KR20220118008A - Multiple drone positioning and video shooting system - Google Patents

Abstract

The present invention relates to a multiple drone positioning and photographing system, comprising: at least one beacon drone, which flies over an area to be measured including a landmark, for detecting the landmark and generating location information with respect to the landmark; and a photographing drone, which photographs the area to be measured while flying over the area to be measured, for receiving the corresponding location information from the beacon drone, and determining the location within area to be measured based on the received location information and detection information for detecting the beacon drone to fly. The multiple drone positioning and photographing system according to the present invention has a plurality of beacon drones performing positioning using images and RF information with respect to a landmark having directivity, and a plurality of photographing drones can perform positioning using the RF information of the beacon drones, thereby enabling drones to operate more accurately even in a region where absolute positioning is not available. Moreover, the present invention can additionally measure a distance between adjacent drones based on determined network topology or can share obtained information and accordingly corrects existing predicted position and azimuth, thereby enabling more accurate measurement values to be yielded. In addition, the present invention can control the position and posture of multiple unmanned aircrafts to correspond to a given rendering task, can set the direction of an image photographing sensor accordingly to photograph a target, and can perform rendering in real time or after the completion of the task.

Description

Multiple drone positioning and video shooting system

The present invention relates to a multi-drone positioning and imaging system, and more particularly, a plurality of beacon drones based on a landmark having a direction, positioning using images and RF information, and a plurality of The shooting drone relates to a multi-drone positioning and shooting system capable of positioning through RF information of beacon drones.

With the development of IT technology and light-weight technology for the fuselage of the aircraft, research on drones, which are small unmanned aerial vehicles (UAVs) that do not require human control, is being actively conducted.

Small unmanned aerial vehicles that appeared in the early 20th century were initially developed as military unmanned aerial vehicles. Even today, small unmanned aerial vehicles are mainly used for military purposes. However, recently, small unmanned aerial vehicles are being used in various fields such as industrial, leisure, broadcasting, and delivery.

In addition, the small unmanned aerial vehicle has the characteristic of being able to move freely due to its small size, and various studies on its use are in progress.

However, in the operation of the conventional multi-unmanned aerial vehicle system, a GPS based on an absolute coordinate system is used to position each drone, or a Beacon & Target using a local coordinate system is used.

The positioning method using GPS in the conventional system cannot be used in environments such as forests, caves, and remote areas where absolute positioning cannot be used. In addition, in the case of a system using beacon & target, there is a disadvantage that a beacon must be installed in the system operation area and must be fixed.

Registered Patent Publication No. 10-2210083: Drone Control System

The present invention was created to improve the above problems, and a plurality of beacon drones based on a landmark having directionality perform positioning using images and RF information, and a plurality of photographing drones The purpose of this is to provide a multi-drone positioning and shooting system capable of positioning through RF information of beacon drones.

In addition, the present invention can additionally measure the distance to neighboring drones or share the acquired information based on a determined network topology, and through this, it is possible to implement a more accurate system by correcting the previously predicted position and azimuth values. have a purpose for

In addition, the present invention proposes a system for controlling the positions and postures of multiple unmanned aerial vehicles in accordance with a given rendering task, setting the direction of an image capturing sensor accordingly, photographing a target object, and rendering in real time or after the mission is completed.

The multi-drone positioning and shooting system according to the present invention for achieving the above object is to fly a measurement target area including a landmark, and at least one of detecting the landmark and generating location information based on the landmark A beacon drone, flying over the measurement target area, and photographing the corresponding measurement target area, receiving the corresponding location information from the beacon drone, and the measurement target based on the received location information and sensing information for detecting the beacon drone A photographing drone that flies by determining a location within an area is provided.

The beacon drone includes a first unmanned aerial vehicle flying over the measurement target area, a first sensor unit installed in the first unmanned vehicle to detect the landmark, and the detection information provided by the first sensor unit. A first positioning unit for calculating the position of the first unmanned aerial vehicle based on the landmark, and a first control unit for controlling the flight of the first unmanned aerial vehicle based on the position information calculated by the first positioning unit.

The first sensor unit includes a first camera installed in the first unmanned aerial vehicle to photograph the landmark.

The landmark may include an identification tag emitting an identification signal, and the first sensor unit may further include a signal receiver installed in the first unmanned aerial vehicle to receive the identification signal transmitted from the identification tag. .

