KR20210039791A - Method for operating drone providing around view images - Google Patents

Abstract

The present invention relates to a method for operating a drone providing around-view images. According to the first embodiment of the present invention, the method for operating the drone providing around-view images, which is able to provide around-view images by using one or more cameras collecting surrounding images, comprises: a step in which the drone takes off based on a takeoff control signal; a step in which the drone rises into the air above a target point; and a step in which, when the drone arrives the air above the target point, lands on the target point. In the step of takeoff or in the step of landing, before the drone takes off or lands, a control unit of the drone collects surrounding images through the cameras, and transmits the collected surrounding images to the outside, thereby storing or providing the around view images based on the collected surrounding images to a manager. According to the present invention, it can be possible to collect and provide all the side images including an upper side, lower side, and front sides of the drone, and to check and avoid obstacles interfering with the drone when the drone takes off or lands.

Description

Method for operating drone providing around view images}

The present invention relates to a method of operating a drone that provides an around-view image, and more particularly, one or more cameras provided in the drone collect the surrounding image of the drone and provide the collected image as an around-view image to an administrator. Provides an around-view image that makes it possible to check obstacles that interfere with landing or take-off of the drone, and to identify the cause of the drone damage through the collected surrounding images when an unexpected situation occurs during the drone's flight movement and the drone is damaged. It relates to how to operate a drone.

Drone refers to a single-use or reusable powered vehicle that can carry weapons or general cargo, which is supported by aerodynamic forces without carrying a pilot and flies by autonomous or remote control.Drones that have been recently used for military purposes As it expands to civilian purposes, it is used in various fields such as aerial photography, agriculture, surveillance, sports, relay, and delivery.

In order to use such drones industrially, multiple drones must be operated at the same time. To this end, a number of drones are provided to autonomously drive each set flight path, and the manager operates a drone as a method of monitoring and controlling a number of drones in the observation room. Since only images are collected and provided to the manager, it is not easy to check obstacles on the sides other than the upper and lower sides and the front during takeoff or landing of the drone, and a collision accident may occur due to obstacles.

In addition, in the case of a drone capable of autonomous driving, since it is a relatively expensive product, insurance products against damage can be purchased.If the drone is damaged due to an unexpected situation during the flight movement, the drone's front image alone can be used to There is a disadvantage that it is difficult to receive compensation because the cause of damage cannot be identified.

Republic of Korea Patent Publication No. 10-2017-0074453 (2017.06.30)

The present invention is to solve the problems of the prior art mentioned above, and an object of the present invention is to use a drone equipped with one or more cameras to collect images of the side, including the top, bottom, and front of the drone. It is to provide a method of operating a drone that makes it possible to check and avoid obstacles interfering during takeoff or landing by providing images of all directions around the drone.

Another object of the present invention is to determine the cause of the damage of the drone by allowing the drone to be stored or transmitted to the server or user terminal when the drone is damaged due to an unexpected situation during flight movement. It is to provide a method of operating drones that can be used as data or evidence.

Another object of the present invention is to provide a method of operating a drone that allows the manager to intuitively observe the surrounding situation of the drone by editing and providing an upper or lower image and one or more side images provided to the manager as a view image. will be.

Another object of the present invention is to provide a method of operating a drone capable of removing the obstacle by itself when an obstacle exists at a landing point.

In the method of operating a drone providing an around-view image according to a first embodiment of the present invention, in the operating method of a drone providing an around-view image provided with one or more cameras for collecting surrounding images, the drone responds to a take-off control signal. Based on the take-off step, the step of moving the drone up to the sky above the target point, and the step of landing the drone at the target point when it arrives above the target point, and at the step of taking off or landing, the drone takes off or Before landing, the drone's controller allows the surrounding image to be collected through the camera and the collected surrounding image to be transmitted to the outside, so that the around view image based on the collected surrounding image is stored or provided to the manager.

