and 4 (b), the controller 124 recognizes that there is no change in the motion of the specific object 400 and no change in the state of the specific object 400 based on the received sensing data In this case, the specific object 400 can be photographed with the first photographing scheme.

First, a description will be made of a case where it is recognized that there is no change in the motion of the specific object 400 as follows.

The control unit 124 can recognize that there is no change in the movement of the specific object 400 if there is no change in the direction of movement based on the information on the direction of movement of the mobile terminal included in the received sensing data.

The control unit 124 can recognize that there is no change in the motion of the specific object 400 when the speed is not recognized based on the information about the speed of the mobile terminal included in the received sensing data.

The control unit 124 can recognize that there is no change in the motion of the specific object 400 when the positional change is not recognized based on the information about the position of the mobile terminal included in the received sensing data.

If the control unit 124 recognizes that there is no altitude change based on the information about the altitude of the mobile terminal included in the received sensing data, it can recognize that the movement of the specific object 400 is not changed.

However, when recognizing at least one of the cases opposite to the above case, the control unit 124 can recognize that there is a change in the motion of the specific object 400. [

Next, a description will be made of a case where it is recognized that there is no state change of the specific object 400 as follows.

The control unit 124 controls the gesture of the specific object 400 based on the information about the gesture of the specific object 400 included in the received sensing data, A simple gesture such as shaking or loosening), it can be recognized that there is no change in the state of the specific object 400. [

The control unit 124 determines whether or not the current pulse rate of the specific object 400 corresponds to the average pulse rate based on the pulse information of the specific object 400 included in the received sensing data It can be recognized that there is no state change.

The control unit 124 may control the specific object 400 if the current breathing pattern of the specific object 400 corresponds to the normal breathing pattern based on the breathing information of the specific object 400 included in the received sensing data ) Can be recognized as having no state change.

If the amount of sweat in the specific object 400 corresponds to the amount of perspiration in the specific object 400 included in the received sensing data, It can be recognized that the state of the object 400 does not change.

However, if the control unit 124 recognizes at least one of the cases opposite to the above case, it can recognize that the state of the specific object 400 is changed.

Referring to FIG. 4A, the first photographing scheme may be a photographing scene for photographing the upper body of the specific object (for example, the user 400 of the mobile terminal) together with the background.

The control unit 124 can determine at least one of the shooting angle of the specific object 400 and the shooting position of the specific object 400 based on the first shooting scheme.

4 (b), the control unit 124 controls the drone 100 to photograph the specific object 400 in order to photograph the specific object 400 in the same shooting scheme as in FIG. 4 (a) The flight unit 110 can be controlled to fly at a predetermined distance a and a predetermined height h. The control unit 124 may control the movement of the camera 130 to photograph the specific object 400 in the same shooting scheme as in FIG. 4 (a).

However, the first photographing scheme is not limited to the above-described contents, but may be a scheme of focusing on the background. In this case, the control unit 124 may control the flight unit 110 to fly around the specific object 400 by setting the flight path of the drones. The control unit 124 may control the movement of the camera 130 so that the specific object 400 is occasionally photographed while shooting only the surrounding background while flying on the flight path.

5 to 8 are diagrams for explaining an example of a method of changing a photographing composition based on at least one of a change of movement of a specific object and a change of state of a specific object in the dron according to an embodiment of the present invention . 5 to 8 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to receive the sensing data obtained from the mobile terminal from the mobile terminal. Here, the sensing data may include information on the moving direction of the mobile terminal, information on the speed of the mobile terminal, information on the position of the mobile terminal, information on the altitude of the mobile terminal, information on the gesture of the specific object , Information about a pulse of a specific object, information about respiration of a specific object, information on body temperature of a specific object, and information on the amount of perspiration of a specific object.

Meanwhile, according to the embodiment, the control unit 124 can recognize the type of the current activity of the specific object. For convenience of explanation with reference to FIG. 5 to FIG. 8, it is assumed that the type of the current activity of the specific object is a skiing activity.

5 to 8, when the control unit 124 detects at least one of a change in the movement of the specific object 400 and a change in the state of the specific object 400 based on the received sensing data, You can change the composition.

First, a case where a change in the motion of the specific object 400 is recognized will be described below.

The control unit 124 can recognize that there is a change in the motion of the specific object 400 when a change in the direction of movement is recognized based on the information on the direction of movement of the mobile terminal included in the received sensing data.

The control unit 124 may recognize that there is a change in the motion of the specific object 400 when the velocity is recognized based on the information about the velocity of the mobile terminal included in the received sensing data.

The control unit 124 may recognize that there is a change in the motion of the specific object 400 when the positional change is recognized based on the information about the position of the mobile terminal included in the received sensing data.

The control unit 124 can recognize that there is a change in the motion of the specific object 400 when the control unit 124 recognizes that there is a high degree of change based on the information about the altitude of the mobile terminal included in the received sensing data.

As a result, if the controller 124 recognizes at least one of the above-described cases, it can recognize that the movement of the specific object 400 is changed.

Next, a case where a change in the state of the specific object 400 is recognized will be described.

The control unit 124 determines whether the gesture of the specific object 400 corresponds to a specific gesture (for example, a skiing gesture) based on the information about the gesture of the specific object 400 included in the received sensing data It can be recognized that there is a change in the state of the specific object 400. [

The control unit 124 determines the state of the specific object 400 if the current pulse rate of the specific object 400 is higher than the average pulse rate based on the pulse information of the specific object 400 included in the received sensing data There is a change.

The control unit 124 controls the specific object 400 based on the respiration information of the specific object 400 included in the received sensing data when the current breathing pattern of the specific object 400 is faster than the normal breathing pattern, As shown in FIG.

If the amount of sweat in the specific object 400 is greater than the amount of perspiration in the sweat amount of the specific object 400 included in the received sensing data, It can be recognized that there is a change in the state of the memory 400.

As a result, if the control unit 124 recognizes at least one of the above-described cases, it can recognize that there is a change in the state of the specific object 400.

On the other hand, when the control unit 124 detects at least one of a change in the movement of the specific object 400 and a change in the state of the specific object 400 based on the received sensing data, Can be changed.

Referring to FIG. 5A, the second photographing scheme may be a photographing plan that photographs the whole body of the specific object (for example, the user 400 of the mobile terminal) from the side of the specific object 400 have.

The control unit 124 can determine at least one of the shooting angle of the specific object 400 and the shooting position of the specific object based on the second shooting scheme.

5 (b), the control unit 124 determines whether the specific object 400 is viewed from the side of the specific object 400 in order to capture the specific object 400 in the shooting scheme as shown in FIG. 5 (a) The moving speed of the specific object 400 and the moving speed of the specific object 400 while maintaining the predetermined distance a and the predetermined height h, The flight unit 110 can be controlled so that the vehicle 100 can fly. The control unit 124 may control the movement of the camera 130 to change the shooting angle so as to shoot the specific object 400 in the shooting scheme as shown in FIG. 5 (a).

