KR20180131396A - Inner guide drone and method of controlling that - Google Patents

Abstract

The present invention relates to a drone. More specifically, the present invention relates to a drone for indoor guidance and a control method thereof, capable of guiding a user inside a building to a destination. According to an embodiment of the present invention, the drone for indoor guidance and the control method thereof can guide a user to a destination safely even inside a school or a large building. The drone usually performs indoor air purification and toxic substance detecting functions, and performs guidance to make emergency treatment for indoor users possible when an emergency situation occurs.

Description

[0001] INNER GUIDE DRONE AND METHOD OF CONTROLLING THAT [0002]

[0001] The present invention relates to a drones, and more particularly, to an indoor interior drones capable of guiding a destination to a user located in a building and a control method thereof.

Drone is a dictionary word meaning bee buzzing or low buzzing sound, which corresponds to an unmanned aerial vehicle (UAV) that can be adjusted by radio waves without flying on a flight. These drones began with the recycling of old manned aircrafts that had reached the end of World War II, as airborne unmanned aerial vehicles, and as technology advanced, equipped with state-of-the-art equipment such as remote sensing devices and satellite control devices It is also used. In addition, the drones can be equipped with an infrared camera, Global Positioning System (GPS), thermal or motion sensing sensors, and can detect trends in terrain, buildings, and people in real time.

Early drones have been mostly used for military purposes, but due to continuous technological development, they are now widely used in civilian applications such as weather observation, environmental and forest fire monitoring, border and coastal and road surveillance, disaster relief communications, and remote sensing . In this way, considering the wide range of functions of drones that can be used in various fields, the use of drones in various fields has been continuously studied. For example, it can be a simple play model, a delivery flight for delivering goods, a transit flight for shooting traffic situations or relaying the situation, or as a shooting tool for movies or dramas.

1 shows a conventional drone perspective view. Referring to FIG. 1, a conventional dron includes a body, a flight sensor, a GPS sensor, a driver, a controller, a communication unit, and a power unit. The body forms the overall appearance of the drones, and plays a role in supporting the combined elements. Typically, the body includes four drive arms extending horizontally from the central portion. The flight sensor is used to measure the distance to the object near the dron. It can emit electromagnetic waves to maintain a constant altitude from the ground. It measures the attitude, speed, and acceleration when flying, . For this purpose, it may comprise a gyro sensor or an acceleration sensor. The GPS sensor receives the GPS information from the satellite, confirms the current position, and allows the dron to move to the designated position according to the user's operation. At the ends of the four drive arms, a drive consisting of a blade (or propeller) and a motor is located to generate the propulsion of the drone. The motor rotates the blades, and the direction and direction of the drones are changed using the driving force generated through the rotation of the blades. By constituting a plurality of driving units of the drones as described above, it is possible to perform a hovering operation that maintains vertical take-off and landing and constant altitude in accordance with the output. The control unit is connected to each component, performs signal processing, and controls the operation of the drone. The communication unit is configured to be capable of wireless communication with the outside, and can receive GPS information and command signals of a user. The power supply is configured to supply power to each component. Typically, the power supply may include a wireless charging module so that charging is possible, in which case charging can be done automatically in the wireless charging area.

In connection with various application fields using the drones, drones for the purpose of informing outdoor passengers have been proposed. Japanese Patent Application Laid-Open No. 10-1647950 discloses a patrol drone that provides a route based on a patrol route to a user who travels in a bad area, 2016-0125215 (a route guidance method using a drones, a route guidance drones and a drone) is located at the upper part of a user such as a visually impaired person, and when a user has an obstacle, Lt; / RTI >

However, since the conventional technology uses GPS information, it is difficult to measure the position in a building such as a shopping mall or a school, and as a result, it can not be used indoors. Particularly, the flat type dron with the driving blade mounted on the side is not suitable for indoor operation because of its size and shape, it may cause physical damage when it collides with the user in the process of using it indoors. In addition, when a user who is visually impaired or the like is guided by voice, there is a problem that it is difficult to effectively transmit due to surrounding noise.

Japanese Patent Application Laid-Open No. 10-1647950 (Aug. 20, 2016) Japanese Patent Application Laid-Open No. 10-2016-0125215 (Oct. 31, 2016)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a navigation system capable of guiding a destination with a visual navigation screen to a user located in a room, And an object of the present invention is to provide a method of controlling a drones and a control method thereof.

According to an aspect of the present invention, there is provided an indoor interior drones comprising a body, a memory for storing map information inside the building, a position sensor for measuring a position inside the building, At least one camera disposed on one side of the outer surface of the body so as to enable the user to be able to fly at a predetermined height; a display disposed on the other side of the outer surface of the body, And a control unit for calculating route information to the destination based on the map information inside the building and controlling the driving unit to guide the user to the destination according to the route information.

The body may be spherical or elliptical.

The memory stores the application information of the building visitor, and can perform visitor authentication by comparing with the recognition information of the user.

The user's recognition information may be at least one of face information, fingerprint information, personal identification number, voice information, and operation information.

The plurality of cameras may be disposed along a surface in the vicinity of the middle height in the body.

The display may include a display using a virtual reality or augmented reality.

The path information may include the next moving direction information together with the destination information.

The path information may be generated including the image information of the front side photographed through the camera.

The driving unit may include a plurality of motors and a plurality of blades connected to the motors to rotate the motors.

The controller may perform an autonomous flight so as not to cause collision with nearby persons or sculptures during a movement to a destination.

The position sensor can measure the position inside the building using wireless communication data.

The position sensor may be a chaotic sensor, which is a hybrid position measurement system.

The position sensor may further include a GPS sensor.

The position sensor may further include a distance sensor capable of measuring a distance to a floor or a surrounding sculpture.

The distance sensor may be a sonar or an infrared sensor.

The indoor interior drones may further include a temperature and humidity sensor for measuring temperature or humidity inside the building.

The indoor interior drones may further include air purifying means for purifying the air inside the building.

The air purifying means may include an air sensor for measuring fine dust or noxious gas contained in the air inside the building, and a filter for filtering fine dust or noxious gas contained in the air.

The map information inside the building may be information in which geographical information is combined with information on at least one of temperature, humidity, fine dust, and noxious gas.

A grid-shaped protection grid may be formed in the upper area of the body so that air inside the building may be introduced.

In the lower region of the body, a lattice-shaped air outlet for discharging fine dust or noxious gas filtered air may be formed.

