KR102203292B1 - Cctv surveillance system using cctv combined drones - Google Patents

Abstract

The present invention relates to a CCTV surveillance system using a CCTV combined drone, and while performing an existing CCTV function, when an event occurs, the video recorded on a surrounding CCTV combined drone can be searched using a cloud server, and aimed together with the surrounding CCTV combined drone. It relates to a CCTV system using a CCTV drone that can track and shoot a fixed object.

Description

CCTV surveillance system using both CCTV drones {CCTV SURVEILLANCE SYSTEM USING CCTV COMBINED DRONES}

The present invention relates to a CCTV surveillance system using a CCTV combined drone, and more specifically, a video recorded on a surrounding CCTV combined drone when an event occurs while performing an existing CCTV function can be searched using a cloud server. In addition, it relates to a CCTV system using a CCTV drone that can track and shoot a target object.

Drones are drones that can be controlled by radio waves, and are equipped with cameras, sensors, and communication systems, and vary in weight and size. Drones were made for military use, but recently, they are used in various ways for high altitude photography, delivery, spraying pesticides, or measuring air quality, and are also widely used for personal enjoyment.

On the one hand, CCTV is widely installed for crime prevention or actor analysis, but it is possible to shoot only images of a certain angle, and it cannot track the target object or person, and in order to collect all the images for a specific event or situation. The video captured by the surrounding CCTV must be searched, but it takes a lot of time and effort.

The present invention was devised to solve the above problems, and while performing the existing CCTV function, when an event occurs, the video recorded on the surrounding CCTV combined drone can be searched using a cloud server, and the target is set together with the surrounding CCTV combined drone. It is to provide a CCTV system using a CCTV drone that can track and shoot an object.

A CCTV surveillance system according to an embodiment of the present invention includes a first CCTV combined drone seated in a drone nest and performing a CCTV function; A cloud server that receives the image captured by the first CCTV drone, analyzes whether it is an image corresponding to an event, determines whether to track a target included in the image, and instructs the first CCTV drone to take tracking; Including, the first CCTV combined drone transmits a broadcast message to the adjacent second CCTV combined drone and receives a response message including the ID of the second CCTV combined drone from the second CCTV combined drone, and sent to the cloud server The ID of the second CCTV combined drone and the captured image are transmitted.

When the target is out of the shooting range of the mounted first CCTV combined drone, the cloud server instructs the first CCTV combined drone to track the flight of the target.

When the target is out of the shooting range of the second CCTV combined drone, the cloud server instructs the second CCTV combined drone to track the flight of the target.

The cloud server groups the images received from the first combined CCTV drone and the second combined CCTV drone.

The shooting angle is adjusted between the first combined CCTV drone and the second combined CCTV drone tracking the target.

The cloud server performs image analysis using a deep learning image analysis method.

According to an embodiment of the present invention, while performing an existing CCTV function, when an event occurs, the video recorded on a nearby CCTV combined drone can be searched using a cloud server, and a target object can be tracked and photographed together with the surrounding CCTV drone. It is possible to provide a CCTV surveillance system using a CCTV combined drone.

According to an embodiment of the present invention, by using a user's mobile phone or computer, an image captured by a CCTV dual-purpose drone at an event location and an image captured by a neighboring CCTV dual-purpose drone are searched, and a CCTV dual-purpose drone at an event occurs. It is possible to provide a CCTV surveillance system using both CCTV drones that can search for images captured by CCTV drones in and around the target.

1 is a view showing a CCTV surveillance system using a CCTV combined drone according to an embodiment of the present invention.
2 is a view showing a combined CCTV drone and a drone nest according to an embodiment of the present invention.
3 is a view showing a state in which the combined CCTV drone of FIG. 2 is seated in a drone nest.
4 is a block diagram specifically showing the configuration of the combined CCTV drone of FIG.
5 is a block diagram specifically showing the configuration of the cloud server of FIG. 1.
6 is a view showing a method of detecting another combined CCTV drone existing within a preset distance from the combined CCTV drone according to an embodiment of the present invention.
7 is a diagram illustrating a method of controlling a CCTV combined drone by a cloud server when a specific event occurs.
8 is a diagram illustrating a method of controlling a CCTV combined drone by a cloud server according to an embodiment of the present invention.
9 is a flow chart showing a monitoring method using a CCTV combined drone according to an embodiment of the present invention.

Hereinafter, embodiments of the present specification will be described in detail with reference to the accompanying drawings.

