KR102179689B1 - Method and system for monitoring using a plurality of drones - Google Patents

Abstract

The present invention relates to a surveillance method and system using a plurality of drones, comprising: a plurality of auxiliary drones for performing surveillance using a camera; Set a mothership coordinate system with its own position as the origin, control the flight of the plurality of auxiliary drones through short-range communication based on the set mothership coordinate system to form a flight squadron, and maintain a flight squadron with the plurality of auxiliary drones. A main drone that monitors using a camera while doing so; And a ground control server that controls the flight of the main drone to monitor a predetermined area.

Description

Monitoring method and system using multiple drones {METHOD AND SYSTEM FOR MONITORING USING A PLURALITY OF DRONES}

The present invention relates to a surveillance system, and more particularly, to a surveillance method and system using a plurality of drones.

Drones, which are unmanned robots, were initially developed for military use, but they are convenient to transport and store, and are easy to operate, so they are widely used for filming purposes such as television broadcasting in recent years. Recently, by constructing an unmanned delivery service system using a drone, it is possible to deliver goods by minimizing human interference, and a technology that provides a safe unmanned delivery service through mutual authentication between a transmitter and a drone has also emerged.

Since drones move in the air, they have excellent mobility, so they can move quickly through the air even in severe traffic jams and difficult road conditions. Using the characteristics of such drones, drones are also used to manage and monitor specific areas where human access is difficult. In other words, the drone can remotely monitor a specific area through the mounted camera or sensor. For example, drones can be used for public purposes, such as searching for victims, monitoring forest fires, cracking down on traffic violations, and monitoring offenders and border areas.

However, in a conventional surveillance system using a drone, since the drone normally flies in a zigzag form, the overall scanning time is long, and the scanning interval is long, so there is a problem that security is weak.

Domestic registered patent No. 10-1851539 Korean Patent Publication No. 10-2017-0070713

The present specification has been devised to solve the above-described problems, and an object thereof is to provide a surveillance method and system using a plurality of drones capable of increasing a surveillance and survey area through swarm flight.

Another object of the present invention is to provide a surveillance method and system using a plurality of drones capable of simultaneously controlling multiple drones in a ground control server.

In order to achieve such an object, according to an embodiment of the present specification, a surveillance system using a plurality of drones according to the present specification includes: a plurality of auxiliary drones for performing surveillance using a camera; Set a mothership coordinate system with its own position as the origin, control the flight of the plurality of auxiliary drones through short-range communication based on the set mothership coordinate system to form a flight squadron, and maintain a flight squadron with the plurality of auxiliary drones. A main drone that monitors using a camera while doing so; And a ground control server that controls the flight of the main drone to monitor a predetermined area.

Preferably, the main drone determines the X coordinate values of the plurality of auxiliary drones according to the shape of the flight squadron, and sets the Y coordinate values of the plurality of auxiliary drones according to the capabilities of the cameras mounted on each auxiliary drone. And, it is characterized in that the Z coordinate values of the plurality of auxiliary drones are set using a scanning area determined by the angle of view of the camera of each auxiliary drone and a preset scanning area allowable value.

Preferably, the main drone is characterized in that the flight of the plurality of auxiliary drones is controlled so that the scanning area determined by the angle of view of the camera of each auxiliary drone does not overlap more than a preset scanning area allowable value.

Preferably, the main drone is characterized in that when an abnormality occurs in at least one auxiliary drone among the plurality of auxiliary drones, the flight squadron is reconfigured excluding the at least one auxiliary drone.

Preferably, at least one auxiliary drone among the plurality of auxiliary drones includes a long-distance communication module, and the main drone has its authority to any one of the at least one auxiliary drone when an abnormality occurs in it. It is characterized by entrusting.

Preferably, the main drone is characterized in that it controls the flight of the auxiliary drone by using a mesh communication technique with respect to the auxiliary drone that is more than a predetermined distance from itself.

Preferably, the main drone is characterized in that it changes the flight squadron according to the size of the determined area.

Preferably, the main drone is characterized in that it changes the flight squadron according to the purpose of surveillance.

