KR101715300B1 - The method of ensuring visibility using drone when get on and off and the system of them - Google Patents

Abstract

The method includes the steps of determining whether a door of a van is open or closed, photographing the periphery of the van by operating a dron when the door is opened, determining whether there is a person in the danger zone within a predetermined distance from the van, , A warning to the driver when it is determined that there is a person in the dangerous area, a method of securing a vision for getting on and off with a dron including the step of returning the dron when it is determined that no person is present in the dangerous area and the door is closed .
According to the present invention, it is possible to secure a view of a passenger in and out of a vehicle by using a dron according to the present invention, and to transmit a visual field of a blind spot to a driver by using a dronon when getting on and off. It has the effect of preventing accident, and it is possible to operate the drone at low cost because it is possible to shoot while moving the drone.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of securing a vision in a ride on and off state using a drone,

[0001] The present invention relates to a method and system for securing visibility during boarding and landing using a drones, and more particularly, to a method and system for securing visibility using a dron flying around a vehicle when boarding or getting off.

In general, educational facilities such as kindergartens, daycare facilities, schools, and academies use various types of multiplying vehicles such as vans or buses as a means of transporting children to the destination after moving to the promised places while moving.

However, if children's cognitive abilities are not fully developed, there is a high risk of accidents caused by vehicles moving around the van. In addition to the carelessness of such children, the children are less likely to find drivers in blind spots because of their small size, so care needs to be taken to prevent accidents.

Conventionally, there has been an effort to solve the above-described problems by providing a camera with a large number of cameras installed on a vehicle body to provide an image of a rectangular area. Such a technique is disclosed in Korean Patent Registration No. 1403993.

However, this conventional technique has a disadvantage that it is inconvenient and inconvenient because a plurality of cameras must be installed, the installation cost is high, and a risk is judged by viewing all the plurality of images.

Korean Patent No. 1403993

An object of the present invention is to provide a system for securing a vision for getting on and off by using a dron for solving an inconvenient and inconvenient problem, which is expensive to install in view of a conventional vans.

According to the present invention, there is provided a method for solving the above problems, comprising the steps of: determining whether a door of a van is opened or closed; photographing a periphery of the van by operating a dron when opening the door; Determining whether there is a person in the area, warning the driver if it is determined that there is a person in the danger area, returning the dron when it is determined that there is no person in the danger area and the door is closed A view securing method can be provided when getting on and off.

At this time, the step of photographing the vicinity of the van may be configured such that the dron is photographed from the upper side of the van.

The step of photographing the vicinity of the van may be configured to photograph the rear of the door and the van. An image is acquired using the van around the van as a subject by using a dragon flying at a predetermined distance from the van, The step of determining whether a person is present in the dangerous area may be configured to analyze and determine the obtained image.

Further, the step of photographing the vicinity of the van may be configured to use a dragon that moves and flies above the van to photograph an image of the driver's side blind spot.

The controller may further comprise a drone control step of receiving an operation input from the driver and controlling the drone so that the driver can photograph a desired area.

At this time, the operation input of the drone control step may be configured to receive the input from the input unit input to the driver's seat of the van.

Further, the method may further include a display step of displaying an image photographed after the step of photographing the vicinity of the van, using a display unit provided in the cockpit, and the operation input of the control step may be inputted using a touch screen of the display unit.

At this time, the step of judging whether there is a person in the dangerous area may be judged as not dangerous if there is no person in the photographed image.

On the other hand, whether the door is opened or closed can be judged according to the operation of the door opening / closing switch of the driver.

The vehicle control system may further include a vehicle control step of controlling driving of the vehicle so that the van can not start during a warning to the driver.

Further, after the step of warning the driver, if the person in the dangerous area is located in the dangerous area for a predetermined time or more, the risk notification may be performed to the person in the dangerous area with the drones.

At this time, the step of photographing the vicinity of the van can be performed using a dron equipped with an infrared camera so that photographing at night is possible.

Then, the van can become a schooling vehicle.