In describing the embodiments, descriptions of technical contents that are well known in the technical field to which the present specification pertains and are not directly related to the present specification will be omitted. This is to more clearly convey the gist of the present specification by omitting unnecessary description.

For the same reason, some components in the accompanying drawings are exaggerated, omitted, or schematically illustrated. In addition, the size of each component does not fully reflect the actual size. The same reference numerals are assigned to the same or corresponding components in each drawing.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a view showing a CCTV surveillance system using a CCTV combined drone according to an embodiment of the present invention.

Referring to FIG. 1, a CCTV surveillance system 500 using a CCTV combined drone includes a CCTV combined drone 100, a communication network 300, and a cloud server 400.

The combined CCTV drone 100 is enshrined in the drone nest 200, and the drone nest 200 may be installed on a power pole, street lamp, or pillar, and the CCTV dual drone 100 is enclosed in the drone nest 200 to provide a CCTV (closed circuit). Television) or as a drone that tracks and shoots targets.

The combined CCTV drone 100 transmits the captured image through the communication network 300 to the cloud server 400, and the cloud server 400 analyzes the captured image, analyzes whether it is an event, and tracks whether or not the target is tracked. To determine, and instruct the CCTV combined drone 100 to track the target.

The cloud server 400 is for storing image information acquired from the CCTV drone 100, and is provided so that data can be used anytime, anywhere by simply connecting to the Internet. Since there is a limit to storing the captured image information according to the memory capacity of the CCTV drone 100, the video information captured from the CCTV drone 100 is uploaded to the cloud server 400. The cloud server 400 may be provided to search and download image information stored in the cloud server 400 whenever necessary. The cloud server 400 may search for image information based on metadata included in the image information acquired from the CCTV drone 100. At this time, the metadata included in the image information stored in the cloud server 400 is location coordinates including time information, latitude, and longitude, images and videos, and the ID of the CCTV drone 100 that transmits the video and the surrounding CCTV. IDs of the drones 100 may be included, and corresponding information (location and time, etc.) may be used to control video access.

The cloud server 400 may search and extract stored image information and transmit it to the user's mobile device and PC application. The cloud server 400 may extract image information related to an event based on location information and time information (or ID of the CCTV combined drone 100) included in the image information obtained from the CCTV combined drone 100. The cloud server 400 may group and store image information in similar or identical places by similar or identical time periods. In this way, grouping and storing image information is for faster search. In addition, when the combined CCTV drone 100 is flying in an area where wireless communication is not possible, image information in the area where the combined CCTV drone 100 is located cannot be uploaded to the cloud server 400, but moves to an area where wireless communication is possible. Or, as the drone returns to the nest 200, an image that has not been uploaded to the cloud server 400 and current image information may be uploaded in real time or when communication is possible.

2 is a view showing a combined CCTV drone and a drone nest according to an embodiment of the present invention.

Referring to FIG. 2, the combined CCTV drone 100 includes a drone body 110, a wing part 120, a camera part 130, and a position measuring part 140.

The drone body 110 is connected to the wing portion 120, and the wing portion 120 includes a propeller driven by a motor, and the drone body 110 and the wing portion 120 are raised by rotating the propeller using a motor. It generates a lift force.

The camera unit 130 may be coupled to each side of the drone body 110, and eight cameras in four directions may be coupled to the drone body 110.

The location measurement unit 140 includes a Global Positioning System (GPS) and measures the location of the drone 100 for both CCTV and includes the location of the camera in the image.

The drone nest 200 includes a nest body 210, a charging unit 220, and an antenna (not shown).

The nest body 210 supports the drone body 110 and the wing portion 120 and the charging portion 220 and mounts the drone 100 for both CCTV and the drone nest 200.

The charging unit 220 charges a battery (not shown) of the combined CCTV drone 100, and the charging battery of the CCTV combined drone 100 is charged in a manner that contacts the charging unit 220, or the charging battery of the CCTV combined drone 100 is It can be charged wirelessly without contacting the charging unit 220 directly.

The antenna is used for communication between the CCTV dual drone 100 and the cloud server 400 when the CCTV dual drone 100 is seated in the drone nest 200.

3 is a view showing a state in which the combined CCTV drone of FIG. 2 is seated in a drone nest.

When the CCTV combined drone 100 is seated in the drone nest 200, the charging unit 220 charges the rechargeable battery of the CCTV combined drone 100 and stops charging when the charging battery is completed. The combined CCTV drone 100 transmits the captured image to the cloud server 400 through the antenna of the drone nest 200.

4 is a block diagram showing in detail the configuration of the combined CCTV drone of FIG.