According to another embodiment of the present specification, a method for monitoring using a plurality of drones according to the present specification includes the steps of, by the main drone, setting a mothership coordinate system with its own location as an origin; Configuring, by the main drone, a flight squadron by controlling the flight of a plurality of auxiliary drones through short-range communication based on a set mothership coordinate system; And controlling, by the ground control server, controlling the flight of the main drone, so that the main drone maintains a flight squadron with the plurality of auxiliary drones and monitors a predetermined area using a camera.

Preferably, in the step of configuring the flight squadron, the main drone controls the flight of the plurality of auxiliary drones so that the scanning area determined by the angle of view of the camera of each auxiliary drone does not overlap more than a preset scanning area allowable value. It features.

Preferably, the primary drone determining whether an abnormality has occurred in at least one secondary drone among the plurality of secondary drones; And when the primary drone determines that an abnormality has occurred in at least one auxiliary drone among the plurality of drones, reconfiguring a flight squadron except for the at least one auxiliary drone.

Preferably, the main drone, determining whether or not an abnormality has occurred in itself; And when the primary drone determines that an abnormality has occurred to itself, delegating its authority to any one of the auxiliary drones among at least one auxiliary drone including a long distance communication module among the plurality of auxiliary drones. It features.

As described above, according to the present specification, the main drone controls the flight of a plurality of auxiliary drones through short-range communication to form a flight squad, and the ground control server recognizes and controls the flight squadron as one virtual drone. By providing a monitoring method and system using drones, monitoring and surveying time can be shortened, and multiple drones can be controlled simultaneously with simple control equipment.

1 is a diagram showing a schematic configuration of a surveillance system using a plurality of drones according to an embodiment of the present invention;
2 is a block diagram showing a schematic configuration of an interior of a main drone according to an embodiment of the present invention;
3 is a diagram for explaining a positional relationship between a main drone and an auxiliary drone according to an embodiment of the present invention;
4 is a view for explaining a position evaluation index between a primary drone and a secondary drone according to an embodiment of the present invention;
5 is a view for explaining a method of calculating the position of drones according to an embodiment of the present invention;
6 is a diagram showing the reconfiguration of the formation of the formation when any one of the own ships in the formation lands or falls for some reason;
Fig. 7 is a diagram showing reconfiguration of a formation when a mothership in a formation lands or falls for some reason, and
8 is a flowchart illustrating a monitoring method using a plurality of drones according to an embodiment of the present invention.

It should be noted that technical terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. In addition, the technical terms used in the present specification should be interpreted as generally understood by those of ordinary skill in the technical field to which the present invention belongs, unless otherwise defined in the present specification, and excessively comprehensive It should not be construed as a human meaning or an excessively reduced meaning. In addition, when a technical term used in the present specification is an incorrect technical term that does not accurately express the spirit of the present invention, it will be replaced with a technical term that can be correctly understood by those skilled in the art to be understood. In addition, general terms used in the present invention should be interpreted as defined in the dictionary or according to the context before and after, and should not be interpreted as an excessively reduced meaning.

In addition, the singular expression used in the present specification includes a plurality of expressions unless the context clearly indicates otherwise. In the present application, terms such as "consist of" or "include" should not be construed as necessarily including all of the various elements or various steps described in the specification, and some of the elements or some steps It may not be included, or it should be interpreted that it may further include additional elements or steps.

In addition, the suffixes "module" and "unit" for the constituent elements used in the present specification are given or used interchangeably in consideration of only the ease of writing the specification, and do not themselves have a distinct meaning or role from each other.

In addition, terms including ordinal numbers such as first and second used in the present specification may be used to describe various elements, but the elements should not be limited by the terms. These terms are used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.

In the present specification, a surveillance mission refers to any action or combination of actions that the drone is programmed to perform to cope with a situation occurring within a defined area. Programming commands for performing the surveillance mission can be transmitted to the drone or stored in the drone in advance, and the drone performs the surveillance mission by driving one or more parts of the drone according to the corresponding programming command. In addition, the execution of the surveillance mission may be autonomously performed by the drone according to a pre-programmed command, or may be performed by user intervention in one or more steps. For example, the performance of the surveillance mission described in the present specification refers to the movement of a specific type of the drone, movement or rotation of a part of the drone, detection of information by the drone, output of images and/or sound, other objects or servers It refers to one or more combinations of individual operations such as communication with, telephone or video call connection to a specific number.