However, the second photographing composition is not limited to the above-described contents, but may be another photographing composition.

For example, the second photographing scheme may be a photographing scene in which the entire body of the specific object 400 is photographed from behind the specific object 400. 6 (a), the controller 124 controls the position of the specific object 400 at a predetermined distance (a) and a predetermined distance (h) from the rear of the specific object 400 It is possible to control the flying unit 110 to fly the drones 100 at a moving speed corresponding to the direction corresponding to the moving direction of the specific object 400 and the moving speed of the specific object while maintaining the specific object. The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

In another example, the second photographing scheme may be a photographing scene in which a whole body of the specific object 400 is photographed while moving around the specific object. 6 (b), the controller 124 controls the drones 100 to maintain the predetermined distance a from the specific object 400 and a predetermined height h, It is possible to control the flight unit 110 to fly around the specific object 400. The control unit 124 may control the movement of the camera 130 so that the specific object 400 can be continuously photographed even if the position of the drone 100 changes.

The example of the second photographing scheme is merely an example, and may be a photographing scheme different from the photographing schemes described above.

According to the embodiment, the image composition of the specific object 400 may be changed based on at least one of the degree of change of the motion of the specific object 400 and the degree of change of the state of the specific object 400.

Specifically, when the speed of the specific object 400 is less than a predetermined speed and the degree of the altitude change of the specific object 400 is equal to or less than a predetermined level, The degree of change of the motion of the specific object 400 can be recognized as the first degree.

The control unit 124 determines whether or not the gesture of the specific object 400 corresponds to a skiing gesture at a predetermined speed or less and whether the pulse of the specific object 400 does not deviate by a predetermined range based on the average pulse rate Whether the respiration of the specific object 400 does not change by a predetermined range as compared with the normal breathing pattern and whether the amount of body temperature and sweat of the specific object 400 is equal to or more than a predetermined amount It is possible to recognize whether the degree of state change of the specific object 400 is the second degree or not.

The control unit 124 recognizes that the change in the motion of the specific object 400 corresponds to the first degree and the change in the state of the specific object 400 corresponds to the second degree based on the received sensing data In this case, the photographing composition can be changed to the second photographing composition in Fig. 5A.

On the other hand, the control unit 124 recognizes that the change in the motion of the specific object 400 corresponds to the third degree or the change in the state of the specific object 400 corresponds to the fourth degree based on the received sensing data The specific object 400 can be photographed by changing the shooting composition to the third shooting composition. Here, the third photographing scheme may be a photographing scheme different from the second photographing scheme.

Specifically, when the speed of the specific object 400 exceeds a predetermined speed and the degree of the altitude change of the specific object 400 exceeds a predetermined level, The degree of change in the motion of the specific object 400 can be recognized as the third degree.

The control unit 124 determines whether the gesture of the specific object 400 corresponds to a gesture that appears when the gesture of the specific object 400 exceeds a preset speed or whether the pulse of the specific object 400 is out of a predetermined range Whether or not the respiration of the specific object 400 changes by a predetermined range in comparison with the normal breathing pattern and whether the amount of body temperature and perspiration of the specific object 400 is more than a predetermined amount of the average body temperature and the normal perspiration It is possible to recognize whether the state change degree of the specific object 400 is the fourth degree or not.

The third photographing scheme may be a photographing scene in which the whole body of the specific object 400 is photographed from the front of the specific object 400 as shown in FIG. 7 (a). In this case, referring to FIG. 7 (b), the controller 124 determines that the drones 100 are positioned at a predetermined distance a from the specific object 400 in front of the specific object 400, The flying unit 110 can be controlled to fly at a moving speed corresponding to the direction corresponding to the moving direction of the specific object 400 and the moving speed of the specific object 400. [ The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

On the other hand, the control unit 124 can change the shooting composition even when the control unit 124 recognizes that it corresponds to the shooting end point based on the change of the motion of the specific object 400 and the change of the state of the specific object 400. [

Specifically, if the controller 124 recognizes at least one of a situation in which a change in motion of the specific object 400 is reduced and a state in which the state of the specific object 400 changes from a state of excitement to a state of stability, 4 Can be changed to the shooting composition. The fourth photographing plan may be a photographing plan that focuses on the expression of the specific object 400 and the posture of the specific object 400 in front of the specific object 400 as shown in FIG. 8 (a) .

Then, the control unit 124 can determine at least one of the photographing angle of the specific object 400 and the photographing position of the specific object 400 based on the fourth photographing scheme.

8 (b), the control unit 124 determines whether the specific object 400 is located in front of the specific object 400 in order to capture the specific object 400 in the shooting scheme as shown in FIG. 8 (a) It is possible to control the flight unit 110 to fly the drones 100 while maintaining a predetermined distance a and a predetermined height h apart from the drones 400. The control unit 124 may control the movement of the camera 130 to change the shooting angle so as to shoot the specific object 400 in the shooting scheme as shown in FIG. 8 (a).

According to the above-described embodiments, the user can be photographed by various schemes in consideration of various situations of the user of the mobile terminal even if there is no separate person to control the drones.

According to the present invention, the drones can recognize the type of activity of a specific object, and can change the photographic composition in consideration of the kind of activity of the recognized specific object. This will be described in more detail with reference to FIG.

FIG. 9 is a view for explaining an example of a method of changing a photographing composition according to the kind of activity of a specific object in a drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 through FIG. 8 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to receive the sensing data from the mobile terminal to which the communication is connected. The control unit 124 may recognize at least one of a change in the movement of the specific object and a change in the state of the specific object based on the sensing data.

Meanwhile, the control unit 124 can recognize the type of activity of the specific object. The type of the current activity of the specific object may be recognized based on at least one of the change of the movement of the specific object and the change of the state of the specific object and information on the kind of the selected activity in the mobile terminal is transmitted to the drone May be recognized.

In FIG. 9A, it is assumed that the type of activity of the specific object 400 is running. In FIG. 9B, it is assumed that the type of activity of the specific object 400 is recognized as a ski, .

9A, the control unit 124 recognizes that the type of activity of the specific object 400 is running, changes the motion of the specific object 400, and changes the state of the specific object 400 When the change is recognized, the photographing composition can be changed in the first photographing scheme.

Here, the first photographing plan may be a scene in which the specific object 400 is photographed in the sky while moving at the same speed as the specific object 400 in front of the specific object 400.

In this case, the control unit 124 controls the position of the specific object 400 while maintaining a predetermined distance a from the specific object 400 and a predetermined height h, It is possible to control the flight unit 110 to fly the drones 100 at a moving speed corresponding to the direction corresponding to the moving direction and the moving speed of the specific object. The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

9 (b), the controller 124 recognizes that the type of activity of the specific object 400 is skiing, changes the motion of the specific object 400, It is possible to change the photographing composition in the second photographing scheme.