The map information inside the building may be stereoscopic information combined with image information inside a building photographed through a camera.

The interior interior drones may further include a gas tube for storing gas for providing buoyancy in the interior of the body.

The gas may be helium gas.

The indoor interior drones may further include a wireless communication unit for performing wireless communication with the server.

The control unit may determine an emergency situation based on the image information of the inside of the building photographed through the camera, and may generate an alarm message when it is determined that the emergency is present.

The indoor interior drones may further include a wireless charging module capable of wireless charging through wireless communication with a device located on the ground.

The wireless charging may be performed by a magnetic induction method or a magnetic resonance method.

The indoor interior drones may further include a noise removing unit for reducing noise generated in the driving unit.

The noise removing unit may include a frequency measuring unit for measuring a frequency of the noise generated in the driving unit and an offset frequency generating unit for generating a frequency capable of canceling the noise measured in the frequency measuring unit.

The stationary station of the present invention is a mobile station interlocking with an indoor interior drone for guiding a user to a user through an autonomous flight in a building. The mobile station includes a driving unit for providing a rotational force capable of moving on the ground through wheels, A wireless communication unit for performing wireless communication with the indoor interior drones; and a wireless communication unit for transmitting / receiving data to / from the indoor interior drones through the wireless communication unit, And a controller for controlling the operation so that the indoor interior drones can be mounted on the mounting portion.

The station for mounting may further include a power transmitter for transmitting wireless power to the indoor interior drones.

The station for stationary may further include air purifying means for detecting and purifying fine dust or noxious gas contained in air in the building.

In addition, the indoor interior system of the present invention maintains a certain altitude in the building, and moves from the ground in the building to the indoor interior dron for guiding the destination to the user through the self-flight, Lt; RTI ID = 0.0 > station. ≪ / RTI >

According to another aspect of the present invention, there is provided a method of controlling an indoor interior drones, the method comprising: storing map information in a building; inputting destination information from a user; measuring a current position through a position sensor; The method comprising the steps of: calculating route information from a current location to the destination based on the route information; guiding the user to the destination based on the route information; And displaying the information.

The control method of the indoor interior drones may further include storing application information of the building visitor and performing visitor authentication by comparing the recognition information of the user with the application information of the building visitor.

The control method of the indoor interior drones may further include a step of photographing a forward image using a camera and a step of combining the forward image with the path information.

The step of guiding the user may include a step of measuring the distance to the floor or surrounding sculpture using a distance sensor, and a step of flying while maintaining a constant distance from the floor or sculpture.

The step of displaying the route information may display route information to an image or a destination in a building using a virtual reality or an augmented reality.

The method of controlling the indoor interior drones may further include purifying the air inside the building.

The step of purifying the air inside the building includes the steps of measuring fine dust or noxious gas contained in the air inside the building, filtering the fine dust or noxious gas contained in the air using a filter inside the body, , And discharging the fine dust or noxious gas filtered air into the interior of the building.

The control method of the indoor interior drones comprises the steps of measuring fine dust or noxious gas contained in the air inside the building through a primary sensor provided in the upper part of the interior of the body, Measuring the fine dust or noxious gas contained in the air filtered through the filter, and comparing the measurement values of the primary sensor and the secondary sensor to determine the replacement time of the filter .

The control method of the indoor interior drones may further include determining an emergency situation based on the image information of the inside of the building photographed through the camera, and generating an alarm message if the emergency situation is determined.

The control method of the indoor interior drones may further include displaying information on at least one of temperature, humidity, fine dust, and noxious gas inside the building in association with the geographical information in the building.

The method of controlling the indoor interior drones comprises the steps of performing wireless communication with other interior indoor drones flying in a building, exchanging data with each other through the wireless communication, And adjusting the respective functions.

The indoor interior drones and the control method thereof according to the embodiment of the present invention can safely guide a user to a destination even in a school or a large building and perform an indoor air purification and detection of harmful substances in a normal situation, There is an effect that it is possible to guide the user of the room to the first aid.

1 shows a conventional drones perspective view,
FIGS. 2A to 2C are overall conceptual diagrams of a process of guiding a destination using an indoor interior drones according to an embodiment of the present invention;
FIG. 3A is a front view, FIG. 3B is a rear view, FIG. 3C is a bottom perspective view, FIG. 3D is a top view, and FIG. 3D is a top plan view of the interior dowel according to the embodiment of the present invention.
FIG. 4 is a vertical cross-sectional view of an interior eye drone according to an embodiment of the present invention,
FIG. 5 is a perspective view of a room interior drones according to an embodiment of the present invention,
FIG. 6 is a view illustrating an interlocking process between an indoor eye drill and a station for mounting according to an embodiment of the present invention; FIG.
FIG. 7 is an internal configuration diagram of an indoor interior drones according to an embodiment of the present invention;
FIG. 8 is an exemplary software configuration of an indoor interior drones according to an embodiment of the present invention, FIG.
FIG. 9 is a detailed view of detailed functions of each application module of the indoor interior drones according to the embodiment of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified, and that other specific features, regions, integers, steps, operations, elements, components, and / And the like.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

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

FIGS. 2A to 2C are conceptual diagrams illustrating a process of guiding a destination using an indoor interior drones according to an embodiment of the present invention. Hereinafter, the process of using the indoor interior drones of the present invention will be described.

The indoor interior drones 100 of the present invention are configured to guide a user to a user 10 in a room used by a large number of people, such as a school, a shopping mall, an exhibition hall, and a sports facility. 2A, the indoor interior drones 100 are located in the interior of the building, and when the user 10 enters the building, he or she accesses the user 10 and guides the destination, or the user 10 The user can confirm the request of the user 10 and guide the user to the desired destination. To this end, the indoor interior drones 100 of the present invention may be provided with an artificial intelligence function for conversation with a user, determination of a surrounding artifact or situation, optimal route search, and destination guidance. Artificial Intelligence (AI) is an expert system designed to judge according to a set rule based on vast amount of data, fuzzy theory which quantitatively expresses contents of natural language, artificial intelligence Machine learning, artificial neuron network that constructs neural network structure based on human brain, genetic algorithm that derives optimum answer through repetitive problem solving, or And BDI Architecture (BDI Architecture) consisting of a software system that imitates three areas: belief, goal, and intention. To do so, you can use a variety of artificial intelligence software to date, such as IBM's Watson, Microsoft's Tay, Apple's Siri, and Samsung's Bixby.

