KR101779255B1 - Automatic navigation and communication possible drones operating system - Google Patents

Abstract

More particularly, the present invention relates to an unmanned aerial vehicle having a power source and capable of self-moving, a navigation control unit for controlling the unmanned airplane along an input route provided in the unmanned airplane, A control unit for transmitting route data to the route control unit using a wireless network, an image recognition unit for recognizing a specific object by acquiring peripheral images in real time on the unmanned airplane, And a communication unit for transmitting and receiving acoustic data of the image data and the microphone unit of the image recognition unit to and from the control unit, The unmanned airplane is automatically flown toward the object by the route control unit, And outputs sound to transmit bi-directional information.
According to the present invention as described above, the directional sound is automatically outputted to the target position along the set course, the directional sound is outputted toward the target, the image and sound of the target or the target surroundings can be acquired and can be confirmed in real time, It is possible to improve the accuracy of information transmission and to transmit real time information at a long distance.

Description

[0001] The present invention relates to an automatic navigation and communication capable drones operating system,

The present invention relates to an unmanned aerial vehicle system, and more particularly, to an unmanned aerial vehicle system capable of automatically acquiring images and sounds by automatically flying to a specific object located at a remote location, transmitting information to a specific object by sound, And more particularly, to an automatic navigation system and an information-delivering unmanned aerial vehicle system.

In general, unmanned aerial vehicles, unmanned robots, and the like are often used to acquire information on areas where human beings are difficult to approach.

In one embodiment, as described in the conventional patent document 10-2013-0126300, an optimal route is calculated using a flight vehicle, and then the image is photographed to monitor the presence of forest fire.

However, the forest fire monitoring system in the prior art has a problem that the unmanned aerial vehicle can not respond quickly because it confirms whether the unmanned aerial vehicle is on fire after checking the images and comparing the color distribution.

Here, in the case where the specific object is a person, even if the position of the person is grasped, since a certain time has elapsed, it is difficult to transmit the information to the person.

For example, when a person is found in many grand open spaces or amusement parks, there is a problem that can not be quickly found even if a conventional method is used to find a child.

Accordingly, there is an urgent need to develop a technique for promptly transferring information, as well as promptly moving and checking real-time images, in order to transfer information quickly to a specific object.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a route control apparatus and a route control method for an unmanned airplane, An image recognition unit for acquiring a surrounding image in real time in the unmanned airplane and recognizing a specific object, an acoustic output unit for outputting sound in the unmanned airplane, And a communication unit for transmitting and receiving the image data of the image recognition unit and the sound data of the microphone unit to and from the control unit. The unmanned airplane automatically flies toward the object by the route control unit, Real-time video and sound are acquired, and audio is output to transmit bidirectional information. And it aims to provide a communication system capable unmanned flight.

According to another aspect of the present invention, there is provided a navigation system including a unmanned airplane having a power and capable of moving by itself, a navigation controller for controlling the unmanned airplane along an input route provided in the unmanned airplane, A controller for transmitting data, an image recognition unit provided in the unmanned airplane to acquire a peripheral image in real time to recognize a specific object, an acoustic output unit provided in the unmanned airplane for outputting sound, And a communication unit for transmitting and receiving the sound data of the image data and the microphone unit of the image recognition unit to and from the control unit, wherein the unmanned airplane is automatically controlled by the navigation control unit After flight, acquire image and sound, and output sound to enable bi-directional information transmission. .

Preferably, the control unit sets the route according to a signal or coordinates generated in the object.

The wireless network used by the control unit and the communication unit is at least one of a GPS and an LTE network.

The image recognizing unit may include an image camera for capturing an image, and an image discriminating unit for discriminating a specific object from the image acquired by the image camera.

A first position identifying unit for identifying the position of the unmanned airplane in real time on the unmanned airplane, a second position identifying unit for identifying the position of the specific object recognized by the image recognizing unit, Further comprising a navigation unit configured to compare the second location data with the second location data to generate new route data and transmit the new data to the control unit. When the location of the specific object is identified by the image recognition unit, To adjust the route.

The distance measuring unit may further include a distance measuring unit for measuring a distance using a laser, and the route adjusting unit may further include a distance measuring unit for measuring a distance measured by the distance measuring unit in a state of knowing the altitude of the unmanned airplane A new route data is generated by calculating a horizontal straight line distance from a specific object using a laser irradiation angle based on an object, a straight line distance, and a horizontal line.

