KR20160102381A - Drone with self camera and photographer chasing function - Google Patents

Abstract

The present invention relates to an apparatus for protecting the vulnerable using an object chasing drone. The apparatus for protecting the vulnerable using an object chasing drone comprises: a receiving unit for sensing a signal of a terminal; a capturing unit directed at the terminal and capturing an image of an object; a drone which includes a control unit allowing a camera to be continuously directed at the object while the drone moves in an optimal direction, returning the drone to a condition of initial flight and shooting and storing images in a storage unit in a shortest time, and transmitting an image captured by the capturing unit to an operator server in real time by sensing an object in a direction of drone movement during shooting and maintain a stopping state and flies in every direction; a drone mooring device storing the drone to be charged and including a server call device; a terminal transceiving signals with the drone and being a reference point of the capturing condition; and an operator server receiving information obtained by the capturing unit (12) through a wireless communication network and displaying the information in real time, setting the conditions of the flight of the drone and the image capturing, and commanding the return of the drone to the drone mooring device. Therefore, the apparatus for protecting the vulnerable using an object chasing drone can protect the vulnerable from a crime by simply inputting a cell phone number and calling a server to return to home while the vulnerable is protected by the police or a guardian and can quickly call the police if a crime occurs.

Description

[Background Art] [0002] Drone with self camera and photographer chasing function using a subject-

The present invention relates to a device for protecting a crime suspect using a subject-tracking type dron. More specifically, the present invention relates to a device for protecting a crime suspect by using a subject- The user can shoot the subject while avoiding the obstacle while maintaining the same interval and position with respect to the position of the subject, that is, the position of the terminal through the door.

Due to the development of wireless technology, a small wireless reconnaissance flying object, which is owned by a non-military person, is now commercially available.

The drones are manipulated so that the cameras can be mounted and flies for fire suppression, access to disaster areas, terrain information capture, broadcasting, military use, and the like.

Generally, the drone is operated by a radio control device based on the GNSS location information, and most drones are structured to easily control the position and direction by using a plurality of helicopters and horizontal rotor blades.

Particularly, it is possible to take a picture in a still state, and it is also used for a self-portrait or a moving picture photographing for broadcasting. However, the self-photographing is a structure in which a user himself / herself must operate the drones with a terminal, .

Of course, a device has been developed to allow the drone himself to be able to shoot a photographer, but it is necessary to check the position of the subject based on the image photographed by the camera, or to set a progress path in advance in the drone, So that it can be photographed.

However, this method is a method of confirming the position of the object through the camera mounted on the drone, so that the accuracy is significantly lowered due to the shake and speed of the object, and it is difficult to set the precise interval and position between the object and the camera, that is, If there is an obstacle in the direction of the drones, it has a disadvantage that it is a helpless one.

There are not many ways to use drones, and there is no way to utilize eDRONs to protect crime victims.

[Related Technical Literature]

Method and apparatus for providing informaiton (Patent Application No. 10-2009-0080723)

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and it is an object of the present invention to provide a portable terminal capable of receiving and transmitting signals to and from a drone, The distance between the drones and the terminal, the distance between the terminal and the terminal, and the distance between the terminal and the terminal, based on the position of the subject, i.e., the position of the terminal, The purpose of the present invention is to provide a device that protects crime suspects who are likely to be exposed to crime by utilizing a dron that can continuously photograph a subject while maintaining the position of the drones and the direction of the camera.

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided an information processing apparatus including a storage unit for storing inputted flying and shooting conditions, a receiving unit for sensing a signal of the terminal, a photographing unit for photographing a subject so as to face the terminal, If there is an obstacle in the direction of the drones, the camera detects the obstacle in the direction of the drones and avoids the optimum direction, but keeps the camera constantly aiming at the subject and returning within the shortest time in the first flight and shooting conditions stored in the storage unit A dron capable of maintaining a stationary state and having a top-bottom, front-back, left-right, and up-and-down flight including a control unit for transmitting the photographed image to a management company server in real time; A dron mooring device in which the drones are stored in a chargeable state and provided with a server calling device; A terminal for exchanging signals with the drones and serving as a reference point for flying and shooting conditions of the drones; And an operating company server for receiving the information acquired by the photographing unit 12 through a wireless communication network and displaying the received information on a monitor in real time, setting the operating conditions of the drones and photographing conditions, and instructing the drones to return to the drones .

