CN106713845A - Drone connected monitoring CCTV apparatus and method for photographing image thereby - Google Patents
Drone connected monitoring CCTV apparatus and method for photographing image thereby Download PDFInfo
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- CN106713845A CN106713845A CN201611005926.5A CN201611005926A CN106713845A CN 106713845 A CN106713845 A CN 106713845A CN 201611005926 A CN201611005926 A CN 201611005926A CN 106713845 A CN106713845 A CN 106713845A
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- unmanned plane
- plane connecting
- reference object
- tracked
- type cctv
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Closed-Circuit Television Systems (AREA)
- Studio Devices (AREA)
Abstract
One embodiment of the invention provides a method for photographing an image through a drone connected CCTV apparatus. The method is characterized by comprising the following steps: capturing an image in a set photographing range in the state that a tracked photographed object falls on a fixed rod; determining a tracked photographed object in a photographed object in the image; and performing track photographing to the tracked photographed object, when the tracked photographed object breaks away from the set range and takes off from the fixed rod.
Description
Technical field
The present invention relates to monitor (CCTV) field.More particularly it relates to a kind of unmanned plane is formed as one with CCTV
The unmanned plane connecting-type CCTV devices of body.
Background technology
CCTV's (Closed Circuit Television) is widely used, for example, can be used for industry, education, medical treatment,
Traffic control, take precautions against natural calamities and community in video information transmission etc..
By it was verified that CCTV has prevents and suppress crime, easily finding and arresting criminal, citizen are reduced to crime
Fear, and make the effect that police strength supplemented because setting CCTV in major area.Therefore, by many in crimes such as lanes
Hair ground sets CCTV to prevent the generation of crime.
CCTV generally is arranged on into fix bar (pole) etc. to use fixing above, but its coverage is limited, and in order to
Wider region is monitored, multiple CCTV can only be set, this can cause the waste of expense.
Additionally, there is crime in given area, in the case of traffic accident, police needs direct viewing to be shot by CCTV
The image for obtaining is analyzed, therefore has some to need manually operated function in CCTV function aspects, thus to police's
Work increased burden.
Look-ahead technique document Prior Art
Patent document
No. 2001-0016315 (publication date of South Korea's Publication:2001.03.05)
The content of the invention
Invent problem to be solved
The unmanned plane connecting-type monitoring CCTV devices provided according to one embodiment of the invention and the image taking side based on it
The purpose of method is to expand the shooting area of CCTV devices.
Additionally, the unmanned plane connecting-type CCTV devices provided according to one embodiment of the invention and the image taking side based on it
The purpose of method is, effectively using unmanned plane connecting-type CCTV devices.
Additionally, the unmanned plane connecting-type CCTV devices provided according to one embodiment of the invention and the image taking side based on it
The purpose of method is to easily find out wanted criminal and lost children etc..
The technical problem to be solved in the present invention as described above, but be not limited to these, it is NM other need solve
Technical problem will by it is following record enable that those skilled in the art are clearly understood that.
The means used to solve the problem
The image capturing method realized by unmanned plane connecting-type CCTV devices according to an embodiment of the invention, its feature
For described image image pickup method is comprised the following steps：In the state of dropping in fix bar, the shooting model that shooting has been set
The image for enclosing；Determine to be tracked reference object from the subject in image；And it is tracked reference object disengaging
During the scope of setting, taken off from fix bar, so as to be tracked shooting to being tracked reference object.
Preferably, the step of described determination is tracked reference object includes at least recognizing that the subject is respective
One kind in face, build, dress ornament and motion, so that it is determined that described the step of be tracked object.
Described image image pickup method also includes the step of obtaining the characteristic of main subject, it is preferable that described
Determination the step of be tracked reference object including by the characteristic of the acquisition and the respective face of the subject, body
At least one in type, dress ornament and motion is compared, so that it is determined that described the step of be tracked reference object.
Preferably, the subject it is respective motion at least include the respective translational speed of the subject and
One kind in mobile route.