In addition, in the present specification, for convenience of explanation, a camera is taken as an example as a means for monitoring a drone, but the present disclosure is not limited thereto, and the drone includes an infrared camera, an RGB camera, a voice recognition sensor including a microphone, a radar using sound waves, etc. It includes distance detection and collision avoidance sensors, altitude detection and control sensors, etc., and by acquiring images and surrounding information to monitor people or animals, and by recognizing sounds with a loudness or frequency above the standard value from people or animals to detect crisis situations. Can be detected.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of the reference numerals, and redundant descriptions thereof will be omitted.

In addition, in describing the present invention, when it is determined that a detailed description of a related known technology may obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are intended to make the spirit of the present invention easier to understand, and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a diagram showing a schematic configuration of a surveillance system using a plurality of drones according to an embodiment of the present invention.

Referring to FIG. 1, a surveillance system using a plurality of drones according to the present invention may include a plurality of auxiliary drones 110, a main drone 120, and a ground control server 130.

The plurality of auxiliary drones 110 form a flight squadron together with the main drone 120 under the control of the main drone 120 to take a detailed image of the designated area while flying in the designated area, and through short-range communication, the main drone 120 ). To this end, the plurality of auxiliary drones 110 may include a camera and a short-range communication module.

The main drone 120 sets a mothership coordinate system with its own position as the origin, and controls the flight of a plurality of auxiliary drones 110 through short-range communication based on the set mothership coordinate system to control the flight of a flight control server It performs a role, maintains a flight squadron with a plurality of auxiliary drones 110, and performs surveillance using a camera while flying. That is, the main drone 120 collects images photographed by a plurality of auxiliary drones 110 and transmits them to the ground control server 130 through long-distance communication, thereby performing monitoring for a predetermined area.

In addition, the main drone 120 may include a video and/or audio output device, and when a crisis situation is detected, the main drone 120 may output the corresponding information as a video and/or audio to notify a person in the area. For example, the main drone 120 calculates the direction of sudden movement of the human body or objects around the user, predicts a crisis situation caused by this, and outputs the predicted information as images and/or audio to Preliminary preparation can be made possible.

Also, the main drone 120 may control one or more user devices based on information on a crisis situation. For example, when a crisis situation is detected, the main drone 120 may transmit an alert message to a smartphone of one or more users designated in advance, or may control and move the user's car. In addition, the main drone 120 can control the user device according to a command from the user even in a non-crisis situation. For example, the main drone 120 may perform an operation such as waiting the user's vehicle at a time and/or place designated by the user, or parking the vehicle at a preset place after the user gets off the vehicle.

In addition, when the main drone 120 detects a crisis situation from images and surrounding information, it may communicate with one or more related agency servers to take measures according to the crisis situation. For example, the main drone 120 may transmit a report or a help request signal to a server of a related institution through long-distance communication. The related organization server may collectively refer to a plurality of servers operated by a plurality of organizations. For example, the server of a related institution may be a server operated by a police officer or a hospital, but is not limited thereto. Communication with the related agency server may be automatically performed by the main drone 120 after detecting a crisis situation, or may be made in response to receiving a specific input from the user or user device after notifying the user of the crisis situation. have.

In addition, the main drone 120 may collect information from one or more big data servers, and present the collected information to a user or transmit it to a user device. For example, the main drone 120 obtains geographic information about the area where the user is currently located from a big data server, such as an address, a map, and information on a nearby public institution, and presents it to the user to facilitate the user's life. can do. Meanwhile, a detailed configuration of the main drone 120 will be described in FIG. 2.