Here, the second photographing plan may be a scene in which the specific object 400 is photographed in the sky while moving at the same speed as the specific object 400 from behind the specific object 400.

In this case, the control unit 124 controls the position of the specific object 400 while maintaining a position spaced apart from the specific object 400 by a predetermined distance a and a predetermined height h from behind the specific object 400. It is possible to control the flight unit 110 to fly the drones 100 at a moving speed corresponding to the direction corresponding to the moving direction and the moving speed of the specific object. The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

As a result, if the kind of the activity of the specific object 400 is different, the shooting composition of the specific object 400 may also be different. The memory 122 may have stored in advance information on the shooting configuration suitable for each type of activity.

According to the present embodiment described above, there is an advantage that a drone can automatically set a photographing composition suitable for the kind of activity of a specific object, photographs a specific object, and obtains an excellent image without a professional photographer.

Meanwhile, according to the present invention, the drone may recognize the surrounding terrain information and change the photographing plan in consideration of the recognized surrounding terrain information. This will be described in more detail with reference to FIG.

FIG. 10 is a view for explaining an example of a method of changing a photographic composition according to a surrounding terrain in a drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to Fig. 1 to Fig. 9 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to receive the sensing data from the mobile terminal to which the communication is connected. The control unit 124 may recognize at least one of a change in the movement of the specific object and a change in the state of the specific object based on the sensing data.

On the other hand, the control unit 124 can recognize the surrounding terrain information of the specific object. Herein, the peripheral terrain information may include information about the inclination of the specific object, information indicating that an obstacle exists around the specific object, and the like. However, the present invention is not limited to this, and the surrounding terrain information may include information that a famous building exists in the vicinity, information that a famous tourist destination exists in the vicinity, and the like.

The control unit 124 may receive the surrounding terrain information from the mobile terminal or may analyze the image obtained through the camera 130 and recognize the image.

10 (a), it is recognized that an obstacle exists around the specific object 400. In FIG. 10 (b), it is assumed that no obstacle exists around the specific object 400, do.

Referring to FIG. 10A, the controller 124 recognizes that an obstacle exists in the vicinity based on the surrounding terrain information of the specific object 400, changes the movement of the specific object 400, When the state change of the object 400 is recognized, the imaging composition can be changed in the first imaging scheme.

Here, the first photographing plan may be a scene in which the specific object 400 is photographed in the sky while moving at the same speed as the specific object 400 from behind the specific object 400.

In this case, the control unit 124 controls the position of the specific object 400 while maintaining a position spaced apart from the specific object 400 by a predetermined distance a and a predetermined height h from behind the specific object 400. It is possible to control the flight unit 110 to fly the drones 100 at a moving speed corresponding to the direction corresponding to the moving direction and the moving speed of the specific object. The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

Referring to FIG. 10B, the controller 124 recognizes that there is no obstacle in the vicinity based on the surrounding terrain information of the specific object 400, changes the motion of the specific object 400, When the state change of the specific object 400 is recognized, the photographing composition can be changed in the second photographing scheme.

Here, the second photographing scheme may be a photographing scene in which the entire body of the specific object 400 is photographed while moving around the specific object.

In this case, the control unit 124 causes the drones 100 to fly around the specific object 400 while maintaining a predetermined distance (a) and a predetermined height (h) apart from the specific object 400 So that the flight unit 110 can be controlled. The control unit 124 may control the movement of the camera 130 so that the specific object 400 can be continuously photographed even if the position of the drone 100 changes.

As a result, if the surrounding terrain information of the specific object 400 is different, the shooting composition of the specific object 400 may also be different. In the memory 122, information on a photographing configuration suitable for each surrounding terrain information may be stored in advance.

According to the present embodiment described above, a drone can automatically set a photographing configuration suitable for the surrounding terrain information of a specific object, so that a specific object can be photographed, and an excellent image can be obtained without a professional photographer.

According to an embodiment of the present invention, the photographed image can be transmitted to the mobile terminal to which the communication is connected. In the mobile terminal, the position information on which the image is photographed, the state change of the specific object when the image is photographed, The motion of the specific object at the time when the motion of the specific object is changed. This will be described in more detail with reference to FIGS. 11 to 13. FIG.

11 is a view for explaining an example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention. The contents overlapping with those described above with reference to Fig. 1 to Fig. 10 will not be described again, and the following description will be focused on the differences.

According to an embodiment of the present invention, the drones 100 may receive the sensing data obtained from the mobile terminal and photograph a specific object through the camera 130 based on the sensing data. The drone 100 may transmit an image photographed through the camera 130 to the mobile terminal.

On the other hand, when the mobile terminal 100 receives the image, the mobile terminal 100 may acquire position information on which the image is captured.

For example, when the mobile terminal receives the image, the mobile terminal may acquire the location information on the image by receiving the captured location information.

In another example, when the location of the mobile terminal changes with time, the mobile terminal may store location information in which the mobile terminal was located at each time in the memory. When the mobile terminal receives the image and acquires information on the time at which the image was photographed, the mobile terminal can recognize the location information in which the mobile terminal was located at the time the image was photographed. The mobile terminal can acquire the positional information on which the image was captured based on the recognized positional information.

The algorithm for acquiring the position where the image is photographed may be stored in advance in the memory of the mobile terminal.

The mobile terminal may store the image in the memory when the image is received. When the image is stored in the memory of the mobile terminal, information on the position where the image is captured may be stored together.

Meanwhile, at least one image received from the drones may be stored in the mobile terminal. The mobile terminal may display a thumbnail image of each of the at least one image on the screen in response to an instruction to display the at least one image.

11 (a) and 11 (b), when the user of the mobile terminal senses a command to select the first indicator 501 included in the menu window 500 (FIG. 11 (a)), , The mobile terminal can search the Internet for a map corresponding to the location information based on the location information of the image. Then, the mobile terminal can output the searched map to the screen. In this case, the mobile terminal can give a specific visual effect to the photographed path of the image photographed through the drones 100 in the output map (FIG. 11 (b)).

For example, when the drone captures an image in the first path and the second path, the mobile terminal displays a first area 610 corresponding to the first path and a second area 620 corresponding to the second path, It is possible to give the visual effect set in advance.

According to an embodiment, a first visual effect may be applied to the first area 610 and a second visual effect may be imparted to the second area 620. [ That is, the first visual effect and the second visual effect may be different visual effects (for example, visual effects expressed in different colors).

When the mobile terminal senses a command to select the first area 610 as shown in FIG. 11 (b), the mobile terminal extracts at least one image photographed in the first path corresponding to the first area 610 from the memory can do. The mobile terminal can extract at least one thumbnail image using the extracted at least one image. Then, the mobile terminal can display the extracted at least one thumbnail image on the screen as shown in (c) of FIG.

