WO2015089600A1 - Sistema e método de monitoramento e fiscalização de tráfego e registro de infrações de trânsito e veículo aéreo não tripulado correspondente - Google Patents
Sistema e método de monitoramento e fiscalização de tráfego e registro de infrações de trânsito e veículo aéreo não tripulado correspondente Download PDFInfo
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- WO2015089600A1 WO2015089600A1 PCT/BR2014/000430 BR2014000430W WO2015089600A1 WO 2015089600 A1 WO2015089600 A1 WO 2015089600A1 BR 2014000430 W BR2014000430 W BR 2014000430W WO 2015089600 A1 WO2015089600 A1 WO 2015089600A1
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- Prior art keywords
- unmanned aerial
- aerial vehicle
- speed
- vehicle
- track
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000008447 perception Effects 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 238000012795 verification Methods 0.000 claims description 4
- 238000007792 addition Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000012512 characterization method Methods 0.000 description 4
- 238000011157 data evaluation Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 3
- 238000010200 validation analysis Methods 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000011867 re-evaluation Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/92—Radar or analogous systems specially adapted for specific applications for traffic control for velocity measurement
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
-
- 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
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
- B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30232—Surveillance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30236—Traffic on road, railway or crossing
Definitions
- the present invention belongs to the field of traffic monitoring and enforcement systems and traffic violation registration.
- the present invention relates to a system and method for detecting a traffic violation, measuring the speed of the offending vehicle and recording the image and / or video of the offending vehicle. Furthermore, the invention relates to an unmanned aerial vehicle (abbreviated UAV) capable of carrying out the method according to the invention.
- UAV unmanned aerial vehicle
- US Patent Document US 2010/0328140 discloses a traffic surveillance system using a Doppler radar made up of a three Doppler antenna system for detecting and recording vehicle images. It provides for the installation of the roadside or on-board surveillance system on an unmanned aerial vehicle, and this possibility of on-board use is only mentioned, lacking descriptive sufficiency.
- US Patent Document US 20 1/0291876 discloses a traffic surveillance system using a Doppler radar made up of a three Doppler antenna system for vehicle speed detection and calculation. It provides for the installation of the roadside or on-board surveillance system on an unmanned aerial vehicle, and this possibility of on-board use, as in the case of US 2010/0328140, is only mentioned and is descriptive enough.
- DE 10 2005 002 278 discloses a land surveillance method and an aircraft for carrying out the method, wherein said unmanned aerial vehicle monitors the terrain through a camera, comparing each new image captured with previous or pre-programmed situations, alarming when the new image situation differs from the previous or preprogrammed image.
- the verification and subsequent validation of the maximum speed allowed in the monitored stretch is not described nor revealed, nor is the monitoring and inspection in stretches of variable maximum speed allowed, especially in the transition regions between said stretches.
- DE 10 2005 002 278 also makes no mention of the speed compensation measured against the unmanned aerial vehicle speed.
- CN 102436738 discloses an unmanned aerial vehicle-based traffic monitoring device capable of detecting speeding offense, where the speed of the monitored vehicle is calculated by analyzing the amount of frames or frames of the camera, ie , does not have the proper accuracy for speed measurement reliably enough to serve as the basis for an infringement document.
- CN102436738 also does not describe how the speed limit information that is used for monitoring purposes is obtained, and is therefore intended for obtaining traffic information and video retrieval, but not for electronic surveillance itself. Monitoring and enforcement of variable permissible maximum speed sections and any form of speed compensation measured against unmanned aerial vehicle speed is not described.
- One object of the invention is therefore a system according to the features of independent number 1 claim.
- Another object of the invention is a method according to the features of independent number 1 claim.
- Another object of the invention is an air vehicle unmanned aircraft according to the features of independent claim number 18 and an unmanned aerial vehicle according to the features of independent claim number 19. Further details of these features and / or additional features are represented by the corresponding dependent claims.
- Figure 1 shows a diagrammatic view of a system according to the invention inserted in a monitoring environment including an airspace, a ground track and a vehicle to be monitored;
- Figure 2 presents a diagrammatic top view of an unmanned aerial vehicle according to the invention monitoring a vehicle in one lane;
- Figure 3 presents a diagrammatic top view of an unmanned aerial vehicle according to the invention monitoring a vehicle on a track, the unmanned aerial vehicle being in an inclined direction relative to the imaginary axis of the track;
- Figure 4 shows the vector decomposition of unmanned aerial vehicle speed according to the invention in a hypothetical exemplary situation.
