APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING
Disclosed are a landing control method for a drone and a device for performing the same. According to embodiments of the present invention, the landing control method and the device for the same are to induce a safe landing by identifying a landing point and an obstacle by learning an image. Accordi...
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| creator | LEE SE DAM HEO JIN YEONG GO EUN SEONG KWON YONG JIN |
| description | Disclosed are a landing control method for a drone and a device for performing the same. According to embodiments of the present invention, the landing control method and the device for the same are to induce a safe landing by identifying a landing point and an obstacle by learning an image. According to an embodiment of the present invention, a few-shot learning method includes: a step of obtaining the image photographing the ground by a camera installed in a drone which is flying; a step of identifying a landing candidate point of the drone in the image by using a first model learned in advance; a step of determining a position and a size of the landing candidate point based on the image; a step of determining whether the drone can land on the landing candidate point based on the size of the landing candidate point, and determining the landing candidate point as the landing point when the landing is possible; a step of controlling the drone so that the drone moves to the sky of the landing candidate point; a step of adjusting a tilting angle of the camera based on a moving distance of the drone and the position of the landing candidate point so that the camera continuously photographs the landing point; and a step of identifying an area on which the drone can land at the landing point based on the image obtained by the camera in the sky of the landing point when the drone reaches the sky of the landing point.
드론의 착륙 제어 방법 및 이를 수행하기 위한 장치가 개시된다. 일 실시예에 따른 퓨 샷 학습 방법은 비행 중인 드론에 구비된 카메라를 통해 지면을 촬영한 이미지를 획득하는 단계를 포함하고, 사전 학습된 제1 모델을 이용하여 이미지에서 드론의 착륙 후보 지점을 식별하는 단계를 포함하고, 이미지에 기초하여 착륙 후보 지점의 위치 및 크기를 결정하는 단계를 포함하고, 착륙 후보 지점의 크기에 기초하여 착륙 후보 지점에 드론이 착륙 가능한지 여부를 결정하고, 착륙 가능한 경우, 착륙 후보 지점을 착륙 지점으로 결정하는 단계를 포함하고, 드론이 착륙 후보 지점의 상공으로 이동하도록 드론을 제어하는 단계를 포함하고, 카메라가 착륙 지점을 지속적으로 촬영하도록 드론의 이동 거리 및 착륙 후보 지점의 위치에 기초하여 카메라의 틸트 각도를 조정하는 단계 및 드론이 착륙 지점의 상공에 도달한 경우, 착륙 지점의 상공에서 카메라에 의해 획득된 이미지에 기초하여 착륙 지점에서 착륙 가능한 영역을 식별하는 단계를 포함한다. |
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| fullrecord | <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_KR20220100768A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>KR20220100768A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_KR20220100768A3</originalsourceid><addsrcrecordid>eNrjZHBxDAhwDHIMCQ1WcPRzUfB1DfHwd1Fw8w9ScPb3Cwny9_Hx9HNX8AHKgWgnx2BXFwV_PwVPX0d3VwUfV8cgP6A4DwNrWmJOcSovlOZmUHZzDXH20E0tyI9PLS5ITE7NSy2J9w4yMjAyMjA0MDA3s3A0Jk4VAOCzLEI</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING</title><source>esp@cenet</source><creator>LEE SE DAM ; HEO JIN YEONG ; GO EUN SEONG ; KWON YONG JIN</creator><creatorcontrib>LEE SE DAM ; HEO JIN YEONG ; GO EUN SEONG ; KWON YONG JIN</creatorcontrib><description>Disclosed are a landing control method for a drone and a device for performing the same. According to embodiments of the present invention, the landing control method and the device for the same are to induce a safe landing by identifying a landing point and an obstacle by learning an image. According to an embodiment of the present invention, a few-shot learning method includes: a step of obtaining the image photographing the ground by a camera installed in a drone which is flying; a step of identifying a landing candidate point of the drone in the image by using a first model learned in advance; a step of determining a position and a size of the landing candidate point based on the image; a step of determining whether the drone can land on the landing candidate point based on the size of the landing candidate point, and determining the landing candidate point as the landing point when the landing is possible; a step of controlling the drone so that the drone moves to the sky of the landing candidate point; a step of adjusting a tilting angle of the camera based on a moving distance of the drone and the position of the landing candidate point so that the camera continuously photographs the landing point; and a step of identifying an area on which the drone can land at the landing point based on the image obtained by the camera in the sky of the landing point when the drone reaches the sky of the landing point.
