KR101650136B1 - The apparatus of smart drone - Google Patents
The apparatus of smart drone Download PDFInfo
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- KR101650136B1 KR101650136B1 KR1020160014919A KR20160014919A KR101650136B1 KR 101650136 B1 KR101650136 B1 KR 101650136B1 KR 1020160014919 A KR1020160014919 A KR 1020160014919A KR 20160014919 A KR20160014919 A KR 20160014919A KR 101650136 B1 KR101650136 B1 KR 101650136B1
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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
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F3/00—Landing stages for helicopters, e.g. located above buildings
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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- H04M1/7253—
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- H04M1/72533—
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- H04W4/008—
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- B64C2201/146—
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
In the present invention, it is possible to control the smart drone through a drones control application module activated in the form of an application on the smart device screen without a separate main control board, receive point signals and position signals from the smart base, It is possible to land and take off while it is in position, to automatically return to the home position after completion of the flight, to automatically recognize a specific object position through laser altitude measurement and color tracking, The present invention relates to a smart drones device having a home position automatic returning device and a color tracking automatic tracking device capable of controlling the smart drones while maintaining a specific object and a reference altitude.
Recently, as the drone (unmanned drones) became commercialized, drones are used in various fields such as camera shooting.
The drone is a small unmanned drones, and it is general that the operation signal of the operator is received by radio and operated manually.
These drones are ineffective in that they must be operated by the operators, and they are also dangerous in that they can cause accidents due to operators' mistakes.
However, since the conventional drone rotor is composed of only three or four rotor blades, it is not possible to perform autonomous flight control and attitude control due to the lack of amplitude control, and the entire body is shaken due to wind or external pressure, As the motor is overloaded by rotation, there is a danger of fire, and take-off and landing take off and land at a randomly changed position rather than at a designated place. This was a difficult problem.
In addition, there is a problem in that the battery is frequently consumed due to high-speed rotation, the battery needs to be frequently charged, and the power management can not be efficiently operated.
In order to achieve the above object, according to the present invention, it is possible to control a smart drone through a drones control application module activated in the form of an application on a smart device screen without a separate main control board, The SmartDrone's lens unit is built in the drone body, and when the specific object is tracked, the actuator focuses the specific object by focusing the lens so that the lens portion protrudes. Which is capable of capturing an image of an original image, and a color tracking automatic tracking function.
In order to achieve the above object, a smart drones device having an in-home automatic return / color tracking automatic tracking according to the present invention
It is activated in the application form on the smart device screen and is connected to the smart base and the local wireless communication network to control the overall operation of the smart base and transmit the point signals and position signals of the smart drones to and from the smart base, A drones
And receives a point signal and a position signal of the smart drones from the drones control application module and transmits them to the smart drones through the WiFi wireless communication network to control the smart drones to be positioned at the current positions A
The smart base is connected to the WiFi wireless communication, receives the point signal and the position signal from the smart base, performs landing and takeoff based on the smart base, receives the flight control signal from the drones control application module, And a
As described above, in the present invention,
First, it is possible to control the smart drone through the application module of the dron control which is activated in the form of application on the smart device screen without a separate main control board, thereby reducing the equipment volume by 70%.
Second, it receives point signal and position signal from smart base, and can land and take off based on smart base and automatically return to home position after completion of flight, so that the prevention rate of smart drones lost by external pressure is improved by 80% .
Third, the lens part of the smart drone is built in the drone body, and when tracking a specific object, the actuator can project the lens part so that it focuses on a specific object, so that high quality image can be taken, , Which can activate the smart drone market through military, transportation, crime, transportation, and industry.
1 is a configuration diagram showing the components of a
2 is a perspective view showing the components of the
3 is a block diagram showing components of the drones control application module according to the present invention,
4 is a block diagram illustrating components of a smart base according to the present invention,
5 is a block diagram illustrating components of a short-range wireless communication module according to the present invention.
6 is a perspective view illustrating components of a smart base according to the present invention,
Figure 7 is a block diagram illustrating components of a smartdron according to the present invention;
8 is a perspective view showing components of a smart drone according to the present invention,
FIG. 9 is an exploded perspective view showing the components of the protruded imaging module according to the present invention,
FIG. 10 is a block diagram showing the components of the protruded image capturing module according to the present invention,
11 is a block diagram showing the components of the drone main control module according to the present invention,
12 is a block diagram showing the components of the main dron controller according to the present invention,
13 is a diagram illustrating a posture stabilization control model through a specific object tracking control unit according to an embodiment of the present invention.