At this time, the step of taking off the drone is a step of allowing the control unit to collect a second surrounding image through an upper camera and a side camera collecting the surrounding image of the upper side of the drone, and based on the second surrounding image collected by the upper and side cameras. Thus, the control unit determines whether there is an obstacle, and when it is determined that there is no obstacle, the control unit controls the driving unit to take off so that the drone takes off, and when the point at which the drone takes off is the return point, the control unit performs the driving unit. In the step of controlling the take-off, the controller collects images of one or more return points through the lower and side cameras and stores them in the storage. In the step of landing the drone, the controller collects images of the surroundings under the drone. And allowing a first surrounding image to be collected through one or more lateral cameras that collect peripheral images on the side of the drone, and in which the controller determines whether an obstacle exists based on the first surrounding images collected by the lower and lateral cameras. Step, and when there is no obstacle, the control unit lands the driving unit so that the drone lands, and when the target point is the return point, the step of landing the drone is performed by the control unit and the first surroundings collected by the lower and lateral cameras. The step of verifying whether the current position is the return point by comparing the image and the image of the return point previously stored in the storage unit may be further included.

In addition, in the step of moving the drone, the controller allows the third peripheral image to be collected through one or more lateral cameras that collect the peripheral image of the side of the drone during the movement of the drone, and the collected third peripheral image is stored in the storage unit for a predetermined time. When the detection unit detects an unexpected situation caused by an impact on the drone or an unintended tilt of the drone, the upper camera and the lower surrounding image of the drone are collected by the control unit. The fourth surrounding image is collected through a lower camera that collects, so that it is stored in the storage unit or transmitted to the outside, and the third surrounding image stored within a predetermined time based on the time when an unexpected situation is detected by the control unit is not deleted and stored. It can be stored in the department or transmitted to the outside.

In addition, in the step of landing the drone, when it is determined that an obstacle exists, the controller transmits the first surrounding image to the outside, and when it is determined that an obstacle exists, the controller removes at least one of sound, liquid, and compressed air through the emission unit The step of allowing the means to be released, the step of allowing the control unit to re-collect the first surrounding image through the lower and side cameras, and whether the control unit has the presence of an obstacle based on the first surrounding image re-collected through the lower and lateral cameras. It may further include the step of determining, and controlling the landing of the driving unit so that the drone lands based on the take-off permission signal.

According to the present invention, since all of the lateral images including the upper, lower and front sides of the drone are collected and provided, it is possible to identify and avoid obstacles that interfere with the take-off or landing of the drone.

In addition, when an unexpected situation occurs during flight movement and the drone is damaged, surrounding images before and after the sudden situation are collected and provided, so that data or evidence to identify the cause of the damage can be collected.

In addition, the upper or lower image provided to the manager and one or more side images are edited and provided as an around view image, so that the manager can observe the surrounding situation of the drone with a wide field of view, but can be intuitively observed.

In addition, if there is an obstacle at the landing point, the drone can remove the obstacle by itself through the discharge unit, and the role of the manager may be reduced.

1 is a diagram illustrating a method of operating a drone providing an around view image according to a first embodiment of the present invention.
2 is a block diagram showing the configuration of a drone providing an around view image according to the first embodiment of the present invention.
3 is a block diagram showing in more detail the configuration of a drone providing an around view image according to the first embodiment of the present invention.
4 is a diagram illustrating a sub camera of a drone providing an around view image according to a first embodiment of the present invention.
5 is a diagram illustrating a surrounding image collected by a sub camera of a drone providing an around view image according to the first embodiment of the present invention.
6 is a flowchart illustrating a method of operating a drone providing an around view image according to the first embodiment of the present invention.
7 is a flowchart illustrating in more detail a method of operating a drone providing an around view image according to the first embodiment of the present invention.
8 is a flowchart illustrating an operation method when a target point of a drone providing an around view image according to the first embodiment of the present invention is a return point.
9 is a flowchart illustrating a response characteristic when a drone providing an around-view image according to the first embodiment of the present invention detects an obstacle.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 is a diagram illustrating a method of operating a drone providing an around view image according to a first embodiment of the present invention.