A drones for tracking a subject-based self-go-goer according to an embodiment of the present invention are used, wherein the drones are always spaced at equal intervals based on the position of the subject, that is, the position of the terminal through wireless communication with a terminal owned by a subject (crime suspect) The camera can be photographed with the camera facing the subject even when the obstacle is avoided, so that continuous observation can be performed. In this case, during the process of avoiding the obstacle, By adjusting the flying and shooting conditions by themselves in accordance with the conditions, even if the subject moves, it is possible to naturally photograph at a constant interval from the same angle.

According to the present invention, when the photographing condition, that is, the photographing angle between the camera and the subject, the height and direction of the camera, and other conditions necessary for photographing are set in advance, the dron can set the flying and shooting conditions by himself Since the subject does not have to worry about shooting, the subject can be taken freely without the help of others without any restriction, regardless of the danger of the place.

In addition, crime suspects can be protected from crime by being able to move and return home with the police and guardian observing by simply calling the server and inputting the mobile phone number. If a crime occurs, the police will be dispatched promptly This is a very useful invention.

1 is a block diagram illustrating a drones and a terminal for a subject tracking type self-contained camera according to an embodiment of the present invention.
2 is a block diagram specifically showing the configuration of the control unit of FIG.
3 is a block diagram illustrating an apparatus for protecting a crime suspect using a drone for a subject-tracking type self-car according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the present specification, when any one element 'transmits' data or signals to another element, the element can transmit the data or signal directly to the other element, and through at least one other element Data or signal can be transmitted to another component.

FIG. 1 is a block diagram showing a drones 10 and a terminal 100 for a subject-tracking type self-contained camera according to an embodiment of the present invention.

The present invention with reference to FIG. 1 includes a navigation basic sensor unit 11 for providing all the information necessary for flying a drones, a storage unit 15 for storing input flying and shooting conditions, And a camera 12a for detecting the presence of an obstacle in the direction in which the drones 10 travel in the shooting direction of the photographing unit 12 while avoiding the camera 12a in an optimal direction, A control unit 14 for adjusting the flight and shooting conditions stored in the storage unit 15 within a predetermined period of time and a wireless communication unit 13 for receiving information serving as a reference of the shooting and shooting conditions, A dron 10 capable of flying back and forth; And a terminal (100) having a wireless communication unit (13) for exchanging signals with the drones (10) and serving as a reference point for flight and shooting conditions of the drones (10).

At this time, the drones 10 may be constituted by at least one propeller that is rotated by receiving a driving force by a driving unit. By performing pan, tilt, yawing under the control of the control unit 14, Operation is possible.

The photographing unit 12 includes a camera 12a as well as a light 12b and a microphone 12c so that the camera 12a, the light 12b and the microphone 12c are continuously directed toward the subject. desirable. At this time, the camera 12a, the illumination 12b, and the microphone 12c are configured to be capable of turning and rotating the subject toward the subject 100, that is, the terminal 100, under the control of the control unit 14 It is possible.

The terminal 100 includes a radio control device for controlling the drone, a remote control, a cellular phone (including a Bluetooth function) as well as R / F transmitting and receiving devices as well as all wireless terminals capable of exchanging signals with a drone wirelessly.

The "Bluetooth" is based on the Bluetooth Protocol as a short-range wireless communication device. The Bluetooth standard accepts the request as a master of communication at a short distance and performs communication with other Bluetooth devices according to the Bluetooth standard.

The drones 10 and the terminal 100 are configured to maintain a gap between the drones 10 and the terminals 100 by the wireless communication units 13a and 13b. The wireless communication units 13a and 13b are provided with a short- (BT).