Preferably, the identification tag transmits a radio frequency (RF) identification signal.

The first positioning unit generates position information of the first unmanned aerial vehicle within a common coordinate system set based on the landmark based on the information on the identification signal received from the signal receiver and the captured image provided by the first camera. .

The first positioning unit is the distance from the landmark to the first unmanned aerial vehicle based on the identification module for identifying the landmark in the captured image provided by the first camera, and the information on the identification signal received from the signal receiver and a distance calculation module for calculating information on , and a positioning module for generating position information of the first unmanned aerial vehicle based on the identification information and calculation information provided from the identification module and the distance calculation module.

The positioning module generates location information of the first unmanned aerial vehicle based on identification information on the landmark in the captured image provided by the identification module, and the landmark and the first unmanned aerial vehicle provided by the distance calculation module The corresponding location information may be corrected based on the distance information between them.

The beacon drones may further include a first communication module installed in the first unmanned aerial vehicle so that a plurality of the beacon drones are spaced apart from each other in the measurement target area, and data communication is possible between the adjacent beacon drones. .

The positioning module receives the location information of the corresponding beacon drone from the positioning module of the adjacent beacon drone through the first communication module, and the location information of the first unmanned aerial vehicle based on the received location information of the adjacent beacon drone can be corrected.

The first communication module may perform communication using a radio frequency (RF) signal.

The positioning module calculates a separation distance to the adjacent beacon drone based on information about a signal received from the adjacent beacon drone through the first communication module, and calculates the calculated separation distance to the adjacent beacon drone and correcting the position information of the first unmanned aerial vehicle based on the position information of the adjacent beacon drone.

The photographing drone includes a second unmanned aerial vehicle flying over the measurement target area, a second camera installed on the second unmanned aerial vehicle to photograph the measurement target area, and the first unmanned aerial vehicle to detect the first unmanned aerial vehicle. 2 A second sensor unit provided in the unmanned vehicle, a second positioning unit that calculates the position of the second unmanned vehicle based on the sensing information provided by the second sensor unit, and the position information calculated by the second positioning unit Based on the second control unit for controlling the flight of the second unmanned aerial vehicle is provided.

The photographing drone may further include a second communication module provided in the second unmanned aerial vehicle to receive location information of the corresponding beacon drone transmitted from the beacon drone.

The second positioning unit calculates the position of the second unmanned aerial vehicle based on the position information of the beacon drone received through the second communication module together with the detection information provided by the second sensor unit.

Preferably, the second communication module performs communication using a radio frequency (RF) signal.

The second sensor unit may calculate a separation distance from the beacon drone to the second unmanned aerial vehicle based on information about a signal received from the beacon drone through the second communication module.

When the beacon drone is photographed by the second camera, the second positioning unit identifies the beacon drone from the captured image provided by the second camera, and communicates with the beacon drone based on the beacon drone identified in the captured image. The separation distance is calculated, and the position of the second unmanned aerial vehicle is corrected based on the calculated separation distance from the beacon drone.

The landmark includes a transport unit moving within the measurement target area, and a recognition object installed in the transport unit to be photographed by the beacon drone.

The first controller may control the flight of the first unmanned aerial vehicle so that the landmark may be photographed by the first camera based on the image provided from the first camera.

In the multi-drone positioning and shooting system according to the present invention, a plurality of beacon drones perform positioning using images and RF information based on a landmark having a direction, and the plurality of shooting drones are the beacon drones. Since positioning can be performed through RF information, it has the advantage that the drone can be operated more accurately even in an area where absolute positioning cannot be used.

In addition, the present invention can additionally measure the distance to neighboring drones based on a determined network topology or share the acquired information, and through this, a more accurate measurement value is calculated because the previously predicted position and azimuth values are corrected. can do.

In addition, the present invention has the advantage of being able to control the position and posture of multiple unmanned aerial vehicles according to a given rendering task, set the direction of the image capturing sensor accordingly, shoot the target object, and perform rendering in real time or after the mission is finished.