In addition, the indoor interior drones 100 of the present invention minimize the clashes with the specific user 10 during the operation and reduce the internal damage to the user 10, ) Is preferably spherical in shape. However, it is also possible to make a shape similar to a cylindrical shape or the appearance of a specific character other than a spherical shape. However, it may be effective to configure the blades for generating the driving force of the indoor interior drones 100 to be located inside the indoor interior drones 100.

When the user 10 recognizing the user 10 entering the room 10 or requesting the user to the room indoor drones 10 of the present invention to receive the destination, The draft drone 10 of the present invention recognizes the destination guidance request of the user.

At this time, as a method of recognizing the request of the user 10, a method of recognizing the voice transmitted through the utterance of the user 10 will be the most common method. In addition, if the user 10 has previously requested a visit to a specific destination, the indoor interior drones 10 can receive and utilize the registration information of the user 10 who made the visit application through the wireless communication module provided therein have. In this case, a face recognition, a personal identification number (for example, a name, a resident registration number, an address, etc.) or a method of inputting a fingerprint may be used to confirm the personal information of the user 10 who registered the visit application. In addition, it is also possible to display a drawing inside the building through a display provided on the surface of the indoor interior drones 10, and recognize the destination selected by the user 10 through a method such as a touch screen.

When the destination of the user 10 is confirmed, the indoor interior drones 100 of the present invention guide the movement to the destination in front of the use 10 at predetermined intervals, as shown in FIG. 2B. At this time, the indoor interior drones 10 are provided with a display on one surface thereof, so that the user can display the moving direction and the distance so that the user 10 can recognize the moving path. Accordingly, when the user 10 moves along the indoor inner drones 10, the distance to the next point through the guide screen displayed on the display of the indoor inner drones 10, the moving direction, the distance to the destination, And the estimated time required for the operation.

In order to effectively transmit the navigation function for guiding the destination to the user 10, the indoor interior drones 10 of the present invention are arranged such that the position of the display screen during guidance is shorter than the height of the eyes of the user 10 It is desirable to fly to the point. To this end, a sound navigation and ranging (SONAR) that can measure the distance from the ground using sound waves may be provided in the lower portion of the indoor interior drones 10. Of course, a sonar may also be provided on some side or top of the indoor interior drones 10 to prevent collisions with the side walls or ceiling during flight. Meanwhile, the method of guiding the destination to the user may be a method of displaying the shape of the three-dimensional body by using a virtual reality (Virtual Reality) or Augmented Reality It is also possible to project the image on the screen.

Since the indoor interior drones 100 of the present invention store information about the drawing and the movement route inside the building in the memory, when the destination is confirmed from the user 10, the navigation function is used to move the route of the user 10 As shown in FIG. At this time, it is preferable to include an automatic driving function so as to avoid a collision with people, structures, sculptures, or other drones in the moving process. For this purpose, data can be exchanged with each other through the wireless communication while performing wireless communication with other indoor indoor drones 100 flying in the building. By using the exchanged data, it is possible to mutually control the operation or function between the indoor interior drones 100 and to transmit or receive necessary data.

2C conceptually illustrates an entire process in which the user 10 designates a specific destination in the building and is guided through the indoor interior drones 100 by the moving route. Here, a case where a user 10 arriving at a large exhibition hall receives a moving route through the indoor interior drones 100 of the present invention in order to visit an indoor exhibition hall is illustrated. In particular, it is not easy to find a specific destination in a large building such as a shopping mall or an exhibition hall. When the indoor interior drones 100 of the present invention are used, the user 10 can move to the destination more easily.

In addition, even when an emergency such as a lost child or a fire occurs in a crowded building, the indoor interior drones 100 of the present invention can receive the requests of them, The guidance of the evacuation route or the propagation of the emergency situation can be performed.

In addition, the indoor interior drones 100 of the present invention may have a function of measuring temperature, humidity, fine dust, and harmful substances inside the building and purifying the interior. To this end, it is possible to include not only the temperature and the humidity but also a sensor capable of measuring the surrounding noxious gas including fine dust, and a filter capable of purifying the noxious gas.

In the meantime, although the case of guiding the route in the interior of the building has been described as an example in the above, when the GPS (Global Positioning System) sensor is additionally installed, it is possible to provide the route guidance function not only indoors but also outdoors .

In order to effectively perform the above-described functions, the shape and structure of the indoor interior drones 100 of the present invention will be described in more detail.

FIG. 3A is a front view, FIG. 3B is a rear view, FIG. 3C is a bottom perspective view, and FIG. 3D is a top view of the interior eye drill according to the embodiment of the present invention.

Referring to FIG. 3A, the body of the indoor interior drones 100 of the present invention may be spherical. Of course, it is similar to a spherical shape, and it may have a cylindrical shape, an elliptical shape, or some surface protruding to resemble a specific character. However, in consideration of the fact that it is used indoors, it is preferable that the blade is provided so as to be able to be mounted therein, and the body is preferably formed in a shape similar to a sphere so as to have a volume as small as possible. At this time, the overall appearance may be spherical, and the upper region may include some flat surfaces for installing an electronic device such as the antenna 140, and the lower portion may also be provided with a blade, a motor, A part of the bottom surface of the hazard may be formed flat, or a part of the bottom part may be protected by a transparent glass material.

And a camera 110 capable of photographing the outside in a predetermined area of a middle height in the body of the indoor interior drones 100. For the sake of convenience, the direction in which the camera 110 is provided can be referred to as the front. Typically, the camera 110 is a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) which detects an image formed by a lens and a lens that focuses the input light and converts the image into an electrical image signal Sensor. The camera 110 can be used to recognize the user 10 by photographing the face or shape of the user 10. [ In addition, the user 10 may be photographed in front of the user during the process of guiding the destination, and may display it to the user 10 through the display. Meanwhile, the indoor interior drones 100 of the present invention may include a plurality of cameras 110. For example, four cameras 110 may be installed so that four directions of the front, rear, left, and right sides can be simultaneously photographed .

In the area adjacent to the area where the camera 110 is located, a lateral distance sensor 130 for confirming the existence of a person, a building, or a structure located nearby can be located. As the side distance sensor 130, a sonar or an infrared sensor can be used. The distance to the object can be measured by measuring a time taken to reflect a sound wave or an infrared ray, reflect it to a surrounding object, reflect it, and return. As shown in FIG. 3A, the lateral distance sensor 130 located at the middle height of the indoor interior drones 100 may be used for detecting surrounding objects on a horizontal plane. In order to maintain the altitude of the indoor interior drones 100 in accordance with the height of the eyes of the user 10 in the course of guiding the user to the route 10, it is necessary to measure the distance to the floor. A lower distance sensor for measuring the distance from the floor to the bottom of the contents drone 100 will be additionally provided.

