KR101690502B1 - System for tracking using drone - Google Patents

System for tracking using drone Download PDF

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Publication number
KR101690502B1
KR101690502B1 KR1020150048786A KR20150048786A KR101690502B1 KR 101690502 B1 KR101690502 B1 KR 101690502B1 KR 1020150048786 A KR1020150048786 A KR 1020150048786A KR 20150048786 A KR20150048786 A KR 20150048786A KR 101690502 B1 KR101690502 B1 KR 101690502B1
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drones
tracking
master
slave
tracked
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KR1020150048786A
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Korean (ko)
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KR20160119956A (en
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김도현
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(주)코아텍
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B3/00—Audible signalling systems; Audible personal calling systems
    • G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
    • G08B3/1008—Personal calling arrangements or devices, i.e. paging systems
    • G08B3/1016—Personal calling arrangements or devices, i.e. paging systems using wireless transmission
    • G08B3/1025—Paging receivers with audible signalling details
    • G08B3/1033—Paging receivers with audible signalling details with voice message alert
    • B64C2201/127—

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Alarm Systems (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)

Abstract

The present invention relates to a tracking system using a drones. In the tracking system using a plurality of drones according to the present invention, a peripheral image is photographed through a mounted camera, the tracking target is detected from the photographed image using the shape information of the previously stored tracking target, A master dron for generating a tracking command signal for tracking a subject and receiving positional information and shape information of the tracking command signal and the detected tracking target from the master drone, And a first slave dron for transmitting image information to the master drones or the control server.
As described above, according to the present invention, a user can track a subject more accurately and quickly by receiving a position and a surrounding image of a subject in real time using a drones.
In addition, caregivers of elderly people who have a child or demented elderly or disabled and need care and protection can check the safety and situation through real-time video, and can quickly respond to various accidents and crimes, .

Figure R1020150048786

Description

System for tracking using drone}

Field of the Invention [0001] The present invention relates to a tracking system using a drones, and more particularly, to a tracking system using a dron that can provide a user with an image photographed from a dron and an image or position of a specific subject moving through GPS coordinates .

Drone is a dictionary word meaning bee buzzing or low buzzing sound. It is also referred to as Unmanned Aerial Vehicle (UAV) in that it manages to remotely control the ground without a person. In other words, a drones is an unmanned airplane capable of flying automatically or remotely without having a pilot on board an aircraft, which can be disposable or recoverable.

The drones originated from the recycling of an old manned aircraft, which has reached the end of World War II, as an aerial unmanned aerial vehicle. As technology develops, the drones are equipped with state-of-the-art equipment such as remote sensing devices and satellite control devices . The drones can also detect trends in terrain, objects, and people in real time through infrared cameras, GPS, heat or motion sensors.

Early drones have been mostly used for military purposes. However, due to continuous technological development, they are now being used in civilian fields such as weather observation, environmental and forest fire monitoring, border, coastal, road monitoring, disaster relief communications relay and remote exploration.

In addition, the drone can collect wide-area images and signals, perform surveillance and reconnaissance tasks, and relay communications. Drones can also be used to collect information about fires or natural disasters in contaminated areas or large areas that are difficult for people to access.

Drones, which are expected to be used in various fields, are still limited in practical use. It is often limited to cases in which objects are delivered, traffic situations are taken, situations are relayed, or objects are used as shooting props in movies and dramas. Technological research is also dominated by research on the drones' own control technology.

To solve these problems, it is necessary to study a technique of controlling a plurality of drones through a system rather than using one dron.

The technology that is the background of the present invention is disclosed in Korean Patent No. 10-1500480 (published on Feb. 20, 2013).

The object of the present invention is to provide a tracking system using a drone capable of providing a user with an image taken by a drone or an image or position of a specific target moving through GPS coordinates.

According to an aspect of the present invention, there is provided a tracking system using a plurality of drones, the method comprising: capturing a surrounding image through a camera mounted on the vehicle; A master dron that detects a subject, generates a tracking command signal for tracking the detected tracked subject, and receives positional information and shape information of the tracking command signal and the detected tracking target from the master drone, And a first slave dron that tracks the target and simultaneously transmits the photographed image information to the master drones or the control server.

