KR101183659B1 - Method for setting flight path and flying object - Google Patents

Abstract

The present invention relates to a method for setting a flight path and a vehicle, and a method for setting a flight path according to an aspect of the present invention includes: displaying a risk factor detected from an image photographed while moving on a map on which a starting point and a destination are set; And calculating a risk level of each of the risk factors, displaying the second risk on the map, and determining a flight path from the starting point to the destination in consideration of the risk level.

Flight path setting, aircraft

Description

Method for setting flight path and flying object}

The present invention relates to a flight path setting method and a vehicle, and relates to a flight path setting method and a vehicle that can set the flight path using the photographed image.

In general, the vehicle will fly through a predetermined flight path. Especially in the case of unmanned aircraft, if you set the starting point and destination, you will move straight distance. However, the unmanned aerial vehicle cannot know exactly what happens during the flight because no person is on board. In particular, when obstacles appearing directly in front of the mountain, for example, a high mountain and a high building, the flight paths cannot be actively modified and set, so that collision with the obstacles cannot be avoided. Alternatively, unmanned aerial vehicles can be seriously damaged if an accident occurs during the movement of a vehicle, such as a fire in some areas, and if the vehicle does not respond to it and proceeds just.

As such, there is a need for a technology capable of actively coping with unexpected situations occurring during movement to modify and set flight paths.

Accordingly, an object of the present invention is to provide a flight path setting method and a vehicle capable of actively correcting and setting a flight path by actively coping with a sudden situation that may occur during movement.

The object of the present invention is not limited to the above-mentioned object, and other objects that are not mentioned will be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a method for setting a flight path, the method comprising: first displaying risk factors detected from an image photographed while moving on a map on which a starting point and a destination are set; Calculating each degree of risk and displaying the second on the map, and determining a flight route from the starting point to the destination in consideration of the degree of risk.

In this case, the first displaying may include detecting hazards including at least one dangerous element such as a terrain, a building, and a fire area from the image.

The detecting may be performed by using color-related characteristics such as chrominance value of the YUV color coordinate system, gray scale value representing RGB value, brightness value, saturation value, and the like. And detecting a pixel having a change in pixel value greater than or equal to a reference value by detecting a previous image and a current image, and detecting an effect caused by a risk factor (eg, smoke).

Alternatively, the second displaying may be to calculate a risk level of the fire area in consideration of environmental information such as vegetation information, humidity information, wind speed information, and seasonal information of the fire area.

According to another aspect of the present invention, a vehicle includes: a camera for photographing a flight path set from a departure point to a destination; a hazard detection module for detecting hazards such as terrain, a building, and a fire zone from the photographed image; And a risk calculation unit configured to calculate and display a risk level on a map, respectively, and a flight path determination unit correcting the flight path from the starting point to the destination in consideration of the risk level.

Here, the risk factor detection module extracts a shape feature of the object photographed from the image to detect a terrain and a building, and uses color-related characteristics such as chromaticity value of the YUV color coordinate system from the image. A risk cause and an effect detection unit for detecting a risk factor such as fire from the image or comparing a previous image with a current image to find a pixel having a change in pixel value greater than a reference value and detecting an effect caused by a risk factor such as smoke. Can be.

The risk calculator may calculate the risk of the fire zone in consideration of environmental information such as vegetation information, humidity information, wind speed information, and seasonal information of the fire zone detected by the fire zone detector.

Alternatively, the risk calculator may calculate the risk by dividing the map into a plurality of blocks, adding weights to the risk factors, and summing weights of the risk factors for each block.

Or the aircraft derives from the image the distance between the GPS module and the previous position and the current position and the terrain or the building from each position, and the position from which the distance and angle are derived from the GPS values acquired by the GPS module. The apparatus may further include a GPS corrector configured to correct the GPS value by comparing a value derived from the image and the value derived from the GPS value.

In this case, the flight path determination unit may correct the flight path in consideration of the corrected GPS value and the risk level indicating the current position of the vehicle.

Specific details of other embodiments are included in the detailed description and the drawings.

According to an embodiment of the present invention, the flight path may be actively modified and set in response to an unexpected situation that may occur while the aircraft is moving. In particular, when the present invention is applied to an unmanned aerial vehicle equipped with a camera for patrol, shooting or surveillance of a certain area, it is possible to use the image taken by the mounted camera to analyze the risk and modify and set the flight path. There is an effect that can achieve the purpose without the introduction of.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and only the embodiments are to make the disclosure of the present invention complete, and the general knowledge in the technical field to which the present invention belongs. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. It is noted that the terms "comprises" and / or "comprising" used in the specification are intended to be inclusive in a manner similar to the components, steps, operations, and / Or additions.