The camera 110 and the side distance sensor 130 may be arranged in any number in a predetermined interval and the camera 110 and the side distance sensor 130 may be arranged in pairs. The pair of distance sensors 130 may be arranged as one unit.

The uppermost portion of the upper part of the indoor interior drones 100 may be provided with an antenna 140 for wireless communication with the server. Although the antenna 140 can be installed on any part of the outer surface of the indoor inner drones 100, the antenna 140 may be provided on the uppermost region to minimize the interference of the transmission / . A wireless communication module is provided inside the indoor interior drones 100 and wireless data is transmitted or received through the uppermost antenna 140.

The wireless communication module may use a mobile communication technology such as CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access) or LTE (Long Term Evolution), Bluetooth, NFC (ZigBee), Magnetic Static Transmission (MST), Beacon, or WiFi. In addition, it is possible to use LoRa or NarrowBand - Internet of Things (NB-IoT), a large-scale low-power long-distance wireless communication technology.

In addition, it is preferable that the indoor interior drones 100 of the present invention have a filter function for detecting and purifying minute dust or harmful substances in the interior of the building while being located inside the building. For this purpose, various lattice-shaped protection grids 120 may be formed in the upper region so that ambient air may be introduced during the process of generating propulsive force. The protection grid 120 may be configured to occupy a certain area between the top and the vertical center line so that ambient air can be introduced. The lattice-like structure may be formed in a lattice shape of various sizes within a range that can stably connect the uppermost portion and the other outer portion at the center.

FIG. 3B shows a case where the display 150 is provided in a part of the outer appearance of the indoor interior drones 100 of the present invention. For convenience, the portion provided with the display 150 is referred to as the rear surface. The indoor interior drones 100 of the present invention can guide the user to the destination 10 while keeping the altitude of about the eye level in front of the user 10 in the building, The display 150 is preferably positioned on the rear surface of the indoor interior drones 100. In this case, the contents displayed on the display 150 may be a screen on the front side (a screen photographed through the camera 110) based on the current position in the process of moving toward the destination, It may be a drawing. It is also possible to visually indicate the next movement path at which to change the direction at the current position to reach the destination. As a result, the user 10 can move along the direction guided by the indoor inner drones 100, while moving through the display 150 of the indoor inner drones 100 while continuously checking the travel path to the destination .

The display may be a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, Dimensional display (3D display), and the like.

3C is a bottom perspective view of the indoor interior drones 100 of the present invention as viewed from below. Referring to FIG. 3C, the lower portion of the indoor interior drones 100 has a shape in which four blades 160 for generating a driving force are densely arranged in a central portion of the lower portion. Generally, the number of the blades 160 is four, but the number of the blades 160 may be more or less than the number of the blades 160 if necessary. When the blade 160 thus configured rotates, the interior interior drones 100 provide a propelling force to fly. In addition, the air introduced through the upper protection grid 120 flows through the filter installed in the indoor interior drones 100, through the lower blade 160 in a state where fine dust or harmful substances are filtered, It can also serve to purify the air inside the building. At this time, a grid-shaped grid may be additionally provided to protect the lower blade 160 while the air filtered through the filter is discharged below the lower blade 160.

On the other hand, the filter needs to be replaced when it is used for a certain period of time. It is preferable that the replacement time is set at a time when it is determined that the function of the filter is deteriorated. To this end, an air measurement sensor is installed at the upper part and the lower part of the filter of the indoor inner drones 100, If the difference between the two measured values is less than the reference value, it is determined that the function of the filter is deteriorated and the replacement point can be determined.

A lower distance sensor 170 for measuring a distance to the floor may be provided in the lower central region of the dense blade 160 so as to maintain a constant height. The lower distance sensor 170 may be composed of a sonar or an infrared sensor in the same manner as the side distance sensor 130.

In addition, in the indoor interior drones 100 of the present invention, air that provides buoyancy such as helium is introduced into the interior of the body so as to increase the floating time in the air while flying at a constant altitude in a room of the building Which may be provided with a gas tube.

FIG. 3D is a top view of the indoor interior drones 100 of the present invention. Referring to FIG. 3D, the top of the indoor interior drones 100 is located with an antenna 140 for wireless communication with a server. A protective grid 120 in the form of a lattice is formed in a predetermined region of the lower portion along the periphery of the antenna 140 so that surrounding air can be introduced. It is preferable that the protection grid 120 is formed in the upper region based on the middle height in the vertical direction so as not to reach the lower region of the middle height or lower.

The protection grid 120 is in the form of a lattice and ambient air is introduced through the protection grid 120 while the blade 160 provided inside the indoor interior drones 100 rotates to generate propulsive force. The inflow air can be purified through a filter provided inside the indoor interior drones 100.

In addition, a gas tube 195 corresponding to a sealed space may be provided on the inner side surface of the body so that gas capable of providing buoyancy such as helium gas may be filled therein. When the helium gas is filled therein, Additional buoyancy may be provided to the body 100 to increase the time it takes to air.

4 is a vertical cross-sectional view of an interior eye drone according to an embodiment of the present invention. Referring to FIG. 4, the body of the indoor interior drones 100 of the present invention may be spherical or elliptical. In the upper part of the body, an antenna 140 for wireless communication with the server can be installed at the uppermost part. A space of a certain area radially formed from the antenna 140 is formed in a grid- (Not shown).

At this time, an air sensor 180 capable of detecting fine dust or noxious gas contained in the room air may be installed under the antenna 140. The harmful gas can be defined as air, such as influenza virus, carbonic acid gas, or hydrogen sulfide, which is generated in the air in a gas space in a confined space like a building. Generally, noxious gases are classified into air having an oxygen concentration of less than 18% or 23.5%, air having a carbon dioxide concentration of 1.5% or more, air having a hydrogen sulfide concentration of 10 ppm or more, combustible gas having a concentration exceeding 10% And air containing mist, flammable dust mixed with air near or exceeding the lower explosion limit concentration. Accordingly, the air sensor 180 may be composed of various types of sensors in consideration of the characteristics of the building where the indoor interior drones 100 are located.