Preferably, described image image pickup method is additionally included in and shoots beginning to the tracking for being tracked reference object
Afterwards, in the case where the battery allowance of the unmanned plane connecting-type CCTV devices is less than or equal to the amount being set, it is back to institute
The step of stating fix bar.
Preferably, described image image pickup method is additionally included in and shoots beginning to the tracking for being tracked reference object
Afterwards, when the unmanned plane connecting-type CCTV flight distance correspond to can with the battery allowance of unmanned plane connecting-type CCTV devices
Flight apart from when, the step of be back to the fix bar.
Preferably, described image image pickup method is additionally included in and shoots beginning to the tracking for being tracked reference object
Afterwards, if it is determined that the return of the unmanned plane connecting-type CCTV devices, then the moving direction for being tracked reference object is carried out really
Fixed step；And the characteristic for being tracked reference object is sent to positioned at the movement for being tracked reference object
The step of unmanned plane connecting-type CCTV devices of other fix bars on direction.
Preferably, described image image pickup method is additionally included in and shoots beginning to the tracking for being tracked reference object
Afterwards, if it is determined that the return of the unmanned plane connecting-type CCTV devices, then the unmanned plane connecting-type CCTV devices can be dropped
The step of other fix bars for falling are determined；And drop to step in other fix bars of the determination.
Preferably, the step being determined in other fix bars that can land to the unmanned plane connecting-type CCTV devices
Suddenly, other fix bars within the distance that including to the battery allowance with the unmanned plane connecting-type CCTV devices can be flown are entered
The step of row detection；And will in described other fix bars for detecting, not be other unmanned planes connecting-type CCTV devices
The state of landing, and other unmanned plane connecting-type CCTV devices landing scheduled time fix bar the latest be defined as it is described nobody
The step of other fix bars that machine connecting-type CCTV devices can land.
Preferably, described image image pickup method also include based on the unmanned plane connecting-type CCTV devices battery allowance come
Calculate can fly apart from the step of；And in the tracking for being tracked reference object shoots, when the unmanned plane
After other fix bars that connecting-type CCTV devices can land are determined, calculate again it is described calculated can fly
It is capable apart from the step of.
Preferably, described image image pickup method is also included to the feature that reference object is tracked described in external server transmission
The step of data.
Unmanned plane connecting-type CCTV devices according to another embodiment of the present invention, it is characterized by, including connecting-type body, its
For taking off, landing and fly；Shoot part, it shoots the coverage being set in the state of dropping in fix bar
Image；Control unit, determines to be tracked reference object, when being tracked bat from the subject in the image being taken
When taking the photograph the scope that object disengaging has been set, unmanned plane connecting-type CCTV devices are controlled, it is taken off from fix bar,
So as to be tracked shooting to being tracked reference object.
Preferably, the unmanned plane connecting-type CCTV devices also include battery, and the battery is in unmanned plane connecting-type CCTV
In the state of device is dropped in fix bar, electric energy is received from the fix bar, so as to be charged.
Invention effect
Unmanned plane connecting-type CCTV devices according to an embodiment of the invention and the image capturing method based on it are caned
The effect of realization is as follows.
(1) unmanned plane connecting-type CCTV devices according to an embodiment of the invention and the image capturing method based on it can
Expand the shooting area of CCTV devices.
(2) unmanned plane connecting-type CCTV devices according to an embodiment of the invention and the image capturing method based on it can
Effectively use unmanned plane connecting-type CCTV devices.
(3) unmanned plane connecting-type CCTV devices according to an embodiment of the invention and the image capturing method based on it can
Easily find out wanted criminal and lost children etc..
Effect of the invention is not limited to the above-mentioned effect for referring to, NM other effects will be made by following records
Obtaining those skilled in the art can be clearly understood that.
Brief description of the drawings
Fig. 1 is the skeleton diagram of the unmanned plane connecting-type CCTV devices for showing one embodiment of the invention.
Fig. 2 is the order of the image capturing method for showing the unmanned plane connecting-type CCTV devices based on one embodiment of the invention
Figure.
Fig. 3 is the precedence diagram of the S220 steps for being illustrated in detail in Fig. 2.