The ground control server 130 transmits and receives a command to control the main drone 120 based on the WGS84 coordinate system while transmitting and receiving data with the main drone 120 through long-distance communication, or by the main drone 120 Image information collected from the auxiliary drone 110 may be received. In addition, the ground control server 130 may receive the information from the main drone 120 when the main drone 120 detects a crisis situation. To this end, the ground control server 130 may be implemented in the form of a computing device owned by the user, for example, a smartphone, a tablet computer, a notebook computer, and a desktop computer. Alternatively, the ground control server 130 may be implemented in the form of a server operated by a service provider providing a monitoring service.

The ground control server 130 and the main drone 120 may perform communication through satellite communication, but are not limited thereto. LAN, Metropolitan Area Network (MAN), Global System for Mobile Network (GSM), and Enhanced Data GSM Environment), HSDPA(High Speed Downlink Packet Access), W-CDMA(Wideband Code Division Multiple Access), CDMA(Code Division Multiple Access), TDMA(Time Division Multiple Access), Bluetooth, Zigbee , VoIP (Voice over Internet Protocol), LTE Advanced, IEEE802.16m, WirelessMAN-Advanced, HSPA+, 3GPP Long Term Evolution (LTE), Mobile WiMAX (IEEE 802.16e), UMB (formerly EV-DO Rev. C), Flash -Communication using a random communication method selected from the group consisting of OFDM, iBurst and MBWA (IEEE 802.20) systems, HIPERMAN, Beam-Division Multiple Access (BDMA), Wi-MAX (World Interoperability for Microwave Access), and ultrasonic communication Can be configured to perform.

2 is a block diagram showing a schematic configuration of a main drone according to an embodiment of the present invention.

Referring to FIG. 2, the main drone 120 according to the present invention may include a long distance communication module 210, a short distance communication module 220, a camera module 230, and a control unit 240. Here, the main drone 120 is driven by a battery, and has a configuration of a general vehicle such as wings, engines, etc., so that it can take off, land and fly.

The long-distance communication module 210 communicates with the ground control server 130 through long-distance communication. Specifically, the long-distance communication module 210 may receive a command for flight control of the main drone 120 from the ground control server 130, and its location information and a plurality of auxiliary devices to the ground control server 130 The location information of the drone 110 can be transmitted. In addition, the long-distance communication module 210 may transmit image information received from the plurality of auxiliary drones 110 to the ground control server 130.

To this end, the wireless Internet technology of the long-distance communication module 210 is a wireless LAN (WLAN), a Wi-Fi, a wireless broadband (Wibro), and a Wimax (World Interoperability for Microwave Access: Wimax). , High Speed Downlink Packet Access (HSDPA), IEEE 802.16, Long Term Evolution (LTE), Wireless Mobile Broadband Service (WMBS), and the like.

The short-range communication module 220 communicates with a plurality of auxiliary drones 110 through short-range communication. Specifically, the short-range communication module 220 may transmit a command for flight control of the plurality of auxiliary drones 110, and position information of the plurality of auxiliary drones 110 from the plurality of auxiliary drones 110 and a plurality of Image information captured by the auxiliary drone 110 may be received.

To this end, short-range communication technologies of the short-range communication module 220 include Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and Zigbee ( ZigBee) and the like.

The camera module 230 captures an image of a predetermined area by a predetermined angle of view. In addition, the camera module 230 may capture a moving image as well as a still image of a predetermined area. In addition, the camera module 230 may be attached to the main drone 120 to be tilted.

The controller 240 controls the long-distance communication module 210, the short-range communication module 220, and the camera module 230.

The controller 240 configures a flight squadron by setting a mothership coordinate system with its own location as an origin, and controlling the flight of a plurality of auxiliary drones 110 through the short-range communication module 220 based on the set mothership coordinate system, While flying while maintaining a flight squadron with a plurality of auxiliary drones 110, surveillance is performed using the camera module 230. In addition, the controller 240 collects images captured by the plurality of auxiliary drones 110 through the short-range communication module 220 and transmits the collected images to the ground control server 130 through the long-distance communication module 210, To perform surveillance.