A device for purifying the air introduced through the protection grid 120 is provided at the lower portion of the antenna 140 and the air sensor 180. A gasket 182 which is formed in a V-shaped or inverted trapezoidal shape so that the inflow air can be gathered at a central lower portion of the indoor interior drones 100 without leakage, A filter 184 for filtering fine dust or harmful gas present in the air may be formed of a plurality of layers. The filter 184 may be replaced as necessary to effectively filter the noxious gas to be purified, and is preferably formed of a plurality of layers for efficient filtering.

Accordingly, the lower surface of the gasket 182 may have a fine grid shape so that fine dust or noxious gas filtered air can be discharged through the plurality of filters 184.

The air purified through the gasket 182 and the filter 184 is discharged back into the interior of the building through the blades 160 located on the lower surface of the indoor interior drones 100. As a result, the blade 160 not only provides a propulsion force for the indoor inner drones 100 to fly, but also serves to supply clean air again filtered from fine dust or noxious gas from the air introduced from the upper portion do.

In this case, since the filter 184 needs to be replaced when the filter 184 is used for a predetermined time, it is preferable that the filter 184 is replaced at a point of time when the function of the filter 184 deteriorates. To this end, an air measurement sensor is provided on the upper and lower sides of the filter 184, respectively, and the measured value before the fine dust or the noxious gas is filtered is compared with the measured value filtered through the filter 184, It can be determined that the function of the filter 184 is degraded. It is possible to display a signal requesting replacement of the filter 184 through an external indicator if it is judged to be a replacement point.

A lower distance sensor 170 may be provided at the central portion of the lower end where the blade 160 is densely packed to measure the distance from the floor so that the indoor interior drones 100 can maintain a certain distance from the floor. In addition, a battery 190 for driving the indoor interior drones 100 may be disposed around the lower distance sensor 170. Of course, since the battery 190 is used to supply power to each of the internal components of the indoor interior drones 100, the positions to be disposed in the design process can be variously changed. At this time, for efficient use, the battery 190 may use an inductive power transfer (IPT) technology capable of wireless charging.

Also, as described above, it is preferable that a donut-shaped gas tube 195 is formed on the inner side of the inside of the body so that a gas capable of providing buoyancy such as helium gas can be filled therein. If the gas tube 195 is filled with helium gas, additional buoyancy will be provided to increase the time it takes to air.

Figure 5 is a perspective view of an interior eye drone according to an embodiment of the present invention. Referring to FIG. 5, the indoor interior drones 100 of the present invention can clean fine dust or noxious gas existing in a building while flying at a certain altitude within the building.

That is, the air inside the building is introduced through the upper protection grid 120 in the process of generating the propulsive force by the plurality of blades 160 provided at the lower portion of the indoor interior drones 100. The inflow air flows downward along the gasket 182 disposed inside the indoor interior drones 100 and passes through the plurality of filters 184 in this process. At this time, the fine dust Or the harmful gas is filtered through the filter 184. As a result, clean air filtered by fine dust or noxious gas is supplied back into the building through the blades 160.

The indoor interior drones 100 of the present invention may be classified into a state for guiding a destination to a user and a state for waiting for guidance to a user. At this time, when the user is waiting for guidance, it is desirable to minimize the use of the battery or to charge the power. To this end, the indoor interior drones 100 of the present invention can be operated in cooperation with a station 400 for mounting which can be mounted in a standby state to minimize battery usage or charge electric power.

FIG. 6 is a view illustrating an interlocking operation between an interior eye drill and an installation station according to an embodiment of the present invention. Referring to FIG. 6, the indoor interior drones 100 of the present invention can be floated or moved in the air by maintaining the constant altitude within the building using the driving force generated from the blades 170. In particular, when the user receives a request from the user 10 and guides the destination in the building, it is possible to guide the route through the shortest distance based on the spatial map of the inside of the building. However, it may be difficult to fly for a long time or to float in a space by using only the battery 190 mounted inside the indoor interior drones 100. In order to minimize the use of the battery 190 or to charge the battery 190 in the standby state in which the indoor interior drones 100 do not provide guidance to the user, It will be possible. The stationary station 400 can be moved on the ground inside the building using wheels.

A plurality of installation stations 400 may be disposed where the indoor interior drones 100 may be installed when the indoor interior drones 100 operated in the building are plural. When the indoor interior drones 100 enter into a standby state other than the operating state, the indoor interior drones 100 are searched for the nearby station 400 that is located near the indoor interior drones 100. When the search is performed, data for a stationary operation is transmitted / received through communication with the searched station 400. [ As a result, the indoor interior drones 100 or the station for stationary 400 determine the point of movement through communication with each other and move to the corresponding point. The stationary station 400 that has been moved to the designated point is prepared to mount the indoor interior drones 100 in the upper area and the indoor interior drones 100 are moved to the positions of the mobile station 400 And then the elevation is adjusted so as to be mounted on the upper part of the station 400 for mounting.

In the state where the indoor interior drones 100 are mounted on the station 400, wireless charging can be performed through the station 400. [ Wireless charging is a method of charging a battery at a local or remote location using inductive power transfer (IPT). Wireless power transmission technology converts electric energy into electromagnetic wave and transmits energy even when there is no current flowing through it. It is a technology that transfers energy to electric energy by high frequency electric signal of specific frequency or electromagnetic wave converted into light wave. Such a wireless power transmission technique can be classified into a near-field wireless power transmission technique for transmitting energy using a magnetic field generated in a coil at a short distance, and a remote wireless power transmission technique using a microwave and an antenna or a laser.

Since the indoor interior drones 100 of the present invention are wirelessly charged when the drones 100 are placed in the station 400 or within a certain distance from the station 400, . More specifically, the short-range wireless power transmission technique is a technique in which a magnetic induction method in which an inductive power is generated in an adjacent magnetic coil by transmitting a signal having a frequency of several tens of KHz or less between devices maintaining a distance of about several millimeters or less, And a magnetic resonance method that generates inductive power using a magnetic resonance frequency between a transmitting and receiving module including a coil and a resonator. The indoor interior drones 100 of the present invention can use both the magnetic induction method and the magnetic resonance wireless charging technique or use one of them. Preferably, when the indoor interior drones 100 are mounted on the stationary station 400, they are charged wirelessly using a magnetic induction system. When they are spaced a certain distance from the station 400, Method. In addition, it is also possible to use an RF wireless charging system in which an RF antenna is mounted on the indoor interior drones 100 and charges are received from the charging pads provided in the station 400.