Fig. 4 is to show in the S230 steps of Fig. 2, is being tracked the feelings of the coverage that reference object disengaging has been set
The precedence diagram of the action of the unmanned plane connecting-type CCTV devices under condition.
Fig. 5 is to show in the S230 steps of Fig. 2, is being tracked the feelings of the coverage that reference object disengaging has been set
The precedence diagram of other actions of the unmanned plane connecting-type CCTV devices under condition.
Fig. 6 is the module map of the unmanned plane connecting-type CCTV devices according to one embodiment of the invention.
Description of reference numerals
100、600：Unmanned plane connecting-type CCTV devices
200：Fix bar
610：Shoot part
620：Internal memory
630：Control unit
640：Communication unit
650：Battery
Specific embodiment
Hereinafter with reference to accompanying drawing to a preferred embodiment of the present invention will be described in detail.In the description of the invention, when
It is right by omitting in the case of thinking the illustrating and can unnecessarily obscure purport of the invention of related known function or structure
Its detailed description.
Fig. 1 is the skeleton diagram of the unmanned plane connecting-type CCTV devices 100 for showing one embodiment of the invention.
Unmanned plane connecting-type CCTV devices 100 according to an embodiment of the invention, unmanned plane and CCTV cameras are one
Body connects to be formed.Unmanned plane connecting-type CCTV devices 100 shoot while being taken off, being flown and being landed to image.
As shown in fig. 1, unmanned plane connecting-type CCTV devices 100 run in the state of dropping in fix bar 200, nothing
Man-machine connecting-type CCTV devices 100 are charged using the electric energy for being supplied from fix bar 200 to battery.In fix bar 200
Can possess the terminal charged for the battery to unmanned plane connecting-type CCTV devices 100, according to realizing example, fix bar
200 can be charged by wireless method to the battery of unmanned plane connecting-type CCTV devices 100.
Additionally, the image of 100 couples of coverage R being set of unmanned plane connecting-type CCTV devices shoots, so that
It is sent to fix bar 200 or central management server.
Below, 2~Fig. 5 of reference picture comes to the specific of the unmanned plane connecting-type CCTV devices 100 of one embodiment of the invention
Action is illustrated.
Fig. 2 is the image capturing method for showing the unmanned plane connecting-type CCTV devices 100 based on one embodiment of the invention
Precedence diagram.
In S210 steps, unmanned plane connecting-type CCTV devices 100 are in the state of dropping in fix bar 200 to having set
Fixed coverage R carries out image taking.Unmanned plane connecting-type CCTV devices 100 are operated by battery, therefore base
Run in the state of dropping in fix bar 200 on this.
In S220 steps, unmanned plane connecting-type CCTV 100 quilts in the image of the coverage R being set of device
Determine to be tracked reference object in reference object.Here, it refers to need unmanned plane connecting-type CCTV devices to be tracked reference object
The subject of 100 determinations for being carried out continuously shooting.
In S230 steps, whether unmanned plane connecting-type CCTV devices 100 judge to be tracked reference object departing from
The coverage R of setting.
In the case of reference object is tracked without departing from the coverage R being set, in S240 steps, unmanned plane connects
Direct type CCTV devices 100 are continuously shot the coverage R being set, and the shooting that has been set is departed from when reference object is tracked
In the case of scope R, in S250 steps, unmanned plane connecting-type CCTV devices 100 take off and are flown from fix bar 200
OK, and to being tracked reference object shoot.As described above, unmanned plane connecting-type CCTV devices 100 are run by battery,
Therefore need to consider always the surplus of battery to be tracked shooting to being tracked reference object.
Fig. 3 is the precedence diagram of the S220 steps for being illustrated in detail in Fig. 2.
In S310 steps, unmanned plane connecting-type CCTV devices 100 mainly obtain the characteristic of subject.
This, main subject refers to the subject for needing emphasis to be tracked, it may for example comprise wanted criminal, lost children and
Missing person.Characteristic includes at least one in face feature, physical characteristic and the garment ornament of subject.
Unmanned plane connecting-type CCTV devices 100 can collect the feature of main subject from central management server
Data, it is also possible to the characteristic of main subject is collected by external memories such as USB.