Wherein the master drones receive location information of the first tracker from a first tracker terminal owned by a first tracker that tracks the tracked person, and the first tracker transmits position information of the tracked object to the first tracker terminal As shown in FIG.

The master drone may transmit the detected location information of the tracked object and surrounding image information to the control server.

And a second slave drone for receiving the predicted movement route of the tracked person from the master drones or the control server and moving in advance to the predicted movement route of the tracked person to photograph the tracked person.

The second tracker receives the predicted movement route information of the tracked object from the master drones or the control server through the second tracker terminal and the master drones transmits the movement state information of the tracked object to the second tracker terminal .

When the second slave drones capture the tracked person, the second slave drones track the tracked person, and the first slave drones can move to the next predicted track of the tracked person.

According to another embodiment of the present invention, there is provided a tracking system using a drones, the system comprising: receiving positional information of the subject from a communication terminal attached to a target subject to be tracked or monitored, moving to the positional information, A user who receives image information photographed by the drones and transmits a tracking command signal for tracking the detected subject to the drones when the subject is detected through shape information of the subject or designation of a user, Terminal.

The communication terminal may include at least one of a GPS module, an RFID module, and a beacon.

When the detected subject moves to the room, the drones can fly over the point corresponding to the position information most recently received from the subject.

The drones may output a voice message received through the user terminal.

As described above, according to the present invention, a user can track a subject more accurately and quickly by receiving a position and a surrounding image of a subject in real time using a drones.

Future images may be presented as evidence or evidence, and image analysis may be used as a tracer 's training material for the follow - up process.

In addition, caregivers of elderly people who have a child or demented elderly or disabled and need care and protection can check the safety and situation through real-time video, and can quickly respond to various accidents and crimes, .

1 is a configuration diagram of a tracking system according to a first embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of tracking a tracking target according to the first embodiment of the present invention.
3 is a flowchart of a tracking system according to a first embodiment of the present invention.
4 is an exemplary diagram illustrating a predicted movement path according to the first embodiment of the present invention.
5 is a configuration diagram of a tracking system according to a second embodiment of the present invention.
6 is a flowchart of a tracking system according to a second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

First, a tracking system according to a first embodiment of the present invention will be described with reference to FIG. 1 and FIG.

FIG. 1 is a configuration diagram of a tracking system according to a first embodiment of the present invention, and FIG. 2 is an example of tracking a tracking target according to the first embodiment of the present invention.

The tracking system according to the first embodiment of the present invention includes a master drones 100, a first slave drones 200a, a second slave drones 200b, a control server 300 and a tracer terminal 400a and 400b .

The main command system of the tracking system according to the first embodiment of the present invention is such that the master drones 100 deliver to each of the slave drones 200a and 200b and the tracer terminals 400a and 400b, The master drones 100 and the respective slave drones 200a and 200b and the tracer terminals 400a and 400b are controlled by the control server 300 in the case where the command signal of the master drone 100 is different from the command signal of the control server 300 Lt; / RTI >

The master drones 100, the first slave drones 200a, the second slave drones 200b, the control server 300, and the tracer terminals 400a and 400b are configured to receive three-dimensional model information It is assumed that an optimum route that can be moved based on the 3D map of the area can be searched.

First, the master drone 100 is stopped or low-speeded in a range of about 20 to 30 meters, and the master slave drone 200, the first slave drone 200b, the first tracker terminal 400a, The coordinates of the terminal 400b are moved so as to be included in the shooting range.

In addition, the master drones 100 are mounted with an intelligent face recognition module, and compared with the images captured based on the shape information of the previously-stored tracking object, thereby detecting the object to be tracked.

The master drones 100 communicate with the first slave drones 200a, the second slave drones 200b, the control server, the first tracker terminal, and the second tracker terminal, and generates a tracking command signal for the detected tracker .

The master drone 100 is equipped with a GNSS chipset and can use GPS, GLONASS, Galileo or the like. The master drone 100 also includes a three-axis acceleration sensor, a gyroscope, a magnetometer, an ultrasonic sensor, , The moving speed, the moving direction, and the like.

At this time, the master drone 100 can transmit image and movement information photographed to the control server 300 on the ground in real time using wireless communication such as Wi-Fi and LTE, Antenna can support IEEE802.11ac wireless LAN and MIMO (Multiple-Input Multiple-Output) which can use two bands of 2.4GHz and 5GHz.