At this time, in order to effectively wirelessly charge the indoor interior drones 100, it is necessary for the wireless communication with the designated station 400 to be accurately performed. For this purpose, a beam forming technique may be used.

Meanwhile, the station 400 may serve as a server for providing data in the course of wireless communication with the indoor interior drones 100, and may be provided with a separate air purifying function, To perform an air purification function within the building. In addition, the mounting station 400 is equipped with an artificial intelligence function, so that the user can recognize the voice of the user 100 in the building and perform the conversation even when the indoor interior drones 100 are not mounted. To do this, you need to install artificial intelligence software such as IBM's Watson, Microsoft's Tee, Apple's Siri, Samsung's Bixby, .

FIG. 7 is a view showing the internal construction of the indoor interior drones according to the embodiment of the present invention. 7, the indoor interior drones 100 of the present invention include an input unit 210 and an output unit 220, a sensor unit 230, a wireless communication unit 240, a memory 250, a driving unit 260, And may include a controller 270.

The input unit 210 may include a camera 212 for receiving image information on a user's face, an operation, and a surrounding situation, and a microphone 214 for receiving voice information of the user. In addition, a device capable of recognizing a user's touch such as a touch screen or various types of physical transducer such as a conventional mouse or an electronic pen may be included.

The output unit 220 includes a display 222 for displaying characters or image information about a surrounding situation or a guiding route to a user, a display 222 for displaying voice information for route guidance to a user, And a speaker 224 that can provide voice guidance to the user. The display 222 may be formed in various forms such as a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light emitting diode (OLED), a flexible display, and a 3D display. In addition, it is also possible to display the image of the inside of the building and the route to the destination to the user 10 through the display 222 in the form of virtual reality or augmented reality. In this case, a beam projector may be additionally installed to show the route to the image or the destination inside the building using the virtual reality or the augmented reality.

On the other hand, since the indoor interior drones 100 generate driving force inside the building, noise due to the rotation of the blades 264 may occur. To solve this, the indoor interior drones 100 may include additional noise abatement equipment. Specifically, the noise eliminator is configured to listen to the sound generated from the indoor interior drones 100 through the internal microphone 214 and to output the sound wave having the opposite waveform, which can cancel the waveform of the listened sound, to the speaker 224 Lt; / RTI > That is, the frequency of the sound generated in the indoor interior drones 100 is measured, and the noise generated in the indoor interior drones 100 is canceled by emitting the opposite sound wave having the frequency capable of canceling the frequency thereof.

The sensor unit 230 includes a position sensor 232 for measuring the current position of the indoor interior drones 100 and an environmental sensor 234 for measuring temperature and humidity and minute dust or noxious gas contained in the indoor air .

The position sensor 232 may include an indoor position sensor capable of measuring the position of the indoor interior drones 100 in the building and an outdoor GPS sensor in view of the case of operating outside the building. The indoor location sensor is a device that can measure the position inside the building through wireless data communication such as WiFi or LTE. For example, KAILOS system developed by Korea Advanced Institute of Science and Technology (KAIST) Can be used. The Kairos system is an open service platform that enables indoor location recognition system to be built by collecting the fingerprints of the building after registering the indoor map of the building. The hybrid location positioning system Lt; / RTI >

The environmental sensor 234 may be a temperature sensor or a humidity sensor for measuring temperature and humidity inside the building, a PM (Particulate Matter) sensor capable of measuring fine dust contained in the air, or a carbon dioxide or volatile organic compound ; VOC). ≪ / RTI > The PM sensor can be broadly classified into a PM 1.0 sensor capable of detecting fine dust having a particle size of 10 μm or less or a PM 2.5 sensor capable of detecting an ultrafine dust having a particle size of 2.5 μm or less.

The position information measured through the position sensor 232 or the environment information detected through the environmental sensor 234 is transmitted to the controller 270 and used to control the operation of the indoor eye drill 100. In particular, the indoor temperature, humidity, fine dust concentration, or harmful gas concentration measured through the indoor indoor drain (100) are combined with the map inside the building, and a two-dimensional or three-dimensional environmental map Lt; / RTI > Such an environmental map can be utilized as information for evacuating or guiding the user to a safe place in case of an emergency such as a fire.

The indoor interior drones 100 can be photographed through the camera 110 while moving inside the building, such as the shape of the inside of the building, for example, the shape of the molding or the height of the passage, the thickness of the pillars, have. The data thus obtained can be used to construct a three-dimensional map inside the building by combining it with a map inside the building. When a three-dimensional map inside the building is created, it is possible to utilize it as a destination guidance for the user 10 or as building information based on 3D virtual reality.

The wireless communication unit 240 may include a wireless transmission / reception unit 242 and a signal processing unit 244. The wireless transmission / reception unit 242 receives the wireless signal transmitted from the server and converts the received wireless signal into a signal that can be recognized by the signal processing unit 244. When transmitting the wireless signal to the server, the signal transmitted from the signal processing unit 244 is converted into a wireless signal recognizable by the server and transmitted. The signal processor 244 processes a signal transmitted / received between the wireless transceiver 242 and the controller 270. Meanwhile, the wireless communication unit 240 can use various wireless communication technologies such as Bluetooth module, NFC (Near Field Communication), ZigBee, MST (Magnetic Secure Transmission), Beacon or WiFi Do.

The memory 250 generally stores data such as a random access memory (RAM), a read only memory (ROM), a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), and a programmable read- A high speed main memory 252 in the form of a medium and a memory such as a floppy disk, a hard disk, a tape, a CD-ROM, a flash memory, a multimedia card micro type, ), An auxiliary memory 254 in the form of a longterm storage medium, and an apparatus for storing data using electric, magnetic, optical or other storage media. Main memory 252 may also include a video display memory for displaying images through display 222. [ It will be apparent to those skilled in the art that the memory 250 may have various forms as a product having various storage performances.