드론의 착륙 제어 방법 및 이를 수행하기 위한 장치가 개시된다. 일 실시예에 따른 퓨 샷 학습 방법은 비행 중인 드론에 구비된 카메라를 통해 지면을 촬영한 이미지를 획득하는 단계를 포함하고, 사전 학습된 제1 모델을 이용하여 이미지에서 드론의 착륙 후보 지점을 식별하는 단계를 포함하고, 이미지에 기초하여 착륙 후보 지점의 위치 및 크기를 결정하는 단계를 포함하고, 착륙 후보 지점의 크기에 기초하여 착륙 후보 지점에 드론이 착륙 가능한지 여부를 결정하고, 착륙 가능한 경우, 착륙 후보 지점을 착륙 지점으로 결정하는 단계를 포함하고, 드론이 착륙 후보 지점의 상공으로 이동하도록 드론을 제어하는 단계를 포함하고, 카메라가 착륙 지점을 지속적으로 촬영하도록 드론의 이동 거리 및 착륙 후보 지점의 위치에 기초하여 카메라의 틸트 각도를 조정하는 단계 및 드론이 착륙 지점의 상공에 도달한 경우, 착륙 지점의 상공에서 카메라에 의해 획득된 이미지에 기초하여 착륙 지점에서 착륙 가능한 영역을 식별하는 단계를 포함한다.</description><language>eng ; kor</language><subject>AEROPLANES ; AIRCRAFT ; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT ; AVIATION ; CALCULATING ; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS ; COMPUTING ; CONTROLLING ; COSMONAUTICS ; COUNTING ; ELECTRIC COMMUNICATION TECHNIQUE ; ELECTRICITY ; EQUIPMENT FOR FITTING IN OR TO AIRCRAFT ; FLYING SUITS ; HANDLING RECORD CARRIERS ; HELICOPTERS ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; PARACHUTES ; PERFORMING OPERATIONS ; PHYSICS ; PICTORIAL COMMUNICATION, e.g. TELEVISION ; PRESENTATION OF DATA ; RECOGNITION OF DATA ; RECORD CARRIERS ; REGULATING ; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ; TRANSPORTING</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220718&DB=EPODOC&CC=KR&NR=20220100768A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25563,76318</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220718&DB=EPODOC&CC=KR&NR=20220100768A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LEE SE DAM</creatorcontrib><creatorcontrib>HEO JIN YEONG</creatorcontrib><creatorcontrib>GO EUN SEONG</creatorcontrib><creatorcontrib>KWON YONG JIN</creatorcontrib><title>APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING</title><description>Disclosed are a landing control method for a drone and a device for performing the same. According to embodiments of the present invention, the landing control method and the device for the same are to induce a safe landing by identifying a landing point and an obstacle by learning an image. According to an embodiment of the present invention, a few-shot learning method includes: a step of obtaining the image photographing the ground by a camera installed in a drone which is flying; a step of identifying a landing candidate point of the drone in the image by using a first model learned in advance; a step of determining a position and a size of the landing candidate point based on the image; a step of determining whether the drone can land on the landing candidate point based on the size of the landing candidate point, and determining the landing candidate point as the landing point when the landing is possible; a step of controlling the drone so that the drone moves to the sky of the landing candidate point; a step of adjusting a tilting angle of the camera based on a moving distance of the drone and the position of the landing candidate point so that the camera continuously photographs the landing point; and a step of identifying an area on which the drone can land at the landing point based on the image obtained by the camera in the sky of the landing point when the drone reaches the sky of the landing point.