A flight path setting method and a vehicle according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. 1 is a configuration diagram showing a vehicle according to an embodiment, FIG. 2 is a flowchart illustrating a method for setting a flight path according to an embodiment, and FIG. 3 is an exemplary view for explaining a process of extracting a hazard from a captured image. 4 is an exemplary view for explaining a process of displaying the calculated risk on a map, and FIG. 5 is an exemplary view for explaining a process of correcting a GPS value of a vehicle.

First, referring to FIGS. 1 and 2, a vehicle 100 according to an embodiment may include a camera 110, a risk factor detection module 120, a risk calculator 130, and a flight path determiner 140. Include.

The camera 110 photographs a flight path set from a departure point to a destination. For example, if a flight path is initially set from the starting point to the destination on the map, the flight path 100 may photograph the flight path when the aircraft 100 moves along the flight path.

The risk factor detection module 120 detects elements to be a danger when the vehicle 100 moves from the captured image (S210). Risks are detected that include at least one of the possible hazards such as terrain, buildings, fire zones. Therefore, the hazard detection module 120 may include, for example, the terrain building detector 122 and the fire zone detector 124.

For example, the terrain building detector 122 may detect high and low terrain, mountains, hills, and lakes in the captured image. As shown in FIG. 3, the terrain building detector 122 may detect a terrain or a building by extracting shape features of an object photographed from an image. For this purpose, a blob feature extraction method may be performed.

The fire zone detection unit 124 detects a risk cause (eg,) from the image by using color characteristic values such as a chroma scale value, a brightness value, a saturation value representing a chromaticity value or an RGB value of a YUV color coordinate system from the image. Can be. Alternatively, by comparing a previous image with a current image, a pixel having a change in a pixel value greater than or equal to a reference value may be found to detect an effect caused by a risk factor (eg, smoke). The image of the fire area has a red chromatic value, and the smoke moves easily and quickly according to the wind, so the change in the image value will be large. Such fire detection or smoke detection may be performed using an image analysis algorithm provided by a tool such as MATLAB.

Next, the risk calculator 130 calculates the risk of each of the risk factors detected from the risk factor detector 120 (S220). The calculated degree of risk is then displayed on a map showing from the starting point to the destination. For example, the risk calculator 130 divides the map into a plurality of blocks (or expresses each block of the map in a matrix form), and assigns a weight to each risk so that each block (for each element of the matrix) has a risk. Risks can be calculated by summing the weights of the factors. In addition, the risk calculation unit 130 may calculate the risk in consideration of environmental information such as vegetation information (for example, species of coniferous trees, deciduous trees, etc.), humidity information, wind speed information, and seasonal information of the fire zone. have. Here, the vegetation information, humidity information, wind speed information, and seasonal information may be known or stored in advance through information detected from a sensor provided in the vehicle 100.

More specifically with reference to FIG. 4, for example, a weight (“1”) is assigned to a block in which the terrain (mountain or high hill) and the building detected by the terrain building detector 122 are present, and the fire zone detector 124 is provided. The weight of 0.5 can be assigned to a block of the area where the fire detected by. At this time, by using the vegetation information, if the fire zone is a coniferous forest, the weight can be increased further, and if the deciduous forest is the weight, the weight can be reduced. Alternatively, the weight may be increased when the wind speed is faster than the reference value, the humidity is lower than the reference value, or the season is autumn. In the case of coniferous forests, the fires burn well, and if the wind speed is high, the flames spread widely, and if the humidity is low and fall, the fires tend to be larger. Alternatively, where smoke is located, a weight of "0.3" may be assigned.

Based on these results, as shown in FIG. 5, the degree of danger may be displayed for each block representing each region between the starting point A and the destination B on the map. This risk is transmitted to the flight path determination unit 140.

The flight path determination unit 140 may correct and determine the flight path from the departure point A to the destination B in consideration of the risk (S230). For example, the shortest path can be determined without having to go through a block with a risk greater than “0.5”. For example, the shortest path may be determined by calculating the number of blocks passing from the starting point A to the destination B or by summing the lengths of the sides of the passing blocks. You can also increase the number of blocks for finer movement path settings.

In this case, the flight path determination unit 140 may accurately determine the flight path by further considering the position of the current vehicle 100. To this end, the vehicle 100 may further include a GPS module 150, a position calculator 160, and a GPS corrector 170.

Referring to FIG. 5, the GPS module 150 receives a GPS signal to obtain a current position of the vehicle 100, that is, a GPS value. However, a low cost GPS module 150 may be used for the low cost aircraft 100, such as the unmanned aerial vehicle 100. In this case, an error of the GPS value may occur, and thus it is necessary to correct it.