- 50 embedded central unit 50th central processing unit or CPU;
- Detecting a traffic violation as well as measuring the speed of the offending vehicle and recording the image and / or video of the offending vehicle essentially follows the following steps:
- location - defining the physical location where it will provide monitoring and surveillance, with the determination of an address, limits etc;
- 2 step Detection - detection of a vehicle allegedly infringing the stipulated physical location and can be performed, for example, via inductive loops, laser radars (Doppler and the like), video (OCR), piezoelectricity etc;
- 3rd step measurement - measurement of the vehicle speed detected in space, being usually performed by calculating the fraction between one distance traveled and the time spent for such from the measurements obtained, for example by means of inductive loops, laser, radars (Doppler and the like), video (OCR), piezoelectricity etc;
- Step 4 comparison - compare the speed value obtained in the measuring step , and the permissible value and respective tolerances, this step being the determination of the trigger or triggers,
- Step 5 Capture - record of infringement by capturing an image or sequence of images by, for example, cameras and / or camcorders or other means of appropriate image service record;
- step 7 transmission - sending data grouped to a monitoring station, police force, and / or competent and responsible for processing violations organ.
- a method of monitoring and enforcing traffic and recording traffic violations comprises the steps of locating, detecting, measuring, comparing, capturing, storing and transmitting.
- the system according to the invention is provided with an unmanned aerial vehicle (10) and a base station (80), wherein the aerial vehicle is not manned (10) moves in airspace (200) and base station (80) is on the ground (300).
- the unmanned aerial vehicle (10) is provided with one or more self-propelled devices (20), at least one detector and speedometer (30), one or more cameras (40), an embedded central unit (50) at least one device having global positioning system or GPS (60) and at least one signal transmitting and receiving device (70).
- Self-propelled devices (20) allow the holding and dragging of the unmanned aerial vehicle (10) and its positioning within the airspace (200).
- the detector and speedometer (30) is an anterior tracking sensor, preferably of the Doppler type, which detects the vehicle (120) and calculates its relative speed (V M ED) and direction of travel at a given point. (300) below the location of the unmanned aerial vehicle (10).
- One or more cameras (40) are responsible for capturing images / videos of the vehicle (120), wherein said cameras are preferably stabilized by one or more rockers or gimbals to ensure the capture of images / videos of the vehicle (120). ) legibly.
- the embedded central unit 50 is provided with a central processing unit or CPU 50a, an embedded storage device. (50b), possibly from embedded database (50c) and eventually from embedded map (50d).
- the central processing unit or CPU (50a) controls the detector and speed meter (30), the cameras (40), the GPS (60), the signal transmitting and receiving device (70), and perform the method object of this patent.
- the onboard storage device (50b) temporarily stores in the unmanned aerial vehicle (10) the images / videos of the vehicles (120) captured by the cameras (40), the location regulated speed database and the maps lines (300) to be inspected. Images / videos remain on this onboard storage device (50b) until transmitted to the base station (80) or until the onboard storage device itself (50b) is collected when the unmanned aerial vehicle (10) is on the ground.
- the device with global positioning system or GPS makes it possible to determine the location, ground speed (RV) and direction of the unmanned aerial vehicle (10) within the airspace (200), in a manner known to the state of technique.
- the speed meter (30) or aritenna tracking sensor correlates the position of the unmanned aerial vehicle (10) and the vehicle position (120) for the purpose of determining location (1 to the above exemplary method step), in the case of an unmanned aerial vehicle (10) is, like the fourth step, of course, variable.
- the signal transmitting and receiving device (70) allows communication between unmanned aerial vehicle (10) and base station (80) in a manner known in the prior art.
- the base station (80) is provided with at least one control module (90), at least one image and / or video storage device (100) and at least one signal transmission and reception device (110). .
- Base station 80 is preferably in the ground.
- the base station (80) may be arranged on a base vehicle (not shown).
- the base station 80 is provided with access to a remote central database (online update) and may also have a database in its physical structure (periodic update).
- Said central database or said database in its physical structure contains and provides, among others, information relevant traffic information including information on maximum speeds allowed by sections, maps and other related information.
- the control module (90) remotely performs the flight operation of the unmanned aerial vehicle (10), being responsible for the flight programming, or for the live control of the unmanned aerial vehicle's trajectory (10) in a manner known from the prior art.
- the image and / or video storage device (100) stores in the base station (80) the images / videos of the vehicles captured by the unmanned aerial vehicle (10), as is known in the prior art.
- the unmanned aerial vehicle (10) is controlled / monitored remotely from base station (80) and held within airspace (200) bounded, for example, by legal and / or functional provisions and / or autonomy and / or by the range of signal transmitting and receiving devices (70, 110), as is known in the prior art.
- the system consisting of unmanned aerial vehicle (10) and base station
- (80) therefore serves to monitor and supervise one or more vehicles (120) driving on one or more lanes (300), the said system then serving to detect and record image and / or video activity. of speeding traffic violations of vehicles (120) traveling on track (300) monitored.