Figure 14 is a block diagram illustrating the components of a particular object location module according to the present invention;
15 is a block diagram illustrating components of a laser altimeter according to the present invention.
16 is a block diagram showing components of a color tracking control unit according to the present invention,
17 is a diagram illustrating a geometric relationship for calculating a distance between a color tracking control unit and a specific object of a specific object position recognition module according to an embodiment of the present invention.
FIG. 18 is a block diagram of a compact 3D model having a size of 3 × 3 × 3, a medium 3D model having a size of 6 × 6 × 6, a large 3D model having a size of 10 × 10 × 10, In one embodiment, shown as a model,
FIG. 19 is a view showing an embodiment in which the smart drone transmits point signals and position signals to take off and land on the smart base through the drones control application module according to the present invention.
FIG. 20 is a view for explaining a method for determining a position of a specific object to be traced in a flight state through a specific object position recognition module according to an embodiment of the present invention. The relative distance data and the altitude data are transmitted to the main drone control unit In one embodiment,
FIG. 21 is a view for explaining an example of a method for receiving the relative distance data and altitude data of a specific object from a specific object position recognition module through a specific object tracking control unit according to the present invention, calculating a flight attitude control dynamic model for tracking a specific object, One embodiment that illustrates the tracking of the Smartdron with the specific object and reference altitude maintained by flight control of the smart drones based on the attitude control dynamic model,
22 is a flowchart illustrating a method of performing a fly or stop flight by receiving a flight control signal from a drones control application module in a smart drone according to the present invention and receiving a specific object tracking signal from a drones control application module to track a specific object One embodiment shown is also shown.
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing components of a
First, the drones
The drones
Here, smart devices include smart phones, smart TVs, and digital signage.
3, a smart base
The smart base
The Drone Control Activity 120 plays a role of creating a drones control user interface (UI) composed of a View and an Event response on the screen of the smart device.
The
The smart
The
The drone
The smart base pairing access controller 170 is connected to the first short range wireless communication module of the smart device to couple the smart base located in the short range wireless communication network and display and connect the paired smart base.
The smartdron pairing
Next, the
The
As shown in FIG. 4, the
First, the
The
6, the local wireless communication module, the WiFi wireless communication module for the base, and the main control unit for the base are formed on one side of the inner space, and a cruciform landing and
Second, the short range
The short-range
5, either the
The
It uses the Industrial Scientific and Medical (ISM) frequency band of 2400 to 2483.5 MHz. In order to prevent the interference of other systems that use the upper and lower frequencies, we use a total of 79 channels, ranging from 2400MHz to 2MHz and 2483.5MHz to 3.5MHz, except 2402 ~ 2480MHz.
In addition, in order to eliminate interference between systems, a frequency hopping scheme is used.
Frequency hopping is a technique for rapidly moving a large number of channels according to a specific pattern and transmitting packets (data) little by little. In the present invention, 79 channels are configured to hop 1600 times per second.
The
Third, the base WiFi
The base WiFi
It combines wireless technology with Hi-Fi (High Fidelity) and consists of wireless LAN technology that enables high-performance wireless communication.
The wireless LAN uses a frequency band of 2.4 GHz, which is a method of building a network using radio wave or light without using a wire when constructing a network.
Fourth, the base
The base
In addition, the
Next, the
The
7, the
First, the
The
It is composed of pentagonal shape with 5 rotating wings.
That is, as shown in FIG. 8, a protruding image capturing module is formed on one side of the lower central portion, a leg portion is formed on one side of the lower end floor, a drone main control module is formed in the central inner space, A solar cell panel is formed on one side of the top surface, and a wireless data transmission module for the drone and a wireless data reception module for the drone are formed on one side of the drones main control module.
Second, the protruding
The protruding
10, the
The camera module
As shown in FIG. 9, the lens housing part is formed on one side of the lower end part, and is constructed to include the lens part and the lens protruding type actuator, and has a square bridge type cover part formed on one side of the upper part.
The
The
9, the lens-protruding
The square bridge-shaped
Third, the
The
It consists of 5 pieces.
Fourth, the drone
The drone
11, the
The
The
The
The rotation
The main
As shown in FIG. 12, this includes a
The
This includes a hovering mode, a roll mode, a pitch mode, and a yaw mode.
The specific object
Since the smart drone according to the present invention is small in size, and its top, bottom, left, and right shapes are relatively symmetrical in a pentagon shape, they can be set as one material model.