Referring to FIG. 1, a drone (hereinafter referred to as'drone'), a server 30 and a user terminal 50 that provide an around view image are connected to the network 30. Here, as the network 50, various types of wired or wireless networks capable of transmitting and receiving data between the drone 10, the server 30, and the user terminal 70 may be used.

The drone 10 may be provided to control take-off, movement, and landing by the server 30 or the user terminal 50, or may be provided to take off, move, and land to the coordinates of a target point set by itself.

Here, the drone 10 is provided with at least one sub-camera 300 that collects surrounding images in addition to the main camera 200 that collects the front image of the drone for the purpose of remote control of the drone. Through the image, it is possible to check the surrounding obstacles during take-off and landing of the drone 10, and if an unexpected situation such as an impact occurs during flight movement of the drone 10, the cause of the sudden situation can be checked through the collected surrounding images. I can.

When the server 30 and the user terminal 50 receive the surrounding image from the drone 10, the surrounding image collected at the same time among the received surrounding images is integrated into one image and edited to create an around view image. , You can save or output the created around view image and provide it to the administrator.

FIG. 2 is a block diagram showing the configuration of the drone 10 according to the first embodiment of the present invention, and FIG. 3 is a block diagram showing the configuration of the drone 10 according to the first embodiment of the present invention in more detail. It is a degree.

2 to 3, the drone 10 according to the present embodiment includes a driving unit 100, a main camera 200, a sub camera 300, a control unit 400, a communication unit 500, and a storage unit 600. , GPS module 700, a sensing unit 800, and may include an emission unit 900.

The driving unit 100 is also provided to include a single propeller so that the drone 10 takes off, moves in flight, and lands.

The main camera 200 collects an image of the front of the drone 10 and provides the collected image to the server 30 or the user terminal 50 through the communication unit 500, so that an administrator or a user, the server 30 ) Or through the user terminal 50, the drone 10 can be remotely controlled.

The sub camera 300 is a camera provided to collect the surrounding image of the drone, and is composed of a lower camera 310, an upper camera 320, and a side camera 330.

The lower camera 310 is provided to collect a peripheral image in the downward direction of the drone 10, and the upper camera 320 is provided to collect a peripheral image in the upward direction of the drone 10. In addition, the lateral camera 330 is provided to collect the surrounding image in the lateral direction of the drone.

Here, one or more side cameras 330 may be provided so that all images of 360 degrees in the lateral direction of the drone 10 can be collected. In this embodiment, four side cameras provided on the front, rear, left and right sides ( 330-1, 330-2, 330-3, 330-4) are provided as an example.

In addition, among the side cameras, a camera positioned in front of the drone is not separately provided, and the main camera 200 may be configured to perform the role of a side camera positioned in the front instead.

In addition, the surrounding images collected by the lower, upper and side cameras 310, 320, and 330 are transmitted to the server 30 or the user terminal 50 through the communication unit 500, or stored in the storage unit 600. Here, the control unit 400 may add and store time information at which each surrounding image is collected to the surrounding image transmitted through the communication unit 500 or stored in the storage unit 600.

The control unit 400 includes a driving unit 100, a main camera 200, a sub camera 300, a communication unit 500, a storage unit 600, a GPS module 700, a detection unit 800, and an emission unit 900. Control.

In particular, the controller 400 controls the driving unit 100 to allow the drone 10 to take off, fly to the coordinates of the target point, and land at the coordinates of the target point.

In addition, the control unit 400 allows the upper and lateral cameras 320 and 330 to collect upper and lateral surrounding images before takeoff, and the lateral camera 330 to collect lateral surrounding images during flight movement, and the target point When arriving at the coordinates of, before landing, the downward and lateral cameras 310 and 330 may collect images of the lower and lateral surroundings.

Here, the controller 400 may directly determine whether an obstacle exists based on the surrounding images collected before take-off and landing.

Specifically, the controller 400 adds the GPS information on which each image is collected to the collected surrounding image, and compares the surrounding image to which the GPS information is added with a previously stored image to which the same GPS information is added to determine the presence or absence of an obstacle. I can.