In S320 steps, the quilt in 100 pairs of images of the coverage R being set of unmanned plane connecting-type CCTV devices
The feature of reference object is identified.For example, unmanned plane connecting-type CCTV devices 100 to the face of the subject in image,
At least one in build, dress ornament and motion is identified.Object is recognized by image processing algorithm, the technology of task be
The technology being currently in use in this area, therefore the explanation to the technology will be omitted in the description.
In S330 steps, the feature of the subject that unmanned plane connecting-type CCTV devices 100 will be recognized in image
Characteristic with main subject is compared, so as to judge whether to be clapped equivalent to main subject
Take the photograph object.
In the case of the subject matched in the absence of the characteristic with main subject, unmanned plane connection
The feature S320 of the subject that type CCTV devices 100 will be recognized continuously in the image being taken, is present and mainly quilt
In the case of the subject of the characteristic matching of reference object, in S340 steps, the subject is defined as
It is tracked reference object.After being tracked reference object and being determined, unmanned plane connecting-type CCTV devices 100 will can then be tracked
The characteristic information of reference object is sent in central management server, police service device and Fire Department's server etc..
As described above, unmanned plane connecting-type CCTV devices 100 can be by considering the motion of subject come to being chased after
Track reference object is determined, here, the motion of subject can include the translational speed of subject and mobile road
At least one in footpath.For example, subject that can be quick mobile compared with the speed being set and most
The different subject of the mobile route of subject (for example, the place of Xiang Feilu move subject),
Suddenly the subject that stops more than certain hour in mobile process repeats movement in coverage and has been set
Subject more than number of times is defined as being tracked reference object.
Fig. 4 is to show in the S230 steps of Fig. 2, is being tracked the feelings of the coverage that reference object disengaging has been set
The precedence diagram of the action of the unmanned plane connecting-type CCTV devices 100 under condition.
In S410 steps, unmanned plane connecting-type CCTV devices 100 judge in the state of dropping in fix bar 200
Whether the surplus of battery is less than or equal to the amount being set.
In S420 steps, in the case that the surplus of battery is less than or equal to the amount being set, unmanned plane connecting-type CCTV
Device 100 will determine to be tracked the moving direction of reference object.
In S430 steps, the characteristic that unmanned plane connecting-type CCTV devices 100 will be tracked reference object is sent to
Positioned at the unmanned plane connecting-type CCTV devices 100 of other fix bars 200 being tracked on the moving direction of reference object, so that
Obtaining other unmanned planes connecting-type CCTV devices 100 can be tracked shooting to being tracked reference object.
In S440 steps, if the surplus of battery exceedes the amount being set, unmanned plane connecting-type CCTV devices 100
Will be taken off from fix bar and while flight, shooting is tracked to being tracked reference object.
In S450 steps, whether unmanned plane connecting-type CCTV devices 100 are consumed to what is be set to the energy of battery
After being judged below amount, in the case that the surplus of battery exceedes the amount being set, may proceed to being tracked reference object
It is tracked shooting S440.
When below the balance of amount being set of battery, then in S460 steps, unmanned plane connecting-type CCTV devices 100
Returned to for the charging of battery in the fix bar 200 of oneself.Unmanned plane connecting-type CCTV devices 100 determine to be tracked shooting
The moving direction S420 of object, then will be tracked the characteristic of reference object and is sent to other being located on the direction of determination
S430 on the unmanned plane connecting-type CCTV devices 100 of fix bar 200, so that be tracked reference object is tracked bat always
Take the photograph.
Fig. 4 shows that unmanned plane connecting-type CCTV devices 100 are compared to the surplus of battery and the amount being set, from
And determine whether the embodiment for being returned, it can be seen from concrete example, unmanned plane connecting-type CCTV devices 100 can be by electricity
The distance that the surplus and unmanned plane connecting-type CCTV devices 100 in pond are flown is compared, and determines whether to be returned.Tool
Body ground, the distance (for example, 10km) and unmanned plane that unmanned plane 100 pairs of surpluses with battery of connecting-type CCTV devices can fly connects
The distance (for example, 9.8km) that direct type CCTV devices 100 have flown is compared, if the difference between them is in certain value
Within (for example, 0.5km), then can be defined as returning in the fix bar 200 of oneself.