1 is a conceptual diagram of a multi-drone positioning and shooting system according to the present invention;
2 is a block diagram of a beacon drone of the multi-drone positioning and imaging system of FIG. 1;
FIG. 3 is a block diagram of a photographing drone of the multi-drone positioning and photographing system of FIG. 1;
4 is a flowchart according to the position control algorithm of the photographing drone,
5 is a flowchart of an algorithm for determining the mission of the shooting drone;
6 to 9 are exemplary views of rendering tasks that can be performed by the photographing drones of the present invention.

Hereinafter, a multi-drone positioning and imaging system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. Since the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements. In the accompanying drawings, the dimensions of the structures are enlarged than the actual size for clarity of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as "comprise" or "have" are intended to designate that a feature, number, step, operation, component, part, or a combination thereof described in the specification exists, but one or more other features It is to be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

1 to 3 show a multi-drone positioning and imaging system 100 according to the present invention.

Referring to the drawings, the multi-drone positioning and photographing system 100 flies over a measurement target area including a landmark 20 , and detects the landmark 20 based on the landmark 20 . A plurality of beacon drones generating location information, flying over the measurement target area, and photographing the measurement target area, receive the location information from the beacon drone 200, and receive the location information and the beacon drone A photographing drone 300 that flies by determining a location within the measurement target area based on the sensing information detected 200 is provided.

Here, the landmark 20 is installed in the area to be measured, has no symmetry, and is a structure having mutually different singularities according to directions. The landmark 20 may be a predetermined statue, a building, etc., but is not limited thereto, and any structure formed in an external shape having a number of singularities is applicable. At this time, the landmark 20 is provided with an identification tag 21 capable of emitting an identification signal on one side.

Here, a radio frequency identification (RFID) tag is applied to the identification tag 21 to transmit a radio frequency (RF) identification signal.

Meanwhile, although not shown in the drawing, the landmark 20 includes a transport unit moving within the measurement target area, and a recognition object installed in the transport unit to be photographed by the beacon drone 200 . A drone is applied to the transport unit to fly over a corresponding measurement target area, and a structure formed to have an external shape provided with a plurality of singularities is applied to the recognition target. Here, the transport unit is not limited to drones, and any transport means capable of transporting the recognition object is applicable. The operator may control the carrying unit to move the recognition object to any one position in the measurement target area.

The beacon drone 200 includes a first unmanned aerial vehicle 210 flying over the measurement target area, and a first sensor unit 220 installed on the first unmanned aerial vehicle 210 to detect the landmark 20 and a first communication module 230 installed in the first unmanned aerial vehicle 210 to enable data communication between the beacon drones 200 adjacent to each other, and the first sensor unit 220 provided The first positioning unit 240 for calculating the position of the first unmanned aerial vehicle 210 based on the landmark 20 based on the detected information, and the position information calculated by the first positioning unit 240 Based on the first control unit 250 for controlling the flight of the first unmanned aerial vehicle 210 is provided.

The first unmanned aerial vehicle 210 includes a first flight body and a first propulsion unit 212 that is installed on the first flight body and provides propulsion to enable the first flight body to fly.

The first flight body includes a first main body 211 and a plurality of first parts extending radially with respect to the center of the first main body 211 and having the first propulsion unit 212 installed at the ends. Provide support. The first main body 211 is provided with an accommodating space in which a battery for supplying power to the first rotating motors of the first propulsion unit 212 to be described later is accommodated therein. The first main body 211 is preferably formed of a synthetic resin material such as plastic having a predetermined strength and excellent moldability.

The first propulsion unit 212 includes a plurality of first rotation motors respectively installed at the ends of the first supports, and a plurality of first propellers rotatably installed by the first rotation motors. On the other hand, the first unmanned aerial vehicle 210 is a drone that is generally used in the prior art to fly over the measurement target area, so a detailed description thereof will be omitted.

The first sensor unit 220 is installed in the first unmanned aerial vehicle 210 and receives the first camera 221 for photographing the landmark 20 and the identification signal transmitted from the identification tag 21 . and a signal receiver 222 installed in the first unmanned aerial vehicle 210 to do so.

The first camera 221 is installed on the first flight body of the first unmanned aerial vehicle 210, and a conventionally used camera for photographing around the first unmanned aerial vehicle 210 is applied, so detailed description is omitted. do. The first camera 221 provides the captured image to the first positioning unit 240 .