At this time, the GPS information from which each image is collected is added to and stored in the pre-stored surrounding image, and the first classification image including the image in the downward direction and the second classification image including the image in the upward direction are separated and stored. The surrounding image 400 including the lower image may be compared with a first classification image to which the same GPS information is added, and the surrounding image including the upper image may be compared with a second classification image to which the same GPS information is added. .

In addition, if it is determined that there are no obstacles before take-off and landing, the control unit 400 may control the take-off and landing of the driving unit 100 to allow the drone 10 to take-off and landing.

If it is determined that there is an obstacle based on the upper and side surrounding images collected before take-off, the controller 400 re-collects the upper and side surrounding images and suspends the take-off until it is determined that there are no obstacles, or When the image is transmitted to the server 30 or the user terminal 50 and a takeoff permission signal is received from the server 30 or the user terminal 50, the driving unit 100 may be controlled to take off so that the drone 10 takes off.

In addition, when it is determined that there is an obstacle based on the images of the lower and side surroundings collected before landing, the control unit 400 re-collects the images of the lower and lateral surroundings and suspends take-off until it is determined that there is no obstacle, or the collected surrounding images When a signal is received from the server 30 or the user terminal 50 and a landing permission signal is received from the server 30 or the user terminal 50, the driving unit 100 may be controlled to land the drone 10.

In addition, the control unit 400 determines that the obstacle continues to exist based on the surrounding images re-collected for a preset time, and when a landing permission signal is not received from the server 30 or the user terminal 50, the control unit 400 After controlling the driving unit 100 so that the drone 10 moves laterally by a predetermined distance from the landing point, downward and lateral peripheral images are collected from the moved point through the downward and lateral cameras 310 and 330, and the collected image The drone 10 may be landed at the moved point by determining whether or not there are obstacles below and on the side of the moving point based on.

The communication unit 500 is connected to the network 70 to transmit the images collected by the main or sub cameras 200 and 300 to the server 30 or the user terminal 50, and the server 30 or the user terminal 50 ) And transmits various signals and information received from the control unit 400. Here, the signal received through the communication unit 500 includes a take-off control signal, a take-off permission signal, and a landing permission signal, and the received information may include image information provided from the server 30 or the user terminal 50. have.

The storage unit 600 stores images collected by the lower, upper and side cameras 310, 320, and 330. Here, as described above, time information and GPS information may be added to the image stored in the storage unit 600 by the control unit 400. GPS information added here is provided by the GPS module 700.

The detection unit 800 detects an unexpected situation such as an unintended tilt of the drone 10 or a physical shock applied to the drone 10. To this end, the sensing unit 800 may include a gyro sensor 810 and an acceleration sensor 820.

The gyro sensor 810 detects the tilt of the body of the drone 10, and the controller 400 receives the tilt value sensed from the gyro sensor 810 and the equilibrium state of the drone 10 based on the applied tilt value. Judge

Specifically, when an unintended inclination occurs in the body of the drone 10, the controller 400 may determine that an unexpected situation has occurred. Here, the controller 400 does not determine that it is an unexpected situation when inclination occurs in an intended situation such as a change of direction of the drone 10.

The acceleration sensor 820 detects the acceleration of the body of the drone 10, and the controller 400 receives the acceleration value detected from the acceleration sensor 820, and is generated in the drone 10 based on the applied acceleration value. Judge the impact.

Specifically, when the applied acceleration value is equal to or greater than a set value, the controller 400 may determine that an unexpected situation has occurred.

Meanwhile, in the method of operating the drone 10 according to the present embodiment, if an obstacle exists on the ground when the drone 10 lands at a target point, wait until there is no obstacle through the above-described method, and then land or remove the obstacle. Damage is made to land at a different location. If an obstacle is a movable creature, there is a problem that the drone 10 suddenly approaches the drone 10 on which the creature lands, and the drone 10 may be damaged or the creature may be injured.

Therefore, the control unit 400 prevents access to the drone 10 by allowing at least one of sound, liquid, and compressed air to be released through the discharge unit 900 so that a living body is wary of the drone 10 In other words, it can cause the creature to move away from the landing point.

