WO2023003100A1 - Control apparatus for tracking and photographing subject, drone, and method for operating control apparatus - Google Patents

Abstract

The present specification relates to a control apparatus for tracking and photographing a subject by using a drone, the drone, and a method for operating the control apparatus. A control method for tracking and photographing a subject by using a drone comprises the steps of: receiving, from a server or a user terminal, a specific region set by a user in an image captured by the drone, and recognizing the specific region as a subject; obtaining location coordinates of the drone and location coordinates of the subject; calculating a direction angle of a camera on the basis of the location coordinates of the drone and the location coordinates of the subject; calculating a magnification of the camera on the basis of the location coordinates of the drone and the location coordinates of the subject; and driving a camera gimbal according to the calculated direction angle of the camera, and adjusting camera zoom according to the magnification of the camera.

Description

Subject tracking shooting control device, drone and its operation method

An embodiment of the present invention relates to a subject tracking and shooting control device, a drone, and an operating method thereof, and more particularly, based on the position of the drone and the position of the subject, the angle and zoom for photographing of the camera mounted on the drone It relates to a control device for tracking and photographing a subject by control, a drone, and an operation method thereof.

An unmanned air vehicle is a single-use or reusable powered air vehicle capable of carrying weapons or general cargo, which flies autonomously or remotely by being buoyed by aerodynamic force without carrying a pilot. Among these unmanned aerial vehicles, micro-sized unmanned aerial vehicles are called drones.

Drones are used in various industries. More specifically, it has been used for military and hobby purposes in the past, but recently its utilization has been very wide ranging from the transportation industry to the film and broadcasting industries, and various vehicles with various sizes and performance are being developed according to the purpose of use . In particular, drones are put into and operated in areas inaccessible to humans, such as jungles, remote areas, volcanic areas, natural disaster areas, and nuclear power plant accident areas.

On the other hand, the camera gimbal refers to a device that electronically prevents shaking when shooting while moving without fixing the camera. It works by controlling the motor to position.

When a subject is photographed by a drone in flight, since the position of the camera and the subject continuously changes, it is not easy to photograph the subject so that it appears in the center of the image.

The present invention has been devised to solve the above problems, and an object of the present invention is to provide a device, drone, and method for actively tracking and photographing an object on a drone in flight.

To this end, a subject tracking and shooting control method by a drone according to an embodiment of the present invention receives a specific area set by a user from an image captured by the drone from a server or a user terminal, and recognizes the specific area as a subject. step; acquiring the location coordinates of the drone and the location coordinates of the subject; Calculating a direction angle of a camera to position the subject at the center of an image based on the positional coordinates of the drone and the positional coordinates of the subject; calculating a magnification of the camera based on the location coordinates of the drone and the location coordinates of the subject; and driving a camera gimbal according to the calculated orientation angle of the camera, and adjusting a camera zoom according to a magnification of the camera. Subject tracking shooting control method by drone, characterized in that for doing.

In one embodiment, the calculating of the direction angle of the camera may include an angle (α) between a north direction and a traveling direction of the drone based on the location coordinates of the drone and an angle (θ) between the north direction and the subject. The sum of is calculated as the yaw angle of the camera gimbal, and the arctangent of the value obtained by dividing the altitude difference (h _d ) between the subject and the drone by the distance (d) from the drone to the subject is the camera gimbal. It is characterized in that it is calculated by the roll angle of the gimbal.

In one embodiment, the step of calculating the magnification of the camera may include the magnification of the camera based on the distance D between the drone and the subject, the length D1 of the subject measured by the camera, and the angle of view of the camera. It is characterized by calculating .

In one embodiment, the length D1 of the subject measured by the camera is characterized in that it is calculated based on the following equation.

[Equation 1]

In Equation 1, D ₂ means the diagonal length of the subject, ∠A means the direction angle of the camera, and ∠B means the diagonal direction angle of a specific area as the subject.