Also, if the mass of the smart drone does not change and only the gravitational force and the thrust exist in the smart drone, the second law of Newton can be used to express it as
Here, m is the mass of the smart drone, g is the gravitational acceleration, T is the thrust, RIB (φ, θ, ψ) is the matrix that converts from the gas coordinate system to the inertial coordinate system, and c and s are cos and sin functions, respectively .
Since the smart drone according to the present invention has a posture stabilization function, the undefined variable in Equation (1) is the output Euler and thrust from the smart drone.
However, since the structure of the flight posture and the accurate model can not be known, the posture stabilization control model is as shown in Fig.
That is, the separated roll (?), Pitch (?), Yaw velocity
In order to calculate the flight attitude control dynamic model, the specific object
At this time, the azimuth angle? Is set to zero.
Since the azimuth angle (ψ) need not be considered when tracking a specific object, coordinate transformation is performed only for the angle of roll (φ) and the angle of pitch (θ).
The spatial model is divided into three axes (X, Y, Z) to form a model.
This is derived under the assumption that each axis is independent for each state variable, and the state variable is expressed by the following equation (3).
here,
Next, the X and Y axes can be expressed as shown in Equation (4) by performing coordinate conversion only for the angle of roll (?) And the angle of pitch (?).
here,
Then, assuming that there is no disturbance in Equation (3), it can be expressed as a state space type model as shown in Equation (6), Equation (7), and Equation (8).
Similarly to the X and Y axis models, the Z axis model can be derived as a two-integrated model under the assumption that there is no steady state error in the thrust (T) model, and can be expressed by the following equation (9).
Then, the Z-axis model expressed by Equation (9) can be expressed as a model of the state space type, as shown in Equation (10).
Then, the model of the state space form expressed as Equations (6), (7), (8), and (10) is discretized into a model in continuous time and the following equations (11), (12), And computes with the same dynamic attitude control model.
Based on the calculated flight attitude control dynamic model, as shown in FIG. 21, the smart drones are controlled by flying to keep track of a specific object and a reference altitude.
The data
Fifth, the pentagonal
The pentagonal
It consists of 5 rotating blades and 5 RC servo motors.
The five propellers are shaped like pentagons to offset lift between two adjacent pairs of RC servomotors during posture control.
The five propellers rotate clockwise and counterclockwise, respectively. It is driven by linear motion and three rotational movements (Roll, Pitch, Yaw) on three axes (X, Y, Z).
Sixth, the
The
It is attached to the upper surface of the printed circuit board by a filler made of PVB (Poly Vinyl Butylol) with low transmittance degradation or EVA (Ethylene Vinyl Acetate) with excellent moisture resistance.
The solar cell panel includes a first unit cell of a plus terminal and a plurality of second unit cells of a minus terminal, which are arranged in a matrix form, and each unit cell is connected in series or in parallel with each other by an inter- Thereby forming a solar cell array.
At this time, the number of solar cells connected in series is determined by the charging capacity of the rechargeable battery.
The interconnector connecting each unit cell is connected to a plated power terminal on one side of the printed circuit board.
A transparent polycarbonate window is stacked on top of the solar cell array instead of the conventional glass substrate.
Thus, by laminating a transparent polycarbonate window on the upper portion of the solar cell array, it is possible to prevent light energy from being lost due to reflection of sunlight on the surface of the conventional glass substrate.
Seventh, a wireless
The drones wireless
This constitutes a WiFi wireless communication module for transmission.
Eighth, a wireless
The drones wireless
This constitutes a receiving WiFi wireless communication module.
Ninth, a specific object
The specific object
As shown in FIG. 14, this is constituted by a
[Laser altimeter (391)]
The
As shown in FIG. 15, this is constituted by an OIA (Optical Instrumentation Assembly)
The OIA (Optical Instrumentation Assembly)
It consists of a laser transmitter, a laser receiver and a detector.
Here, the laser transmitter has a structure based on the ND: YAG solid-state laser, and is configured in a Q-switched manner in order to instantaneously output a small amount of energy at a time.
The
Here, the altitude is a vertical altitude from a specific object, and from the relative altitude h 'according to the next flight position in the laser altimeter, compensating for the attitude tilt of the smart dron at the current altitude h can be calculated by the following equation .
Here, h represents the current altitude and h 'represents the relative altitude of the laser altimeter according to the next flight position.
[color Controlling Color Tracking (392)
The
As shown in FIG. 16, this includes a
The
Here, the reference color model is a 3D model having an X axis, a Y axis, and a Z axis. As shown in FIG. 18, the reference color model is a small 3D model having a size of 3 x 3 x 3 displayed on one screen, , And a large 3D model with a size of 10 × 10 × 10.