Specifically, the emission unit 900 may include an acoustic module 910 that emits sound and a spray module 920 that injects water or compressed air.

The controller 400 may emit a sound when it is determined that an obstacle exists based on the downward and lateral images collected before landing, and the sound emitted at this time may be an alarm sound such as a siren sound. It may be a voice message requesting you to leave the landing point in preparation. This can be applied by changing only the message of the sound emitted even before the take-off of the drone 10.

In addition, the controller 400 may spray water or compressed air when it is determined that an obstacle exists based on the downward and lateral images collected before landing. In this case, it is possible to warn in advance that water is sprayed through the acoustic module 910 in case the obstacle is a person.

In addition, when the injection module 920 is provided to inject compressed air, the obstacle can be removed from the landing point even when the obstacle is a relatively light object rather than a living body.

4A is a view illustrating the upper and lower cameras 310 and 320 of the drone according to the first embodiment of the present invention, and FIG. 4B is a side camera 330 of the drone according to the first embodiment of the present invention. ). And FIG. 5 is a diagram illustrating the surrounding images collected by the upper, lower, and side cameras 310, 320, and 330 of the drone according to the first embodiment of the present invention.

4A to 5, the peripheral image I1 collected from the lower camera according to the present embodiment, the peripheral image I2 collected from the lower camera, and the peripheral images I3, I4, I5, and I6 collected from the side camera according to the present embodiment. ) Is transmitted to the server 30 or the user terminal 50 through the communication unit 500, and the server 30 or the user terminal 50 generates and stores or outputs an around view image based on the received surrounding image. I can.

Specifically, the server 30 or the user terminal 50 includes a lower peripheral image I1 or an upper peripheral image I2 collected at the same time based on the time information included in the received peripheral image, and one or more lateral peripheral images ( I3, I4, I5, I6) can be combined and distortion corrected to create a single around view image.

At this time, in the case where the lower peripheral image I1 and the upper peripheral image I2 collected at the same time exist, the lower peripheral image I3 and the upper peripheral image I3 collected at the same time are used as the lower peripheral image I1 and the upper peripheral image I2. ), you can create two around-view images.

Accordingly, a user or an administrator can intuitively observe the situation around the drone 10 with a wide field of view through the around view image.

6 is a flowchart illustrating a method of operating the drone 10 according to the first embodiment of the present invention.

Looking at the operation method of the drone 10 with reference to FIG. 6, first, the control unit 400 receives a take-off control signal from the server 30 or the user terminal 50 through the communication unit 100 (610), the upper and The upper and side peripheral images are collected through the side cameras 320 and 330 (S620).

The controller 400 controls the take-off of the driving unit 100 so that the drone 10 takes off when there is no obstacle based on the collected upper and side peripheral images (S630).

Here, if the point at which the drone 10 takes off is a return point at which the drone 10 needs to return again in the future, the controller 400 uses at least one of the lower and side cameras 310 and 330 during takeoff or after the takeoff is completed. The images around the lower and lateral sides of the are collected and stored in the storage unit 600. This can be used as a comparison image for the drone to verify the return point. And here, the coordinate value of the return point is received through the server 30 or the user terminal 50, and the control unit 400 receives GPS information through the GPS module during take-off and calculates the coordinate value of the take-off point. By comparing whether the coordinate value of is the coordinate value of the return point, it is possible to determine whether the take-off point is the return point.

When take-off is complete, the controller 400 controls the driving unit 100 to fly the drone 10 according to the set path from the coordinates of the starting point to the coordinates of the target point, and the side camera 330 during flight movement Controls to collect the lateral peripheral image (S640).

When the drone arrives at the coordinates of the target point (S650), the control unit 400 collects images around the lower and the lateral sides through the lower and lateral cameras (S660). And the controller 400 controls the landing of the driving unit 100 so that the drone 10 lands when there is no obstacle based on the collected lower and side surrounding images (S670).

7 is a flowchart illustrating a method of operating the drone 10 according to the first embodiment of the present invention in more detail.