In one embodiment, in the step of obtaining the location coordinates of the drone and the location coordinates of the subject, the location coordinates of the drone are obtained from a sensor unit mounted on the drone, and the location coordinates of the subject are received from a server or a user terminal. characterized by receiving.

A drone according to another embodiment of the present invention includes an image acquisition unit for acquiring an image captured by a mounted camera; a camera gimbal for controlling an orientation angle of the camera; a communication unit that transmits the captured image and receives a specific area set by a user from the captured image from a server or a user terminal; an object recognizing unit recognizing the set specific area as a subject; a sensor unit generating location coordinates by a sensor mounted on the drone; and calculating the orientation angle and magnification of the camera based on the location coordinates of the drone and the location coordinates of the subject obtained from the server or the user terminal through the communication unit, and calculating the orientation angle and magnification of the camera according to the calculated orientation angle and magnification of the camera. It may include a gimbal and a shooting control unit for adjusting the zoom of the camera.

In one embodiment, the shooting control unit calculates a sum of an angle (α) between a north direction and a traveling direction of the drone and an angle (θ) between the north direction and the subject based on the location coordinates of the drone as the camera The arctangent of the value calculated as the yaw angle of the gimbal and dividing the altitude difference (hd) between the subject and the drone by the distance (d) from the drone to the subject is called the roll of the camera gimbal. It is characterized in that it is calculated as an angle.

In one embodiment, the shooting control unit is characterized in that for calculating the magnification of the camera based on the distance (D) between the drone and the subject, the length (D1) of the subject measured by the camera, and the angle of view of the camera .

In one embodiment, the specific area is a rectangle, the location coordinates of the subject are the location coordinates of the center of the subject, and the diagonal length D2 of the subject is received from the server or user terminal through the communication unit. to be characterized

An apparatus for tracking and shooting a subject of a drone according to another embodiment of the present invention includes a communication unit that receives an image captured by a camera mounted on the drone and location coordinates of the drone from the drone; an input unit configured to set a specific area from the captured image by a user; an object recognizing unit recognizing the set specific area as a subject; a calculation unit that calculates a direction angle and magnification of the camera based on the location coordinates of the drone and the location coordinates of the subject received through the input unit; and a signal generator for generating a control signal for controlling the direction angle and magnification of the camera and transmitting the signal to the drone through the communication unit.

In one embodiment, the calculation unit calculates a sum of an angle α between a north direction and a traveling direction of the drone and an angle θ between the north direction and the subject based on the location coordinates of the drone as the camera gimbal. Calculated as the yaw angle, and the arc tangent of the value obtained by dividing the altitude difference (h _d ) between the subject and the drone by the distance (d) from the drone to the subject as the roll angle of the camera gimbal. characterized in that it produces

In one embodiment, the calculator calculates the magnification of the camera based on the distance D between the drone and the subject, the length D1 of the subject measured by the camera, and the angle of view of the camera. .

In one embodiment, the calculation unit calculates the expected location coordinates of the expected time on the flight path based on the flight path of the drone, and calculates the direction angle and magnification of the camera based on the calculated expected location coordinates and the location coordinates of the subject. It is characterized in that the magnification is calculated.

According to the present invention, on a drone in flight, it is possible to actively track and photograph an object automatically without a user's control.

1 is a schematic diagram for showing a drone equipped with a camera according to an embodiment of the present invention.

2 is a block diagram schematically showing the configuration of a drone having a subject tracking and photographing function according to an embodiment of the present invention.

3 is a flowchart illustrating a method for tracking and controlling a photographing of a subject of a drone according to an embodiment of the present invention.

4 is a schematic diagram for explaining a subject tracking and shooting control method of a drone according to an embodiment of the present invention.

5 and 6 are conceptual diagrams for explaining a method of calculating a direction angle of a camera according to an embodiment of the present invention.

7 is a conceptual diagram for explaining a method of calculating a zoom magnification of a camera according to an embodiment of the present invention.