The extracted at least one thumbnail image may be a representative thumbnail image of the extracted at least one image. The algorithm for extracting the representative thumbnail image from the image may be stored in advance in the memory.

The mobile terminal may output an image corresponding to the selected thumbnail image according to a command to select a specific thumbnail image among at least one thumbnail image displayed on the screen.

According to the above-described embodiment, when there are many images photographed through the drone, the user has an advantage that the user can easily find a desired image using the position where the image is photographed.

FIG. 12 is a view for explaining another example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention. The contents overlapping with those described above with reference to Figs. 1 to 11 will not be described again with reference to Fig. 12, and the following description will focus on the differences.

According to an embodiment of the present invention, the drones 100 receive sensing data obtained from a mobile terminal and send a specific object (for example, a user of the mobile terminal) to the camera 130 You can shoot. The drone 100 may transmit an image photographed through the camera 130 to the mobile terminal.

Meanwhile, when the mobile terminal 100 receives the image, the mobile terminal 100 may acquire information on the state of the specific object at the time the image is captured. Here, the information on the state of the specific object may be information indicating the degree of excitement of the user of the mobile terminal at the time the image is captured.

For example, when the mobile terminal receives the image, it can acquire information on the status of the specific object by receiving status information of the specific object together.

In another example, if the status of the user of the mobile terminal changes over time, the status of the user of the mobile terminal at each time may be stored in the memory. When the mobile terminal receives the image and acquires information about the time at which the image was captured, it can recognize the state of the user of the mobile terminal at the time the image was captured. The mobile terminal can acquire information on the state of the specific object at the time when the image is captured based on the recognized state of the user.

The algorithm for obtaining the state information of the specific object at the time the image is captured may be stored in advance in the memory of the mobile terminal.

The mobile terminal may store the image in the memory when the image is received. When the image is stored in the memory of the mobile terminal, information on the state of the specific object at the time the image is captured may be stored together.

12, it is assumed that a plurality of images photographed by the drone are stored in the memory.

When the user of the mobile terminal senses a command to select the second indicator 502 included in the menu window 500 (FIG. 12A), the mobile terminal displays the specific object The plurality of images can be arranged based on the state information of the image (FIG. 12 (b)).

Specifically, the state of the specific object may be divided into a first state, a second state, and a third state.

The first state (e.g., an extreme excited state) may be a state in which the specific object is the most excited state, a body temperature of the specific object, a pulse of the specific object, etc., exceeding the first degree and the second degree .

The second state (for example, a suitable excitation state) is a state indicating that the specific object is appropriately excited, and the pulse of the specific object, the body temperature of the specific object, etc. fall within the first degree, Lt; / RTI >

The third state (for example, the stable state) is a state indicating that the specific object is in a stable state, and a state in which the pulse of the specific object, the body temperature of the specific object, etc. fall within the first degree and the second degree .

The mobile terminal can display a thumbnail image of at least one image recognized in the first region 710 corresponding to the first state of the specific object among the plurality of images. The mobile terminal can display a thumbnail image of at least one image recognized in the second region 720 corresponding to the second state of the specific object among the plurality of images. The mobile terminal can display a thumbnail image of at least one image recognized in the third region 730 corresponding to the third state of the specific object among the plurality of images.

Here, the first area 710 may be the uppermost area on the screen, the second area 720 may be the area after the first area 710, (730) may be a region located after the first region (710) and the second region (720).

The mobile terminal may display an indicator indicating the state of the specific object on each of the thumbnail images displayed on the screen.

For example, the mobile terminal may display a first indicator I1 on the thumbnail images displayed in the first area 710 and a second indicator I2 on the thumbnail images displayed in the second area 720. [ And display a third indicator I3 on the thumbnail images displayed in the third area 730. [

The mobile terminal may output an image corresponding to the selected thumbnail image according to a command to select a specific thumbnail image among at least one thumbnail image displayed on the screen.

According to the above-described embodiment, when there are many images photographed through the drones, the user can easily find a desired image.

FIG. 13 is a view for explaining another example of a method of aligning images photographed by a drone in a mobile terminal according to an embodiment of the present invention. The contents overlapping with those described above with reference to Figs. 1 to 12 will not be described again with reference to Fig. 13, and the following description will focus on the differences.

According to an embodiment of the present invention, the drones 100 receive sensing data obtained from a mobile terminal and send a specific object (for example, a user of the mobile terminal) to the camera 130 You can shoot. The drone 100 may transmit an image photographed through the camera 130 to the mobile terminal.

Meanwhile, when the mobile terminal 100 receives the image, the mobile terminal 100 may acquire information on a change in the motion of the specific object at the time the image is captured. Here, the information about the change in the motion of the specific object may be information indicating the movement speed of the user of the mobile terminal at the time the image is captured.

For example, when the mobile terminal receives the image, it may acquire information on the motion change of the specific object by receiving information on the motion change of the specific object together.

In another example, when the movement of the user of the mobile terminal changes with time, the mobile terminal may store the movement change of the user of the mobile terminal at each time in the memory. When the mobile terminal receives the image and acquires information on the time at which the image was captured, it can recognize a change in the movement of the user of the mobile terminal at the time the image was captured. The mobile terminal can acquire information on the motion change of the specific object at the time of capturing the image based on the motion change of the recognized user.

An algorithm for acquiring information on a motion change of the specific object at the time the image is captured may be stored in advance in a memory of the mobile terminal.

The mobile terminal may store the image in the memory when the image is received. When the image is stored in the memory of the mobile terminal, information on the motion change of the specific object at the time the image is captured may be stored together.

13, it is assumed that a plurality of images photographed by the drone are stored in the memory.

When the user of the mobile terminal senses a command to select the third indicator 503 included in the menu window 500 (FIG. 13A), the mobile terminal displays the specific object (FIG. 13 (b)) based on the information on the change in the motion of the image.

Specifically, the degree of change in the motion of the specific object may be classified into a first degree, a second degree, and a third degree.

The speed of the specific object may exceed the first speed and the second speed when the degree of change of the motion of the specific object is the first degree and the specific object moves at the highest speed.

And when the degree of change of the movement of the specific object is the second degree, the specific object may move at a proper speed, and the speed of the specific object may be the first speed or less and the second speed or more.

And when the degree of change of the movement of the specific object is the first degree, the specific object moves at the slowest speed, and the speed of the specific object is not more than the first speed and the second speed.

The mobile terminal can display a thumbnail image of at least one image in which the degree of change of the movement of the specific object among the plurality of images corresponds to the first degree in the first area 710. [ The mobile terminal can display a thumbnail image of at least one image in which the degree of change of the movement of the specific object among the plurality of images corresponds to a second degree in the second region 720. [ The mobile terminal can display, in the third region 730, a thumbnail image of at least one image in which the degree of change of motion of the specific object among the plurality of images corresponds to the third degree.

