The present invention relates to a vision-based autonomous flight device for a drone, which uses an image sensor (camera) to determine and control the position of the drone in a tunnel. According to the present invention, the vision-based autonomous flight device for a drone comprises: an autonomous flying drone body including a main body including a rotor and a flight control unit controlling the drone; an image processing unit processing image information of a camera capturing a front image of the drone, detecting a GPS shaded area in the front image, and analyzing a structure of the GPS shaded area; a LiDAR processing unit measuring, through a LiDAR sensor, a distance between the drone and the cross section of the tunnel detected through the image when the tunnel is detected on the front side through the image and an initial edge and a vanishing point are set, and calculating the center coordinates of the center position of the area through the measured distance; and a location control unit providing location information to the autonomous flying drone body to allow the drone to hover at the center point of the GPS shaded area when the GPS shaded area is detected during autonomous flight.

    본 발명은 비전 기반 드론의 자율 비행 장치에 관한 것으로, 로터를 포함하는 본체와 드론을 조정하는 비행 제어부를 포함하는 자율 비행 드론본체; 드론의 전방을 촬영하는 카메라의 영상 정보를 처리하며, 전방 영상 이미지에서 GPS 음영 구간 검출 및 GPS 음영 구역의 구조를 분석하는 이미지 처리부; 영상 이미지를 통해 전방에 터널이 검출되어 초기 엣지와 소실점을 설정할 때, 영상 미지지를 통해 검출된 터널의 단면과 드론 사이와의 거리를 라이다 센서를 통해 측정하고, 측정된 거리를 통해 단면의 중앙 위치의 중심 좌표를 계산하는 라이다 처리부; 및 자율 비행 중 GPS 음영 구역이 검출되면, GPS 음영 구역의 중앙지점 에서 호버링(hovering)이 되도록 자율 비행 드론본체에 위치 정보를 제공하는 위치 제어부를 포함한다.


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    Title :

    Vision-based drone autonomous flight device and method


    Additional title:

    비전 기반 드론의 자율 비행 장치 및 방법


    Contributors:

    Publication date :

    2021-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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