Referring to FIG. 7, first, when the take-off control signal is received from the server 30 or the user terminal 50 through the communication unit 100 (S705), the control unit 400 uses the upper and side cameras 320 and 330. The upper and lateral surrounding images are collected (S710).

And the controller 400 determines whether there are obstacles above and to the sides of the drone based on the collected upper and side surrounding images (S715), and when it is determined that there is no obstacle (S715-Y), the controller 400 is (10) Controls the take-off of the driving unit 100 to take-off (S730).

On the other hand, if it is determined that there are obstacles above and to the side of the drone (S715-Y), the control unit 400 transfers the collected upper and side images to the server 30 or the user terminal 50 through the communication unit 500. Transmit (S720).

The server 30 or the user terminal 50, which has received the upper and side images, determines whether the object determined by the control unit 400 as an obstacle is an actual obstacle or whether interference due to the obstacle will occur during the take-off process of the drone 10. Thus, the take-off permission signal is transmitted to the drone 10 or on standby. This determination may be made by the server 30 or the user terminal 50, or may be determined by an administrator or a user observing the around view image output from the server 30 or the user terminal 50.

The control unit 400 determines whether the take-off permission signal has been received from the server 30 or the user terminal 50 (S725), and if the take-off permission signal is received (S725-Y), the driving unit 100 so that the drone 10 takes off. ) To control take-off (S730).

If the take-off permission signal is not received from the server 30 or the user terminal 50 (S725-N), the control unit 400 waits until the permission signal is received, but upwards and upwards until the take-off permission signal is received. The upper and side peripheral images are continuously collected through the side cameras 320 and 330 so that they are transmitted to the server 30 and the user terminal 50.

When take-off is completed (S730), the control unit 400 controls the driving unit 100 to fly the drone 10 according to the set path from the coordinates of the starting point to the coordinates of the target point, and during the flight movement, the lateral camera ( Controls so that the lateral peripheral image is collected and stored through 330 (S735).

Further, the control unit 400 determines whether an unexpected situation has occurred through the detection unit 800 while moving to the coordinates of the target point (S740), and when the sudden situation does not occur (S740-N), the control unit 400 is configured to The surrounding image stored before the time is controlled to be deleted (S745).

If an unexpected situation occurs (S740-Y), the controller 400 allows the upper and lower surrounding images to be collected through the upper and lower cameras (S750), and the collected upper and lower surrounding images and the unexpected situation occur. The image around the side, which is collected from a point before a predetermined time to a point after a predetermined time, is transmitted to the storage unit 500 to the server 30 or the user terminal 50. In addition, when an unexpected situation occurs, the controller 400 does not delete the surrounding images collected within a predetermined time from the time when the sudden situation occurs, but stores the surrounding images in the storage unit (S755).

At this time, the server 30 or the user terminal 50 may check the unexpected situation through the received surrounding image, and may respond to the unexpected situation by transmitting a manipulation signal to the drone 10.

If the drone 10 is damaged due to an unexpected situation and cannot fly, the controller 400 transmits the coordinate information of the current position of the drone to the server 30 or the user terminal 50, and the drone 10 is retrieved. You can do it. Here, the surrounding images stored or transmitted before and after the unexpected situation can be used as data or evidence to identify the cause of damage to the drone.

On the other hand, when the drone 10 safely arrives at the coordinates of the target point (S760), the images around the lower and the sides are collected through the lower and side cameras 310 and 330 (S765). Here, the coordinates of the target point are planar coordinates irrespective of the altitude, and the coordinates of the target point that the drone 10 attempts corresponds to above the landing target point.

The controller 400 determines whether or not an obstacle exists below and on the side of the drone based on the collected lower and side surrounding images (S770), and when it is determined that there is no obstacle (S770-Y), the controller 400 is the drone ( 10) Controls the landing of the driving unit 100 to land (S785).

On the other hand, if it is determined that there are obstacles below and on the side of the drone (S770-Y), the controller 400 transfers the collected images of the bottom and sides to the server 30 or the user terminal 50 through the communication unit 500. Transmit (S775).