The signal receiver 222 is installed on the first flight body of the first unmanned aerial vehicle 210 and receives the RF identification signal transmitted from the identification tag 21 installed on the landmark 20 . Here, the signal receiver 222 is preferably applied to the RF receiver. The corresponding signal receiver 222 transmits information about the identification signal received from the identification tag 21 to the first positioning unit 240 . Here, the information on the identification signal received from the identification tag 21 may include a time of flight (TOF) of the received signal, identification information included in the identification signal, and the like.

The first communication module 230 is installed in the first unmanned aerial vehicle 210 and performs communication with the adjacent beacon drone 200 . Here, the first communication module 230 preferably performs communication using a radio frequency (RF) signal. Meanwhile, the first communication module 230 may perform data communication with the adjacent photographing drone 300 . In this case, the beacon drones 200 and the photographing drones 300 may be connected to enable mutual data communication to form a network topology. Here, the network topology applies a set of lines connected by sensing and information transmission/reception between a plurality of drones.

The first positioning unit 240 is a common coordinate system set based on the landmark 20 based on the information on the identification signal received from the signal receiver 222 and the photographed image provided by the first camera 221 . The location information of the first unmanned aerial vehicle 210 is generated in the . Here, the first positioning unit 240 includes an identification module 241 that identifies the landmark 20 in the captured image provided by the first camera 221 , and the identification received from the signal receiver 222 . A distance calculation module 242 for calculating information on the distance from the landmark 20 to the first unmanned aerial vehicle 210 based on the information about the signal, the identification module 241 and the distance calculation module 242 ) and a positioning module 243 for generating position information of the first unmanned aerial vehicle 210 based on the identification information and calculation information provided in the .

The identification module 241 identifies the landmark 20 in the image taken by the first camera 221 , and provides the identified information to the positioning module 243 . Here, since the identification module 241 is an image analysis means generally used in the prior art to identify a specific object in an image, a detailed description thereof will be omitted.

The distance calculation module 242 calculates the separation distance between the corresponding beacon drone 200 and the landmark 20 based on the information on the identification signal provided from the signal receiver 222 . The distance calculation module 242 transmits information on the calculated separation distance to the positioning module 243 .

The positioning module 243 generates location information of the first unmanned aerial vehicle 210 based on the identification information on the landmark 20 in the captured image provided by the identification module 241 . Here, although not shown in the drawing, the positioning module 243 may further include a database in which information about the landmark 20 is stored. Information on the appearance or singularity of the landmark 20 is stored in the database. The positioning module 243 compares the appearance or singularity of the landmark 20 identified in the image taken by the first camera 221 with information stored in the database, and the corresponding first unmanned aerial vehicle based on the landmark 20 . The location information of 210 is generated. Here, the location information of the first unmanned aerial vehicle 210 is preferably applied to the location coordinates of the corresponding beacon drone 200 in the common coordinate system based on the landmark 20 .

In addition, the positioning module 243 is the location information of the first unmanned aerial vehicle 210 determined based on the information on the separation distance between the landmark 20 and the first unmanned aerial vehicle 210 provided from the distance calculating module 242 . can be corrected.

Meanwhile, the positioning module 243 may receive location information of the adjacent beacon drone 200 through the first communication module 230 . That is, the positioning module 243 may receive location information of the corresponding beacon drone 200 from the neighboring beacon drone 200 . In this case, the beacon drone 200 directly connected to the beacon drone 200 is applied to the neighbor beacon drone 200 in a preset network topology.

Here, the positioning module 243 may correct the location information of the first unmanned aerial vehicle 210 based on the received location information of the adjacent beacon drone 200 . As described above, based on the preset network topology, the beacon drones 200 can share location information with each other, so that the location of the beacon drone 200 can be more accurately identified.

The first controller 250 controls the flight of the corresponding beacon drone 200 , that is, the position and posture of the drone, based on the position information of the first unmanned aerial vehicle 210 provided from the positioning module 243 . In this case, the first control unit 250 may control to fly in a pattern preset by the operator based on the corresponding position information.