Here, the first area 710 may be the uppermost area on the screen, the second area 720 may be the area after the first area 710, (730) may be a region located after the first region (710) and the second region (720).

The mobile terminal may display an indicator indicating the degree of change of the motion of the specific object on each of the thumbnail images displayed on the screen.

For example, the mobile terminal may display a first indicator I4 on the thumbnail images displayed in the first area 710 and a second indicator I5 on the thumbnail images displayed in the second area 720. [ And display a third indicator I6 on the thumbnail images displayed in the third area 730. [

The mobile terminal may output an image corresponding to the selected thumbnail image according to a command to select a specific thumbnail image among at least one thumbnail image displayed on the screen.

According to the above-described embodiment, when there are many images photographed through the drones, the user can easily find a desired image.

Meanwhile, according to an embodiment of the present invention, a user of the mobile terminal can manipulate the drones using the preview image displayed on the mobile terminal. This will be described in more detail with reference to FIGS. 14 to 17. FIG.

14 to 17 are diagrams for explaining an example of a method of controlling a dron according to an embodiment of the present invention. The contents overlapping with those described in relation to Figs. 1 to 13 with reference to Figs. 14 to 17 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, when the preview image obtained through the drones 100 is being displayed on the mobile terminal and the pointer of the user touching the preview image is moved in a predetermined direction, (Or drag direction) opposite to the drag direction input to the mobile terminal.

For example, if the pointer touching the preview image is dragged in the left direction (see FIG. 14A), the mobile terminal can transmit a control signal to the drones 100 instructing the dron to move in the right direction. As the drones 100 move to the left, the composition of the preview image displayed on the mobile terminal also changes as in the example shown in FIG. 14 (b).

As another example, when the pointer touching the preview image is dragged to the left direction (see FIG. 15A) and the touch is continuously maintained as shown in FIG. 15B, the mobile terminal moves to the right 100 to move the drones 100 to the drones 100. As the drones 100 move to the left, the composition of the preview image displayed on the mobile terminal also changes as in the example shown in FIG. 15 (b). However, when the touch is released as shown in FIG. 15C, the mobile terminal may transmit a control signal to the drones 100 instructing the dron to stop in place. In this case, the preview image being photographed at the stopped position may be displayed on the mobile terminal as shown in (c) of FIG.

16 (a)), the mobile terminal transmits a control signal for instructing the dron 100 to move in the right direction to the drones 100, Lt; / RTI > However, as shown in FIGS. 16B and 16C, the touch strength of the touch input to the mobile terminal may be recognized, and the moving speed of the dron may be changed according to the recognized touch intensity. 16 (b), when the mobile terminal recognizes the intensity of the touch input to the mobile terminal as the first pressure, the dron is moved to the right direction at the first speed corresponding to the first pressure To the drones 100. The drones 100, 16 (c), when the mobile terminal recognizes the intensity of the touch inputted to the mobile terminal as the second pressure, the dron is moved to the right direction at the second speed corresponding to the second pressure To the drones 100, a control signal instructing them to move.

In another example, when a pinch-in or pinch-out input is received while a preview image received from the drones 100 is displayed through the mobile terminal, the mobile terminal transmits a control signal instructing forward or backward movement to the drones 100, Lt; / RTI > For example, if the touch input (i.e., the pinch-out input) for increasing the distance between the two pointers is received after touching the preview image as in the example shown in FIG. 17A, May forward a control signal to the drones 100 indicating that it should advance. As the drones 100 move forward, the composition of the preview image displayed on the mobile terminal will also change. In FIG. 17 (b), it is exemplified that the preview image is changed to a composition for shooting the upper body of the user in the composition of the user's body.

According to the above-described embodiments, a dron can be controlled by using a simple touch input input to an image displayed on a mobile terminal.

FIGS. 18 to 21 are diagrams for explaining an example of a method of changing a photographing composition of an image stored in a memory of a mobile terminal and shooting through a drones. FIG. The contents overlapping with those described in Figs. 1 to 17 with reference to Figs. 18 to 21 will not be described again, and the differences will be mainly described below.

According to an embodiment of the present invention, a mobile terminal controlling a dron can recognize a shooting composition of an image stored in a memory and control the drones to shoot a specific object based on the recognized shooting composition.

Specifically, the mobile terminal controlling the drones may store a plurality of images in the memory. The mobile terminal can recognize the image composition of the image selected by the user among the plurality of images stored in the memory.

For example, information on the image composition of the image mapped to the image may be stored in the memory of the mobile terminal. The mobile terminal can recognize the image composition of the image selected by the user through the stored memory.

In another example, the mobile terminal can recognize a specific object included in the image. Then, the mobile terminal can recognize the photographic composition using the position of the recognized specific object and the attitude of the recognized specific object. In this case, an algorithm for recognizing the image composition of the image selected by the user may be stored in advance in the memory of the mobile terminal.

When the mobile terminal senses an instruction to shoot a specific object according to the recognized shooting configuration, the mobile terminal displays the flight path of the drones and the camera (not shown) of the drones 100 130 to the drones.

The drones 100 can determine the photographing position of the specific object and the photographing angle of the specific object using the signal transmitted from the mobile terminal. The drones 100 control the flight unit 110 to fly the drones based on at least one of the photographing position of the determined specific object and the determined photographing angle of the specific object, The camera 130 can be controlled.

However, there may be a shooting scheme that the user does not like during the shooting of the image selected by the user. In this case, according to the present invention, the user can change only a part of the shooting composition of the image selected by the user, and the drone can shoot the specific object using the shooting composition of the image selected by the user and the partially changed shooting composition.

Specifically, if there is a shooting composition in which the user does not like to see the image through the mobile terminal, the image is stopped at the portion that is photographed with the unfavorable shooting composition (see FIG. 18A) 18 (b)), the mobile terminal can display a screen for changing the imaging composition (see (c) of FIG. 18). Therefore, the user can change the shooting configuration of the stopped portion. A virtual object generated based on the shooting composition of the stopped image may be displayed on the screen for changing the shooting composition. In this case, the specific object included in the stopped image may be 3D-modeled and displayed as the virtual object.

On the other hand, the user can change the shooting composition by inputting the touch input on the screen output in (c) of FIG.

For example, when a user touches a point in the screen for changing the shooting composition and then drag in the left direction (see FIG. 19 (a)) in a state where the side of the virtual object is displayed, The front face of the virtual object can be displayed on the screen for changing the image composition as shown in (b) of FIG. In this case, the photographing composition for photographing a specific object can be changed to a photographing composition for photographing the front face of a specific object in the photographing composition for photographing the side face of the specific object.

As another example, in a state in which the front side of the virtual object is displayed in an enlarged state, the user touches any two points in the screen for changing the shooting composition, and then touch input in which the distance between the two points is decreased 20A, the mobile terminal can reduce the virtual object and display it on a screen for changing the imaging composition (see FIG. 20A) have. In this case, the photographing composition for photographing the specific object may be changed to the photographing composition for photographing the specific object at a position far from the specific object.