A display unit for displaying an image photographed by the dron, a risk judging unit for judging whether a person is located in a dangerous area within a predetermined distance from the van, A control unit for detecting a shedding of a doorway, operating a doorway when opening the doorway, generating a warning signal when a person is located in a dangerous area when the door is closed, and a warning A landing and landing visual confirmation system using a dron including a part can be provided.

At this time, the drone can be controlled to shoot the image from the upper side of the van with the object up to a point spaced from the van and the van by a predetermined distance.

Then, the risk judgment unit can analyze the image photographed by the drones to judge whether the person is located in the dangerous area.

Further, the control unit may generate the home position signal to return the drones when the person is not located in the dangerous area when the door is closed.

The control unit may further include an input unit for receiving an operation input from a user so as to move the position of the drones, and the control unit may control the position of the drones according to the operation input.

Further, the drones may be configured to further include an infrared camera so that photographing is possible at night.

According to the present invention, it is possible to secure a view of a passenger in and out of a vehicle by using a dron according to the present invention, and to transmit a visual field of a blind spot to a driver by using a dronon when getting on and off. It has the effect of preventing accident, and it is possible to operate the drone at low cost because it is possible to shoot while moving the drone.

FIG. 1 is a conceptual diagram of a method of securing a view during a getting on and off using a dron according to a first embodiment of the present invention.
2 is a flow chart of the first embodiment.
3 is a signal flow diagram of the first embodiment.
FIG. 4 is a diagram showing an image acquired by the drone in the first embodiment. FIG.
5 is a diagram showing an image in which a dangerous area is set in the first embodiment.
Fig. 6 is a conceptual diagram showing the concept of manipulating the photographing position of the drones in the first embodiment.
FIG. 7 is a conceptual diagram of a view securing method for getting on and off using the dron according to the second embodiment.
FIG. 8 is a conceptual diagram of a view-and-stay system for getting on and off using a dron according to the third embodiment.
Fig. 9 is an enlarged view of the drones of Fig. 8. Fig.

Hereinafter, a method of securing a view on boarding and landing using a dron according to an embodiment of the present invention and a system thereof will be described in detail with reference to the accompanying drawings. In the following description of the embodiments, the names of the respective components may be referred to as other names in the art. However, if there is a functional similarity and an equivalence thereof, the modified structure can be regarded as an equivalent structure. In addition, reference numerals added to respective components are described for convenience of explanation. However, the contents of the drawings in the drawings in which these symbols are described do not limit the respective components to the ranges within the drawings. Likewise, even if the embodiment in which the structure on the drawing is partially modified is employed, it can be regarded as an equivalent structure if there is functional similarity and uniformity. Further, in view of the level of ordinary skill in the art, if it is recognized as a component to be included, a description thereof will be omitted.

Hereinafter, a description will be made of a method of securing a view on boarding and landing using the dron according to the first embodiment of the present invention with reference to FIGS. 1 to 6. FIG.

FIG. 1 is a conceptual diagram of a method of securing a view during a getting on and off using a dron according to a first embodiment of the present invention.

As shown in the figure, the method of securing a view to and from a ride-on / off state using a dron according to the first embodiment of the present invention uses a ride-on / off-ride drone to prevent accidents caused by the movement of a van after a passenger of the v- So that a view can be secured. The images photographed by the drone can be displayed so that the driver can confirm it in real time. Therefore, the driver can operate the vehicle while checking such images, so that the accident can be prevented. Especially, infants and children are less likely to recognize than infants because of their small size, so that it is possible to prevent accidents that may occur in vans of infants and children, such as kindergartens, hospitals, schools, and the like.

2 is a flow chart of the first embodiment. As shown in the figure, the method for securing a view using a dron according to the present invention includes a step S100 of determining whether the door is opened or closed, a step S200 of photographing the periphery of the van by operating the dron, a displaying step S300, A step S500 of judging whether there is a person in the dangerous area, a step S600 of warning the driver, a step S700 of controlling the vehicle, and a step S800 of returning the drones.