The sound output unit outputs a directional sound, and outputs the sound transmitted from the control unit toward a specific object.

The sound output unit may include a first sound output unit for outputting a general sound and a second sound output unit for outputting a directional sound, and after the unmanned airplane moves to a destination position along the route, A name of a specific object is output through the first sound output unit to obtain a face of a responding object, and the image discriminating unit discriminates a specific object.

An infrared sensor is further included in the unmanned airplane, and the obstacle is discriminated by the infrared sensor, and shape data of the obstacle discriminated by the infrared sensor is transmitted to the route adjusting unit to generate new route data for avoiding the obstacle.

As described above, according to the automatic navigation system and the information-transferable unmanned airship flight system according to the present invention, a directional sound is automatically output toward a target in accordance with a set route and a directional sound is output toward the target, And it is a very useful and effective invention that not only improves the accuracy of information transmission but also enables real-time information transmission from a remote place as information can be transmitted through conversation.

FIG. 1 is a diagram illustrating an automatic navigation system and an information-transferable unmanned aerial vehicle system according to the present invention,
FIG. 2 is a view schematically showing an automatic navigation system and an information-transferable unmanned aerial vehicle according to the present invention,
3 is a diagram illustrating an image recognition unit according to the present invention,
4 is a view showing a state in which an airway control unit is further included in the automatic navigation system and the information-transferable unmanned aerial vehicle according to the present invention,
FIG. 5 is a diagram showing a flight state by the flight control unit of the present invention,
6 is a diagram showing a flight state by an acoustic output unit according to another embodiment of the present invention,
7 is a view showing a state in which a distance measuring unit is further included in the automatic navigation system and the information transferable unmanned aerial vehicle of the present invention,
FIG. 8 is a view illustrating a state in which an infrared sensor is further included in the automatic navigation system and the information-transferable unmanned aerial vehicle of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description, together with the accompanying drawings, is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention may be practiced without these specific details.

In some instances, well-known structures and devices may be omitted or may be shown in block diagram form, centering on the core functionality of each structure and device, to avoid obscuring the concepts of the present invention.

Throughout the specification, when an element is referred to as "comprising" or " including ", it is meant that the element does not exclude other elements, do. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have. Also, the terms " a or ", "one "," the ", and the like are synonyms in the context of describing the invention (particularly in the context of the following claims) May be used in a sense including both singular and plural, unless the context clearly dictates otherwise.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

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

FIG. 1 is a diagram illustrating a diagram of an automatic navigation system and an information-transferable unmanned aerial flight system according to the present invention. FIG. 2 is a schematic view of an automatic navigation system and an information- FIG. 3 is a view showing an image recognition unit according to the present invention, FIG. 4 is a view showing a state in which an airway control unit is further included in an automatic navigation system and an information-transferable unmanned aerial vehicle according to the present invention, FIG. 6 is a view showing a state of flight by the sound output unit of another embodiment of the present invention, and FIG. 7 is a view showing the state of flight of the automatic navigation and information- FIG. 8 is a view showing a state in which the infrared sensor is further included in the automatic navigation system and the information-transferable unmanned aerial vehicle according to the present invention. Diagram.

As shown in the figure, an automatic navigation system and an information transmitting capable unmanned airplane (UAV) system includes a UAV 100, a route controller 200, a controller 300, an image recognition unit 400, an acoustic output unit 500, (600) and a communication unit (700).

The unmanned airplane (100) has power and is self-moving, and it is natural that the unmanned airplane (100) is capable of taking off and landing and steering.

In one embodiment, a dron with a plurality of propellers is preferably used to maintain position and posture at a certain elevation.

The route control unit 200 is provided in the UAV 100 and controls the UAV 100 along the input route.

The control unit 300 is provided to transmit route data to the route control unit 200 using a wireless network, and controls the UAV 100 at a remote location.

The control unit 300 may be a PC or a smart phone.

The image recognition unit 400 is provided in the UAV 100 to recognize a specific object A by acquiring a peripheral image in real time. Preferably, the specific object is a person.