The controller 180 of the combined CCTV drone 100 controls the direction of the drone body 110 in the east, west, south, north, up and down directions using at least two wing parts 120 formed, and the drone nest ( 200), and then performs a landing function so that the drone body 110 is settled inside the nest body 210 of the drone nest 200.

Thereafter, the controller 180 controls to receive and store power from the charging unit 220 of the drone nest 200 to the rechargeable battery 160 when it is determined that the state of being seated on the drone nest 200 is maintained through the landing function. In addition, by taking an external image through the camera unit 130 and controlling the communication unit 150, the captured image is transmitted to the cloud server 400 connected to the communication network 300 through the drone nest 200 having an antenna. do.

The controller 180 controls the camera unit 130 so that the combined CCTV drone 100 operates as a CCTV when the combined CCTV drone 100 is seated in the drone nest 200 and transmits the captured image to the USIM (Universal Subscriber Identity). Module) can be transmitted to the cloud server 400 through the communication unit 150 including.

The controller 180 completes the analysis of the captured image by the cloud server 400, and the communication unit receives an emergency event signal and target information from the cloud server 400 through the communication network 300 and the communication unit 150. Control 150.

Here, the communication unit 150 controls the antenna of the drone nest 200, and when the CCTV combined drone 100 takes off from the drone nest 200, it separately performs short-range wireless communication with the antenna of the drone nest 200. In addition, when the CCTV drone 100 lands on the drone nest 200, the cloud server 400 and CDMA, WCDMA, 4G, 4G LTE, 5G, and other wireless devices are signed through a contract with the antenna of the drone nest 200. Communication can be performed.

The controller 180 captures an image of a target designated as target information from the cloud server 400 and performs a take-off function, and then controls the wing unit 120 to perform tracking through image recognition of the target. Here, the take-off function can be performed similarly to the landing function. That is, the controller 180 controls the direction of the drone body 110 vertically upward using at least two wing portions 120 formed, and then the drone body 110 in the east, west, south, north, up and down directions. ) Controls the wing unit 120 to perform tracking through image recognition of the target.

5 is a block diagram showing the configuration of the cloud server of FIG. 1 in detail.

The cloud server 400 may include a storage unit 440, a search unit 450, a management unit 460, an authentication unit 470, and a control unit 480.

The storage unit 440 may store image information received from the combined CCTV drone 100. The storage unit 440 may sort and store image information uploaded from the CCTV dual-purpose drone 100 based on preset criteria (eg, by date, by location, etc.). Alternatively, the controller 480 may group similar data based on the similarity of the uploaded image information, and the storage unit 440 may store the grouped data.

The search unit 450 may provide the stored image information so that it can be searched through location information or location information of the CCTV drone 100.

The management unit 460 may group image information arbitrarily stored by an administrator.

The authentication unit 470 may provide permission to view or manage the uploaded image to people related to the image information.

The control unit 480 controls the storage unit 440, the search unit 450, the management unit 460 and the authentication unit 470.

6 is a diagram illustrating a method of detecting another combined CCTV drone within a preset distance from the combined CCTV drone according to an embodiment of the present invention.

It is assumed that a plurality of combined CCTV drones are located in each drone nest 200 with reference to FIGS. 1 to 6. In order for each of the combined CCTV drones to communicate with each other, it is possible to detect at least one or more CCTV combined drones 100 included within a preset radius among a plurality of CCTV combined drones. For example, a specific CCTV combined drone 100 may broadcast a message. Then, other CCTV combined drones 100 existing in the vicinity may receive the message, and a response message may be transmitted to the CCTV drone 100 that transmitted the message. Through this, the specific CCTV combined drone 100 may detect at least one CCTV combined drone 100 existing around itself.

The broadcast message transmitted by the CCTV drone 100 includes the sender's information (ID, time information, location coordinate information (latitude information, longitude information, etc.) to all receivers CCTV drone 100 within the reception range. And the CCTV dual-purpose drone 100 that has received the transmission broadcast message is a CCTV dual-purpose drone 100 that has transmitted the information (ID, time information, location coordinate information (latitude information, longitude information, etc.)) of the receiving CCTV dual-purpose drone 100. ).

On the other hand, the combined CCTV drone 100 is located in each drone nest 200, or when a specific event or event occurs and the combined CCTV drone is flying, the CCTV combined drone 100 existing in the vicinity using the above method. They can be detected, and information received from the CCTV drones 100 existing in the vicinity can be transmitted together with the image captured on the cloud server 400.