The step S100 of determining whether or not the door is opened or closed determines whether or not the door of the van door is opened or closed except for the door of the driver's door. It is possible to judge that the passengers are getting on and off depending on whether the passengers are indirectly opened or closed without confirming whether the passenger gets on or off the van. When the door is opened, it is determined that the passenger is moving because the passenger is moving or getting off the passenger compartment, and the passenger is moved when the door is closed. On the other hand, in the case where the amount of the van is running, such a determination process is not necessary, so that the method of securing the view on getting on and off using the drones is in a deactivated state. However, when the van stops and the door is opened, it is necessary to secure a view to the rectangular area around the van, thereby activating the view securing method. On the other hand, whether the door is opened or closed can be detected by using a switch installed on the door, and it can be determined whether the door is opened or closed in conjunction with the opening / closing switch of the driver's seat.

The step S200 of operating the drones to photograph the vicinity of the van is a step of photographing the surroundings of the vehicle by operating the drones loaded on one side of the vehicle when it is determined that the door is opened. The drones may wirelessly communicate with the vehicle to deliver images taken in real time around the vehicle to the driver until it receives a return signal. On the other hand, the step S200 of photographing the vicinity of the van by operating the drones can be performed using a dron including an infrared camera so that photographing is possible even at night.

Meanwhile, the step S200 of photographing the vicinity of the van by operating the drones will be described in detail later with reference to FIG. 4 to FIG.

The displaying step S300 is a step of transmitting the image photographed by the drones and displaying the image so that the user can visually recognize the image. The display step S300 may use a display unit provided in the driver's seat of the vehicle and may be implemented in the HUD method. Since this display method is a commonly used technique, further detailed description will be omitted.

The drones control step (S400) is a step of controlling the drones flying and shooting. The user may have a particular interest in the surroundings of the vehicle, and when the operation input is inputted to change the position of the dron, the dron can be moved to a desired position corresponding thereto. Therefore, the image of the desired area can be enlarged and observed in detail.

The step S500 of judging whether there is a person in the dangerous area is a step of determining whether there is a risk that a person around the vehicle may be accidentally caused when the vehicle starts.

The dangerous area may be set to an area within a predetermined distance from the vehicle. The danger zone can be set within a predetermined radius (R) from a distance in the region 1 m away from the outer surface of the vehicle or near the center of the vehicle. Also, the dangerous area can be the image taken by the drone. That is, an image taken while the drones are flying at a certain distance may be as shown in FIG. 4, and the photographed image is included up to a point apart from the vehicle by a predetermined distance. . Meanwhile, the setting of the dangerous area may be variously set as an example.

A method of determining whether a person is in a dangerous area can be judged as a person in a dangerous area when the image obtained from the dron is analyzed to recognize the person and the coordinates of the recognized person are included in the dangerous area. Meanwhile, since the technique of extracting human coordinates from the image is widely used, a detailed description thereof will be omitted.

In the step S600 of warning the driver, if there is a person in the dangerous area, there is a danger that an accident may occur if the vehicle is moved. Therefore, the warning is issued to the driver of the van. The driver can grasp the person around the vehicle while watching the image photographed from the drones, and can warn audiovisual when there is a person in the danger area even if the image is not confirmed. Therefore, the driver who recognizes the warning will not start the vehicle while the warning is issued.

The vehicle control step S700 is a step of forcibly controlling the driving of the vehicle to prevent the vehicle from moving because an accident may occur when the driver starts the vehicle in the step S600 of warning the driver. The vehicle control step S700 may control the vehicle so that the vehicle is not accelerated while being interlocked with an ECU (Electronic Control Unit) installed in the vehicle to warn the driver.

The step of returning the drone (S800) is a step in which the person is not located in the dangerous area and the drones are moved to the loading position of the vehicle when the door is closed. When the door is closed, there is no movement of the passenger between the vehicle and the outside, and the vehicle is started when it is determined that there is no person in the dangerous area around the vehicle. At this time, when the vehicle is moving, the drones are returned so that the drones can be loaded and moved.

3 is a signal flow diagram of the first embodiment. As shown in the figure, it is judged whether or not the door is opened or closed, and when the door is opened, the surroundings of the vehicle are started with the drones. At this time, the photographed image is displayed on the driver's seat so that the driver can check it.

The image captured by the drone is analyzed to determine whether a person is located in the danger zone. The judgment as to whether or not a person is located in the dangerous area is continuously performed until the return of the drones.