8 is a diagram schematically showing the configuration of a subject tracking and shooting control device according to an embodiment of the present invention.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and its operational effects will be clearly understood through the following detailed description. Prior to the detailed description of the present invention, the same components are denoted by the same reference numerals as much as possible even if they are shown on different drawings, and detailed descriptions of known components are omitted if it is determined that the gist of the present invention may be obscured. Note

1 is a schematic diagram for showing a drone equipped with a camera according to an embodiment of the present invention.

As shown in FIG. 1, it is possible to recognize a specific object as a subject and actively take a tracking shot using image information taken by an unmanned aerial vehicle camera 10 installed on one side or below the drone 1. there is. Here, active tracking shooting refers to tracking and shooting a subject by controlling the shooting direction angle of the camera 10 so that the camera 10 can focus on the subject based on the position of the drone 1 and the position of the subject. Through this, even when the drone 1 and/or the subject move, the subject can be located in the center of the captured image.

In the drawing, the camera 10 is shown to be mounted on the front and bottom of the drone 1, but is not limited thereto and may be mounted on the rear or top of the drone 1 depending on the tracking target and environment.

The drone 1 according to an embodiment may store an image captured by the camera 10 or transmit it to a preset external device in real time.

2 is a block diagram schematically showing the configuration of a drone 1 having a subject tracking and photographing function according to an embodiment of the present invention.

As shown in FIG. 2, the drone 1 according to an embodiment of the present invention largely includes a sensor unit 105, a flight unit 110, an image acquisition unit 120, an object recognition unit 130, and a shooting control unit. 140, and may further include a communication unit 150 and a storage unit 160.

The sensor unit 105 may include a gyro sensor and a GPS sensor, and measures acceleration, rotation angle, position, and the like of the drone 1 and transmits the measurements to the flight unit 110 and the shooting control unit 140 .

The gyro sensor collects angular velocity information of the drone 1. The gyro sensor is preferably a 3-axis sensor. That is, the gyro sensor may collect angular velocity information of three axes of x-axis, y-axis, and z-axis. The angular velocity of the three axes of x, y, and z axes detected by the 3-axis gyro sensor is called roll, pitch, and yaw, respectively. Specifically, rotation around the x-axis is called roll, rotation around the y-axis is called pitch, and rotation around the z-axis is called yaw.

The GPS sensor may acquire location coordinates periodically or non-periodically to recognize the current location of the drone 1.

The flight unit 110 generates a driving command according to the flight path of the drone 1 and drives a plurality of motors that drive the propeller according to the generated driving command. Here, the driving command may include movement direction, movement distance, rotation, elevation and descent, landing and takeoff.

The flight path can be flown along the flight path set according to the autonomous flight software (FMS). According to the autonomous flight software, a flight path may be set based on 3D coordinate information indicating a terrain on which the drone 1 will fly. The flight path may be created based on the current location and the destination location, and a driving command may be directly received from an external device (eg, a controller) through the communication unit 150 to drive the plurality of motors. The current location and the destination location may be received and set from the user terminal or server.

In one embodiment, the flight unit 110 calculates and tracks the location of the tracking target object recognized by the object recognition unit 130 described later using a TLD (Tracking Learning Detection) learning algorithm method, and at the same time, the unmanned aerial vehicle corresponding to it A driving command for driving may be generated.

The image acquisition unit 120 includes a camera 10 and a camera gimbal 20, and may obtain an image by photographing a subject while in flight. The camera gimbal 20 can adjust the shooting direction angle of the camera, and can move the center of an image by rotating within the rotation angle of the camera gimbal 20 . The camera gimbal 20 may operate in such a way that the gyro sensor transfers tilt information to the motor and drives the motor to control the shooting angle of the camera.

In one embodiment, the camera gimbal 20 controls a photographing direction angle of the camera 10 according to a control signal of the photographing controller 140 . In addition, the camera 10 adjusts the zoom of the camera 10 according to the control signal of the photographing controller 140 to photograph the subject.