드론의 착륙 제어 방법 및 이를 수행하기 위한 장치가 개시된다. 일 실시예에 따른 퓨 샷 학습 방법은 비행 중인 드론에 구비된 카메라를 통해 지면을 촬영한 이미지를 획득하는 단계를 포함하고, 사전 학습된 제1 모델을 이용하여 이미지에서 드론의 착륙 후보 지점을 식별하는 단계를 포함하고, 이미지에 기초하여 착륙 후보 지점의 위치 및 크기를 결정하는 단계를 포함하고, 착륙 후보 지점의 크기에 기초하여 착륙 후보 지점에 드론이 착륙 가능한지 여부를 결정하고, 착륙 가능한 경우, 착륙 후보 지점을 착륙 지점으로 결정하는 단계를 포함하고, 드론이 착륙 후보 지점의 상공으로 이동하도록 드론을 제어하는 단계를 포함하고, 카메라가 착륙 지점을 지속적으로 촬영하도록 드론의 이동 거리 및 착륙 후보 지점의 위치에 기초하여 카메라의 틸트 각도를 조정하는 단계 및 드론이 착륙 지점의 상공에 도달한 경우, 착륙 지점의 상공에서 카메라에 의해 획득된 이미지에 기초하여 착륙 지점에서 착륙 가능한 영역을 식별하는 단계를 포함한다.</description><subject>AEROPLANES</subject><subject>AIRCRAFT</subject><subject>ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT</subject><subject>AVIATION</subject><subject>CALCULATING</subject><subject>COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS</subject><subject>COMPUTING</subject><subject>CONTROLLING</subject><subject>COSMONAUTICS</subject><subject>COUNTING</subject><subject>ELECTRIC COMMUNICATION TECHNIQUE</subject><subject>ELECTRICITY</subject><subject>EQUIPMENT FOR FITTING IN OR TO AIRCRAFT</subject><subject>FLYING SUITS</subject><subject>HANDLING RECORD CARRIERS</subject><subject>HELICOPTERS</subject><subject>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</subject><subject>PARACHUTES</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PICTORIAL COMMUNICATION, e.g. TELEVISION</subject><subject>PRESENTATION OF DATA</subject><subject>RECOGNITION OF DATA</subject><subject>RECORD CARRIERS</subject><subject>REGULATING</subject><subject>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2022</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZHBxDAhwDHIMCQ1WcPRzUfB1DfHwd1Fw8w9ScPb3Cwny9_Hx9HNX8AHKgWgnx2BXFwV_PwVPX0d3VwUfV8cgP6A4DwNrWmJOcSovlOZmUHZzDXH20E0tyI9PLS5ITE7NSy2J9w4yMjAyMjA0MDA3s3A0Jk4VAOCzLEI</recordid><startdate>20220718</startdate><enddate>20220718</enddate><creator>LEE SE DAM</creator><creator>HEO JIN YEONG</creator><creator>GO EUN SEONG</creator><creator>KWON YONG JIN</creator><scope>EVB</scope></search><sort><creationdate>20220718</creationdate><title>APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING</title><author>LEE SE DAM ; HEO JIN YEONG ; GO EUN SEONG ; KWON YONG JIN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_KR20220100768A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; kor</language><creationdate>2022</creationdate><topic>AEROPLANES</topic><topic>AIRCRAFT</topic><topic>ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT</topic><topic>AVIATION</topic><topic>CALCULATING</topic><topic>COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS</topic><topic>COMPUTING</topic><topic>CONTROLLING</topic><topic>COSMONAUTICS</topic><topic>COUNTING</topic><topic>ELECTRIC COMMUNICATION TECHNIQUE</topic><topic>ELECTRICITY</topic><topic>EQUIPMENT FOR FITTING IN OR TO AIRCRAFT</topic><topic>FLYING SUITS</topic><topic>HANDLING RECORD CARRIERS</topic><topic>HELICOPTERS</topic><topic>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</topic><topic>PARACHUTES</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PICTORIAL COMMUNICATION, e.g. TELEVISION</topic><topic>PRESENTATION OF DATA</topic><topic>RECOGNITION OF DATA</topic><topic>RECORD