If it is judged that there is a person in the danger zone, the warning is given to the driver and the vehicle is forcibly controlled to prevent the vehicle from starting.

If it is judged that the person has departed from the danger zone after the passage of time and the door is judged to be closed, a signal to return the dron is generated and the dron is returned to the passenger vehicle. On the other hand, if the door is open, it is continuously judged whether or not the person is located in the dangerous area.

Hereinafter, a step S200 of operating the dron to photograph the vicinity of the van or a step S500 of determining whether there is a person in the dangerous area will be described in detail with reference to FIG. 4 through FIG.

FIG. 4 is a view showing an image obtained by a drone in the first embodiment, and FIG. 5 is a view showing an image in which a dangerous area Ad is set in the first embodiment.

As shown in FIG. 4, in step S200 of photographing the vicinity of the van by operating the drones, the image is acquired using the periphery of the vehicle including the vehicle while flying above the vehicle, and the image is acquired and transmitted to the van. In this case, it is possible to take a picture while looking at the vehicle on the lower side by a predetermined distance from the vehicle. The image displayed in the display step S400 depends on the shooting height of the drones.

Since the vans repeatedly stop at different points and get on and off, the drones are inconsistent if they fly at different heights for every shot. Therefore, it can be controlled to shoot at a predetermined height and position while still flying.

Referring back to FIG. 4, an image taken from an image taken at an appropriate distance from a companion vehicle may include an entire image of the vehicle viewed from the upper side and an area including a certain distance in the horizontal direction from the vehicle. In this case, the danger zone (ad) can be set as a region photographed with a drone. Setting a dangerous area (Ad) like this does not need to judge the dangerous area (Ad) again in the image, so it is possible to make a more accurate judgment without wasting resources of the image processing.

Fig. 4 (a) shows a state in which two persons P1 and P2 are present in the dangerous area Ad. If there is a person in the image photographed with the drone, it is determined that there is a person in the danger area Ad and a step S600 is performed to warn the driver. On the other hand, if the two persons P1 and P2 are not displayed on the screen as shown in FIG. 4 (b), it is determined that there is no person in the dangerous area (ad).

Referring to FIG. 5, the danger zone ad may be set as a portion spaced a predetermined distance R from the specific coordinate O in the horizontal direction. The image photographed from the upper side of the vehicle is analyzed with a drone to set a dangerous area (ad) within a predetermined radius (R), and when the shape of a person is extracted therein, it can be judged that there is a person in the dangerous area (ad) . However, the setting of the dangerous area (ad) is only an example, and may be performed in various areas such as an area within a predetermined distance from the rim of the vehicle.

Fig. 6 is a conceptual diagram showing the concept of manipulating the shooting position of the drones in the first embodiment. Fig. During the flight of the drone, a drones control step (S400) for controlling the drone's shooting position can be performed. In the drones control step S400, even if the drones automatically fly and photograph, there may be a region of particular interest to the driver. In this case, the step of receiving input to operate the dron so that the driver can see the desired region image .

The driver's seat may be provided with an input unit 23 as shown in FIG. 6 (a) so as to be used in the drone control step (S400). 6 (a) shows a shape simulating a vehicle and an input section divided into four regions around the shape. The driver can set an area of interest, and can operate as shown in Fig. 6 (a) when he wants to view the images on the left and front sides of the vehicle. At this time, the drone moves from the initial position d1 to the final position d2 so as to acquire an image according to the operation input as shown in Fig. 6 (b). However, the configuration of such an input unit is merely an example, and in the case of outputting an image using a display provided on a driver's seat, various input / output units Lt; / RTI >

FIG. 7 is a conceptual diagram of a view securing method for getting on and off using the dron according to the second embodiment.

The present embodiment may be configured to include the same constituent elements as those of the first embodiment described above, and a description of the same constituent elements will be omitted in order to avoid redundancy, .

In this embodiment, a modification of the step S200 of photographing the vicinity of the van by operating the drones is shown. In Fig. 7 (a), images of the vehicle and the surroundings taken from the rear side of the drones are shown. In the case of a Korean vehicle, since the driver's seat is provided on the left side of the vehicle and the entrance door is provided on the right side of the vehicle, there is a great need to secure the view of the rear and right sides of the vehicle relatively. Therefore, the drone can be controlled to photograph the dron by being positioned at the rear right of the vehicle.

