KR101690502B1 - System for tracking using drone - Google Patents
System for tracking using drone Download PDFInfo
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- 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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- 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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- 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, .
Description
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
The main command system of the tracking system according to the first embodiment of the present invention is such that the
The
First, the
In addition, the
The
The
At this time, the
Also, the
On the other hand, the
The
At this time, the first slave drones 200a and the
That is, the
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
If the distance between the
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
The
The
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
Here, even if the roles of the
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
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
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
The
Further, the
The
Here, the
Next, the
At least one tracker has a tracker terminal and transmits location information of each tracker terminal to the master drones 100 and the
The
The
At this time, the second slave drones 200b can detect the tracked person or stop the flight until the master drones 100 or the
The master drones 100 or the
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
The master drones 100 or the
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
As shown in FIG. 4, the master drones 100 or the
On the other hand, when the
If the distance between the
4, the
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
First, the
The
The
6 is a flowchart of a tracking system according to a second embodiment of the present invention.
First, the
The user may input the identification code of the
The
Here, the
Then, the
Here, when the
Next, the user designates the subject through the
The user may designate the subject directly from the surrounding image displayed on the
Then, the
On the other hand, when the subject moves to the room, the
In addition, the
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:
200b: second slave drones 300: control server
400a:
500: Drones 600: User terminal
Claims (10)
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 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, .
The master drones,
And transmits the position information and the surrounding image information of the detected tracking object to the control server.
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.
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.
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.
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KR1020150048786A KR101690502B1 (en) | 2015-04-07 | 2015-04-07 | System for tracking using drone |
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KR1020150048786A KR101690502B1 (en) | 2015-04-07 | 2015-04-07 | System for tracking using drone |
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KR20210002288A (en) * | 2019-06-28 | 2021-01-08 | 장찬희 | Cctv surveillance system using cctv combined drones |
KR20210087122A (en) | 2019-12-30 | 2021-07-12 | 안동대학교 산학협력단 | Drone location tracking system |
KR20220165449A (en) * | 2021-06-08 | 2022-12-15 | 금오공과대학교 산학협력단 | Object tracking method using multi-camera based drone and object tracking system using the same |
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KR20210002288A (en) * | 2019-06-28 | 2021-01-08 | 장찬희 | Cctv surveillance system using cctv combined drones |
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