At this time, the first control unit 250 controls the flight of the first unmanned aerial vehicle 210 so that the landmark 20 can be photographed by the first camera 221 based on the image provided by the first camera 221 . Control. That is, when the landmark 20 is not photographed in the image provided by the first camera 221 , the first control unit 250 sets the first unmanned aerial vehicle 210 to the location where the landmark 20 is photographed. move the

On the other hand, the photographing drone 300 includes a second unmanned aerial vehicle 310 flying over the measurement target area, and a second camera 313 installed on the second unmanned aerial vehicle 310 so as to photograph the measurement target area and , a second communication module 320 provided in the second unmanned aerial vehicle 310 to receive the location information of the corresponding beacon drone 200 transmitted from the beacon drone 200, and the first unmanned aerial vehicle ( 210) based on the detection information provided by the second sensor unit 330 provided in the second unmanned aerial vehicle 310 and the second sensor unit 330 to detect the second unmanned aerial vehicle 310 of the A second positioning unit 340 for calculating a position, and a second control unit 350 for controlling the flight of the second unmanned aerial vehicle 310 based on the position information calculated by the second positioning unit 340 is provided. .

The second unmanned aerial vehicle 310 includes a second flight body and a second propulsion unit 312 that is installed on the second flight body and provides propulsion to enable the second flight body to fly.

The second flight body has a second main body 311 and a plurality of second parts extending radially with respect to the center of the second main body 311 and having the second propulsion unit 312 installed at the ends. Provide support. The second main body 311 is provided with an accommodating space in which a battery for supplying power to the second rotating motors of the second propulsion unit 312 to be described later is accommodated therein. The second main body 311 is preferably formed of a synthetic resin material such as plastic having a predetermined strength and excellent moldability. Here, a second camera 313 is installed on the second main body 311 to photograph a target within the measurement target area. At this time, although not shown in the drawing, the second camera 313 may transmit the captured image to the management server.

The second propulsion unit 312 includes a plurality of second rotation motors respectively installed at the ends of the second supports, and a plurality of second propellers rotatably installed by the second rotation motors. On the other hand, the second unmanned aerial vehicle 310 is a drone that is generally used in the prior art to fly over the measurement target area, so a detailed description thereof will be omitted.

The second communication module 320 may communicate with the adjacent beacon drone 200 and the photographing drone 300 , and may receive location information of the adjacent beacon drone 200 and the photographing drone 300 . Here, the second communication module 320 preferably performs communication using a radio frequency (RF) signal.

The second sensor unit 330 moves from the beacon drone 200 to the second unmanned aerial vehicle 310 based on the information on the signal received from the beacon drone 200 through the second communication module 320 . Calculate the separation distance. Here, the second sensor unit 330 communicates with the corresponding beacon drone 200 based on information about the signal received from the beacon drone 200 , that is, information such as a time of flight (TOF) of the received signal. The separation distance can be calculated. In addition, the second sensor unit 330 includes the corresponding photographing drone 300 and the neighboring photographing drone 300 based on information on signals received from the adjacent photographing drone 300 , that is, the neighboring photographing drone 300 . It is also possible to calculate the separation distance from The second sensor unit 330 transmits information on the calculated separation distance between the beacon drone 200 and the photographing drone 300 to the second positioning unit 340 or the second control unit 350 .

The second positioning unit 340 is the second unmanned based on the location information of the beacon drone 200 received through the second communication module 320 together with the detection information provided by the second sensor unit 330 . The position of the aircraft 310 is calculated. That is, the second positioning unit 340 uses a positioning method including trilateration from information on the separation distance from the adjacent beacon drone 200 and the photographing drone 300 provided from the second sensor unit 330 . to generate location information of the corresponding photographing drone 300 . The location information of the corresponding photographing drone 300 is preferably applied to the location coordinates of the corresponding photographing drone 300 in a common coordinate system based on the landmark 20 .

Meanwhile, when the beacon drone 200 is photographed by the second camera 313 , the second positioning unit 340 identifies the beacon drone 200 from the captured image provided by the second camera 313 . can do. At this time, the second positioning unit 340 pre-stores information on the appearance or singularity of the beacon drone 200, and compares the information with the beacon drone 200 in the captured image of the second camera 313. Thus, the separation distance from the corresponding beacon drone 200 may be calculated. Here, the second positioning unit 340 may correct the location information of the second unmanned aerial vehicle 310 based on the calculated separation distance from the beacon drone 200 .

The second control unit 350 controls the flight of the corresponding photographing drone 300 , that is, the position and posture of the photographing drone 300 , based on the position information of the second unmanned aerial vehicle 310 provided from the second positioning unit 340 . do. In this case, the second control unit 350 may control the corresponding photographing drone 300 according to a preset photographing drone 300 position control algorithm. Here, a plurality of photographing drones 300 fly in formation under the control of each second controller 350 to photograph a target within the measurement target area.