Even if additionally, the feelings that unmanned plane connecting-type CCTV devices 100 will be returned in the fix bar 200 of oneself are determined
Under condition, according to concrete example, unmanned plane connecting-type CCTV devices 100 can also be returned in other fix bars 200, to replace certainly
Oneself fix bar 200.Unmanned plane connecting-type CCTV devices 100 are pointed to other in the distance that can be flown with the surplus of battery
Fix bar 200 is detected, and in other fix bars 200 that will can be detected is not other unmanned plane connecting-types CCTV dresses
Put 100 states landed, and other unmanned planes connecting-type CCTV devices 100 landing scheduled time fix bar the latest
200 are defined as the fix bar 200 that will return.Here, unmanned plane connecting-type CCTV devices 100 can be from other each unmanned planes
Connecting-type CCTV devices receive whether other unmanned planes connecting-type CCTV devices drop to other fix bars for being detected respectively
On 200, and its landing scheduled time information.For example, being fixed as the A fix bars 200, B of other fix bars 200 when detecting
In the case of bar 200, C fix bars 200, then unmanned plane connecting-type CCTV devices 100 can with correspond respectively to A fix bars 200,
The a unmanned planes of B fix bars 200 and C fix bars 300, b unmanned planes and c unmanned planes are communicated.Although a unmanned planes drop to A consolidating
In fixed pole 200, but b unmanned planes and c unmanned planes are not dropped in B fix bars 200 and C fix bars 200, the drop of b unmanned planes
The scheduled time fall for after 10 minutes, when the landing scheduled time of c unmanned planes is for after 20 minutes, then unmanned plane connecting-type CCTV
C fix bars 200 can be defined as the fix bar 200 that will return by device.But, even if unmanned plane connecting-type CCTV devices
The battery of oneself is charged in the time of 100 20 minutes will returned in c unmanned planes, when being judged as no more than
In the case of the amount of setting, then may return in oneself original fix bar 200.
Fig. 5 is to show in the S230 steps of Fig. 2, is being tracked the coverage R's that reference object disengaging has been set
In the case of unmanned plane connecting-type CCTV devices other action precedence diagrams.
In S510 steps, unmanned plane connecting-type CCTV devices 100 judge electricity in the state of fix bar 200 is dropped to
Whether the surplus in pond is below the amount being set.
In S520 steps, in the case that battery allowance is less than or equal to the amount being set, unmanned plane connecting-type CCTV dresses
Put the moving direction that 100 determinations are tracked reference object.
In S530 steps, the characteristic that unmanned plane connecting-type CCTV devices 100 will be tracked reference object is sent to
Positioned at the unmanned plane connecting-type CCTV devices 100 of other fix bars 200 being tracked on the moving direction of reference object.
In S540 steps, in the case that battery allowance exceedes the amount being set, unmanned plane connecting-type CCTV devices 100
Calculate the distance that can be flown with battery allowance.
In S550 steps, 100 pairs, unmanned plane connecting-type CCTV devices are tracked reference object and are tracked shooting.
In S560 steps, unmanned plane connecting-type CCTV devices 100 judge whether other fix bars that can land
200.On the method for other fix bars 200 that judges whether to land as previously described, therefore, will omit say herein
It is bright.
In the case of in the absence of other fix bars 200 that can land, in S570 steps, unmanned plane connecting-type CCTV
Device 100 judges whether the distance of oneself flight has reached the distance that can be flown, and in S580 steps, returns to consolidating for oneself
Fixed pole 200.
In S560 steps, in the case of other fix bars 200 that presence can land are judged as, then in S590 steps
In, other fix bars 200 that unmanned plane connecting-type CCTV devices 100 are possible to landing are elected to be the fix bar 200 of return, calculate again
Go out the distance that unmanned plane connecting-type CCTV devices 100 can fly.Unmanned plane connecting-type CCTV devices 100, it is original with returning to
The distance of fix bar 200 compare, return to other fix bars 200 that can land distance it is shorter in the case of, unmanned plane
The distance that connecting-type CCTV devices 100 can fly will increase.
