KR101648680B1 - Unmanned Aerial Vehicle - Google Patents
Unmanned Aerial Vehicle Download PDFInfo
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- KR101648680B1 KR101648680B1 KR1020150162698A KR20150162698A KR101648680B1 KR 101648680 B1 KR101648680 B1 KR 101648680B1 KR 1020150162698 A KR1020150162698 A KR 1020150162698A KR 20150162698 A KR20150162698 A KR 20150162698A KR 101648680 B1 KR101648680 B1 KR 101648680B1
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- South Korea
- Prior art keywords
- information
- living
- image data
- organism
- unmanned airplane
- Prior art date
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- 238000004891 communication Methods 0.000 claims abstract description 25
- 230000036760 body temperature Effects 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims description 22
- 241000894007 species Species 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 17
- 230000000694 effects Effects 0.000 claims description 7
- 239000000284 extract Substances 0.000 abstract description 11
- 241000287127 Passeridae Species 0.000 description 14
- 244000144992 flock Species 0.000 description 14
- 241000272517 Anseriformes Species 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000012545 processing Methods 0.000 description 8
- 241000272814 Anser sp. Species 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 238000011160 research Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 241000271566 Aves Species 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013468 resource allocation Methods 0.000 description 2
- 241000272161 Charadriiformes Species 0.000 description 1
- 241000288673 Chiroptera Species 0.000 description 1
- 241000238631 Hexapoda Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 241000287133 Passer montanus Species 0.000 description 1
- 241000199919 Phaeophyceae Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
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- 230000001617 migratory effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- G06K9/00778—
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- G06K9/6204—
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- B64C2201/127—
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- B64C2201/141—
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- B64C2201/145—
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
Description
More specifically, it relates to a drone that tracks life and collects data related to life.
As science and technology develops today, research on individual species, population numbers or survival areas of living organisms is being conducted using various electronic devices. However, most of the rare or endangered species still have difficulties in the process of investigation because they are still alive in a wild environment where human access is difficult.
Conventional Korea Meteorological Administration has published and used research on methods for predicting and detecting movements of birds, bats or insects using weather radars that predict rainfall or precipitation probabilities. However, there is a limitation that observation methods using weather radar are limited to studies related to large-scale habitat or migration, and there is also a problem due to high cost of the weather radar itself.
According to one aspect of the present invention, there is provided a unmanned airplane, which analyzes the number and location of objects related to the living organism using image data including living organisms, and transmits the analyzed information to a control center. Wherein the unmanned airplane comprises an image acquisition unit for acquiring first image data including body temperature information of a living organism, a calculation unit for extracting contours of the first image data and calculating the number of living things using the contour, And a communication unit for receiving the satellite navigation information related to the airplane and transmitting the location information of the living organ determined based on the satellite navigation information and the number of the objects to the control center.
According to an embodiment, the calculation unit may calculate the pixel having the slope of the pixels of the first image data equal to or greater than a predetermined threshold as the outline.
According to another embodiment, the unmanned airplane may further include a controller for moving the UAV so that a representative position of the creature is located at a central point of the first image data. In addition, the calculation unit may calculate the representative position of the creature using the positional information of the pixel corresponding to the contour line. Also, the calculation unit may calculate the movement path of the living body using the satellite navigation information and the representative position, and the communication unit may transmit the movement path to the control center.
According to another embodiment, the unmanned airplane may further include a database storing identification information of the creature. In addition, the calculation unit may calculate at least one of the length and the width of the organism using the contour line, and compare the length and the width with the identification information.
According to another embodiment, the unmanned airplane may further include a database storing identification information of the creature. In addition, the image acquiring unit acquires second image data including the activity information of the organism, and the calculating unit may compare the color of the organism extracted using the second image data with the identification information. In addition, the calculation unit may determine whether or not to fly the organism using the second image data, and calculate at least one of the length of the wing of the organism and the length of the petite calculated on the basis of the contour during flight of the organism, It can be compared with information. More specifically, the calculation unit determines at least one of an individual species candidate and individual species information of the organism according to a result of the comparison, and the communication unit transmits at least one of the individual species candidate and the species species information to the control center Lt; / RTI >
According to another aspect, there is provided a unmanned airplane that communicates with a living observing device installed at a predetermined location to automatically collect and update data associated with living creatures. Wherein the unmanned airplane comprises a control unit for moving the UAV to a living organism observing apparatus installed at a pre-designated position, and a controller for transmitting a command signal for turning on the network connection of the living observing apparatus and receiving data related to living creatures from the living observing apparatus And a communication unit. More specifically, the data may include at least one of thermal infrared image data, visible region image data, temperature information, humidity information, and sound information.