The short-range wireless communication module BT uses the R / F transmission / reception and the Bluetooth function of the mobile phone and the self-propagation transmitted by the mobile phone to the base station. The controller 14 uses the short- So that the interval between the terminal 10 and the terminal 100 is maintained.

That is, when the subject tracking mode is set by the terminal 100 and the server 200, the control unit 14 moves while moving along the subject while flying the drones 10.

At this time, the controller 14 controls the short-range wireless communication module BT to establish a connection between the terminal 100, i.e., the mobile phone and the drones 10. Accordingly, when a connection is established between the drones 10 and the terminal 110, the controller 14 periodically checks the RF power level of the terminal by the short-range wireless communication module of the terminal 100.

A connection setting method between the mobile phone and the drones 10 is as follows.

The base station processing unit and the link control unit are connected to a control unit of the mobile phone by HCI (Host Control Interface), and the HCI So that the transmission / reception data of the server 200 can be transmitted / received by transmitting / receiving a packet.

As the HCI, RS232C, USB, and standard PC interface can be used. The HCI packet is divided into a command, an event, and a data packet.

The RF transmitting / receiving unit modulates and amplifies the wireless transmission data packet generated by the baseband processing unit during transmission to a predetermined frequency band, and transmits the amplified signal in a predetermined frequency band while suppressing the noise amplification of the received frequency signal as much as possible. Amplifies the amplified signal to a low frequency band, and applies the amplified signal to the baseband processor.

In addition, the baseband processor changes the HCI data packet to a packet format for adding an access code and a header to various HCI data packets applied from a control unit of a host cellular phone, changes the packet format to a predetermined data packet for wireless transmission, And transmits the data packet by changing the received data packet to the HCI packet.

The link control unit controls the short range wireless communication module (BT) based on a command packet transmitted from the control unit of the cellular phone.

At this time, the terminal 100 and the dron 10 may be provided with a program or an application for enabling the connection between the terminal 100 and the drones 10.

When the power level of the terminal 100 is lower than a predetermined level as a result of the RF power level measurement of the terminal 100, the controller 14 causes the dron 10 to fly close to the terminal 100, Level, the drone 10 is caused to fly away from the terminal 100.

When the control unit 14 maintains the interval between the drones 10 and the terminal 100 by self propagation transmitted from the base station to the base station, the control unit 14 determines the strength of the reference radio wave when the cellular phone transmits the radio wave to the base station It is determined that the distance between the drones 10 and the mobile phone is distant and the distance between the drones 10 and the mobile phone 10 is shortened The distance between the drones 10 and the mobile phone is determined to be close to the distance between the drones 10 and the mobile phone 100,

The control unit 14 must also have a function of always measuring the direction of the radio frequency of the terminal 100 and always operating the photographing unit 12 to operate the drones 10 toward the terminal 100, Do. In this case, it is a matter of course that measurement of the direction of the terminal 100 may be performed by various known means other than radio frequency.

In this way, the controller 14 compares all the inputted information to determine whether the drones 10 are constantly maintaining the initial set interval with the terminal 100 and whether the photographing unit 12 is facing the subject. Also, all the information inputted by the various sensing information as described above is compared, and if it is different from the initially set flying and photographing conditions, it is made an effort to return to the original state.

If the distance between the dron 10 and the terminal 100 is 3 m and the position of the dron 10 is positioned above the terminal 100 under the initial flying and shooting conditions, You will shoot your subject from top to bottom at a height of 3m.