On the other hand, when the user changes the shooting configuration, there is a time period during which the drone moves to perform shooting according to the changed shooting configuration, so that a section in which the shooting composition can not be changed occurs. Accordingly, the mobile terminal can calculate the time it takes for the drones to move according to the modified imaging configuration. Referring to FIG. 21, the mobile terminal can give a predetermined visual effect (for example, in a different color) to an unmodifiable section P based on the calculated time in the progress bar. . In this case, the user can not change the shooting composition for the section P unless the user cancels the shooting according to the changed shooting composition.

When the user selects the first icon 810, the mobile terminal can reproduce the image again from the point in time when it is stopped in FIG. 18 (a). On the other hand, when the user selects the second icon 820, the mobile terminal recognizes the image composition of the image after the stop point in FIG. 18 (a), and based on the recognized image composition, You can continue to output the object.

On the other hand, when the user inputs a command to shoot according to the changed shooting configuration after the user completes the change of the shooting composition, the mobile terminal displays the flight path of the drones 100 to shoot the specific object based on the changed shooting configuration, A signal for controlling the movement of the camera 130 of the drones 100 may be transmitted to the drones 100.

As a result, according to the above-described embodiments, the user can shoot a new image through the drones using the image capturing scheme stored in the memory of the mobile terminal, or can capture the image of the image stored in the memory of the mobile terminal A new image can be photographed through the drones.

certain The object's  Based on speed, Object  How to shoot

In order to shoot a specific object in various shooting schemes using a dron, a man who controls the drones is needed. Therefore, there is a problem that the drone himself can not shoot himself or herself in various compositions based on the movement speed of the specific object.

According to an embodiment of the present invention, in order to solve the above-described problem, the drone can recognize the speed of a specific object, and change the shooting composition based on the recognized speed to photograph the specific object. Hereinafter, a method of photographing a specific object based on the velocity of the specific object will be described with reference to FIG.

22 is a flowchart for explaining a method of shooting a specific object according to the speed of a specific object in the drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 and FIG. 21 in conjunction with FIG. 22 will not be described again, and the following description will focus on the differences.

According to an embodiment of the present invention, the control unit 124 of the drones 100 may control the communication unit 121 to connect the communication with the mobile terminal that controls the drones. Here, the mobile terminal for controlling the drone may be any one of a mobile phone, a smart phone, a specific external terminal for controlling the drone, and a watch type mobile terminal.

The control unit 124 of the drones 100 may control the camera 130 to photograph the specific object when receiving a signal from the mobile terminal to shoot a specific object in a specific shooting mode. Here, the specific shooting mode may be a shooting mode in which the specific object is continuously photographed while maintaining a predetermined distance from the specific object, and the shooting composition is changed according to the speed of the specific object.

The specific object may be a user of the mobile terminal. Specifically, since the drone 100 photographs the mobile terminal at a predetermined distance from the mobile terminal, the user holding the mobile terminal is photographed. Therefore, the user having the mobile terminal can be the specific object.

The control unit 124 may control the flight unit 110 to fly while tracking the specific object in the specific shooting mode and may control the movement of the camera 130 so that the specific object is continuously captured .

Meanwhile, the control unit 124 can recognize the speed of the specific object (S310).

Specifically, the control unit 124 can recognize the current speed of the drones 100 and the flight path of the drones 100. [ The control unit 124 controls the speed of the specific object by using at least one of the recognized speed of the drones 100, the recognized flight path of the drones 100, and the image obtained through the camera 130 Can be recognized. A method of recognizing the speed of the specific object will be described later in detail with reference to FIGS. 23 to 25. FIG.

The algorithm for recognizing the speed of the drones 100 may be stored in the memory 122 in advance.

The control unit 124 can change the imaging configuration based on the recognized speed (S920).

For example, when the speed of the specific object corresponds to the first speed, the control unit 124 changes the shooting composition in the first shooting scheme, and when the speed of the specific object corresponds to the second speed, Can be changed. Here, the first photographing plan may be a photographing plan best suited for photographing at the first speed, and the second photographing plan may be a photographing plan most suitable for photographing at the second speed.

The memory 122 may have stored in advance information on the image composition mapped to each speed.

The control unit 124 may determine at least one of the shooting angle of the specific object and the shooting position of the specific object based on the shooting composition changed in step S920.

The photographing angle may mean an angle at which the specific object is photographed in the air. Here, the shooting angle may be an angle that is changed by changing the flight path of the drones, the height of the drones, and the movement of the camera 130, and the like.

As a result, when the shooting angle is determined, the flight path of the drones, the altitude of the drones, and the movement of the camera 130 can be determined.

The photographing position of the specific object may be a position for photographing the specific object, such as a front side, a back side, a right side, a left side, and the like of the specific object.

For example, when the photographing position of the specific object is behind the specific object, the drones can photograph the specific object while flying the specific object in the back track.

In another example, when the shooting position of the specific object is the right side of the specific object, the drones can shoot the specific object while flying from the right side of the specific object at the same speed as the specific object.

In the memory 122, photographing positions and photographing angles corresponding to respective photographing schemes may be stored in advance.

The control unit 124 may control the flying unit 110 to fly the drones based on at least one of the photographing position of the determined specific object and the photographing angle of the determined specific object (S940).

An algorithm for setting the flight path of the drones may be stored in advance in the memory 122 using the photographing position of the specific object and the photographing angle of the specific object.

In operation S950, the control unit 124 controls the movement of the camera 130 based on at least one of the photographing position of the determined specific object and the determined photographing angle of the specific object, thereby capturing the specific object.

An algorithm for setting the motion of the camera 130 may be stored in advance in the memory 122 using the photographing position of the specific object and the photographing angle of the specific object.

As a result, the shooting composition for shooting the specific object is changed based on the motion change of the specific object and the state change of the specific object, and the flight path of the dron 100 and the camera movement are determined according to the changed shooting composition .

According to an embodiment of the present invention, the control unit 124 may control the communication unit 121 to transmit an image including a specific object photographed through the modified photographing scheme to a mobile terminal to which the communication is connected.

According to the present embodiment, there is an advantage that even if there is no person who controls the drones, it is possible to shoot images of various compositions based on the speed of the specific object.

certain The object's  How to Recognize Speed

According to an embodiment of the present invention, the drones 100 can recognize the speed of a specific object. Hereinafter, a method of recognizing the speed of the specific object will be described with reference to FIGS.

23 is a view for explaining an example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 through FIG. 22 will not be described again, and the following description will focus on the differences. 23, it is assumed that the drone 100 shoots the specific object while flying in the same direction at a speed different from that of the specific object from the side.