The image acquisition unit 120 may store the captured image in the storage unit 160 or transmit the captured image to a preset external device in real time through the communication unit 150 .

The object recognizing unit 130 receives a specific area set from a user terminal or a server through a communication unit 150 to be described later, and recognizes the set specific area as a subject. The specific area is a rectangle or a square.

In one embodiment of the present invention, the subject may include all of various objects that may be photographed. In addition, in the detailed description of the invention described below, a subject shown as a rectangle may indicate a rectangular area (geographical area) to be monitored. For example, if it is necessary to continuously monitor an area requiring high military security, monitoring operations may be continuously performed by setting the area as a subject.

The location coordinates of the subject are coordinates of four vertexes of the quadrangle, and the diagonal length D2 of the subject is calculated based on the location coordinates of the subject. Alternatively, in one embodiment of the present invention, the location coordinates of the subject are the coordinates of the center point of the specific region, and in this case, the diagonal length D2 of the subject may be input from a user terminal or a server.

The shooting control unit 140 is based on the position of the drone 1 acquired by the sensor unit 105 and the position of the object to be tracked obtained from the user terminal or server through the communication unit 150 in order to actively track and photograph the subject. Thus, the direction angle and zoom value of the camera 10 are calculated, and the tilting angle of the camera gimbal 20 and the zoom of the camera 10 are adjusted according to the calculation result.

The communication unit 150 transmits and receives information with an external device in a wireless communication method. For example, zone information for driving, driving route, driving command, etc. may be received from a controller or server, and a captured image may be transmitted to a server or user terminal.

Here, the zone information may include flight restriction zone (A) information and access restriction distance information.

Wireless communication methods include GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband) CDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc. may be used.

As a wireless communication method, wireless Internet technology may be used. Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), and 5G. In particular, faster response is possible by transmitting and receiving data using the 5G communication network.

The storage unit 160 stores various data for subject tracking and shooting and images captured by the camera 10 . The storage unit 160 may provide the stored information according to a request of other components such as the capturing control unit 140 .

Hereinafter, as another embodiment, a subject tracking and shooting control method of the drone 1 according to the present invention having the configuration described above will be described in detail with reference to FIGS. 3 to 6 .

3 is a flowchart for explaining a subject tracking and shooting control method of a drone 1 according to an embodiment of the present invention, and FIG. 4 is a flowchart illustrating a subject tracking and shooting control method of a drone 1 according to an embodiment of the present invention. 5 and 6 are conceptual diagrams for explaining a method for calculating a direction angle of a camera according to an embodiment of the present invention, and FIG. 7 is a magnification of a camera according to an embodiment of the present invention. It is a conceptual diagram to explain how to calculate .

As shown in the figure, in the subject tracking and shooting control method of the drone 1 according to an embodiment of the present invention, first, in step S110, a specific area set by the user from the image taken by the drone 1 is transferred to the server. Alternatively, it is received from the user terminal, and the specific area is recognized as a subject.

In one embodiment, as shown in FIG. 4 , while the drone 1 is flying along the flight path, the surroundings of the flight path are photographed to obtain an image and provide the image to a server or user terminal. Through a server or a user terminal, a user recognizes a subject by setting a specific area in a captured image.

In another modification, the drone 1 flies around the subject position coordinates based on previously stored or transmitted subject position coordinates and photographs the surroundings. The drone 1 may recognize an object to be tracked by using feature points on a photographed image. By checking the similarity between feature points extracted from the image and feature points of a preset subject, a tracking target having a similarity higher than the preset similarity may be recognized as an object. In this way, even when the drone 1 recognizes a subject using feature points, the subject may be confirmed through a user terminal or a server.

When the drone 1 cannot find the object to be tracked in the image during flight, the unmanned aerial vehicle may be photographed while rotating in place.