However, when the dragon 10 is moving while flying, there may be a case where an obstacle is usually present. In this case, the drone 10 is obstructed by the controller 14 by using the optimum obstacle avoidance path. The optimal obstacle avoidance path is determined by the obstacle avoidance module 14a built in the control unit 14. [

The controller 14 includes an obstacle avoidance module 14a for determining whether an obstacle exists in the traveling direction of the drones 10 by the obstacle detection sensor unit 16 and setting an optimal obstacle avoidance path, A flight and photographing condition comparison module 14b for comparing the flight and photographing conditions of the changed drones 10 due to the avoidance of the obstacle by the avoidance module 14a with the initially set flight and photographing conditions, A flight and shooting management module for adjusting the flying and shooting conditions of the dron so that the difference caused by the comparison between the module 14b and the current flying state and the shooting state is reflected in the flight of the drones, And a photographing module 14c for storing the image photographed by the camera in the storage unit 15 or transmitting the image to the mobile phone or the server 200. [

The flight and shooting management module 14d enables basic navigation and shooting of the drones 10 and grasps the obstacle information transmitted by the obstacle avoidance module 14a so that the drones 10 can avoid the optimal route So that the direction of the photographing unit 12 always faces the terminal 100 so that the direction of the photographing unit 12 faces the terminal 100 even when the drones avoid an obstacle And also controls the flying and shooting conditions of the drone 10.

The flight and photographing condition comparison module 14b may be configured to compare all of the drones in terms of alignment, speed, flight direction, height, angle, and camera direction. However, Only. In addition, it is natural that all of these are basically determined based on the position and speed of the subject.

The storage unit 15 is a non-volatile memory (NVM) that does not lose power even if the power is not supplied. The storage unit 15 is a flash memory, a magnetic random access memory (MRAM) Phase-change random access memory (FRAM), ferroelectric RAM (FRAM), and the like.

The obstacle detection sensor unit 16 includes a number of sensors and includes various sensors capable of detecting the existence of obstacles existing in the traveling direction while performing shooting according to the shooting conditions set by the drones 10.

For example, a laser sensor that emits a laser beam and receives a reflected beam to determine whether an obstacle is present; an infrared and thermal sensor that detects the presence of an animal or human by heat sensing; an ultrasonic sensor; Lt; / RTI >

Of course, a basic sensor part necessary for operating the drone 10, namely, a position sensor 16 and a distance sensor, a GPS position receiver, a G-sensor, an altitude sensor, a magnetic sensor, an altitude sensor, a speed sensor, , GNSS modules are of course natural.

Also, the terminal 100 may be replaced with a smart phone or a tablet PC, and may be configured with a general remote control device. Also, for convenience of carrying, all the shooting conditions may be input to the drones by other input devices, and the mobile phone may be configured to have only a function for maintaining a predetermined interval by wireless communication with the drones.

The obstacle avoidance module 14a of the control unit 14 recognizes the size, height, and direction of an obstacle sensed by the obstacle sensor unit 16 and changes flight and shooting conditions so as to avoid the obstacle, The control unit 14 changes the operating condition of the drones based on the information sensed by the obstacle detection sensor unit 16,

When the direction of the dron is changed, the first shooting condition, that is, the distance between the dron and the mobile phone, the position of the drones with respect to the mobile phone, and the direction of the camera are changed. At this time, Is a flying and photographing condition comparison module 14b.

Therefore, the object of the comparison will be the flight and shooting state of the current drone 10 and the flying and shooting state at that time to match the initially set flying and shooting conditions.

 This is based on the information sensed by the navigation basic sensor unit 11. Based on the data obtained through the flight and photographing condition comparison module 14b, the flight and photographing management module 14d controls the drones 10, Is controlled.

If the obstacle is present in the path of the drone 10, the drone 10 is moved to a position where the obstacle is present in the path of the drone 10, The flight and photographing condition comparison module 14b should grasp the optimal obstacle avoidance course so that the flight and shooting management module 14d can quickly adjust the operating conditions of the drones Do.

In this case, since the delay time is inevitable in returning the flying and shooting conditions changed by the obstacle to the first flight and shooting conditions, the flight and shooting condition comparison module 14b must be programmed in consideration of this point. Do.