In addition, the second embodiment may be configured to include warning (S610) to the person. As shown in FIG. 7 (b), in step S610, when the person P3 continues to be located in the danger area Ad for a predetermined time or more, the dron is moved to the corresponding area, Can be configured to perform a risk notification to a person (P3). In the step S610 of warning to a person, if there is a dangerous area continuously after a predetermined time passes, the risk of accidents with the vehicle may be higher in a state of focusing on something else. In this case, the drone can be automatically moved or the warning can be performed by the operation of the driver.

FIG. 8 is a conceptual view of a system for securing a view and a get-out state using a dron according to the third embodiment, and FIG. 9 is an enlarged view of the drones of FIG.

As shown in the drawing, the system for securing a standing-and-landing vision using the dron 10 includes a dron 10, a display unit 22, an input unit 23, a danger determination unit 24, a control unit ). ≪ / RTI >

The drones 10 are mounted on one side of the vehicle and are configured to be able to shoot and fly around the vaults 20 when the start signal is received. The drones 10 include a body 11, a driver 12, a camera 13, a transceiver 14, a warning unit 15, a dron controller (not shown), and a power unit (not shown) .

The body portion 11 forms the overall appearance of the drones 10, is coupled to each of the components, and is configured to support the components. The body part 11 may include a central part of the central part and four driving arms 12 extending in the horizontal direction from the central part. A driving unit 12 to be described later may be installed at an end of each arm of the driving unit 12. [ Meanwhile, the configuration of the body part 11 may be variously configured as an example.

A camera 13, a transmitting / receiving unit 14, a warning unit 15, a drones control unit (not shown), and a power unit (not shown) may be provided at the center of the body unit 11.

The driver 12 is configured to provide the power necessary for flight. The driving unit 12 is composed of four units and is disposed on the arm of the driving unit 12, respectively. The driving unit 12 is constituted by a rotating blade including a motor and a blade for generating rotating force.

The camera 13 is configured to acquire images of the surroundings of the drones 10. The camera 13 may be composed of a plurality of cameras and may be installed at the body part 11 at a predetermined angle in the horizontal direction. On the other hand, the camera may be configured to include a function of an infrared camera so that the camera can be photographed at night.

The transceiver unit 14 is configured to be capable of wireless communication with the van 20 and configured to receive a control signal and to transmit the image photographed by the drone 10 to the van 20.

The warning unit 15 may be configured to perform a warning to a person in the vicinity of the following vehicle or the van 20 and may be configured to audibly and visually carry out a risk notification.

A drones control unit (not shown) is connected to each component so as to perform signal processing and control.

The power unit may be configured to supply power to various electric devices provided in the drone (10).

However, the configuration of the drone 10 is merely an example, and can be variously modified in a configuration in which a photographed image can be transmitted to the vaults 20.

The vehicle may be provided with a display unit 22, a risk judging unit 24, a control unit (not shown), a warning unit 15, an input unit 23, and a wireless charging module.

The risk determination unit 24 is configured to analyze the image photographed by the drones 10 to determine whether a person is located in the dangerous area. The risk determination unit 24 may be provided with an algorithm configured to perform the determination method described in the first embodiment.

On the other hand, a wireless charging module may be provided to automatically charge the drones 10 when the drones 10 are loaded on the vehicle.

The method of securing a view and landing using the drones described above and the system thereof can prevent an accident due to a rectangular area because a driver can obtain an image of a rectangular area at the time of getting on and off by using a drones . Also, since shooting is possible while moving the drones, a plurality of cameras are not required to be installed in the vehicle body, so that it is possible to operate at a low cost.