Also, the master drone 100 can transmit the image and movement information photographed through the micro-USB connection to the control server 300.

On the other hand, the master drone 100 may perform the role of the first slave drone 200a or the second slave drone 200a, if necessary.

The first slave drones 200a and the second slave drones 200b are in communication with the master drones 100 and the control server 300. The first slave drones 200a and the second slave drones 200b communicate with the master drones 100 and the control server 300 and receive tracking command signals, And transmits the real-time photographed image.

At this time, the first slave drones 200a and the second slave drones 200b automatically track the object to be tracked when recognizing the object to be tracked that matches the shape information of the object to be tracked and the photographed image taken through the mounted camera .

That is, the first slave drones 200a follow the tracked person and photographs and transmits the surrounding images. The second slave drones 200b move to the predicted moving path received from the master drones 100 or the control server 300 And transmits the captured image.

At this time, the roles of the slave drones to be traced and the slave drones moving to the predicted movement route are not fixed but can be changed according to the situation.

For example, when the first slave drones 200a miss the tracked object and the distance from the second slave drones 200b that have moved to the predicted movement path is closer to that of the master drones 100 or the control server 300 The second slave drone 200b performs a tracking role of the tracked person and the first slave drone 200a tracks the target slave drone 200b when the tracked person moves to the predicted moving path and is captured by the second slave drone 200b. It can perform the role of waiting in advance to the predicted movement route of the subject.

If the distance between the first slave drone 200a and the second slave drone 200b is within a predetermined range, mutual roles of the first slave drone 200a and the second slave drone 200b may be changed, It is not.

Also, the first slave drone and the second slave drone do not limit the number of slave drone, but distinguish the roles of the slave drone to facilitate the explanation of the embodiment of the present invention.

The control server 300 communicates with the master drones 100, the first slave drones 200a, the second slave drones 200b and the tracer terminals 400a and 400b and stores the received image information and location information, do.

The control server 300 controls the overall flow of the tracking system according to the first embodiment of the present invention and transfers control signals prior to the master drones 100 when necessary.

The tracer terminals 400a and 400b are terminals of a tracer and may be a Personal Communication System (PCS), a Global System for Mobile Communications (GSM), a Personal Digital Cellular (PDC), a Personal Handyphone System (PHS) ) -2000, Code Division Multiple Access (CDMA) -2000, W-Code Division Multiple Access (W-CDMA), Wibro (Wireless Broadband Internet) terminals and the like. But is not limited thereto.

As shown in FIG. 2, the master drones 100 are arranged at a height above a height at which face recognition is possible. The tracker, the first slave drones 200a, the second slave drones 200b, the first tracker terminal 400a, And shoots through the camera so that the terminal 400b is included. At this time, the first slave drones 200a and the first tracker terminal 400a, the second slave drones 200b and the second tracker terminal 400b form a pair and track the target of tracking. That is, the master drones 100 or the control server 300 transmits the location information of the image and the tracked object photographed by the first slave drones 200a to the first tracker terminal 400a and the second slave drones 200b And transmits the photographed image and position movement information of the subject to be tracked to the second tracker terminal 400b.

Here, even if the roles of the first slave drones 200a and the second slave drones 200b change each other, the pair with the tracer terminal remains unchanged, and the roles of the first tracer and the second tracer can be changed have.

Next, a process of tracking the tracked object using the tracking system according to the first embodiment of the present invention will be described with reference to FIGS. 3 and 4. FIG.

FIG. 3 is a flowchart for explaining the operation of the tracking system according to the first embodiment of the present invention, and FIG. 4 is an exemplary view illustrating a predicted movement path according to the first embodiment of the present invention.

First, the master drone 100 compares the shape information of the tracking target object, which is stored or received from the control server 300, with the image data photographed by the mounted camera, and detects the tracking target object (S210).

The master drones 100 detect a subject who has shape information within an error range that is determined to match the shape information of the tracked person through face recognition of people photographed through at least one mounted camera.

Next, the master drones 100 transmit tracking target position information and surrounding image information to the control server 300 (S220).