The server 30 or the user terminal 50, which has received the image of the lower and the side, determines whether the object determined by the control unit 400 as an obstacle is an actual obstacle or whether interference by the obstacle occurs during the landing process of the drone 10. Thus, the landing permission signal is transmitted to the drone 10 or on standby. This determination may be made by the server 30 or the user terminal 50.

The controller 400 determines whether a landing permission signal has been received from the server 30 or the user terminal 50 (S780), and if the landing permission signal is received (S780-Y), the driving unit 100 so that the drone 10 lands. ) To control take-off (S785).

If the landing permission signal is not received from the server 30 or the user terminal 50 (S785-N), the control unit 400 waits until the landing permission signal is received, but downwards until the landing permission signal is received. And the lower and side surrounding images are continuously collected through the side cameras 310 and 330 so that they are transmitted to the server 30 and the user terminal 50.

8 is a flowchart illustrating an operation method when a target point of the drone 10 is a return point according to the first embodiment of the present invention.

Referring to FIG. 8, when the coordinates of the target point are the coordinates of the return point, the drone 10 according to the present embodiment may go through a process of verifying whether the positioned point is the correct return point before landing. .

For this, the operation method of the drone 10 according to the present embodiment is such that after receiving the take-off control signal, the control unit 400 collects downward and side peripheral images through the downward and lateral cameras 310 and 330 for landing. The sequence of up to is the same as the sequence from S610 to S660 described above (S805 to S830), but before determining the existence of an obstacle based on the collected side and bottom surrounding images, the controller 400 determines the current position. It may be determined whether or not the obtained point is the same point as the return point (S835).

Here, the controller 400 may determine the currently located point as the same point as the return point only when the collected side and lower surrounding images and the previously stored image of the return point coincide with each other by at least a set ratio.

On the other hand, when the currently positioned point is determined to be the same point as the return point (S835-Y), the control unit 400 determines whether there is an obstacle based on the collected side and lower surrounding images. The sequence proceeds in the same manner as the above-described sequence (S840 to S850).

However, when it is determined that the currently positioned point is not the same point as the return point (S835-N), the collected side and lower surrounding images are transmitted to the server 30 or the user terminal 50. And (S855), it is determined whether a landing permission signal is received from the server 30 or the user terminal 50 (S860), and when the landing permission signal is received (S860-Y), the driving unit ( 100) is controlled (S865).

At this time, the server 300 or the user terminal 50 checks the existence of an obstacle based on the received lower and side peripheral images together and transmits a landing permission signal, so that the controller 400 checks the existence of the obstacle. You can choose to skip the process.

On the other hand, when the landing permission signal is not received from the server 30 or the user terminal 50, when the landing permission signal is not received (S860-N), the control unit 400 is configured until the landing permission signal is received. Hold landing control and wait.

9 is a flowchart illustrating a response characteristic when the drone 10 detects an obstacle according to the first embodiment of the present invention.

9, the operation method of the drone 10 according to the present embodiment, after receiving the take-off control signal, the control unit 400 for landing through the lower and side cameras 310 and 330 The procedure until the surrounding images are collected is the same as the procedure from S610 to S660 described above (S805 to S830).

However, when an obstacle exists, a step for removing the obstacle is additionally performed, without directly transmitting the collected lower and side surrounding images to the server 30 and the user terminal 50, and a step for removing the obstacle. Is performed, by transmitting the surrounding image to the server 30 and the user terminal 50 only when an obstacle is continuously present, the role of the server 30 and the user terminal 50 is reduced, and the role of the surrounding image is transmitted. Data and traffic can be reduced.

Specifically, the controller 400 determines whether an obstacle exists based on the collected downward and side images (S935), and if the obstacle does not exist (S935-N), the drone controls to land (S970). .

If an obstacle exists (S935-Y), a warning sound may be emitted through the acoustic module S910 (S940), and water or compressed air may be injected through the injection module 920 after a predetermined time ( S950).