In addition, the control unit 240 determines the X coordinate values of the plurality of auxiliary drones 110 according to the shape of the flight squadron, and the plurality of auxiliary drones 110 according to the performance of the camera mounted on each auxiliary drone 110 The Y coordinate value of is set, and the Z coordinate values of the plurality of auxiliary drones 110 may be set using a scanning area determined by the angle of view of the camera of each auxiliary drone 110 and a preset scanning area allowance.

In addition, the controller 240 may control the flight of the plurality of auxiliary drones 110 so that the scanning area determined by the angle of view of the camera of each auxiliary drone 110 does not overlap more than a preset scanning area allowable value.

In addition, when an abnormality occurs in at least one auxiliary drone among the plurality of auxiliary drones 110, the control unit 240 may reconfigure the flight squadron except for at least one auxiliary drone. The control unit 240 may determine that an abnormality has occurred in the auxiliary drone 110 when communication with the auxiliary drone 110 is interrupted or when the operation of the auxiliary drone 110 is out of a normal range.

In addition, when an abnormality occurs in itself, the control unit 240 may delegate its authority to at least one auxiliary drone among the plurality of auxiliary drones 110. To this end, at least one auxiliary drone among the plurality of auxiliary drones 110 may include a long distance communication module.

In addition, the control unit 240 may control the flight of the auxiliary drone by using a mesh communication technique with respect to an auxiliary drone that is more than a preset distance from itself. That is, the controller 240 does not directly control the flight of an auxiliary drone that is more than a preset distance from itself, but can control the flight of the auxiliary drone by using the auxiliary drone located between itself and the auxiliary drone as a medium. have.

Additionally, the control unit 240 may change the flight squadron according to the size of a predetermined area or the purpose of monitoring.

3 is a diagram for explaining a positional relationship between a primary drone and a secondary drone according to an embodiment of the present invention.

Referring to FIG. 3, the coordinates of the main drone 120, that is, the bus, on the WGS84 coordinate system are (X _p , Y _p , Z _p ).

The main drone 120 uses a plurality of auxiliary drones 110, that is, the mothership coordinate system, not the WGS84 coordinate system, in cluster control of the own ship. Therefore, the coordinates of the main drone 120 in the mothership coordinate system are (0, 0, 0). That is, in the intra-cluster coordinate system, when the bus controls its own ship, the bus coordinate system uses the location of the bus as the origin.

4 is a view for explaining a position evaluation index between a primary drone and a secondary drone according to an embodiment of the present invention.

First of all, the evaluation index for the optimal position is the scanning area (OV) overlapping between drones.

Referring to FIG. 4, it is most efficient to ensure that OV ₁₂ , OV ₂₃ , OV _3P , OV _P4 , OV ₄₅ , and OV ₅₆ are all zeros as for the positional arrangement of the bus 120 and the own ship 110. However, in reality, some degree of overlap must be maintained because an error is involved in controlling the position of the drone.

5 is a view for explaining a method of calculating the position of drones according to an embodiment of the present invention.

First, before determining the position of the own ship 110 in the bus coordinate system, the X coordinate value of the own ships (X′ _c ), the altitude of the bus and the own ships (Z′ _c ), and the OV _tolerance of the overlapping scanning area between the aircraft are It must be defined. Here, the X coordinate value (X' _c ) of the own ships is determined by the cluster type (for example, the shape of the ruler and the shape of Hakikjin, etc.), and the altitude (Z' _c ) of the mothership and the own ships is a sensor or camera mounted on the drone. It is determined according to the specifications of the aircraft, and the OV _tolerance of the overlapping scanning area between the aircraft is determined by the accuracy of the aircraft control and the scanning purpose.

Referring to Figure _{5, (X 'c, Y} ' c, Z 'c) indicates the position of the charity (110) on the coordinate system bus. (X _m , Y _m , Z _m ) represents the position of the bus bar 120 on the WGS84 coordinate system. A _c represents the angle of view of the sensor/camera installed on the own ship 110. A _m represents the angle of view of the sensor/camera installed on the bus 120. OV represents the overlap index of the sensing area between the own ship 110 and the bus 120.