At this time, the control server 300 analyzes the data received from the master drones 100 in real time, and when the master drones 100 need to select an object to be tracked or an error in detecting the object to be tracked, 300) can reset the object to be tracked. At this time, the reset target person is applied prior to the tracking target detected by the master drones 100, and the master drones 100 are reset to the tracking target persons designated by the control server 300. [

The master drones 100 generate a tracking command signal including the shape information and the position information of the tracked object to be detected and transmit the tracking command signal to the first slave drones 200a (S230).

The first slave drone 200a moves to the received location information, recognizes the tracked person detected by the mounted camera, and tracks the tracked person.

Further, the master drone 100 analyzes the pre-stored map and the real-time traffic situation to search for a predicted movement path to be traversed, and generates a predictive movement command signal to the second slave drone 200b (S240).

The second slave drone 200b moves to a predicted movement path point and searches for a tracking object matching the shape information of the tracking object received through the mounted camera.

Here, the control server 300 may also search for the predicted movement route and deliver it to the master drones 100 and the second slave drones 200b.

Next, the master drone 100 receives the current position coordinates from the first tracer terminal 400a and the second tracer terminal 400b, respectively (S250).

At least one tracker has a tracker terminal and transmits location information of each tracker terminal to the master drones 100 and the control server 300.

The first slave drones 200a track the object to be tracked, and transmit the generated tracking image information to the master drones 100 or the control server 300 (S260).

The second slave drone 200b moves to the predicted movement route point and takes a surrounding image and waits (S270).

At this time, the second slave drones 200b can detect the tracked person or stop the flight until the master drones 100 or the control server 300 have other signals.

The master drones 100 or the control server 300 transmits the tracked object position information to the first tracer terminal 400a (S280).

At this time, the tracked object position information may include not only the shape information of the tracked object and the GPS information but also the shortest travel path from the position of the first tracker 400a to the tracked object.

The master drones 100 or the control server 300 transmits the tracking object moving state information to the second tracking terminal 400b (S290).

At this time, the tracked person movement information includes not only the shape information of the tracked person, the position movement information according to time, and the predicted movement route but the shortest movement route from the position of the second tracer terminal 400b to the predicted movement route point .

As shown in FIG. 4, the master drones 100 or the control server 300 searches the predicted movement path of the tracked object in accordance with the map of the pre-stored field and the road condition. The master drones 100 or the control server 300 determines the second slave drones 200b in accordance with the current position and the moving speed of the second slave drones 200b in the predicted moving path until the first slave drones 200a arrive. To the second slave drones 200b. The second slave drones 200b are connected to the first slave drone 200b.

On the other hand, when the second slave drone 200b is moving to a specific point included in the predicted movement path, the position coordinates of the second slave drone 200b, the position coordinates of the first slave drone 200a, The master drones 100 or the control server 300 can reset the estimated path.

If the distance between the second slave drone 200b and the first slave drone 200a is within a certain range, the roles of the respective drone can be changed.

4, the second slave drone 200b traces the tracked person and moves the first slave drone 200a to the second slave drone 200b when the tracked person moves to the predicted movement path and the second slave drone 200b catches the tracked person, Moves to one point of the next predicted movement path of the tracked person.

As described above, according to the first embodiment of the present invention, the user can accurately and quickly track the subject by receiving the position and the tracking image or the surrounding image of the subject in real time using the drones. And it can help the process of arresting and capturing the tracked person by transmitting the image and location information of the tracked person to the tracker in real time.

In addition, the images taken through the drone can be presented as evidence or evidence, and it can be prevented from rapidly expanding to second crimes in response to various accidents and crimes.

Hereinafter, a tracking system according to a second embodiment of the present invention will be described with reference to FIGs. 5 and 6. FIG.

5 is a configuration diagram of a tracking system according to a second embodiment of the present invention.

The tracking system according to the second embodiment of the present invention includes a communication terminal 500, a drone 600, and a user terminal 700.

First, the communication terminal 500 includes at least one of a Global Positioning System (GPS) module, a Radio Frequency Identification (RFID) module, and a beacon as communication terminals attached to a subject to be tracked or monitored, I do not.

The drone 600 mounts a receiver for sensing a signal of the communication terminal 500 and moves to the position information received from the communication terminal 500. After moving the image, ).