4 is a flowchart according to the position control algorithm of the photographing drone 300 is shown. Here, the target squadron of the shooting drone 300 and the direction of the image sensor, that is, the second camera 313 are set based on the rendering task. Here, the beacon drone 200 or the photographing drone 300 directly connected to the corresponding photographing drone 300 is applied to the neighboring drone in a preset network topology.

In this case, the operator may allocate a mission of the imaging drone 300 , and the imaging drone may determine the mission according to the algorithm shown in FIG. 5 . Here, the operator may allocate the tasks of the corresponding photographing drones 300 through the management server (not shown), and the management server may control each of the photographing drones according to the assigned task.

6 shows an example of a rendering task that can be performed by the photographing drones 300 of the present invention. Here, referring to the drawings, a plurality of photographing drones 300 are positioned in a line and it relates to a task of photographing the same direction with the second camera 313 . At this time, the management server allocates an order to each of the shooting drones 300 to control the formation position of the shooting drones 300 , and defines the ordered drones as tag drones.

An image captured by each tag drone has a portion overlapping with an image captured by an adjacent tag drone, so that rendering is performed. The position and the shooting direction of each of the shooting drones 300 are as shown in Equation 1 below.

는 넘버링 n에 해당하는 태그 드론의 위치이고,

은 넘버링 n에 해당하는 태그 드론의 제2카메라(313)의 촬영 방향이고, d는 렌더링을 위해 각 태그 드론이 촬영한 영상이 서로 겹치도록 미리 설정된 인접 드론과의 거리이고, w는 작업자가 원하는 일자형 편대의 방향을 나타내는 단위벡터인데, 해당 단위벡터의 방향은 낮은 넘버링을 갖는 태그 드론부터 높은 넘버링을 갖는 태그 드론을 향한다. Here, i is the number of the tag drone, a is the number of the tag drone that is the standard of the squadron,

is the location of the tag drone corresponding to numbering n,

is the shooting direction of the second camera 313 of the tag drone corresponding to the numbering n, d is the distance from the adjacent drone preset so that the images captured by each tag drone for rendering overlap each other, and w is the desired It is a unit vector indicating the direction of a straight flight, and the direction of the unit vector is from a tag drone with a low numbering to a tag drone with a high numbering.

7 shows another example of a rendering task that can be performed by the photographing drones 300 of the present invention. Referring to the drawings, the tag drones maintain a grid-like formation, and relate to a mission of photographing a target object below. In this case, the images taken by the tag drones adjacent to each other are taken so that a part overlaps each other.

The position and the shooting direction of each of the shooting drones 300 are as shown in Equation 2 below.

Elements having the same function as in the above equation are denoted by the same symbol.

는 렌더링을 위해 촬영 영상이 상호 겹쳐지도록 미리 설정된 인접 드론 간의 격자 모형의 가로, 세로의 거리,

는 작업자가 원하는 격자 모형 편대의 가로 방향, 세로 방향을 나타내는 단위벡터(태그 드론의 넘버링이 낮은 번호에서 높은 번호 측으로의 방향), sgn(x)는 부호함수이고, rem(x,y)는 x를 y로 나눈 나머지를 반환하는 함수이고, floor(x)는 바닥함수(x를 넘지 않는 최대 정수를 반환)이고, k는 가로열의 격자 개수이다. here,

is the horizontal and vertical distance of the grid model between adjacent drones preset so that the captured images overlap each other for rendering;

is the unit vector indicating the horizontal and vertical directions of the grid model squadron desired by the operator (the direction from the low numbering to the high numbering of the tag drone), sgn(x) is the sign function, and rem(x,y) is x is a function that returns the remainder of dividing by y, floor(x) is a floor function (returns the maximum integer that does not exceed x), and k is the number of grids in a row.

8 shows another example of a rendering task that can be performed by the photographing drones 300 of the present invention. Referring to the drawings, it relates to a task in which tag drones form a virtual arc, and each tag drone takes a picture so that a portion of an image overlaps each other toward the outside of the virtual arc.

The position and the shooting direction of each of the shooting drones 300 are as shown in Equation 3 below.