The control unit 124 can recognize the current speed of the drones 100 and the flight path of the drones 100. Here, the current speed of the dron may be a speed calculated on the basis of the changed distance in consideration of altitude change of the drones, change of the planar position of the drones, and the like. The movement path of the drones 100 may be determined by the flight height of the drones and the direction of movement of the drones 100.

23 (a), the control unit 124 recognizes the actual moving distance of the drones 100 by using the planar movement distance of the drones 100 and the altitude change of the drones 100. For example, can do. If the controller 124 recognizes that the drone 100 has moved the actual distance of 1 m in one second, the controller 124 can recognize that the current speed of the drone is 1 m / sec.

Meanwhile, the control unit 124 recognizes the moving speed of the specific object using at least one of the recognized current speed, the recognized flying path of the drones, and the image including the specific object photographed through the camera 130 can do.

23 (b)) at the first time and the second position (FIG. 23 (b)) at the second time, the control unit 124 determines whether the specific object 400 included in the image is in the first position The moving speed of the specific object 400 in the image can be recognized. An algorithm for recognizing the moving speed of a specific object included in the image may be stored in the memory 122 in advance.

For example, when the object moves from the first position (see FIG. 23B) to the second position (see FIG. 23C), the control unit 124 recognizes that 1 m is moved And recognizes that the time required for the movement is one second, it can be recognized that the moving speed of a specific object in the image is 1 m / sec.

The control unit 124 recognizes the direction in which the specific object moves using the image and recognizes whether the movement path of the drones 100 corresponds to the recognized direction. If the control unit 124 recognizes that the flight path of the drones 100 corresponds to the recognized direction, the control unit 124 sums the current speed of the recognized drones 100 with the speed of the specific object acquired through the image The speed of the specific object can be recognized.

For example, when the specific object 400 included in the image moves from the first position (FIG. 23 (b)) to the second position (FIG. 23 (b) Sec corresponding to the current speed of the drone 1m / sec, which is the traveling speed of the specific object recognized through the image, is added to the specific object 2m / sec, As shown in FIG.

As a result, the control unit 124 can recognize the speed of the specific object using at least one of the current speed of the drones, the flight path of the drones, and the image captured through the camera 130.

24 is a view for explaining another example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 through FIG. 23 will not be described again with reference to FIG. 24, and the following description will focus on the differences. 23, it is assumed that the drone 100 shoots the specific object while flying the specific object in the opposite direction at a speed different from that of the specific object from the front.

The control unit 124 can recognize the current speed of the drones 100 and the flight path of the drones 100. Here, the current speed of the dron may be a speed calculated on the basis of the changed distance in consideration of altitude change of the drones, change of the planar position of the drones, and the like. The movement path of the drones 100 may be determined by the flight height of the drones and the direction of movement of the drones 100.

24 (a), the control unit 124 recognizes the actual moving distance of the drones 100 using the planar movement distance of the drones 100 and the altitude change of the drones 100 can do. If the controller 124 recognizes that the drone 100 has moved the actual distance of 1 m in one second, the controller 124 can recognize that the current speed of the drone is 1 m / sec.

Meanwhile, the control unit 124 recognizes the moving speed of the specific object using at least one of the recognized current speed, the recognized flying path of the drones, and the image including the specific object photographed through the camera 130 can do.

24 (b)) at the first time and at the second position (FIG. 24 (b)) at the second time, the control unit 124 determines that the specific object 400 included in the image exists at the first position ), It is possible to recognize the moving speed of the specific object 400 in the image. An algorithm for recognizing the moving speed of a specific object included in the image may be stored in the memory 122 in advance.

For example, when the object moves from the first position (see FIG. 24 (b)) to the second position (see FIG. 24 (c)) in the image, It can be recognized that the moving speed of the specific object in the image is 3m / sec when it is recognized that the moving time is 1 second.

The control unit 124 recognizes the direction in which the specific object moves using the image and recognizes whether the movement path of the drones 100 corresponds to the recognized direction. If the control unit 124 recognizes that the flight path of the drones 100 corresponds to the direction opposite to the recognized direction, the control unit 124 determines the current speed of the recognized drones 100 and the speed of the specific object A value obtained by subtracting a small value from a larger value can be recognized as the speed of the specific object.

For example, when the specific object 400 included in the image moves from the first position (FIG. 23 (b)) to the second position (FIG. 23 (b) The current speed of the drone is 1 m / sec, and the moving speed of the specific object recognized through the image is 3 m / sec, which is a larger value of 3 m / sec. 2 m / sec, minus a small value of 1 m / sec, can be recognized as the speed of the specific object.

As a result, the control unit 124 can recognize the speed of the specific object using at least one of the current speed of the drones, the flight path of the drones, and the image captured through the camera 130.

25 is a view for explaining another example of a method of recognizing the speed of a specific object in the drone according to an embodiment of the present invention. The contents overlapping with those described above with reference to FIG. 1 to FIG. 24 in connection with FIG. 25 will not be described again, and the following description will focus on the differences. 25, it is assumed that the drone 100 shoots the specific object while flying in the same direction at the same speed as the specific object at the side.

The control unit 124 can recognize the current speed of the drones 100 and the flight path of the drones 100. Here, the current speed of the dron may be a speed calculated on the basis of the changed distance in consideration of altitude change of the drones, change of the planar position of the drones, and the like. The movement path of the drones 100 may be determined by the flight height of the drones and the direction of movement of the drones 100.

25 (a), the control unit 124 recognizes the actual moving distance of the drones 100 by using the planar movement distance of the drones 100 and the altitude change of the drones 100. For example, can do. If the controller 124 recognizes that the drone 100 has moved the actual distance of 2 m in one second, the control unit 124 can recognize that the current speed of the drone is 2 m / sec.

Meanwhile, the control unit 124 recognizes the moving speed of the specific object using at least one of the recognized current speed, the recognized flying path of the drones, and the image including the specific object photographed through the camera 130 can do.

25 (b)). When the control unit 124 recognizes that the specific object 400 included in the image has moved from the first position (FIG. 25 (b)) to the second position The moving speed of the object 400 in the image can be recognized. An algorithm for recognizing the moving speed of a specific object included in the image may be stored in the memory 122 in advance. For example, when the position of the object at the first time in the image is the first position (see FIG. 25 (b)) and the position of the object at the second time is the first position (See FIG. 25 (c)). It can be recognized that the moving speed of a specific object in the image is 0m / sec.

The control unit 124 recognizes the direction in which the specific object moves using the image and recognizes whether the movement path of the drones 100 corresponds to the recognized direction. If the movement speed of the specific object in the image is 0 m / sec and the moving direction of the drones corresponds to the moving direction of the specific object, the control unit 124 sets the moving speed of the drones 100 to the specific object Can be recognized as the moving speed of the vehicle.