CARRIERS</topic><topic>REGULATING</topic><topic>SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>LEE SE DAM</creatorcontrib><creatorcontrib>HEO JIN YEONG</creatorcontrib><creatorcontrib>GO EUN SEONG</creatorcontrib><creatorcontrib>KWON YONG JIN</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LEE SE DAM</au><au>HEO JIN YEONG</au><au>GO EUN SEONG</au><au>KWON YONG JIN</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING</title><date>2022-07-18</date><risdate>2022</risdate><abstract>Disclosed are a landing control method for a drone and a device for performing the same. According to embodiments of the present invention, the landing control method and the device for the same are to induce a safe landing by identifying a landing point and an obstacle by learning an image. According to an embodiment of the present invention, a few-shot learning method includes: a step of obtaining the image photographing the ground by a camera installed in a drone which is flying; a step of identifying a landing candidate point of the drone in the image by using a first model learned in advance; a step of determining a position and a size of the landing candidate point based on the image; a step of determining whether the drone can land on the landing candidate point based on the size of the landing candidate point, and determining the landing candidate point as the landing point when the landing is possible; a step of controlling the drone so that the drone moves to the sky of the landing candidate point; a step of adjusting a tilting angle of the camera based on a moving distance of the drone and the position of the landing candidate point so that the camera continuously photographs the landing point; and a step of identifying an area on which the drone can land at the landing point based on the image obtained by the camera in the sky of the landing point when the drone reaches the sky of the landing point.
드론의 착륙 제어 방법 및 이를 수행하기 위한 장치가 개시된다. 일 실시예에 따른 퓨 샷 학습 방법은 비행 중인 드론에 구비된 카메라를 통해 지면을 촬영한 이미지를 획득하는 단계를 포함하고, 사전 학습된 제1 모델을 이용하여 이미지에서 드론의 착륙 후보 지점을 식별하는 단계를 포함하고, 이미지에 기초하여 착륙 후보 지점의 위치 및 크기를 결정하는 단계를 포함하고, 착륙 후보 지점의 크기에 기초하여 착륙 후보 지점에 드론이 착륙 가능한지 여부를 결정하고, 착륙 가능한 경우, 착륙 후보 지점을 착륙 지점으로 결정하는 단계를 포함하고, 드론이 착륙 후보 지점의 상공으로 이동하도록 드론을 제어하는 단계를 포함하고, 카메라가 착륙 지점을 지속적으로 촬영하도록 드론의 이동 거리 및 착륙 후보 지점의 위치에 기초하여 카메라의 틸트 각도를 조정하는 단계 및 드론이 착륙 지점의 상공에 도달한 경우, 착륙 지점의 상공에서 카메라에 의해 획득된 이미지에 기초하여 착륙 지점에서 착륙 가능한 영역을 식별하는 단계를 포함한다.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | AEROPLANES AIRCRAFT ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT AVIATION CALCULATING COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS COMPUTING CONTROLLING COSMONAUTICS COUNTING ELECTRIC COMMUNICATION TECHNIQUE ELECTRICITY EQUIPMENT FOR FITTING IN OR TO AIRCRAFT FLYING SUITS HANDLING RECORD CARRIERS HELICOPTERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PARACHUTES PERFORMING OPERATIONS PHYSICS PICTORIAL COMMUNICATION, e.g. TELEVISION PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRANSPORTING |
| title | APPARATUS AND METHOD FOR CONTROLLING LANDING BASED ON IMAGE LEARNING |
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