The cloud server 400 can group images captured and transmitted by a specific CCTV combination drone 100 when a specific event or event occurs, and images captured by other CCTV combined drones 100 around the specific CCTV combination drone 100. have. That is, based on the IDs of the surrounding CCTV drones 100 collected by a specific CCTV drone 100, the video recorded by the surrounding CCTV drones 100 having the same or similar time for the event or event is the same. Or, they can be grouped by video in the same or similar time period in a similar area.

In this way, it is possible to collect images of events or events without blind spots and transmit the collected images to users.

Certain events or incidents may include criminal cases such as theft, murder, robbery, or kidnapping, vehicle collisions, rollover accidents, or children lost, and targets to be tracked are persons, vehicles, or animals related to the specific event or incident. Etc.

The cloud server 400 may manage identification information of the CCTV drones 100 for each location of the CCTV drones 100. Accordingly, when a specific event or event occurs and the specific CCTV combined drone 100 photographs it, the cloud server 400 identifies the location of the specific CCTV combined drone 100 and other CCTV combined drones 100 around it The captured image can be saved or transmitted to the user's mobile device or PC.

The combined CCTV drone 100 may detect at least one or more CCTV combined drones 100 existing in the surrounding through sensors included in the combined CCTV drone 100. For example, based on sensor information such as a gyro sensor, a detection sensor, a temperature sensor, a proximity sensor, an acceleration sensor, a gravity sensor, a motion sensor, an infrared sensor, a light sensor, an illuminance sensor, etc. Can be judged. By broadcasting a message to the CCTV drone 100 sensed as described above, and by sending a response message, the CCTV drones 100 existing in the vicinity can detect the CCTV drones 100 existing in the vicinity.

In addition, the CCTV combined drone 100 may detect identification information of the CCTV combined drone 100 as well as detect the CCTV combined drone 100 existing in the vicinity. For example, identification information of the CCTV combined drones 100 may be determined based on messages received from the surrounding CCTV drones 100.

7 is a diagram illustrating a method of controlling a CCTV combined drone by a cloud server when a specific event occurs.

According to FIG. 7, the cloud server 400 may determine whether an event occurs by analyzing an image transmitted by the CCTV drone 100.

As a method of analyzing an image and determining whether an event occurs, a commonly used image recognition technology may be used. For example, Mask R-CNN (Regions with Convolutional Neural Networks) technology may be used. The R-CNN method, which is the basis of Mask R-CNN, first i) receives an image and ii) creates a region proposal or bounding box. To create a bounding box, a selective search method can be used. This is a method of creating a bounding box by combining adjacent pixels with similar color or intensity patterns. iii) The size of the created bounding box is unified, and the image is classified by inputting it into CNN (a modified version of AlexNet). iv) Use a linear regression model to accurately adjust the bounding box coordinates. Fast R-CNN, Faster R-CNN, and Mask R-CNN, which have developed R-CNN, are known, and this Mask R-CNN can be an example of how to determine whether an event has occurred. However, this is only an example, and other deep learning-based image recognition techniques for determining an event may be utilized for the techniques of this specification. Related information can be found at https://tensorflow.blog/2017/06/05/from-r-cnn-to-mask-r-cnn/ or https://youtu.be/kcPAGIgBGRs.

When it is determined that an event has occurred by recognizing and analyzing the image transmitted by the specific CCTV drone 100, the cloud server 400 determines whether the target related to the event can be photographed within the shooting range of the specific CCTV drone 100, and the target is If it is out of range, it is possible to instruct a specific CCTV drone 100 to fly and close to a target to shoot. Alternatively, the cloud server 400 instructs a specific CCTV drone 100 to track and shoot a target related to the event, and the CCTV drone 100 determines whether the target is capable of shooting in consideration of the shooting range by itself and determines whether to fly. have.

8 is a diagram illustrating a method of controlling a CCTV combined drone by a cloud server according to an embodiment of the present invention.

When tracking a target through flight, the CCTV combined drone 100 recognizes the adjacent CCTV combined drone 600 in the above-described method, and transmits the image of the target and information about the surrounding CCTV drone 600 to the cloud server 400. ). In this way, the cloud server 400 can collect images captured by a specific CCTV combined drone 100 and a CCTV combined drone 600 around it, and CCTV combined drones around the specific CCTV combined drone 100 ( By controlling 600) in the above-described method, it is possible to control the surrounding CCTV drones 600 to fly and track the target related to the event together.