The sound output unit 500 is provided in the UAV 100 to output sound and the microphone unit 600 is provided in the UAV 100 to acquire external sound in real time.

The communication unit 700 is provided to transmit image data of the image recognition unit 400 and sound data of the microphone unit 600 to and from the control unit 300.

The unmanned airplane 100 can automatically transmit a bidirectional information by acquiring an image and sound after outputting a sound after automatically flying toward a specific object A by the route control unit 200.

Here, the image recognition unit 400 may be configured to store information such as a video or an image of the specific object A in advance, and may transmit data to the control unit 300 as needed.

As shown in FIG. 3, the image recognition unit 400 includes an image camera 410 and an image discrimination unit 420.

The image camera 410 is provided in the UAV 100 for capturing an image and the image discriminating unit 420 is provided for discriminating a specific object A from the image acquired by the image camera 410.

Here, the image discrimination unit 420 may be provided in the UAV 100 or separately from the UAV 100.

In other words, the image determination unit 420 may be provided in the vicinity of the control unit 300.

The image discrimination unit 420 may confirm the specific object A by the observer who confirms the real-time image or by using the data of the specific object A stored in the database (not shown).

Then, the control unit 300 sets the route according to the signal or coordinates generated in the specific object A.

In other words, when a signal is tracked, a device capable of generating a signal around a specific object A or a specific object A is provided, and a path is set or a path is set according to a signal generated.

In addition, the sound output unit 500 according to an embodiment of the present invention outputs a directional sound, and outputs the sound transmitted from the control unit 300 toward a specific object A.

In other words, after the UAV 100 moves along the route set for the specific object A, the directional sound is output to the specific object A through the acoustic output unit 500.

The sound generated from the specific object A or its surroundings is acquired through the microphone unit 600 and the acquired sound is transmitted to the control unit 300 through the communication unit 700, Real-time conversation is also possible.

The wireless network used in the control unit 300 and the communication unit 700 is communicated through at least one of the GPS and the LTE network. It is obvious that the wireless network can be used in other systems capable of wireless communication.

As shown in FIG. 4, the first positioning unit 800, the second positioning unit 900, and the route adjusting unit 1000 are further included in the automatic navigation system and the information transferable unmanned aerial vehicle system.

The first position check unit 800 is provided in the UAV 100 to check the position of the UAV 100 in real time and confirms the coordinates and altitude of the UAV 100.

Of course, the position of the UAV 100 can be confirmed in real time by the control unit 300, but when the obstacle such as a communication failure or a malfunction occurs, And a confirmation unit 800 is provided.

The second position checking unit 900 is provided to check the position of the specific object A recognized by the image recognizing unit 400. [

In other words, the second position check unit 900 confirms the real-time position of the specific object A by confirming the position of the specific object A capable of real-time movement through the acquired image data.

The route adjusting unit 1000 compares the first position determining unit 800 with the second position determining unit 900 to generate new route data and then transmits the new route data to the control unit 300 so that the route is corrected in real time.

5, when the UAV 100 moves along the route and is close to the specific object A, the position of the specific object A through the image recognition unit 400 The route adjusting unit 1000 generates route data in real time and adjusts the route.

Accordingly, the specific object A can be accurately accessed, and information transmission and collection can be made clearer.

Such an automatic navigation and informative unmanned aerial vehicle system is used to locate and deliver information about a specific object (A).

In one embodiment, the location of a child can be identified in many large open spaces, amusement parks, and the like, and quickly responded.

Also, it is possible to confirm the position of the children at a long distance and to transmit information, and to directly communicate with the sound output unit 500 through the microphone unit 600.

In order to use the automatic navigation system and the information-transferable unmanned aerial flight system, information is registered by joining the server, and the personal control unit 300, such as a PC or a smartphone, can also be set and used easily.

Meanwhile, as shown in FIG. 6, the sound output unit 500 'of another embodiment includes a first sound output unit 510' and a second sound output unit 520 '.

Preferably, the first sound output unit 510 'outputs a general sound and the second sound output unit 520' outputs a directional sound.

A method of moving to the specific object A using the sound output unit 500 'will be described. First, the UAV 100 moves to a destination position along the route, Real-time shooting.