Fig. 6 is the module map of the unmanned plane connecting-type CCTV devices 600 of one embodiment of the invention.
Reference picture 6 understands, the unmanned plane connecting-type CCTV devices 600 of one embodiment of the invention can include shoot part 610,
Internal memory 620, control unit 630, communication unit 640 and battery 650.Unmanned plane connecting-type CCTV devices 600 can with can take off, drop
The unmanned plane body for falling and flying is combined.Unmanned plane body can have the general unmanned plane during flying devices such as wing, engine
Structure.
The image of the coverage R that shoot part 610 pairs has been set shoots, and the storage of internal memory 620 passes through shoot part 610
The image of shooting.Additionally, internal memory 620 can store the characteristic of main subject, other adjacent fix bars 200
Positional information.
Determination is tracked and shoots right in subject of the control unit 630 in by the image captured by shoot part 610
As, when the scope that reference object disengaging has been set is tracked, unmanned plane body and shoot part 610 are controlled, so that
Shooting is tracked to being tracked reference object.Additionally, control unit 630 is in shooting way is followed the trail of, it is also possible to based on battery allowance
To determine the fix bar 200 that whether return and will return of unmanned plane connecting-type CCTV devices 600.
Communication unit 640 can be communicated with central management server and other unmanned planes connecting-type CCTV devices 600.
Battery 650 to the supply of electrical energy of unmanned plane connecting-type CCTV devices 600, in the state of dropping in fix bar 200,
Can be electrically charged by the electric energy supplied by fix bar 200.
Unmanned plane connecting-type CCTV devices according to an embodiment of the invention and the image capturing method based on it can expand
While the shooting area of big CCTV devices, unmanned plane connecting-type CCTV devices can be effectively used.Additionally, the present invention one is real
The unmanned plane connecting-type CCTV devices and the image capturing method based on it for applying example can easily find out wanted criminal and wander away
It is virgin.
More than, specific embodiment is illustrated, but to those skilled in the art, do not departing from the present invention
In the case of scope, it is obvious that can carry out various deformation.
Claims (13)
1. it is a kind of by unmanned plane connecting-type CCTV devices realize image capturing method, it is characterised in that described image shooting side
Method is comprised the following steps：In the state of dropping in fix bar, the image of the coverage that shooting has been set；From in image
Subject in determine be tracked reference object；And when being tracked reference object and departing from the scope being set, from solid
Taken off in fixed pole, so as to be tracked shooting to being tracked reference object.
2. image capturing method according to claim 1, it is characterised in that described determination is tracked the step of reference object
It is rapid to include at least recognizing the one kind in the respective face of the subject, build, dress ornament and motion, so that it is determined that described chased after
The step of track reference object.
3. image capturing method according to claim 2, it is characterised in that described image image pickup method also includes obtaining leading
The step of wanting the characteristic of subject, including by the spy of the acquisition the step of described determination is tracked reference object
Levy data to be compared with least one in the respective face of the subject, build, dress ornament and motion, so that it is determined that institute
State the step of being tracked reference object.
4. image capturing method according to claim 2, it is characterised in that the respective motion of subject is at least
Including the one kind in the respective translational speed of the subject and mobile route.
5. image capturing method according to claim 1, it is characterised in that described image image pickup method is additionally included in institute
State be tracked reference object tracking shoot start after, the unmanned plane connecting-type CCTV devices battery allowance less than etc.
In the case of the amount being set, the step of be back to the fix bar.
6. image capturing method according to claim 1, it is characterised in that described image image pickup method is additionally included in institute
State be tracked reference object tracking shoot start after, when the unmanned plane connecting-type CCTV flight distance correspond to nothing
The battery allowance of man-machine connecting-type CCTV devices can fly apart from when, the step of be back to the fix bar.