- the speed monitoring and surveillance of a vehicle (120) on a track (300) is intended to control the speed of this vehicle (120) and the subsequent and eventual image and / or video capture of this vehicle. (120) in case of infringement, ie in case of speeding.
- the operation of the system according to the invention begins by taking off the unmanned aerial vehicle (10) and positioning it in the airspace (200) on or near the route (300), which can be exemplarily visualized. and not limiting in figure 2.
- the location, ground speed (RV) and direction of the unmanned aerial vehicle (10) is made by the onboard GPS device (60) and the correlation between the unmanned aerial vehicle (0) position and the Vehicle position (120) for location determination purposes is performed by the speed meter (30) or tracking sensor or tracking antenna.
- an on-board database (50c) of the unmanned aerial vehicle itself (10) or available at or from base station (80) is consulted for verification of the maximum permitted speed for track (300) below position of the unmanned aerial vehicle (10) or to the track (300) to be monitored for the part of the vehicle (120).
- vehicle (120) When a vehicle (120) enters the measuring beam of the detector and speed meter (30), this vehicle (120) is monitored.
- the detector and speedometer (30) are informed to the central processing unit (50a) of at least the following data: vehicle identifier (120), vehicle speed vector (120), and vehicle position vector (120) ).
- V M ED relative velocity information at a predetermined distance is used for characterization of the infraction. If this speed is higher than the local upper limit, taking into account the ground speed (V D ) and displacement trajectory of the unmanned aerial vehicle (10), one or more image / video records of this vehicle (120) are made and stored in the embedded storage device (50b).
- the method according to the invention considers a 1 - variable stage and change substantially 4 to step the above exemplary method, validating the trigger or trigger before proceeding to capture (fifth step) of image.
- step in which can be carried capture regardless of the result of the fourth step, proceed to the remainder of the steps, to transmit the grouped data and to leave for later (and / or to the data receiver) the data evaluation, data re-evaluation, infringement determination, consideration of special situations, exceptions etc.
- Querying the embedded database (50c) or database shows the maximum speed allowed on the section initially traveled by the vehicle (120) and the maximum speed allowed on the subsequent segment.
- Dp perception, reaction and braking distance
- the form of calculation and parameterization of the perception, reaction and braking distance (Dp) will depend on the relevant legislation, which can be calculated, for example, by the formula and table available in the Brazilian Traffic Signal Manual (National Traffic Council (Brazil ) (CONTRAN), Vertical Regulatory Signaling / Contran-Denatran - Brasilia: Contran, 2006, page 43).
- the GPS (60) indicates the location of the unmanned aerial vehicle (10) over or near a region between the speed transition point (signpost (310)) and the distance equal to the perception, reaction and braking distance (Dp), the record of the infraction may not be used for purposes of proof of the traffic infraction notice.
- the method according to the invention considers a 1 - variable stage and change substantially 4 to step the above exemplary method, validating the trigger or trigger before proceeding to capture (fifth step) considering the distance of perception, reaction and braking (Dp) corresponding to the location.
- step in which can be carried capture regardless of the result of the fourth step, proceed to the remainder of the steps, transmit the grouped data and leave it for a later time (and / or in charge of the data receiver) the data evaluation, data reevaluation, consideration of special situations, exceptions to the perception, reaction and braking distance (DP) etc.
- DP reaction and braking distance
- Ground speed (V D ) and direction information for unmanned aerial vehicle (10) is used to calculate vehicle speed (V v ) on track (300) if unmanned aerial vehicle (10) is in motion at the time of measurement,
- the detector and speed meter As also described above, the detector and speed meter
- the unmanned aerial vehicle (10) is a tracking antenna Doppler sensor that detects vehicle (120) and calculates its relative velocity (V MED ) and direction of travel in a certain track point (300) below the location of the unmanned aerial vehicle (10).
- Figure 3 illustrates a hypothetical situation in which the unmanned aerial vehicle (10) is at a speed (V D ) in a direction inclined by the relative angle (a) to the imaginary (x) and (y) axes of the plane.
- the track (300) is located while the vehicle (120) moves in the x direction with a speed (V v ).
- the velocity vector (DV x) of the unmanned aerial vehicle (10) relative to the vehicle (120) is decomposed (see Figure 4) to obtain the speed vector (V D) of the unmanned aerial vehicle (10) in Direction of vehicle speed vector (Vv) by formula:
- VD X VD.COS ⁇ If the direction of travel of the unmanned aerial vehicle (10) and the vehicle (120) is opposite (approximation), the vehicle speed (Vv) is calculated by the formula:
- V v vehicle speed
- the camera (s) (40) capture images and / or videos that prove the offense by identifying the offending vehicle by its license plate.