A color in which any one or two or more of R (red), G (green), and B (blue) colors are mixed is selected.
The specific object distance calculation
It measures the relative distance of a specific object through Frame Differencing, which detects the difference between two consecutive pixels, and Color Tracking, which locates a specific color on one screen.
That is, FIG. 17 is a diagram illustrating a geometric relationship for calculating a distance between a color tracking control unit and a specific object of a specific object position recognition module according to the present invention.
17, (x, y) tracking is a relative position value obtained from the color tracking control unit, h is a relative altitude with respect to a specific object, x e and y e are errors caused by angular misalignment of the smart drone Factor, x b , y b represents the actual relative position value.
θ and φ are the angles of x and y axis of the smart drone.
The actual relative position value x b , y b is calculated by the following equation (15).
As shown in FIG. 20, the specific object
Hereinafter, a specific operation process of the smart dron device according to the present invention will be described.
First, a drones control application module activated in the form of an application on the smart device screen is driven to connect the smart base and the short-range wireless communication network, thereby controlling the overall operation of the smart base.
Next, as shown in FIG. 19, the point signal and the position signal are transmitted through the drones control application module so that the smart drone can take off to the smart base.
Next, the smart base receives point signals and position signals from the drones control application module from the smart base, and transmits point signals and position signals to the smart drones through the WiFi wireless communication network, Indirected to take off.
Next, the drones control application module connects the smart drone to the WiFi wireless communication network, and transmits the specific object tracking signal and the multi-data signal related to the flight control signal to the smart drones.
Next, as shown in FIG. 22, the smart drone receives the flight control signal from the drones control application module, performs the fly and stop flight, receives the specific object tracking signal from the drones control application module, Take a picture.
At this time, an object is focused on a specific object by an actuator so that a lens part embedded in the drone body protrudes through a protruding imaging module.
Next, the smart drone captures an image while tracking a specific object, and then transmits the captured image data to the drones control application module.
Next, the drones control application module receives the image data signal as a response data signal from the smart drone and displays it on the smart device screen in real time.
Next, after completing the tracking of a specific object, a point signal and a position signal are transmitted through the drones control application module so that the smart drones land on the smart base.
Next, the smart base receives the point signal and the position signal from the drones control application module, and transmits the point signal and the position signal to the smart drone through the WiFi wireless communication network.
Finally, the smart drones receive the point signals and position signals from the smart base through the WiFi wireless network, and land on the smart base.
1: Smart drone device 100: Application module for drone control
200: Smart Base 300: Smart Drones
Claims (7)
And receives a point signal and a position signal of the smart drones from the drones control application module and transmits them to the smart drones through the WiFi wireless communication network to control the smart drones to be positioned at the current positions A smart base 200,
The smart base is connected to the WiFi wireless communication, receives the point signal and the position signal from the smart base, performs landing and takeoff based on the smart base, receives the flight control signal from the drones control application module, And a smart drone (300) for receiving a specific object tracking signal from a drones control application module and capturing an image while tracing a specific object, and transmitting the captured image data to a drones control application module. A smart dron device with color tracking automatic tracking.
A smart base control activity unit 110 for generating a smart base control user interface (UI) consisting of a view and an event response on the smart device screen,
A drone control activity unit 120 for generating a drones control user interface (UI) consisting of a view and an event response on the smart device screen,
A display activity unit 130 for receiving image data related to a specific object tracking from the smart drone paired with the smart drone pairing access control unit and displaying the image data on the smart device screen,
When the smart base control UI is moved to another screen according to the user's touch on the screen in which the smart base control UI is displayed, A smart base control intent 140 for sending a request command,
When the user moves the screen to a different screen according to the user's touch on the screen in which the drones control user interface (UI) is displayed, a request command is issued to the event drive controller so that any one of the specific object tracking mode and the flight control mode is selected, (Drone Control Intent) 150 for delivering the drones,
A drones flight control unit that receives a request command from a smart base control intent unit and a dron control intent control unit to perform a smart dragon take-off mode, a smart drone landing mode, a specific object tracking mode, A control unit 160,
A smart base pairing access control unit 170 that is connected to the first short range wireless communication module of the smart device to couple the smart base located in the short range wireless communication network and displays and connects the paired smart base,
And a smart drones pairing access control unit (180) connected to the first WiFi wireless communication module of the smart device to couple the smart drones located in the WiFi wireless communication network and display and connect the paired smart drones. Automatic return · Smart drones with color tracking automatic tracking.