As a result, the control unit 124 can recognize the speed of the specific object using at least one of the current speed of the drones, the flight path of the drones, and the image captured through the camera 130.

certain The object's  Based on speed, The object's  How to change your shot composition

23 to 25, a method of recognizing the speed of a specific object and a method of changing the imaging configuration based on the recognized speed will be described below with reference to FIG.

26 is a diagram for explaining an example of a method of changing a shooting configuration of a specific object based on the speed of a specific object in a drone according to an embodiment of the present invention.

According to an embodiment of the present invention, the control unit 124 recognizes the speed of a specific object, changes the shooting composition of the specific object based on the recognized speed, and shoots the specific object based on the changed shooting composition .

For example, when the velocity of the specific object corresponds to the first velocity, the control unit 124 changes the imaging plan in a first imaging scheme in which a whole body of the specific object 400 is photographed from behind the specific object 400 . In this case, referring to FIG. 26 (a), the controller 124 controls the position of the specific object 400 by a predetermined distance a and a predetermined height h from behind the specific object 400 The flying unit 110 can be controlled to fly the drones 100 at a moving speed corresponding to the direction corresponding to the moving direction of the specific object 400 and the moving speed of the specific object. The control unit 124 may control the movement of the camera 130 to continuously photograph the specific object 400, thereby changing the shooting angle.

In another example, when the speed of the specific object corresponds to the second speed, the control unit 124 may change the shooting configuration in a second shooting scheme in which the entire body of the specific object 400 is shot while moving around the specific object have. In this case, referring to FIG. 26 (b), the controller 124 controls the drones 100 such that the drones 100 are positioned at predetermined distances a and a predetermined height h from the specific object 400, It is possible to control the flight unit 110 to fly around the object 400. The control unit 124 may control the movement of the camera 130 so that the specific object 400 can be continuously photographed even if the position of the drone 100 changes.

In the present invention, the first photographing composition and the second photographing composition are not limited to the above-mentioned contents, but may be various photographing compositions, and the optimum photographing composition suitable for each of the speeds is stored in the memory 121 Can be.

According to the above-described embodiment, the drone has the advantage of being able to shoot a specific object by changing the shooting composition based on the speed of the specific object.

According to at least one of the above-described embodiments of the present invention, the drone recognizes the change in the motion of the subject and the change in the state of the subject, thereby automatically capturing an image while changing the composition. In addition, there is an advantage that the user of the mobile terminal can be photographed in various schemes in consideration of various situations of the user of the mobile terminal, even if there is no separate person who controls the drones.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). Also, the computer may include a control unit 180 of the terminal. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: Drones
110: Flight department
120:
121:
122: memory
123: sensing unit
124:
130: camera

Claims (16)

In a drones in communication with a mobile terminal,
A flight portion for generating lift for flight;
A communication unit for receiving the sensing data obtained from the mobile terminal from the mobile terminal;
A camera for photographing a specific object; And
And a control unit,
Wherein,
Recognizing at least one of a change of movement of the specific object and a change of state of the specific object based on the sensing data,
Changing a photographing composition of the specific object based on at least one of the recognized changes,
And photographing the specific object based on the changed photographing composition. The method according to claim 1,
Wherein,
Determining at least one of a photographing angle of the specific object and a photographing position of the specific object based on the changed photographing composition,
And controls the flying section so that the drones fly based on at least one of a photographing position of the specific object determined and a photographing angle of the determined specific object. 3. The method of claim 2,
Wherein,
And controlling the movement of the camera based on at least one of a photographing position of the specific object determined and a photographing angle of the determined specific object. The method according to claim 1,
Wherein,
Based on at least one of information on the moving direction of the mobile terminal, information on the speed of the mobile terminal, information on the position of the mobile terminal, and information on the altitude of the mobile terminal, included in the sensing data, A drones that recognize changes in the movement of a particular object. The method according to claim 1,
Wherein,
Information on a gesture of the specific object included in the sensing data, information on pulse of the specific object, information on respiration of the specific object, information on body temperature of the specific object, and amount of sweat of the specific object And recognizing a state change of the specific object using at least one of information on the specific object. The method according to claim 1,
The shooting composition of the specific object may be,
The degree of change of the motion of the specific object, and the degree of state change of the specific object. The method according to claim 1,
Wherein,
Recognizing a kind of a current activity of the specific object,
And changes the shooting composition of the specific object based on at least one of the recognized change and the recognized current activity type. The method according to claim 1,
Wherein,
Recognizing the peripheral terrain information of the specific object,
And changes a photographing configuration of the specific object based on at least one of the recognized change and the recognized peripheral feature information. The method according to claim 1,
Wherein,
And controls the communication unit to transmit the photographed image to the mobile terminal. A method for controlling a drones connected to a mobile terminal,
Receiving sensing data obtained from the mobile terminal from the mobile terminal;
Recognizing at least one of a change of movement of a specific object and a change of state of the specific object based on the sensing data;
Changing a shooting configuration of a specific object based on at least one of the recognized changes;
Determining at least one of a photographing angle of the specific object and a photographing position of the specific object based on the changed photographing composition;
Controlling the flight of the drones based on at least one of a photographing position of the determined specific object and a photographing angle of the determined specific object; And
And photographing the specific object by controlling the movement of the camera based on at least one of the photographing position of the specific object determined and the photographing angle of the determined specific object. In a drones in communication with a mobile terminal,
A flight portion for generating lift for flight;
A camera for photographing a specific object;
A communication unit for transmitting an image photographed through the camera to a mobile terminal to which the communication is connected; And
And a control unit,
Wherein,
Recognizes the speed of the specific object,
Changing a shooting composition of the specific object based on the recognized speed,
And photographing the specific object based on the changed photographing composition. 12. The method of claim 11,
Wherein,
Recognizes the current speed of the drones and the flight path of the drones,
And recognizes the speed of the specific object using at least one of the recognized current speed, the recognized flight path, and an image photographed through the camera. 12. The method of claim 11,
Wherein,
Determining at least one of a photographing angle of the specific object and a photographing position of the specific object based on the changed photographing composition,
And controls the flying section so that the drones fly based on at least one of a photographing position of the specific object determined and a photographing angle of the determined specific object. 14. The method of claim 13,
Wherein,
And controlling the movement of the camera based on at least one of a photographing position of the specific object determined and a photographing angle of the determined specific object. 12. The method of claim 11,
Wherein,
And controls the communication unit to transmit the photographed image to the mobile terminal based on the changed imaging configuration. A method for controlling a drones connected to a mobile terminal,
Recognizing a speed of a specific object;
Changing a photographing configuration of a specific object based on the recognized speed;
Determining at least one of a photographing angle of the specific object and a photographing position of the specific object based on the changed photographing composition;
Controlling the flight of the drones based on at least one of a photographing position of the determined specific object and a photographing angle of the determined specific object; And
And photographing the specific object by controlling the movement of the camera based on at least one of the photographing position of the specific object determined and the photographing angle of the determined specific object.

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