In the embodiment of the present invention, only the first sound output unit 510 'is output when the number of persons sensed by the image camera is one, and when a plurality of people are detected, the second sound output unit 520' It is preferable to output a directional sound. At this time, since it is highly likely that an object showing a response (such as turning a head) to an emitted sound (e.g., a name call) is the target to be searched for, And determines whether the specific object A is present or not in the image determination unit 420. At this time, acquisition of face information and image discrimination can be accomplished through a known image processing technique, and therefore, a detailed description thereof will be omitted.

As shown in FIG. 7, the distance measuring unit 1100 for measuring the distance using the laser may be further included in the UAV 100.

The route adjusting unit 1000 confirms the specific object A and the straight line distance L measured through the distance measuring unit 1100 in a state of knowing the altitude B of the UAV 100 .

The route adjusting unit 1000 calculates a horizontal straight line distance D with respect to the specific object A using the laser irradiation angle C with reference to the horizontal line through the distance measuring unit 1100 to generate new route data do.

As shown in FIG. 8, the UAV 100 further includes an infrared sensor 1200.

The infrared sensor 1200 identifies the obstacle E and transmits the determined shape data of the obstacle E to the route adjusting unit 1000 to generate new route data for avoiding the obstacle E, Avoidance flight becomes possible.

As described above, the client agent and the security agent can be installed in the user terminal, and the client agent and the security agent can be mounted and operated in the management terminal separate from the user terminal. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

100: unmanned airplane 200: route control unit
300: control unit 400: image recognition unit
500: Acoustic output unit 600: Microphone unit
700: communication unit 800: first position check unit
900: second position check unit 1000: route control unit
1100: Distance measuring part 1200: Infrared sensor

Claims (9)

A motorized, self-propelled drone;
A route control unit for controlling the unmanned airplane along the route entered in the unmanned airplane;
A control unit for transmitting route data to the route control unit using a wireless network;
An image recognition unit provided in the unmanned airplane to acquire a peripheral image in real time to recognize a specific object;
An acoustic output unit provided in the unmanned airplane and outputting sound;
A microphone unit provided in the unmanned airplane and acquiring external sound in real time; And
And a communication unit for transmitting and receiving the image data of the image recognition unit and the sound data of the microphone unit to and from the control unit,
The unmanned airplane is capable of acquiring images and sound after automatically flying toward the object by the route control unit, outputting sounds and transmitting bidirectional information,
A first position checking unit provided in the unmanned airplane to confirm the position of the unmanned airplane in real time;
A second position identifying unit for identifying a position of a specific object recognized by the image recognizing unit; And
Further comprising: a route adjusting unit for comparing the first location determining unit and the second location determining unit to generate new route data and transmitting the new route data to the control unit,
When the position of a specific object is checked in the image recognition unit, the route adjusting unit adjusts the route by generating route data in real time,
A distance measuring unit for measuring a distance using a laser is further included in the unmanned airplane,
The route adjusting unit,
Calculating a horizontal straight line distance between the specific object and the specific object using the laser irradiation angle based on the straight line distance and the horizontal line measured by the distance measuring unit in a state of knowing the altitude of the unmanned airplane flying in place, Data,
Further comprising an infrared sensor on the unmanned airplane,
And an avoidance flight is possible by generating new route data for avoiding the obstacle by transmitting the shape data of the obstacle discriminated by discriminating the obstacle by the infrared sensor to the route adjusting unit, Unmanned flight system. The apparatus according to claim 1,
Wherein the route is set according to signals and coordinates generated in the object.
The method according to claim 1,
Wherein the wireless network used by the control unit and the communication unit is at least one of a GPS and an LTE network.
2. The image processing apparatus according to claim 1,
A video camera for capturing an image; And
And an image discrimination unit for discriminating a specific object from the image acquired by the image camera.
delete delete The method according to claim 1,
Wherein the sound output unit outputs a directional sound and outputs the sound transmitted from the control unit toward a specific object. 5. The method of claim 4,
The sound output unit includes:
A first sound output unit for outputting general sound; And
And a second sound output unit for outputting a directional sound,
The method according to claim 1, further comprising the step of, after moving the unmanned airplane to a target position along the route, capturing a surrounding image in real time by the image camera, outputting a name of a specific object through the first sound output unit, And the image discrimination unit discriminates a specific object. delete

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