Next, in step S120, the location coordinates of the drone 1 and the location coordinates of the subject are acquired. The location coordinates of the drone 1 may be obtained from a sensor unit mounted on the drone 1, and the location coordinates of the subject may be received and obtained from a server or a user terminal.

In another modification, the location coordinates of the subject may be obtained based on previously stored map information and location coordinates matching the map information. For example, the drone 1 may determine a location by matching a recognized subject with a previously stored map based on the similarity of feature points, and may check location coordinates matching the identified location on the map.

In one embodiment, it is illustrated that the drone 1 receives the coordinates of the center point of the specific area and the diagonal length of the specific area, but in another embodiment, the location coordinates of all four vertices of the specific area are received, and the coordinates and The length of the diagonal may be calculated from the position coordinates of the diagonal.

Referring to FIG. 5, the sum of the angle α between the north direction and the traveling direction of the drone 1 and the angle θ between the north direction and the subject is calculated based on the location coordinates of the drone 1. Calculated by the yaw angle of the camera gimbal. In other words, the angle α with the traveling direction is the angle between the imaginary straight line l1 pointing in the north direction from the drone 1 and the imaginary straight line l2 pointing in the traveling direction of the drone 1, and The angle θ of is an angle between an imaginary straight line l1 pointing north from the drone 1 and an imaginary straight line l3 pointing from the drone 1 to a target.

In addition, referring to FIG. 6, the arc tangent of the value obtained by dividing the altitude difference (h _d ) between the subject and the drone 1 by the distance (d) from the drone 1 to the subject is the pitch of the camera gimbal. (pitch) It is calculated as an angle (∠θ _pitch ) (see Equation 1 below). The distance d from the drone 1 to the subject is calculated according to a distance formula between two points based on the position coordinates of the drone 1 and the position coordinates of the subject.

[Equation 1]

Next, in step S140, the magnification factor may be calculated based on the location coordinates of the drone 1 and the location coordinates of the subject based on the sensing values of the sensor unit 105 provided in the drone 1.

The shooting control unit 140 according to an embodiment of the present invention adjusts the magnification of the camera based on the distance D between the drone 1 and the subject, the horizontal length D1 of the subject measured by the camera, and the angle of view of the camera. Calculate

The length D1 of the subject measured by the camera is calculated based on Equation 1 below.

[Equation 2]

In Equation 1, D ₂ means the diagonal length of the subject, ∠A means the direction angle of the camera, and ∠B means the diagonal direction angle of a specific area as the subject.

The angle of view of the camera may be different for each type of camera, and may be pre-stored or input from a user terminal and a server.

Referring to FIG. 6, looking at the derivation process of Equation 1, the straight line M1 pointing from the drone 1 to the camera direction and the length D1 of the subject on the image taken by the camera of the drone 1 are vertical. An imaginary rectangle (stuv) having both sides of a straight line (M2) is aligned with one vertex (O) of the specific region (opqr).

An angle between a virtual straight line pointing in the north direction from the drone 1 and a virtual straight line pointing in the direction of the camera is referred to as the camera azimuth (∠A).

An angle between a diagonal line oq of a specific area opqr of a quadrangular shape recognized as a subject and a side where it meets is called an azimuth angle ∠B of the diagonal line.

The angle (∠F) between the change op of the specific area opqr and the side st of the virtual rectangle stuv is equal to 90°-camera azimuth angle (∠A) (Equation 3 below).

[Equation 3]

In addition, the sum of the angle (∠C) between the side (st) of the imaginary rectangle (stuv) and the diagonal (oq) of the specific area (opqr) and the angle (∠F) is equal to the azimuth (∠B) of the diagonal . If this is expressed as an equation, it is as shown in Equation 4 below.

[Equation 4]

In Equation 4, the diagonal azimuth (∠B)- angle (∠C) = angle (∠F), and angle (∠F) = 90°- camera azimuth (∠A), so the diagonal azimuth (∠B)- Angle (∠C) = 90°-camera azimuth (∠A), and angle (∠C) = diagonal azimuth (∠B) + camera azimuth (∠A)-90°.