는 렌더링을 위해 촬영 영상이 서로 겹쳐지도록 미리 설정된 인접된 드론들 간의 가상의 호 위에서의 거리이고, r은 가상의 호 중심에서 태그 드론까지의 거리이고,

는 비행 편대에서 기준이 되는 태그 드론의 높이이고,

는 미리 설정된 비행 편대를 이루는 가상의 호의 원점이고,

는 기준 태그 드론이

를 원점으로 가지는 극좌표에서의 각도이다. here,

is the distance on a virtual arc between adjacent drones preset so that the captured images overlap each other for rendering, r is the distance from the center of the virtual arc to the tag drone,

is the height of the tag drone as a reference in the flight squadron,

is the origin of an imaginary arc forming a preset flight squadron,

is based on tag drones

It is the angle in polar coordinates with the origin.

9 shows another example of a rendering task that can be performed by the photographing drones 300 of the present invention. Referring to the drawings, it relates to a mission in which tag drones form a virtual circle based on one target object and shoot for 3D rendering.

The position and the shooting direction of each of the shooting drones 300 are as shown in Equation 4 below.

은 3D 렌더링 촬영을 하고자 하는 목표 대상물의 중심점이고,

은 렌더링을 위해 촬영 영상이 서로 겹쳐지도록 미리 설정된 인접 촬영 드론(300) 간의 가상의 원 위에서의 거리이고,

는 비행 편대의 기준 태그 드론이

을 원점으로 가지는 극좌표에서의 각도이다. here,

is the center point of the target object for 3D rendering,

is a distance on a virtual circle between adjacent shooting drones 300 preset so that the shooting images overlap each other for rendering,

is the standard tag drone of the squadron

is the angle in polar coordinates with the origin.

The multi-drone positioning and imaging system 100 according to the present invention configured as described above uses a plurality of beacon drones 200 (Beacon drones) based on a landmark 20 (Landmark) having directionality to receive images and RF information. Positioning is carried out by utilizing it, and since the plurality of photographing drones 300 can perform positioning through RF information of the beacon drones 200, there is an advantage that the drone can be operated more accurately even in an area where absolute positioning cannot be used.

In addition, the present invention can additionally measure the distance to neighboring drones based on a determined network topology or share the acquired information, and through this, a more accurate measurement value is calculated because the previously predicted position and azimuth values are corrected. can do.

In addition, the present invention has the advantage of being able to control the position and posture of multiple unmanned aerial vehicles according to a given rendering task, set the direction of the image capturing sensor accordingly, shoot the target object, and perform rendering in real time or after the mission is finished.

The description of the presented embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments presented herein, but is to be construed in the widest scope consistent with the principles and novel features presented herein.

100: Multiple drone positioning and shooting system
200: beacon drone
210: first unmanned aerial vehicle
220: first sensor unit
221: first camera
222: signal receiver
230: first communication module
240: first positioning unit
250: first control unit
300: shooting drone
310: second unmanned aerial vehicle
320: second communication module
330: second sensor unit
340: second positioning unit
350: second control unit

Claims (20)