Then, the scanned area (D _c) of the charity 110 is calculated by the formula (D _c = tan (A _c) x Z _'c). The scanning area (D _m ) of the bus bar 120 is calculated by the equation (D _m = tan(A _m ) x Z _m ). The overlap index (OV) is calculated by the equation (OV = D _c + D _m ) _-Y'c ).

As a result, the optimum location coordinates of the charity 110 is the _{(X 'c, Y' c} , Z 'c). Wherein, X _'c are determined by the type of formation flying, does not affect the optimum position. Z _'c is a high value, as appropriate, depending on a high level, the performance of the attached sensor / camera charitable 110 is selected. Y 'is _c Equation (Y' - is determined by _c = (D _c + D _{m) tolerance} OV).

In this way, the positions between the bus and the own or between the own ships are calculated in the same way.

6 is a diagram showing reconfiguration of the formation of a formation when any one of the own ships in the formation lands or falls for some reason.

As shown in FIG. 6, when any one of the own ships 110 in the squadron lands or falls for some reason, the mother ship 120 may, for example, reorganize the zigzag squadron into a straight flight.

FIG. 7 is a diagram illustrating reconfiguration of a formation when a mother ship in a formation lands or falls for some reason.

As shown in FIG. 7, when the mother ship 120 in the squadron lands or falls for some reason, the mother ship 120 may erect one own ship including a long distance communication module among the plurality of own ships 110 as a mother ship. .

Accordingly, the own ship entrusted with the authority of the mother ship sets the mother ship coordinate system based on its position as the origin, and controls the flight of the plurality of own ships 110 through short-range communication based on the set mother ship coordinate system to form a flight squadron. It performs the role of a flight control server, maintains a flight squadron with a plurality of own ships 110 and performs surveillance using a camera while flying.

8 is a flowchart illustrating a monitoring method using a plurality of drones according to an embodiment of the present invention.

Referring to FIG. 8, the main drone 120 sets a bus coordinate system with its own location as an origin (S810).

The main drone 120 configures a flight squadron by controlling the flight of the plurality of auxiliary drones 110 through short-range communication based on the set mothership coordinate system (S820). In this case, the main drone 120 may control the flight of the plurality of auxiliary drones 110 so that the scanning area determined by the angle of view of the camera of each auxiliary drone 110 does not overlap more than a preset scanning area allowable value.

Subsequently, the ground control server 130 controls the flight of the main drone 120 so that the main drone 120 maintains a flight squadron with a plurality of auxiliary drones 110 and monitors a predetermined area using a camera. Control to perform (S830).

Meanwhile, the main drone 120 determines whether an abnormality has occurred in at least one auxiliary drone or itself among the plurality of auxiliary drones 110 (S840). At this time, the primary drone 120 may determine that an abnormality has occurred in the secondary drone 110 when communication with the secondary drone 110 is interrupted or when the operation of the secondary drone 110 is out of the normal range. When the operation of is out of the normal range, it can be determined that an abnormality has occurred in itself.

When it is determined that an abnormality has occurred in at least one auxiliary drone among the plurality of drones 110, the main drone 120 reconfigures the flight squadron except for at least one auxiliary drone (S842).

If the main drone 120 determines that an abnormality has occurred in itself, the main drone 120 delegates its authority to any one of at least one auxiliary drone including a long-distance communication module among the plurality of auxiliary drones 110 (S850). ).

The above-described method can be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), and Programmable Logic Devices (PLDs). , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, and microprocessors.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor through various known means.

In the above, embodiments disclosed in the present specification have been described with reference to the accompanying drawings. As described above, the embodiments shown in each drawing are not to be construed as limiting, and may be combined with each other by those skilled in the art who are familiar with the contents of the present specification, and when combined, some elements may be interpreted as being omitted.

Here, the terms or words used in the specification and claims should not be construed as being limited to a conventional or dictionary meaning, but should be interpreted as meanings and concepts consistent with the technical idea disclosed in the present specification.

Therefore, the embodiments described in the present specification and the configurations shown in the drawings are only the embodiments disclosed in the present specification, and do not represent all of the technical ideas disclosed in the present specification, and various equivalents that can replace them at the time of application It should be understood that there may be water and variations.