In the end, the length of the subject measured by the camera (D1) = the length of the diagonal of the subject (D2) ХcosC, if the angle (∠C) is expressed as the azimuth of the diagonal (∠B) + the azimuth of the camera (∠A) - 90 °, math The length D1 of the subject measured by the camera in Equation 1 is derived.

The shooting control unit 140 according to an embodiment of the present invention calculates the magnification M as shown in [Equation 5] below based on the horizontal length D1 of the subject and the angle of view of the camera θ _camera calculated in Equation 1. can be adjusted

[Equation 5]

In the above equation, A means a predetermined constant value.

Next, in step S150, the camera gimbal 20 is driven according to the calculated direction angle of the camera, and the camera zoom is adjusted according to the magnification M of the camera 10.

A first control signal for driving the camera gimbal 20 is generated according to the calculated orientation angle of the camera, and a second control signal for adjusting the camera zoom according to the magnification of the camera 10 is generated. The first control signal is transmitted to the camera gimbal 20 to control the direction angle of the camera, and the second control signal is transmitted to the camera 10 and controls the zoom of the camera.

8 is a diagram schematically showing the configuration of a subject tracking and shooting control device according to an embodiment of the present invention.

Referring to FIG. 8 , the subject tracking and shooting control apparatus 200 according to an embodiment of the present invention includes a communication unit 210, an input unit 220, an object recognition unit 230, a calculation unit 240, and a signal generation unit 250. ) may be included. In addition, the subject tracking photographing control device 200 may further include an output unit (not shown).

The communication unit 210 transmits and receives information to and from the drone 1 . For example, the communication unit 210 receives an image captured by a camera mounted on the drone 1 and location coordinates of the drone 1 . The received image and the location coordinates of the drone 1 may be transmitted to the object recognition unit 230 and the calculation unit 240. In addition, the signal generated by the signal generating unit 250 may be transmitted to the camera gimbal and camera mounted on the drone 1 .

The input unit 220 converts the user's input operation into an input signal and transmits it to other components, for example, the object recognition unit 230 and the calculation unit 240 .

The input unit 220 may be implemented as, for example, a keyboard, a mouse, a touch sensor on a touch screen, a touch pad, a keypad, voice input, and other input processing devices that are currently available in the past or will be available in the future. The input unit 220 receives, for example, a user setting a specific region from a photographed image output to an output unit (not shown).

In one embodiment, in order to set a specific area, the input unit 220 provides an interface for setting the specific area, receives a specific area through the interface, and transmits it to the object recognition unit 230 .

The calculation unit 240 calculates the direction angle and magnification of the camera based on the location coordinates of the drone 1 received through the communication unit 210 and the location coordinates of the subject received through the input unit 220.

A method of calculating the direction angle of the camera by the calculation unit 240 is similar to the method of calculating the direction angle of the camera in step S130 of FIG. 3 , so a detailed description thereof will be omitted.

A method of calculating the magnification by the calculation unit 240 is similar to the method of calculating the magnification in step S140 of FIG. 3, so detailed description thereof will be omitted.

The signal generating unit 250 controls the direction angle of the camera gimbal and the zoom of the camera by generating a control signal according to the direction angle and magnification of the camera calculated by the calculation unit 240 and transmitting the control signal to the drone 1 .

In another embodiment, the subject tracking and shooting control device 200 receives a flight path in advance, and determines the direction angle of the camera gimbal based on the expected position coordinates of the drone 1 and the position coordinates of the subject before being positioned on each path. By completing the calculation for controlling the camera zoom, the time when the drone 1 arrives at the expected position on the flight path can be predicted in advance and the direction angle of the camera gimbal and the zoom of the camera can be controlled according to the predicted time. .