A base body 210 which is formed in a rectangular box shape and protects and supports each device from external pressure,
A short range wireless communication module 220 for connecting the drones control application module to the short range wireless communication network based on the identification ID,
A base WiFi wireless communication module 230 located at one side of the upper surface of the base body and driven in accordance with a control signal of the base main control unit to transmit multi data signals toward the smart drone through WiFi wireless communication,
The wireless communication module is connected to the WiFi wireless communication module for the base and is driven in accordance with the control signal of the drones control application module to control the overall operation of each device and transmit the point signals and landing signals to and from the smart drones via the WiFi wireless communication network And a base control unit (240) for controlling the smart drone to be positioned at a current position by transmitting a signal to the smart drone.
A drone body 310 having a pentagon shape and protecting each device from external pressure,
A protruding image capturing module 320 for capturing an image by focusing an object by an actuator so as to protrude from a lens part when a specific object is tracked, the protruding image capturing module 320 being disposed at one side of a lower central portion of the drone body, ,
A leg portion 330 which is positioned on the bottom surface of the drone body and contacts the bottom when the dron is landed and lightly forms a leg state at an altitude by injection of helium gas which is lighter than air,
The drone is located in the center of the drone body and controls the overall operation of each device. The drone posture control for landing, takeoff, fly, stop flight, And a drones main control which controls to control the flight navigation and the wireless communication autonomously and to take a photograph based on the smart base and to take the captured image while tracing a specific object and to transmit the photographed image data to the application module for the dron control Module 340,
A pentagon rotating blade unit 350 positioned at the upper end of the drone body and under control of the drone main module for rotating the five pairs of blades at high speed to land, take off, fly,
A solar battery panel 360 for collecting sunlight through a solar cell formed on one side of the top surface of the drone body, charging the generated battery by generating electric power,
A drones wireless data transmission module 370 driven by a control signal of the drone main control module 340 to transmit image data of a specific object photographed to the smart base through WiFi wireless communication,
And is driven in accordance with a control signal of the drone main control module to receive a point signal and a position signal for taking off and landing from a smart base through a WiFi wireless communication network and deliver it to a drone main control module, A drones wireless data receiving module 380 for receiving a specific object tracking signal and a flight control signal from the drones control application module via a communication network and transmitting the specific object tracking signal and the flight control signal to the drones main control module,
And a specific object position recognition module 390 for recognizing the position while measuring the relative distance of the specific object to be traced in the flight state and then transmitting the relative distance data of the specific object and the altitude data to the main drone control unit In-place automatic return · Color tracking Automatic tracing with smart tracking device.
A camera module main body 321 which is formed in a rectangular box shape and protects and supports each device from external pressure,
A lens housing part 322 formed at an upper end of the camera module main body and embedded in the lens part to normally guide the lens part to protrude to the outside when tracking a specific object,
And a lens for projecting the image while adjusting the focus (= focus) on a specific object by protruding outward by a magnetic force and a ball guide of a ball bearing at the time of tracking a specific object, 323,
A lens protruding actuator 324 which is located at one side of the lens part side and which incorporates or protrudes the lens part with respect to the lens housing part by the ball force of the ball bearing and the magnetic force toward the lens part side,
And a rectangular bridge-shaped cover part (325) positioned at an upper end of the lens part and supporting only the lens head part to protrude outward and to protrude outwardly.
A flight control unit 345a for controlling the rotation of the rotary motor module, the position control, and the speed of the rotation to control the landing, takeoff, fly, and stop flight of the drone body,
The relative distance data of the specific object and the altitude data are received from the specific object position recognition module, and the dynamic attitude control dynamic model for tracking a specific object is computed. Based on the calculated dynamic attitude control dynamic model, A specific object tracking control unit 345b that keeps track of the specific object and the reference altitude,
And a data transmission control unit 345c for transmitting the control signal to the wireless data transmission module for the drone and transmitting the image data of the specific object to the smart base through the WiFi wireless communication and the position data of the specific object in real time. In-place automatic return · Color tracking Automatic tracing with smart tracking device.
A laser altimeter 391 for shooting a laser toward a specific object, receiving a reflected laser signal and measuring a relative altitude with respect to a specific object,
And a color tracking control unit (392) for calculating a relative distance of a specific object by setting a reference color model on a specific object and then setting the color by using color tracking. A smart drones device with tracking tracking automatically.
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