In the technical field of the present invention, the indoor interior drones 100 may include an operating system (OS) and at least one application program. The OS is a set of software that controls the operation of the indoor interior drones 100 and the designation of resources. An application program is a set of software for performing a task requested by a user by using available computer resources through the OS. The OS and application programs will reside in memory 250. In accordance with the experience of those of ordinary skill in the art of computer programming, unless stated otherwise, the present invention will be described in accordance with the representation symbols for operations and operations performed by the interior eye drain drill 100. This operation is computer-based and will be performed by an OS or a suitable application program. These operations and functions are not limited to the processing of the control unit 270 for the electrical signals such as the data bits causing the conversion or blocking of the electric signals and the operation of the indoor interior drones 100, Lt; RTI ID = 0.0 > internally < / RTI > stored data bit signal. A memory area in which a data bit signal is managed is a physical area having electric, magnetic, or optical characteristics corresponding to data bits.

The driving unit 260 includes a plurality of motors 262 and a plurality of rotatable blades 264 mounted on the motors 262 so as to generate driving force of the indoor interior drones 100. The indoor interior drones 100 can generally be divided into quadcopters (four), hexacopters (six), or octacopters (eight) depending on the number of mounts of the motor 262 and the blade 264 . Each motor 262 receives power supplied from the battery 190 and rotates the blade 264 and maintains the altitude of the indoor interior drones 100 using the driving force generated by the rotation of the blades 264, Directional change and movement are performed. By constituting the motor 262 and the blades 264 in this manner, a hovering operation can be performed in which the indoor interior drones 100 can be vertically lifted and landed and maintained at a certain height.

The controller 270 includes an arithmetic logic unit (ALU) 272 for performing calculations, a register 274 for temporarily storing data and instructions, a controller 276 for controlling the operation of the indoor eye drill 100, And an AI (artificial intelligence) processor 278 for performing user recognition and destination guidance. The control unit 270 may be implemented by a microprocessor such as Alpha of Digital, MIPS technology, MIPS of NEC, IDT, Siemens, Intel and Cyrix, Micro controller of ST, AMD and Nexgen ) And x86 of IBM and PowerPC of Motorola, which have a variety of architectures.

In particular, the AI processor 278 may use the VIP8000 developed by VeriSilicon Holdings. For reference, the VIP8000 consists of a multi-threaded parallel processing unit, a neural network unit, and a universal storage cache unit. You can also use the open VX framework to integrate neural networks with other computer vision functions.

FIG. 8 is a software configuration diagram of an indoor interior drones according to an exemplary embodiment of the present invention, and FIG. 9 is a detailed diagram illustrating a detailed function of each application module. 8 and 9, the application module 380 of the indoor interior drones 100 of the present invention includes an artificial intelligence module 381 for recognizing the user and the surrounding situation, A position recognition module 382 for measuring the position coordinates of the indoor interior drones 100 and the distance from the floor or the surrounding sculptures to guide the user to the destination while moving the indoor interior drones 100 An operation control module 383 for controlling the speed and the altitude and the moving direction, and an environmental purification module 384 for measuring the environment in the building and purifying fine dust or noxious gas.

The indoor interior drones 100 including the application module 380 can use various OSs as the OS of the system. The OS provides high-level commands to an API (Application Program Interface) 361 to control the operation of each application module 380. The indoor interior drone 100 of the present invention identifies each corresponding application module 380 in accordance with a high level command provided from the API 361 and decodes the high level command to provide a corresponding high level command And a processing unit 362. The application module control unit 370 controls the operation of each application module 380 according to a command provided from the high-level command processing unit 362. That is, the high-level command processing unit 362 identifies whether the corresponding application module 380 exists according to the high-level command provided through the API 361. If the corresponding application module 380 exists, 373, 375, and 377, or controls the transmission of the message, by decrypting the decoded command with an instruction recognizable by the application module 380. Accordingly, the application module control unit 370 controls the mapping units 371, 373, 375, and 377 for the artificial intelligence module 381, the location recognition module 382, the operation control module 383, And interface units 372, 374, 376 and 378, respectively.

The artificial intelligence module mapping unit 371 receives the user's voice or operation through the input unit 210 such as the camera 212 or the microphone 214 attached to the indoor interior drones 100 from the high level command processing unit 362, Level command for processing a recognition result of a user or a surrounding situation, and maps it to a device level that can be processed by the artificial intelligence module 381, And provides it to the artificial intelligence module 381 through the module interface unit 372. When an emergency such as a fire occurs in the building, it is also possible to detect a fire occurrence, a patient situation, and the like through the camera 212 and to take measures such as notification of evacuation announcement or occurrence of an emergency patient.

The location recognition module mapping unit 373 and the location recognition module interface unit 374 determine the current position through the position sensor 232 mounted on the indoor interior drones 100, It is the part that determines the path. The location recognition module 382 may include a chaos for location measurement in the room and a GPS for location measurement in the outdoor and controls a sonar or an infrared sensor for measuring the distance to the floor or surrounding sculpture . Accordingly, the location recognition module mapping unit 373 receives a high-level command for using the location recognition module 382 from the high-level command processing unit 362, maps it to a device level command, 374 to the location recognition module 382.

The operation control module 383 is a part for performing an operation of guiding the user to a destination requested by the user based on the current position transmitted through the position recognition module 382. [ In order to guide the user to the destination, a hovering function that maintains a certain altitude, a navigation function that grasps and guides the shortest path to the destination, and an autonomous navigation function that does not conflict with nearby people or sculptures can be used have. At this time, the operation control module 383 can exchange data with each other while wirelessly communicating with another indoor indoor drain 100 in the building. By using the exchanged data, the operation and function between the indoor interior drones 100 can be adjusted to each other. In addition, when the battery of the indoor interior drones 100 is weak, it is possible to perform wireless charging by being placed close to or in proximity to the station 400 for mounting. The operation control module mapping unit 375 receives the high level command applied through the high level command processing unit 362 to execute the destination guidance function according to the request of the user, Map with device level commands. The device level commands are provided to the operation control module 383 via the operation control module interface unit 376.

The environment purifying module 384 is a part for detecting the presence of fine dust or noxious gas contained in the air, such as temperature, humidity, and air, and performing indoor air inflow and filtering functions to filter the indoor air. This purge function may be configured to always perform while the indoor interior drones 100 are flying within the building and may be set to perform a purge function only when the concentration of fine dust or noxious gas exceeds a reference range . Accordingly, the environment-purification-module mapping unit 375 receives the high-level command word, which is applied through the high-level command processing unit 362, in order to perform a purifying function for filtering the fine dust or noxious gas by reflecting the air condition in the building And maps it to a device level command that the environment purifying module 384 can recognize. The device level commands are provided to the environment purifier module 384 via the environment purifier module interface 378.