At this time, it will be understood that each block of the process flow chart diagrams and combinations of the flow chart diagrams can be performed by computer program instructions. Since these computer program instructions may be loaded into a processor of a general-purpose computer, special-purpose computer, or other programmable data processing equipment, the instructions executed by the processor of the computer or other programmable data processing equipment may be included in the flowchart block(s). It creates means to perform the functions described in These computer program instructions may also be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular way, such that the computer usable or computer readable memory The instructions stored in are also capable of producing an article of manufacture containing instruction means that perform the functions described in the flowchart block(s). Since the computer program instructions can also be loaded on a computer or other programmable data processing equipment, a series of operational steps are performed on the computer or other programmable data processing equipment to create a computer-executed process to create a computer or other program Instructions performing possible data processing equipment may also provide steps for carrying out the functions described in the flowchart block(s).

Additionally, each block may represent a module, segment or portion of code that includes one or more executable instructions for executing specified logical function(s). It should also be noted that in some alternative implementations it is possible for the functions mentioned in the blocks to occur out of order. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in reverse order depending on their function.

At this time, the term '~unit' used in this embodiment means software or a hardware component such as FPGA or ASIC, and '~unit' performs certain roles. However, '~ part' is not limited to software or hardware. '~ part' may be configured to be in an addressable storage medium and may be configured to reproduce one or more processors. Therefore, as an example, '~unit' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables. Functions provided within components and '~units' may be combined into smaller numbers of components and '~units' or further separated into additional components and '~units'. In addition, the components and '~units' may be implemented to play one or more CPUs in a device or a secure multimedia card.

Those skilled in the art to which this specification pertains will be able to understand that this specification can be implemented in other specific forms without changing its technical spirit or essential features. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present specification is indicated by the claims to be described later rather than the detailed description above, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts thereof are included in the scope of the present specification. should be interpreted as being

On the other hand, the present specification and drawings disclose preferred embodiments of the present specification, and although specific terms are used, they are only used in a general sense to easily explain the technical content of the present specification and help understanding of the present invention, It is not intended to limit the scope of the specification. In addition to the embodiments disclosed herein, it is obvious to those skilled in the art that other modified examples based on the technical spirit of the present specification may be implemented.

Claims (15)

1. As a subject tracking shooting control method by a drone,

   receiving, from a server or a user terminal, a specific area set by a user from an image captured by the drone, and recognizing the specific area as a subject;

   acquiring the location coordinates of the drone and the location coordinates of the subject;

   Calculating a direction angle of a camera to position the subject at the center of an image based on the positional coordinates of the drone and the positional coordinates of the subject;

   calculating a magnification of the camera based on the location coordinates of the drone and the location coordinates of the subject; and

   Driving the camera gimbal according to the calculated direction angle of the camera and adjusting the camera zoom according to the magnification of the camera

   Subject tracking shooting control method by a drone, characterized in that it comprises a.
2. According to claim 1,

   Calculating the direction angle of the camera,

   Calculate the sum of the angle (α) between the north direction and the drone traveling direction and the angle (θ) between the north direction and the subject centered on the positional coordinates of the drone as the yaw angle of the camera gimbal, In the drone, characterized in that the arctangent value of the value obtained by dividing the altitude difference (h _d ) between the subject and the drone by the distance (d) from the drone to the subject is calculated as the roll angle of the camera gimbal. Subject tracking shooting control method by
3. According to claim 1,

   Calculating the magnification of the camera,

   The method of tracking and photographing a subject by a drone, characterized in that calculating the magnification of the camera based on the distance (D) between the drone and the subject, the length (D1) of the subject measured by the camera, and the angle of view of the camera.
4. According to claim 3,

   The subject tracking and shooting control method by a drone, characterized in that the length (D1) of the subject measured by the camera is calculated based on the following equation.