110: Multiple secondary drones 120: Primary drones
130: ground control server 210: long-distance communication module
220: short-range communication module 230: camera module
240: control unit

Claims (12)

delete A plurality of auxiliary drones performing surveillance using cameras;
Set a mothership coordinate system with its own position as the origin, control the flight of the plurality of auxiliary drones through short-range communication based on the set mothership coordinate system to form a flight squadron, and maintain a flight squadron with the plurality of auxiliary drones. A main drone that monitors using a camera while doing so; And
A ground control server that controls the flight of the main drone to monitor a predetermined area;
Including,
The main drone determines the X coordinate values of the plurality of auxiliary drones according to the shape of the flight squadron, sets the Y coordinate values of the plurality of auxiliary drones according to the performance of the camera mounted on each auxiliary drone, and A surveillance system using a plurality of drones, characterized in that the Z coordinate values of the plurality of auxiliary drones are set using a scanning area determined by the angle of view of a camera of the auxiliary drone and a preset scanning area allowable value.
A plurality of auxiliary drones performing surveillance using cameras;
Set a mothership coordinate system with its own position as the origin, control the flight of the plurality of auxiliary drones through short-range communication based on the set mothership coordinate system to form a flight squadron, and maintain a flight squadron with the plurality of auxiliary drones. A main drone that monitors using a camera while doing so; And
A ground control server that controls the flight of the main drone to monitor a predetermined area;
Including,
The main drone is a surveillance system using a plurality of drones, characterized in that controlling the flight of the plurality of auxiliary drones so that the scanning area determined by the angle of view of the camera of each auxiliary drone does not overlap more than a preset scanning area allowable value.
The method according to claim 2 or 3,
The main drone is a surveillance system using a plurality of drones, characterized in that when an abnormality occurs in at least one auxiliary drone among the plurality of auxiliary drones, except for the at least one auxiliary drone, reconfigures a flight squadron.
The method according to claim 2 or 3,
At least one auxiliary drone among the plurality of auxiliary drones includes a long distance communication module,
The primary drone is a surveillance system using a plurality of drones, characterized in that when an abnormality occurs in itself, delegates its authority to any one of the at least one auxiliary drone.
The method according to claim 2 or 3,
The main drone is a surveillance system using a plurality of drones, characterized in that for controlling the flight of the auxiliary drone by using a mesh communication technique with respect to the auxiliary drone that is more than a predetermined distance away from itself.
The method according to claim 2 or 3,
The main drone is a surveillance system using a plurality of drones, characterized in that to change the flight squadron according to the size of the determined area.
The method according to claim 2 or 3,
The main drone is a surveillance system using a plurality of drones, characterized in that to change the flight squadron according to the monitoring purpose.
Setting, by the main drone, a mothership coordinate system using its own location as an origin;
Configuring, by the main drone, a flight of a plurality of auxiliary drones through short-range communication based on a set mothership coordinate system; And
Controlling, by a ground control server, controlling the flight of the main drone, so that the main drone maintains a flight squadron together with the plurality of auxiliary drones while monitoring a predetermined area using a camera;
Including,
In the step of configuring the flight squadron,
The main drone is a surveillance method using a plurality of drones, characterized in that controlling the flight of the plurality of auxiliary drones so that the scanning area determined by the angle of view of the camera of each auxiliary drone does not overlap more than a preset scanning area allowable value.
delete The method of claim 9,
Determining, by the main drone, whether an abnormality has occurred in at least one auxiliary drone among the plurality of auxiliary drones; And
Reconfiguring a flight squadron except for the at least one auxiliary drone when the main drone determines that an abnormality has occurred in at least one auxiliary drone among the plurality of drones;
Surveillance method using a plurality of drones, characterized in that it further comprises.
The method of claim 9,
Determining whether an abnormality has occurred in the main drone; And
If the primary drone determines that an abnormality has occurred to itself, delegating its authority to any one of at least one secondary drone including a long distance communication module among the plurality of secondary drones;
Surveillance method using a plurality of drones, characterized in that it further comprises.

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