A detailed function of the API 361 configured to perform this function will be described below. Open API (Open API) opens a session of application module 380 related to user recognition, situation determination, position determination, destination search and guidance, and air purification processing of indoor interior drones 100 according to a user's request . The Close API is used to terminate the session for the application module used. The retrieval API (Retrieve API) is used to retrieve an application module that can be called from the indoor interior drones 100. A status API (Status API) is used to determine the operation status of each application module 380. The initialization API (Initialize API) has a function of initializing the application module 380 so that it can be called. The list API (List API) is used to check the function or operation provided to the user through the indoor interior drones 100, a list of commands executable through user recognition, and the like. The Register API (API) has a function to record various information such as a map in a building, a motion requested by a user through the indoor interior drones (100), a voice command, and an air condition in a building. The API (Unregister API) is used to delete information such as a user's request or execution operation. Eventually, an individual API 361 is executed according to the application module 380 or the message transmission mode to be used, thereby executing the application module 380 for user recognition, position determination, destination guidance, and air purification functions .

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: user 100: indoor interior drones
110, 212: camera 120: protection grid
130: side distance sensor 140: antenna
150, 222: display 160, 264: blade
170: lower distance sensor 180, 234: air sensor
182: gasket 184: filter
190: Battery 195: Gas tube
210: input unit 214: microphone
220: output unit 224: speaker
230: sensor part 232: position sensor
240: wireless communication unit 242: wireless transmission /
244: signal processing unit 250: memory
252: main memory 254: auxiliary memory
260: driving unit 262: motor
270: control unit 272: ALU
274: Register 276: Controller
278: AI Processor 361: API
362: High level command processing unit
370: Application module control unit 371: Artificial intelligence module mapping unit
372: Artificial intelligence module interface part
373: Location-aware module mapping unit
374: Position recognition module interface unit
375: Operation control module mapping unit
376: Operation control module interface part
377: Environmental purification module mapping section
378: Environmental Purification Module Interface Unit
380: Application module 381: Artificial intelligence module
382: Position recognition module 383: Operation control module
384: Environmental purification module 400: station for mounting

Claims (18)

1. An apparatus for interlocking with an indoor interior drones for guiding a user to a user through an autonomous flight in a building,
A driving unit for providing a rotational force capable of moving on the ground through the wheels;
A mounting part on which the indoor interior drones can be mounted on the upper part;
A wireless communication unit for performing wireless communication with the indoor interior drones; And
And a control unit for controlling the operation of the indoor interior drones so that the indoor interior drones can be placed on the mounting unit by performing data transmission / reception with the indoor interior drones via the wireless communication unit,
The indoor interior drones may include a body;
A memory for storing map information inside the building;
A position sensor for measuring a position inside the building;
At least one camera disposed on one side of an outer surface of the body so as to allow horizontal photographing;
A display disposed on another side of the outer appearance of the body, the display displaying path information;
A driving unit disposed at a lower portion of the body and generating driving force capable of flying at a predetermined height; And
And a controller for calculating route information to a destination on the basis of map information inside the building and controlling the driving unit to guide the user to a destination according to the route information.
The method according to claim 1,
And a power transmitter for transmitting wireless power to the indoor interior drones.
The method according to claim 1,
Further comprising air purifying means for detecting and purifying fine dust or noxious gas contained in the air in the building.
An indoor eye drain drone that maintains a constant altitude within the building and guides the user to the destination through self-flight; And
A mounting station for moving from the ground within the building and to which the indoor interior drones can be mounted,
The indoor interior drones may include a body;
A memory for storing map information inside the building;
A position sensor for measuring a position inside the building;
At least one camera disposed on one side of an outer surface of the body so as to allow horizontal photographing;
A display disposed on another side of the outer appearance of the body, the display displaying path information;
A driving unit disposed at a lower portion of the body and generating driving force capable of flying at a predetermined height; And
And a control unit for calculating route information to a destination based on map information inside the building and controlling the driving unit to guide the user to a destination according to the route information.
In a route guidance method using a drone,
Storing map information inside the building;
Receiving destination information from a user;
Measuring a current position through a position sensor;
Calculating route information from the current location to the destination based on the map information;
Guiding the user to the destination based on the route information; And
And displaying the route information to the user through a display in a process of guiding the user.
6. The method of claim 5,
Storing application information of a building visitor; And
And performing visitor authentication by comparing the recognition information of the user with the application information of the building visitor.
The method according to claim 6,
Wherein the recognition information of the user is at least one of face information, fingerprint information, personal identification number, voice information, and operation information.
6. The method of claim 5,
Wherein the path information comprises destination information and next movement direction information.
6. The method of claim 5,
Photographing a forward image using a camera; And
Further comprising combining the forward image with the routing information.
6. The method of claim 5,
Photographing the interior of the building using a camera; And
Further comprising the step of combining the map information inside the building with the information inside the building photographed using the camera to generate stereoscopic information inside the building.
6. The method of claim 5,
The step of guiding the user
Measuring a distance between the floor or the surrounding sculpture using a distance sensor; And
And flying while maintaining a constant distance from the floor or sculpture.
6. The method of claim 5,
Wherein the step of displaying the route information comprises displaying the route information to the image or the destination inside the building using the virtual reality or the augmented reality.
6. The method of claim 5,
Further comprising the step of purifying air in the interior of the building.
14. The method of claim 13,
The step of purifying the air inside the building
Measuring fine dust or noxious gas contained in the air inside the building;
Filtering out fine dust or noxious gas contained in the air by using a filter inside the body; And
And discharging the fine dust or noxious gas to the inside of the building.
15. The method of claim 14,
Measuring fine dust or noxious gas contained in the air inside the building through a primary sensor provided on the upper part of the body;
Measuring fine dust or noxious gas contained in the air filtered through the filter through a secondary sensor provided under the filter;
Further comprising the step of comparing the measurement values of the primary sensor and the secondary sensor to determine the replacement timing of the filter.
16. The method of claim 15,
Determining whether an emergency situation exists based on the image information of the inside of the building photographed through the camera; And
And generating an alarm message when it is determined to be in an emergency situation.
16. The method of claim 15,
And displaying information on at least one of temperature, humidity, fine dust, and noxious gas inside the building in association with geographical information inside the building.
16. The method of claim 15,
Performing wireless communication with another indoor indoor drones flying in a building;
Exchanging data with each other through the wireless communication; And
Further comprising the step of adjusting each function using the exchanged data.

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