In addition, the controller 400 may re-collect the lower and side images (S950), and determine whether an obstacle still exists based on the collected lower and side images (S955).

If there is no obstacle (S955-N), the control unit 400 controls the landing of the driving unit 100 so that the drone 10 lands (S970), but if the obstacle still exists (S955-Y), collect The lower and side images are transmitted to the server 30 or the user terminal 50 through the communication unit 500 (S960).

The controller 400 determines whether a landing permission signal has been received from the server 30 or the user terminal 50 (S965), and if the landing permission signal is received (S965-Y), the driving unit 100 so that the drone 10 lands. ) Take off control (S970), and if the landing permission signal is not received (S965-N), it waits until the landing permission signal is received.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: A drone that provides an around view image
30: server
50: user terminal
70: network
100: drive unit
200: main camera
300: sub camera
310: downward camera
320: upper camera
330: side-view camera
400: control unit
500: communication department
600: storage
700: GPS module
800: detection unit
810: gyro sensor
820: acceleration sensor
900: emitter 910: sound module
920: injection module

Claims (4)

In the method of operating a drone that provides an around view image provided with one or more cameras for collecting surrounding images,
Taking off by the drone based on a takeoff control signal;
Moving the drone up to the sky above the target point; And
Including the step of landing the drone at the target point when it arrives above the target point,
In the take-off step or the landing step
Before the drone takes off or lands, the controller of the drone allows the surrounding image to be collected through the camera and the collected surrounding image to be transmitted to the outside, so that the around view image based on the collected surrounding image is stored or the manager Drone operation method, characterized in that to be provided to.
The method of claim 1,
The step of taking off the drone
Allowing the control unit to collect a second surrounding image through an upper camera and the side camera for collecting an upper peripheral image of the drone;
Determining, by the control unit, whether or not an obstacle exists based on second surrounding images collected by the upper and side cameras; And
If it is determined that there is no obstacle, the control unit includes the step of controlling the take-off of the driving unit so that the drone takes off,
When the point at which the drone takes off is a return point, in the step of controlling the drive unit to take off by the control unit, the control unit allows the images of the at least one return point to be collected through the lower camera and the side camera to be stored in the storage unit. And
The step of landing the drone
Allowing the control unit to collect a first surrounding image through a lower camera that collects an image around the lower side of the drone and at least one side camera that collects an image around the side of the drone;
Determining, by the controller, whether an obstacle exists based on the first surrounding images collected by the lower and side cameras; And
If there is no obstacle, the control unit includes the step of landing the driving unit to control the landing of the drone,
When the target point is the return point, the step of landing the drone
And verifying whether the current location is the return point by comparing, by the control unit, the first surrounding image collected by the lower and side cameras with the image of the return point previously stored in the storage unit. .
The method of claim 1, wherein in the step of moving the drone
The controller allows the third peripheral image to be collected through one or more lateral cameras that collect the peripheral image of the side of the drone during the movement of the drone, and the collected third peripheral image is stored in the storage unit for a predetermined time and then deleted, When the detection unit detects an impact generated by the drone or an unexpected situation due to an unintended tilt of the drone, the controller collects an upper surrounding image of the drone and an image around the lower side of the drone. The fourth surrounding image is collected through the collected lower camera so that it is stored in the storage unit or transmitted to the outside, and the third surrounding image stored within a predetermined time based on the time when the unexpected situation is detected by the control unit is not deleted. Drone operation method, characterized in that to be stored in the storage unit or to be transmitted to the outside. The method of claim 2, wherein the landing of the drone
If it is determined that the obstacle exists, transmitting, by the controller, the first surrounding image to the outside;
If it is determined that the obstacle is present, causing the control unit to discharge at least one obstacle removing means of sound, liquid, and compressed air through a discharge unit;
Allowing the control unit to re-collect the first surrounding image through the lower and lateral cameras;
Determining, by the controller, whether or not an obstacle exists based on the first surrounding images re-collected through the lower and side cameras; And
The drone operating method further comprising the step of controlling, by the controller, landing of the driving unit so that the drone lands based on a take-off permission signal.

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