7. image capturing method according to claim 1, it is characterised in that described image image pickup method is additionally included in institute
State be tracked reference object tracking shoot start after, if it is determined that the return of the unmanned plane connecting-type CCTV devices, then
The step of moving direction to being tracked reference object is determined；And pass the characteristic for being tracked reference object
Deliver to the step positioned at the unmanned plane connecting-type CCTV devices for being tracked other fix bars on the moving direction of reference object
Suddenly.
8. image capturing method according to claim 1, it is characterised in that described image image pickup method is additionally included in institute
State be tracked reference object tracking shoot start after, if it is determined that the return of the unmanned plane connecting-type CCTV devices, then
The step of other fix bars that the unmanned plane connecting-type CCTV devices can land are determined；And drop to described true
Step in other fixed fix bars.
9. image capturing method according to claim 8, it is characterised in that to the unmanned plane connecting-type CCTV devices
The step of other fix bars that can land are determined, including to the battery allowance of the unmanned plane connecting-type CCTV devices
The step of other fix bars within the distance that can be flown are detected；And by described other fix bars for detecting,
It is not state that other unmanned plane connecting-type CCTV devices have landed, and the landing of other unmanned plane connecting-type CCTV devices is pre-
The step of fix bar fixed time the latest is defined as other fix bars that the unmanned plane connecting-type CCTV devices can land.
10. image capturing method according to claim 1, it is characterised in that described image image pickup method also includes being based on
The battery allowance of the unmanned plane connecting-type CCTV devices come calculate can fly apart from the step of；And chased after described
During the tracking of track reference object shoots, when other fix bars that the unmanned plane connecting-type CCTV devices can land are determined it
Afterwards, calculate again it is described calculated can fly apart from the step of.
11. image capturing methods according to claim 1, it is characterised in that described image image pickup method also includes outside
The step of characteristic of reference object being tracked described in portion's server transmission.
12. a kind of unmanned plane connecting-type CCTV devices, it is characterised in that the unmanned plane connecting-type CCTV devices include：Connection
Type body, it is used to take off, land and fly；Shoot part, it shoots what is be set in the state of dropping in fix bar
The image of coverage；Control unit, determines to be tracked reference object from the subject in the image being taken, when
When being tracked the scope that reference object disengaging has been set, unmanned plane connecting-type CCTV devices are controlled, make it from fixation
Taken off on bar, so as to be tracked shooting to being tracked reference object.
13. unmanned plane connecting-type CCTV devices according to claim 12, it is characterised in that the unmanned plane connecting-type
CCTV devices also include battery, the battery in the state of unmanned plane connecting-type CCTV devices are dropped in fix bar, from institute
State fix bar and receive electric energy, so as to be charged.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2015-0160104 | 2015-11-16 | ||
| KR1020150160104A KR101708037B1 (en) | 2015-11-16 | 2015-11-16 | Drone connected cctv apparatus and method for photographing image thereby |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106713845A true CN106713845A (en) | 2017-05-24 |
| CN106713845B CN106713845B (en) | 2019-07-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611005926.5A Active CN106713845B (en) | 2015-11-16 | 2016-11-15 | Unmanned plane connecting-type monitors CCTV device and the image capturing method based on it |
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| Country | Link |
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| KR (1) | KR101708037B1 (en) |
| CN (1) | CN106713845B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111860416A (en) * | 2020-07-29 | 2020-10-30 | 郑刚 | Unmanned aerial vehicle image monitoring control device and control method thereof |
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| KR102011225B1 (en) * | 2018-11-12 | 2019-08-16 | 장승현 | Security management system using drone and method for processing thereof |
| KR101949929B1 (en) | 2018-11-15 | 2019-02-19 | (주)동서엔지니어링 | Active CCTV security system for buildings that guarantees excellent security by moving and tracking |
| KR102102629B1 (en) * | 2018-12-13 | 2020-04-22 | 주식회사 씨원 | CCTV control system |
| KR20210023081A (en) | 2019-08-22 | 2021-03-04 | 조무숙 | Intelligent building monitoring security system through aerial photography |
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| KR101708037B1 (en) | 2017-02-27 |
| CN106713845B (en) | 2019-07-30 |
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