The apparatus for protecting a crime suspect using a dron for a subject-tracking type self-contained car according to another embodiment of the present invention includes a navigation basic sensor unit 11 for providing all the information required for a dron to fly, (12) for detecting the presence of an obstacle in the direction in which the drones (10) travel during shooting of the photographing unit (12) The camera 12a is provided with a control unit 14 for continuously aiming the subject and adjusting the flying and shooting conditions stored in the storage unit 15 within the shortest time, A dron 10 capable of maintaining a stationary state and capable of up, down, left and right, and up and down, including a wireless communication unit 13 for receiving a radio signal; A dron mooring device 300 in which the drones 10 are stored in a chargeable state and provided with a server calling device; A terminal 100 having a wireless communication unit 13 for exchanging signals with the drones 10 and serving as a reference point for flight and shooting conditions of the drones 10; The information acquired by the photographing unit 12 is transmitted through a wireless communication network and is displayed on the monitor 220 in real time and displayed on the monitor 220 in order to set the conditions for photographing and photographing the drones and instructing the drones 300 to return to the drones Management company server 200 as shown in FIG.

The manager server 200 exchanges information with the drone 10 through a wireless communication network and can check the information of the photographing unit 12 that is sent in real time via the monitor 220. This will allow the criminal suspects to see whether they have been exposed to the crime.

At the same time, the information sent by the photographing unit 12, that is, the image and sound, is stored in the DB 210 and can be used as evidence for proving the criminal behavior of the criminal.

The drone mooring device 300 may be installed on the roof of a police station or the like for storing and charging the drones 10, but is preferably installed in a vulnerable zone for crime.

Therefore, it is preferable to provide the rechargeable battery 32, the solar panel 310 and the charging ground 340 for charging the battery. In addition, the drones 10 are placed on the pillars 330, and the photographing unit 12 of the drones 10 is always operated.

As a result, the drone 10 functions as a security camera capable of moving, thereby minimizing the blind spot of the fixed security camera. Of course, the drone 10 may be set to start a patrol by setting the flight path starting from the drone mooring device 300.

In addition, the drone mooring device 300 may include a server calling device 350 that can request a crime suspect for a protection service using the inventive drones.

The method of protecting a crime suspect using a drones for tracking a subject-type self-car according to the present invention is as follows.

A step S1 of calling the management company server 200 using the terminal 100 by a crime suspect and a step S2 of establishing a connection between the mobile phone and the drones 10 of the crime suspect, (S3) of setting the flying and shooting conditions of the drones (10) when the connection is established; and a step S3 of setting the flying conditions and shooting conditions of the drones (10) (S5) of transmitting the photographed image to the server (200) and outputting the photographed image to the monitor (220), and storing the image and sound in the DB (210) The drones 10 return to the drone mooring unit 300 in response to a service end signal from the drones 300 (S6).

At this time, the terminal 100 may be a wired or wireless communication means, but it may be a server calling apparatus 350 installed in the drone mooring apparatus 300.

It is a matter of course that the control unit 14 is provided with a module for allowing the drones 10 to return to the drone mooring unit 300 by a service termination signal of the server 200. [

A method of operating the drones driven by the present invention will now be described.

First, the initial flight and shooting conditions set by the photographer are set by the input means including the cellular phone.

In this case, the most basic flying and shooting conditions will be the distance between the mobile phone and the drones 10, that is, the distance and the height and direction of the drones (camera) based on the mobile phone 100 owned by the photographer (subject). Since the moving speed of the drone 10 is the same as the moving speed of the mobile phone 100, there is no significant meaning unless it is set separately.

For more detailed shooting conditions, various conditions can be set such as the variable shooting distance of the camera and the height adjustment, but this can be set as needed.

Therefore, if the photographer sets the distance between the mobile phone and the dron as 3 m in the initial photographing condition, and the position of the dron (camera) is set at 45 ° in front of the subject, the dron always moves the camera toward the subject, The subject is photographed while moving along the moving direction of the subject.

When there is an obstacle in the navigation path that moves along the moving direction of the subject at a height of 3m from the front 45 ° position, the inventive drones continuously shoot the direction of the camera while aiming the subject while avoiding the obstacle.