The position calculation unit 160 finds an angle of the terrain (eg, a mountain) viewed from a fixed terrain (for example, a mountain) at a previous (or past) position of the aircraft (UAV), and an angle of the mountain from a current position from an image, and displays the current position from a past position. It also derives the distance to. Then, the distance and angle between the past position, the present position, and the mountain position provided from the GPS module 150 to the past position and the present position are derived. The GPS correction unit 170 compares the value (distance and angle) derived from the image with the value (distance and angle) found from the GPS value and corrects the GPS module 150 when the values are different. It also allows you to calibrate gyroscope values. Alternatively, the GPS correction unit 170 compares the value (distance and angle) derived from the image with the value (distance and angle) found from the GPS value. You can also report.

The flight path determination unit 140 may accurately determine the location of the current vehicle 100 using the corrected GPS value, and determine a path from the current location to the destination.

According to this embodiment of the present invention, the flight path 100 can actively modify and set the flight path for the unexpected situation that can occur during the movement.

In particular, when the present invention is applied to an unmanned aerial vehicle equipped with a camera for patrol, shooting or surveillance of a certain area, it is possible to use the image taken by the mounted camera to analyze the risk and modify and set the flight path. There is an effect that can actively set the flight path without the introduction of.

Meanwhile, in the above description, the risk factor detection module 120 includes the terrain building detection unit 122 and the fire zone detection unit 124 as an example. However, the present disclosure is not limited thereto, and more various detection units may be added. For example, the hazard detection module 120 may include a plurality of slots so that a plurality of detectors may be additionally added, or may be provided with an interface so that software that functions as a detector may be upgraded and added.

Those skilled in the art will appreciate that the present invention can be embodied in other specific forms without changing the technical spirit or essential features of the present invention. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the claims and their equivalents should be construed as being included in the scope of the present invention.

1 is a block diagram showing a vehicle according to an embodiment.

2 is a flowchart illustrating a method for setting a flight path according to an embodiment.

3 is an exemplary diagram for explaining a process of extracting a risk factor from a captured image.

4 is an exemplary diagram for explaining a process of displaying the calculated risk on a map.

5 is an exemplary view for explaining a process of correcting a GPS value of a vehicle.

Claims (10)

delete delete First displaying risk factors detected from an image captured while moving on a map where a starting point and a destination are set; Calculating a risk of each of the risk factors and displaying the second risk on the map; And Determining a flight route from the starting point to the destination in consideration of the risk level, wherein the first displaying step includes: Detecting fire from the image using at least one of a chromaticity value of a YUV color coordinate system, a gray scale value representing an RGB value, a brightness value, and a saturation value; A method of setting a flight path using a captured image comprising at least one step of detecting smoke by comparing a previous image with a current image and finding a pixel having a change in a pixel value exceeding a reference value. Detecting and displaying the risk factors including at least one of a terrain, a building, and a fire zone from an image photographed while moving on a map on which a starting point and a destination are set; Computing the risk of each of the risk factors, if the risk area includes the fire zone, considering the environmental information including at least one of vegetation information, humidity information and seasonal information of the fire zone of the fire zone Calculating a risk and displaying the risk on a second map; And Determining a flight route from the origin to the destination in consideration of the risk Flight path setting method using the captured image comprising a. delete A camera for photographing a flight path set from a starting point to a destination; A risk factor detection module detecting risk factors from the captured image; A risk calculator for calculating risks of the risk factors and displaying them on a map; And Including the flight path determining unit for modifying the flight path from the starting point to the destination in consideration of the risk; The risk factor detection module includes a terrain building detection unit extracting shape features of the object photographed from the image to detect a terrain and a building, a gray scale value representing a chromaticity value and an RGB value of a YUV color coordinate system from the image, Fire is detected from the image using at least one of the brightness and saturation values, or the pixel is changed to a value greater than or equal to the reference value by comparing the previous image with the current image. Comprising a hazardous area detection unit for detecting Flying vehicle. The method of claim 6, wherein the risk calculator Calculating a risk level of the dangerous area in consideration of environmental information including at least one of vegetation information, humidity information, wind speed information, and seasonal information of the dangerous area detected by the dangerous area detection unit; Flying vehicle. The method of claim 6, wherein the risk calculator Dividing the map into a plurality of blocks, weighting each of the risk factors, and adding the weights of the risk factors for each block to calculate the risk Flying vehicle. delete The method of claim 6, GPS module; A position calculator for deriving the distance between the previous position and the current position and the angle with the terrain or the building from each position from the image, and deriving the distance and angle from the GPS values acquired by the GPS module; And And a GPS correction unit configured to correct the GPS value by comparing the value derived from the image with the value derived from the GPS value. The flight path determining unit corrects the flight path in consideration of the corrected GPS value indicating the current position of the vehicle and the risk. Flying vehicle.

Images