   [Equation 1]

   

   In Equation 1, D ₂ means the diagonal length of the subject, ∠A means the direction angle of the camera, and ∠B means the diagonal direction angle of a specific area as the subject.
5. According to claim 1,

   In the step of obtaining the location coordinates of the drone and the location coordinates of the subject,

   The subject tracking and shooting control method by a drone, characterized in that the location coordinates of the drone are obtained from a sensor unit mounted on the drone, and the location coordinates of the subject are received from a server or a user terminal.
6. An image acquisition unit for acquiring an image captured by a camera mounted on the drone;

   a camera gimbal for controlling an orientation angle of the camera;

   a communication unit that transmits the captured image and receives a specific area set by a user from the captured image from a server or a user terminal;

   an object recognizing unit recognizing the set specific area as a subject;

   a sensor unit generating location coordinates by a sensor mounted on the drone; and

   A shooting control unit that calculates the direction angle and magnification of the camera based on the location coordinates of the drone and the location coordinates of the specific area, and adjusts the camera gimbal and zoom of the camera according to the calculated orientation angle and magnification of the camera.

   A drone that includes a.
7. The method of claim 6, wherein the shooting control unit,

   The sum of the angle α between the drone direction and the north direction and the angle θ between the north direction and the subject centered on the position coordinates of the drone is calculated as the yaw angle of the camera gimbal,

   An arctangent value obtained by dividing an altitude difference (h _d ) between the subject and the drone by a distance (d) from the drone to the subject is calculated as a roll angle of the camera gimbal.
8. The method of claim 6, wherein the shooting control unit,

   The drone, characterized in that the magnification of the camera is calculated based on the distance (D) between the drone and the subject, the length (D1) of the subject measured by the camera, and the angle of view of the camera.
9. The method of claim 8, wherein the shooting control unit,

   The drone, characterized in that the length (D1) of the subject measured by the camera is calculated based on the following equation.

   [Equation 1]

   

   In Equation 1, D ₂ means the diagonal length of the subject, ∠A means the direction angle of the camera, and ∠B means the diagonal direction angle of a specific area as the subject.
10. According to claim 9,

    The specific area is a rectangle, the location coordinates of the subject are the location coordinates of the center of the subject,

    The drone, characterized in that the diagonal length (D2) of the subject is received from the server or the user terminal through the communication unit.
11. a communication unit for receiving an image captured by a camera mounted on the drone and location coordinates of the drone from the drone;

    an input unit configured to set a specific area from the captured image by a user; an object recognizing unit recognizing the set specific area as a subject;

    a calculation unit that calculates a direction angle and magnification of the camera based on the location coordinates of the drone and the location coordinates of the subject received through the input unit; and

    A signal generator for generating a control signal for controlling the direction angle and magnification of the camera and transmitting the control signal to the drone through the communication unit.

    Subject tracking shooting control device of a drone including a.
12. The method of claim 11, wherein the calculation unit,

    Calculate the sum of the angle (α) between the north direction and the drone traveling direction and the angle (θ) between the north direction and the subject centered on the positional coordinates of the drone as the yaw angle of the camera gimbal,

    Subject tracking of the drone, characterized in that the arc tangent of the value obtained by dividing the altitude difference (hd) between the subject and the drone by the distance (d) from the drone to the subject is calculated as the roll angle of the camera gimbal. filming control device.
13. The method of claim 11, wherein the calculation unit,

    The subject tracking and shooting control device of the drone, characterized in that for calculating the magnification of the camera based on the distance (D) between the drone and the subject, the length (D1) of the subject measured by the camera, and the angle of view of the camera.
14. The method of claim 11, wherein the calculation unit,

    The length D1 of the subject measured by the camera is calculated based on the following equation.

    [Equation 1]

    

    In Equation 1, D ₂ means the diagonal length of the subject, ∠A means the direction angle of the camera, and ∠B means the diagonal direction angle of a specific area as the subject.
15. The method of claim 11, wherein the calculation unit,

    Based on the flight path of the drone, the expected position coordinates of the expected time on the flight path are calculated, and the direction angle and magnification of the camera are calculated based on the calculated expected position coordinates and the position coordinates of the subject. Subject tracking shooting control device of

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