The control unit 14 of the drones 10 continuously and repeatedly receives information on the position and speed of the mobile phone 100 from the sensor unit 101 and the wireless communication unit 13a, The module 14b must also continuously and repeatedly compare with the initially set flight and shooting conditions and to continuously and repetitively control the parts that differ from the set conditions to be consistent with each other.

In addition, a method for protecting a crime suspect using a drones for tracking a subject-based self-contained car according to the present invention will be described as follows.

When a crime suspect, for example, a woman living in a fraudulent district or a person carrying cash, or the like presses the server calling apparatus 350 to request a protection service to the police or a guardian, the manager's server 200 is called, The called server 200 establishes a connection between the mobile phone of the crime suspect and the drones 10.

At this time, the connection between the mobile phone and the dron 10 is made possible by the telephone number of the mobile phone.

When a connection is established between the mobile phone and the drones 10, the server 200 sets the flying conditions and shooting conditions of the drones 10 according to the circumstances and circumstances of the crime suspect.

When the setting is completed, the crime suspect is photographed at the location where the drone 10 is set according to the direction in which the crime suspect moves, and the crime suspect is transmitted to the server 200.

The photographed image is transmitted to the monitor of the server 200 and can be grasped by the information transmitted to the monitor.

Of course, when the crime suspect arrives at the target site, the service is terminated. When the server 200 transmits the service end signal, the drone 10 returns to the drone mooring apparatus 300 where the crime suspect has been staying.

Herein, a module may mean a functional and structural combination of hardware for carrying out the technical idea of the present invention and software for driving the hardware. For example, the module may mean a logical unit of a predetermined code and a hardware resource for executing the predetermined code, and it does not necessarily mean a physically connected code or a kind of hardware. Can be easily deduced to the average expert in the field of < / RTI >

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) .

The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms have been used, they have been used only in a general sense to easily describe the technical contents of the present invention and to facilitate understanding of the invention , And are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

10: Drones
11: Operation basic sensor unit
12:
13:
14:
14a: Obstacle avoidance module
14b: Flight and shooting conditions comparison module
14c: photographing module
14d: Flying and shooting management module
15:
16: Obstacle detection sensor
100: terminal
200: Manager server
300: Drone mooring device

Claims (2)

A navigation basic sensor unit 11 for providing all the information necessary for the flight of the drones, a storage unit 15 for storing the inputted flight and shooting conditions, a photographing unit 12 for photographing the subject, A control unit 14 for detecting an obstacle in the direction in which the drone 10 advances during shooting of the photographing unit 12 and avoiding the obstacle in an optimum direction, An apparatus for protecting a crime suspect using a dron comprising a dron (10) capable of maintaining a stationary state including a wireless communication unit (13) and capable of up, down,
A drones mooring device 300 in which the drones 10 are stored in a chargeable state and having a server calling device 350;
A terminal 100 having a wireless communication unit 13 for exchanging signals with the drones 10 and serving as a reference point for flight and shooting conditions of the drones 10;
The information acquired by the photographing unit 12 is received via the wireless communication network and is displayed on the monitor 220 in real time and the operation of the drones and the photographing conditions are set and the drones are returned to the drones 300 A management company server 200 for performing management;
A controller 12a for causing the dron 10 to navigate while keeping the distance from the subject while measuring a signal transmitted from the terminal 100 while keeping the camera 12a constantly facing the object while avoiding obstacles; (14):
Wherein the control unit is configured to control the movement of the cricket.
The control unit (14) according to claim 1, wherein the controller (14) comprises an obstacle avoidance module (14a) for determining whether an obstacle is present in a traveling direction of the dron (10) by an obstacle detection sensor unit (16) and,
A flight and photographing condition comparison module 14b for comparing the flight and photographing conditions of the changed drones 10 due to obstacle avoidance by the obstacle avoiding module 14a with the initially set flight and photographing conditions,
The difference between the flight and shooting condition comparison module 14b and the difference caused by the comparison between the current flying state and the shooting state is reflected in the flight of the drones so as to adjust the flight and shooting state of the dron And a flight and shooting management module (14d) for controlling the shooting of the cricket.

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