The present invention, central control unit and a sensor unit, and a GPS module, and with a body portion consisting of the wireless communication, a plurality of extending the center of the body portion symmetrical leg portions, wherein each of the multirotor system using a marker recognition multirotor configured including a leg section rotor blades and the motor forming a driving force to fly the end consisting of the rotor portion; The marker for holding a predetermined distance to whether the multirotor the or to confirm the direction of movement of the multirotor;And a wireless terminal for controlling the multirotor to communicate with the central controller via the wireless communication unit.

This invention, the quadcopter system that can recognize the marker and by configuring to accurately determine the distance information from the marker, and precisely with a simple configuration controls the hovering and flying, and effectively acquire the distance information and the image information to provide.