When the combined CCTV drone 100 tracks and shoots a target jointly with the surrounding CCTV drones 600, the shooting angle or flight direction or flight position is adjusted between the CCTV drones 100 so that there is no blind spot. To be able to shoot from all angles, the cloud server 400 may send a message to each of the CCTV drones 100 to adjust the shooting angle, flight direction, and flight position. In another embodiment of the present invention, a target to be tracked can be photographed from all angles by adjusting a shooting angle, a flight direction, or a flight position through message communication between the CCTV drones 100 and 600.

9 is a flow chart showing a monitoring method using a CCTV combined drone according to an embodiment of the present invention.

Referring to FIGS. 1 to 9, in step 910, the CCTV combined drone 100 transmits a captured image to the cloud server 400.

In step 920, the cloud server 400 analyzes the transmitted image using deep learning image recognition technology.

In step 930, the cloud server 400 instructs the CCTV drones 100 to track the target.

In step 940, the cloud server 400 instructs each CCTV drone 100 to adjust the shooting angle for the target. In another embodiment of the present invention, each CCTV combined drone 100 may itself adjust the shooting angle for the target.

Those of ordinary skill in the art to which the present specification pertains will appreciate that the present specification may be implemented in other specific forms without changing the technical spirit or essential features thereof. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects. The scope of the present specification is indicated by the scope of the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and the concept of equivalents thereof are included in the scope of the present specification. It must be interpreted.

Meanwhile, in the present specification and drawings, preferred embodiments of the present specification have been disclosed, and although specific terms are used, these are merely used in a general meaning to easily describe the technical content of the present specification and to aid understanding of the invention. It is not intended to limit the scope of the specification. In addition to the embodiments disclosed herein, it is apparent to those of ordinary skill in the art that other modified examples based on the technical idea of the present specification may be implemented.

Claims (6)

The first CCTV combined drone mounted on the drone nest and performing CCTV functions;
A cloud server that receives the image captured by the first CCTV drone, analyzes whether it is an image corresponding to an event, determines whether to track a target included in the image, and instructs the first CCTV drone to take tracking; Including,
The first CCTV combined drone transmits a broadcast message to the adjacent second CCTV combined drone, and received a response message including the ID of the second CCTV combined drone from the second CCTV combined drone, and then sent the second CCTV to the cloud server. Send the ID of the dual-purpose drone and the video taken,
When the target is out of the shooting range of the mounted first CCTV combined drone, the cloud server instructs the first CCTV combined drone to track the flight of the target,
The cloud server instructs the second CCTV combined drone to track flight of the target when the target is out of the shooting range of the second CCTV combined drone,
The cloud server groups the images received from the first combined CCTV drone and the second combined CCTV drone,
Adjusting the shooting angle between the first combined CCTV drone and the second combined CCTV drone for tracking the flight,
The cloud server performs image analysis using a deep learning image analysis method,
The first CCTV combined drone transmits a broadcast message to a plurality of CCTV combined drones adjacent to the first CCTV combined drone other than the second CCTV combined drone, and the plurality of CCTV combined drones that received the broadcast message They transmit a response message including each ID to the first CCTV drone,
The cloud server instructs the flight tracking of the target to the first and second CCTV combined drones and then instructs the plurality of combined CCTV drones to track the flight of the target,
The cloud server includes the first CCTV combined drone and the first CCTV combined drone and the first CCTV combined drone so that the shooting angle for the target is not omitted while the plurality of CCTV combined drones fly and track the target. Instructing the second CCTV combined drone and the plurality of CCTV combined drones to adjust the position and angle of each CCTV combined drone,
When the first CCTV combined drone completes flight tracking for the target and returns to the drone nest, an image of the target captured during flight tracking of the target, the second CCTV combined drone, and the plurality of CCTV combined drones The ID received from is transmitted to the cloud server,
When the second CCTV combined drone ends flight tracking for the target and returns to the drone nest, the image of the target captured during flight tracking of the target and the ID of the second CCTV combined drone are transmitted to the cloud server. And
When the plurality of CCTV drones finish flight tracking for the target and return to the drone nest, the video of the target captured by each CCTV drone during flight tracking of the target and the ID of each CCTV drone is stored in the cloud. Send it to the server,
The cloud server searches for images captured by the second CCTV drone and the plurality of CCTV drones close to the first CCTV drone using the IDs of the CCTV drones transmitted by the first CCTV drone,
The cloud server groups the image captured by the first CCTV combined drone and the second CCTV combined drone close to the first CCTV combined drone and the images captured by the plurality of CCTV combined drones based on the searched image. CCTV monitoring system transmitted to the user's terminal.








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