The user terminal 700 may be implemented as a device capable of accessing a network by wired or wireless communication, such as a smart phone, a smart pad, a mobile phone, a notebook computer, a tablet PC, and a PDA (Personal Digital Assistant). In addition, the user terminal 700 may be a Personal Communication System (PCS), a Global System for Mobile communications (GSM), a Personal Digital Cellular (PDC), a Personal Handyphone System (PHS), an International Mobile Telecommunication Based wireless communication device such as a W-CDMA (Wideband Code Division Multiple Access) -2000, a W-CDMA (W-CDMA) no.

6 is a flowchart of a tracking system according to a second embodiment of the present invention.

First, the user terminal 700 generates a target person tracking command signal to be tracked or monitored and delivers it to the drone 600 (S610).

The user may input the identification code of the communication terminal 500 through the user terminal 700 and may transmit a command signal to the drones 600 to track the target person having the communication terminal 500. [

The drone 600 receives the location information from the communication terminal 500 attached to the target person (S620).

Here, the communication terminal 500 may include at least one of a GPS module, an RFID module, and a beacon, and the drones 600 may be equipped with a receiver or a reader capable of sensing a signal from the communication terminal 500.

Then, the drone 600 moves to the target position, captures a surrounding image, and transmits the captured peripheral image to the user terminal 700 (S630).

Here, when the drones 600 store not only the signal of the communication terminal but also the shape information of the subject, the drones 600 store the shape information within the error range determined to match the shape information of the pre-stored subject in the photographed image It is possible to photograph the surroundings of the detected objects by detecting the objects that are present.

Next, the user designates the subject through the user terminal 700 and delivers it to the drones 600 (S640).

The user may designate the subject directly from the surrounding image displayed on the user terminal 700 or directly detect the subject through the shape information of the subject stored in the user terminal 700 or the drones 600.

Then, the drone 600 traces the designated target person and transmits the photographed image to the user terminal 700 (S650).

On the other hand, when the subject moves to the room, the drone 600 can not receive the GPS information from the communication terminal 500, You can wait.

In addition, the drones 600 can output a voice message input by the user to the user terminal 700 by mounting the speaker and transmit the voice message to the subject.

As described above, according to the second embodiment of the present invention, the user can provide the position and the surrounding image of the subject in real time using the drones, and can more accurately and quickly track the subject.

In addition, the image data obtained through the camera mounted on the drones can be presented as evidence or evidence, and the image data can be utilized as an educational material for the tracer to track the subject.

In addition, guardians of elderly people who have a child or demented elderly or disabled and need care and protection can check the safety and situation through real-time video, can quickly respond to various accidents and crimes, Can be prevented.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: master drones 200a: first slave drones
200b: second slave drones 300: control server
400a: first tracker terminal 400b: second tracker terminal
500: Drones 600: User terminal

Claims (10)

In a tracking system using a plurality of drones,
A master dron for capturing a surrounding image through a camera mounted thereon, detecting the subject to be traced from the photographed image using the shape information of the previously stored subject, and generating a tracking command signal for tracking the detected subject, And
And a second slave device for receiving the tracking command signal and the positional information and shape information of the detected tracking target from the master drone and for tracking the tracking target object and transmitting the photographed tracking image information to the master drones or the control server, Tracking system including drones. The method according to claim 1,
The master drones,
A tracking system for receiving location information of the first tracker from a first tracker terminal owned by a first tracker tracking the tracked object and transmitting the location information of the tracked object to the first tracker terminal by the first tracker, . 3. The method of claim 2,
The master drones,
And transmits the position information and the surrounding image information of the detected tracking object to the control server. The method according to claim 1,
Further comprising a second slave drone for receiving the predicted movement route of the tracked person from the master drones or the control server and moving the predicted movement route to the predicted movement route of the tracked person and photographing the tracked person. 5. The method of claim 4,
The second tracker receives the predicted movement route information of the tracked object from the master drones or the control server through the second tracker terminal,
The master drones,
And transmits the movement status information of the person to be tracked to the second tracer terminal. 5. The method of claim 4,
Wherein when the second slave drones capture the to-be-tracked person, the second slave drones track the to-be-tracked person, and the first slave drones move to a next predicted moving path of the to-be-tracked person. delete delete delete delete
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