According to an embodiment, the communication unit of the unmanned airplane may receive time tag information related to the living organism observed from the outline of the thermal infrared image data from the living organism observing apparatus.
According to another embodiment, the communication unit may receive residual battery information of the living observing apparatus from the living observing apparatus.
According to another embodiment, the communication unit may transmit a command signal related to the memory initialization of the living observing apparatus to the living observing apparatus.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating an operation of a UAV that tracks a creature according to an exemplary embodiment of the present invention; FIG.
FIG. 2 is a diagram illustrating an outline of image data extracted by an unmanned aerial vehicle according to an exemplary embodiment of the present invention. Referring to FIG.
FIGS. 3A, 3B, and 3C are diagrams for explaining a configuration in which an unmanned airplane according to an exemplary embodiment controls a moving direction and a moving speed according to movement of living creatures. FIG.
4 is a block diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present invention.
5 is an exemplary view illustrating an operation of a UAV that transmits and receives data to and from a living observing apparatus according to an exemplary embodiment of the present invention.
6 is a flowchart illustrating a method of communicating an unmanned aerial vehicle and a living observation device according to an exemplary embodiment of the present invention.
Specific structural or functional descriptions of embodiments are set forth for illustration purposes only and may be embodied with various changes and modifications. Accordingly, the embodiments are not intended to be limited to the particular forms disclosed, and the scope of the present disclosure includes changes, equivalents, or alternatives included in the technical idea.
The terms first or second, etc. may be used to describe various elements, but such terms should be interpreted solely for the purpose of distinguishing one element from another. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.
It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected or connected to the other element, although other elements may be present in between.
The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises ", or" having ", and the like, are used to specify one or more of the described features, numbers, steps, operations, elements, But do not preclude the presence or addition of steps, operations, elements, parts, or combinations thereof.
Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning of the context in the relevant art and, unless explicitly defined herein, are to be interpreted as ideal or overly formal Do not.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating an operation of a UAV that tracks a creature according to an exemplary embodiment of the present invention; FIG. Referring to FIG. 1, there is shown a
Today, rare species or endangered species, which have a relatively high research value compared to other life forms, are found to be inhabited in a natural environment where human access is difficult. More specifically, the rare or endangered species may reside in an uninhabited island area, a deep mountain valley, a cliff, or a swamp.
Conventionally, in order to collect data related to the ecology of these living things and to carry out studies on ecology, most of ecologists have to move directly to the book area or the mountainous area, and it takes a lot of resources and time to observe living things The research was conducted in a way. In addition, there is an observation method using an electronic device such as a configuration using a weather radar for observing a living body or a configuration for installing an observation camera. However, in order to directly track an organism to be measured, There are limitations.
When the
A more detailed description of the specific operation of the
FIG. 2 is a diagram illustrating an outline of image data extracted by an unmanned aerial vehicle according to an exemplary embodiment of the present invention. Referring to FIG. Referring to FIG. 2,
The unmanned airplane can set an object corresponding to a predetermined temperature range and determine whether
Illustratively, the unmanned airplane can track tree sparrows in urban areas. Sparrows are brown algae that survive throughout Eurasia and have an average body temperature of 43 ° C. Accordingly, the unmanned airplane can use the database information associated with the sparrow described above to set the urban area as the flight area, and track the object having a temperature range of 41 ° C to 45 ° C.
Assume that the unmanned airplane acquires the
Illustratively, the unmanned airplane can calculate pixels having the maximum or minimum points of pixel data in the acquired thermal image data as a component of the contour line. More specifically, the unmanned airplane may calculate, as the contour line, an edge line in which the pixel value of the data is suddenly changed in comparison with the neighboring pixel.
In addition, the unmanned airplane can use the extracted contour to calculate information on the number of living things. More specifically, the number of individuals can correspond to a closed curve within the set comprising the contours. The unmanned airplane can calculate the number of living things by calculating the number of closed curves included in the extracted contour line and calculating the length of the long axis or short axis appearing in the closed curve and comparing with the database related to living creatures. In this specification, the long axis may represent the farthest distance between pixels in the closed curve, and the short axis may represent the closest distance between pixels in the closed curve in a direction perpendicular to the long axis.