at least one beacon drone flying over a measurement target area including a landmark, detecting the landmark and generating location information based on the landmark; and
Flying over the measurement target area and photographing the corresponding measurement target area, receiving the corresponding location information from the beacon drone, and determining the location within the measurement target area based on the received location information and sensing information for detecting the beacon drone A photographing drone that discriminates and flies; having;
Multiple drone positioning and imaging system.
According to claim 1,
The beacon drone
a first unmanned aerial vehicle flying over the measurement target area;
a first sensor unit installed on the first unmanned aerial vehicle to detect the landmark;
a first positioning unit for calculating a position of the first unmanned aerial vehicle based on the landmark based on the detection information provided by the first sensor unit;
A first control unit for controlling the flight of the first unmanned aerial vehicle based on the position information calculated by the first positioning unit;
Multiple drone positioning and imaging system.
3. The method of claim 2,
The first sensor unit is installed in the first unmanned aerial vehicle and a first camera for photographing the landmark;
Multiple drone positioning and imaging system.
4. The method of claim 3,
The landmark includes an identification tag that emits an identification signal;
The first sensor unit includes a signal receiver installed in the first unmanned aerial vehicle so as to receive the identification signal transmitted from the identification tag;
Multiple drone positioning and imaging system.
5. The method of claim 4,
The identification tag transmits an RF (Radio Frequency) identification signal,
Multiple drone positioning and imaging system.
5. The method of claim 4,
The first positioning unit generates position information of the first unmanned aerial vehicle within a common coordinate system set based on the landmark based on the information about the identification signal received from the signal receiver and the captured image provided by the first camera. ,
Multiple drone positioning and imaging system.
7. The method of claim 6,
The first positioning unit
an identification module for identifying the landmark in the captured image provided by the first camera;
a distance calculation module for calculating information on the distance from the landmark to the first unmanned aerial vehicle based on the information on the identification signal received from the signal receiver; and
A positioning module for generating the position information of the first unmanned aerial vehicle based on the identification information and calculation information provided by the identification module and the distance calculation module;
Multiple drone positioning and imaging system.
8. The method of claim 7,
The positioning module generates location information of the first unmanned aerial vehicle based on identification information on the landmark in the captured image provided by the identification module, and the landmark and the first unmanned aerial vehicle provided by the distance calculation module Correcting the location information based on the distance information between them,
Multiple drone positioning and imaging system.
8. The method of claim 7,
A plurality of the beacon drones fly apart from each other in the measurement target area, and a first communication module installed in the first unmanned aerial vehicle to enable data communication between the adjacent beacon drones; further comprising,
Multiple drone positioning and imaging system.
10. The method of claim 9,
The positioning module receives the location information of the corresponding beacon drone from the positioning module of the adjacent beacon drone through the first communication module, and the location information of the first unmanned aerial vehicle based on the received location information of the adjacent beacon drone to correct
Multiple drone positioning and imaging system.
11. The method of claim 10,
The first communication module performs communication using an RF (Radio Frequency) signal,
Multiple drone positioning and imaging system.
12. The method of claim 11,
The positioning module calculates a separation distance to the adjacent beacon drone based on information about a signal received from the adjacent beacon drone through the first communication module, and calculates the calculated separation distance to the adjacent beacon drone and correcting the position information of the first unmanned aerial vehicle based on the position information of the adjacent beacon drone.
Multiple drone positioning and imaging system.
According to claim 1,
The shooting drone
a second unmanned aerial vehicle flying over the measurement target area;
a second camera installed in the second unmanned aerial vehicle to photograph the measurement target area;
a second sensor unit provided in the second unmanned aerial vehicle to detect the first unmanned aerial vehicle;
a second positioning unit for calculating the position of the second unmanned aerial vehicle based on the sensing information provided by the second sensor unit;
A second control unit for controlling the flight of the second unmanned aerial vehicle based on the position information calculated by the second positioning unit;
Multiple drone positioning and imaging system.
14. The method of claim 13,
The photographing drone further includes a second communication module provided in the second unmanned aerial vehicle so as to receive the location information of the corresponding beacon drone transmitted from the beacon drone.
Multiple drone positioning and imaging system.
15. The method of claim 14,
The second positioning unit calculates the position of the second unmanned aerial vehicle based on the position information of the beacon drone received through the second communication module together with the detection information provided by the second sensor unit,
Multiple drone positioning and imaging system.
16. The method of claim 15,
The second communication module performs communication using an RF (Radio Frequency) signal,
Multiple drone positioning and imaging system.
17. The method of claim 16,
The second sensor unit calculates a separation distance from the beacon drone to the second unmanned aerial vehicle based on information about a signal received from the beacon drone through the second communication module,
Multiple drone positioning and imaging system.
16. The method of claim 15,
When the beacon drone is photographed by the second camera, the second positioning unit identifies the beacon drone from the captured image provided by the second camera, and communicates with the beacon drone based on the beacon drone identified in the captured image. calculating the separation distance and correcting the position of the second unmanned aerial vehicle based on the calculated separation distance with the beacon drone,
Multiple drone positioning and imaging system.
According to claim 1,
The landmark is
a transport unit moving within the measurement target area; and
A recognition object installed in the transport unit so as to be photographed by the beacon drone;
Multiple drone positioning and imaging system.
3. The method of claim 2,
The first control unit controls the flight of the first unmanned aerial vehicle so that the landmark can be photographed by the first camera based on the image provided from the first camera,
Multiple drone positioning and imaging system.

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