The method of securing a view and landing using the drones described above and the system thereof can prevent an accident due to a rectangular area because a driver can obtain an image of a rectangular area at the time of getting on and off by using a drones . Also, since shooting is possible while moving the drones, a plurality of cameras are not required to be installed in the vehicle body, so that it is possible to operate at a low cost.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

S100: Determining whether the door is opened or closed,
S200: photographing the vicinity of the van by operating the drones,
S300: display step
S400: Drone control step,
S500: judging whether there is a person in the danger zone,
S600: warning the driver,
S610: Steps to warn a person
S700: vehicle control step,
S800: Steps to return the drones
Name: Danger Zone
10: Drone 11: Body part 12: Driving part
13: camera 14: transmitting / receiving unit 15: warning unit
20: Vans 21: Door 22:
23: input unit 24: danger judgment unit 26: warning unit

Claims (20)

Determining whether the door of the van is open or closed;
Photographing the vicinity of the van by operating the drones when opening the doors;
Analyzing the photographed image to determine whether there is a person in a dangerous area within a predetermined distance from the van;
Warning the driver if the person is found in the danger zone; And
Returning the drones when it is determined that the person is not present in the danger zone and the door is closed,
The drones are loaded on one side of the vans when the vans are operated, are charged with the charging modules when the vans are loaded,
And performing a risk notification to the person in the danger zone with the drones if the person in the danger zone is located in the danger zone for a predetermined time or longer. . The method according to claim 1,
Wherein the step of photographing the periphery of the van takes a picture of the dron from the upper side of the van. 3. The method of claim 2,
Wherein the step of photographing the vicinity of the van takes a picture of the door and the rear of the van. 3. The method of claim 2,
Wherein the step of photographing the vicinity of the van takes the images of the van and the vicinity of the van by using a dragon flying at a predetermined distance from the van,
Wherein the step of determining whether a person is present in the dangerous area is performed by analyzing the obtained image. 3. The method of claim 2,
Wherein the step of photographing the vicinity of the van utilizes a dragon that moves and flies above the van to photograph an image of a side face of the driver. 3. The method of claim 2,
Further comprising a drones control step of receiving an operation input from the driver and controlling the drones so that the driver can take an image of a desired area while the drones are flying. The method according to claim 6,
Wherein the operation input of the drone control step is received at an input unit input to a driver's seat of the van. 8. The method of claim 7,
Further comprising a display step of displaying the photographed image by using a display unit provided in the cockpit after photographing the vicinity of the van,
Wherein the operation input of the control step is input using a touch screen of the display unit. 3. The method of claim 2,
Wherein the step of determining whether the person is present in the dangerous area is determined to be non-dangerous when the person is not present in the photographed image. 3. The method of claim 2,
Wherein the opening / closing of the door is determined according to an operation of the door opening / closing switch of the driver. 3. The method of claim 2,
Further comprising a vehicle control step of controlling driving of the van so that the van does not start during the warning of warning to the driver. delete 3. The method of claim 2,
Wherein the step of photographing the vicinity of the van is performed by using a dron equipped with an infrared camera so that photographing at night can be performed. 3. The method of claim 2,
Wherein the van is a traffic school vehicle. A dron comprising a camera to be able to shoot and fly around the van;
A display unit for displaying an image photographed by the drone;
A risk judging unit for judging whether a person is located in a dangerous area within a predetermined distance from the van;
A control unit for detecting a shedding of an entrance door of the van, activating the drones when the door is opened, and generating a warning signal when a person is located in the dangerous area when the door is closed; And
And an alarm unit configured to alert the driver of the van according to the warning signal,
The drones are loaded on one side of the vans when the vans are operated, are charged with the charging modules when the vans are loaded,
Wherein the drones perform risk notification to the person in the danger zone when the person in the danger zone is located in the danger zone for a predetermined time or longer. 16. The method of claim 15,
Wherein the drones are controlled to shoot from the upper side of the van with the object up to a point spaced a predetermined distance from the van and the van. 17. The method of claim 16,
Wherein the risk determination unit is configured to determine whether the person is located in the danger area by analyzing the image photographed with the drones. 17. The method of claim 16,
Wherein,
And when the door is closed, if the person is not located in the dangerous area, the home position signal is generated so as to return the drones. 16. The method of claim 15,
And an input unit for receiving an operation input from a user so as to move the position of the drones,
Wherein the control unit controls the position of the drones in accordance with the operation input. 16. The method of claim 15,
Wherein the drones further include an infrared camera so that the drones can be photographed at night.

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