In one embodiment, the unmanned airplane can compare the pixel data of each pixel in the
In the case of the embodiment shown in FIG. 2, the unmanned airplane can extract the four
In one embodiment, the
In addition, the UAV can judge the
According to the present embodiment, the unmanned airplane can extract only the outline of a predetermined temperature range from the
FIGS. 3A, 3B, and 3C are diagrams for explaining a configuration in which an unmanned airplane according to an exemplary embodiment controls a moving direction and a moving speed according to movement of living creatures. FIG. Referring to FIG. 3A, a
However, the embodiment is drone (320) is observed
Referring to FIG. 3B, the
The
The
In Equation (1), K is the total number of pixels included in the contour of the
Referring to FIG. 3C, the
Illustratively, assume that the unmanned airplane has not moved in place between the reference times T 1 and T 2 . If the
In addition, the
Illustratively, FIGS. 3B and 3C show a configuration for calculating a representative position using two-dimensional position data corresponding to a pixel, but this may also be applied to three-dimensional position data. When the image data acquired by the
4 is a block diagram of an unmanned aerial vehicle according to an exemplary embodiment of the present invention. Referring to FIG. 4, there is shown a block diagram of an
The
The
In addition, the
In one embodiment, the
In addition, the
The
For example, the
The
In addition, the
The
The
5 is an exemplary view illustrating an operation of a UAV that transmits and receives data to and from a living observing apparatus according to an exemplary embodiment of the present invention. Referring to FIG. 5, there are shown two
Therefore, in order to investigate the ecology of these endangered species or rare species, scientists have difficulties in collecting relevant data for a limited time in protected areas.
However, the living
The
In one embodiment, the first
In another embodiment, the second
In the case of using the
6 is a flowchart illustrating a method of communicating an unmanned aerial vehicle and a living observation device according to an exemplary embodiment of the present invention. Referring to FIG. 6, a
The
Accordingly, the
The
However, in a case where the
The
The
The embodiments described above may be implemented in hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, such as an array, a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.
The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.
The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.
Although the embodiments have been described with reference to the drawings, various technical modifications and variations may be applied to those skilled in the art. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.
Claims (12)
A calculation unit for extracting an outline of the first image data and calculating the number of living things using the outline;
A communication unit for receiving satellite navigation information related to an unmanned airplane and transmitting the location information and the number of the living bodies determined based on the satellite navigation information to a control center; And
A database storing identification information of the organism
Lt; / RTI >
Wherein the image acquiring unit acquires second image data including activity information of the organism, the calculating unit compares the color of the organism extracted using the second image data with the identification information, For comparing the at least one of the wing span and the petite length of the creature calculated on the basis of the contour during flight of the creature with the identification information, .
Wherein the calculation unit determines at least one of the individual species candidate and the species species information of the organism according to a result of the comparison, and the communication unit transmits the at least one of the individual species candidate and the species species information to the control center .
A communication unit that transmits a command signal to turn on the network connection of the living organism observation device and receives data related to living creatures from the living organism observation device;
Lt; / RTI >
Wherein the data includes at least one of thermal infrared image data, visible region image data, temperature information, humidity information, and sound information.
Wherein the communication unit receives time tag information related to the living organism observed using the outline of the thermal infrared image data from the living organism observing apparatus.
Wherein the communication unit receives remaining battery information of the living organism observing apparatus from the living observing apparatus.
Wherein the communication unit transmits a command signal related to the memory initialization of the living organism observing apparatus to the living organism observing apparatus.
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108089205A (en) * | 2017-12-21 | 2018-05-29 | 成都大学 | A kind of unmanned plane flies to control personnel location system |
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KR20040083661A (en) * | 2003-03-24 | 2004-10-06 | 주식회사 에스원 | Appratus and method for extracting subject in observing camera |
KR20150031530A (en) * | 2013-09-16 | 2015-03-25 | 주식회사 에스원 | Method and apparatus for video surveillance by using surveillance apparatus of unmanned aerial vehicle |
KR101536095B1 (en) * | 2015-01-14 | 2015-07-13 | 농업회사법인 주식회사 에이치알제주 | Grassland management system using drone |
KR20150098485A (en) * | 2014-02-20 | 2015-08-28 | 주식회사 콕스 | Automatic focuser of thermal imaging camera and method thereof |
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2015
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Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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KR20040083661A (en) * | 2003-03-24 | 2004-10-06 | 주식회사 에스원 | Appratus and method for extracting subject in observing camera |
KR20150031530A (en) * | 2013-09-16 | 2015-03-25 | 주식회사 에스원 | Method and apparatus for video surveillance by using surveillance apparatus of unmanned aerial vehicle |
KR20150098485A (en) * | 2014-02-20 | 2015-08-28 | 주식회사 콕스 | Automatic focuser of thermal imaging camera and method thereof |
KR101536095B1 (en) * | 2015-01-14 | 2015-07-13 | 농업회사법인 주식회사 에이치알제주 | Grassland management system using drone |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108089205A (en) * | 2017-12-21 | 2018-05-29 | 成都大学 | A kind of unmanned plane flies to control personnel location system |
CN108089205B (en) * | 2017-12-21 | 2021-02-02 | 成都大学 | Unmanned aerial vehicle flies accuse personnel positioning system |
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