- the relative angle (a) required for the velocity vector decomposition can be determined by calculating the angular coefficients (m) of the lines describing: the unmanned aerial vehicle trajectory (10) and the direction of the track.
- the trajectory of the unmanned aerial vehicle is given by GPS (60), in the form of two points of displacement (XQI, YDI and XQ2, YD2). (x v i a i, Yviai and lane2, yvia2) of the lane vector at the position below the unmanned aerial vehicle.
- the angular coefficient of the trajectory of the unmanned aerial vehicle (mo) and the angular coefficient of the direction of the route (m V ia) are calculated by the formulas:
- Hlvia (yvia2 - Yviai) (yvia2 ⁇ Yviai)
- the relative angle (a) can be calculated by simple subtraction of angles, if it is available on the embedded map to use the track orientation (eg 30 ° NE) and the GPS offers the electronic compass option.
- the images and / or videos of the infringing vehicle (120) are captured, they are transmitted between the signal transmission and reception devices (70, 110) of the unmanned aerial vehicle (10) to the base station (80), where they are stored in an image and / or video storage device (100) for further processing and issuing of traffic violation notices by the transit authority.
- the method according to the invention one considers the variable step 1 and 3 substantially alter the above step exemplary method.
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP14872300.0A EP3086294A4 (en) | 2013-12-20 | 2014-12-08 | Traffic monitoring and surveillance system and method, and corresponding traffic infraction recording system and unmanned air vehicle |
CN201480076031.3A CN106030666B (zh) | 2013-12-20 | 2014-12-08 | 交通监控和监视系统和方法,以及对应的交通违规记录系统和无人机 |
MX2016008116A MX365125B (es) | 2013-12-20 | 2014-12-08 | Sistema y método de monitoreo y fiscalización de tráfico y registro de infracciones de tránsito y vehículo aéreo no tripulado correspondiente. |
CA2934301A CA2934301A1 (en) | 2013-12-20 | 2014-12-08 | Traffic monitoring and surveillance system and method, and corresponding traffic infraction recording system and unmanned air vehicle |
US15/106,018 US10677917B2 (en) | 2013-12-20 | 2014-12-08 | Traffic monitoring and surveillance system and method, and corresponding traffic infraction recording system and unmanned air vehicle |
IL246306A IL246306B (en) | 2013-12-20 | 2016-06-19 | Traffic monitoring and surveillance method and system, and corresponding traffic offense recording system and unmanned aerial vehicle |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR102013033041-8A BR102013033041B1 (pt) | 2013-12-20 | 2013-12-20 | Sistema e método de monitoramento e fiscalização de tráfego e registro de infrações de trânsito e veículo aéreo não tripulado correspondente |
BRBR102013033041 | 2013-12-20 |
Publications (1)
Publication Number | Publication Date |
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WO2015089600A1 true WO2015089600A1 (pt) | 2015-06-25 |
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ID=53401817
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/BR2014/000430 WO2015089600A1 (pt) | 2013-12-20 | 2014-12-08 | Sistema e método de monitoramento e fiscalização de tráfego e registro de infrações de trânsito e veículo aéreo não tripulado correspondente |
Country Status (8)
Country | Link |
---|---|
US (1) | US10677917B2 (pt) |
EP (1) | EP3086294A4 (pt) |
CN (1) | CN106030666B (pt) |
BR (1) | BR102013033041B1 (pt) |
CA (1) | CA2934301A1 (pt) |
IL (1) | IL246306B (pt) |
MX (1) | MX365125B (pt) |
WO (1) | WO2015089600A1 (pt) |
Cited By (4)
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CN106056914A (zh) * | 2016-08-01 | 2016-10-26 | 百度在线网络技术(北京)有限公司 | 交通监测方法及交通监测车辆 |
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CN106097743A (zh) * | 2016-08-13 | 2016-11-09 | 张选琪 | 车辆识别无人机系统 |
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CN109785671A (zh) * | 2019-02-03 | 2019-05-21 | 中睿通信规划设计有限公司 | 无人机标识报告区告警方法和系统 |
CN109785671B (zh) * | 2019-02-03 | 2022-01-11 | 中睿通信规划设计有限公司 | 无人机标识报告区告警方法和系统 |
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BR102013033041A2 (pt) | 2017-02-14 |
CN106030666A (zh) | 2016-10-12 |
MX365125B (es) | 2019-05-23 |
IL246306B (en) | 2021-08-31 |
CN106030666B (zh) | 2019-07-23 |
US20160327645A1 (en) | 2016-11-10 |
IL246306A0 (en) | 2016-07-31 |
US10677917B2 (en) | 2020-06-09 |
EP3086294A4 (en) | 2017-10-25 |
EP3086294A1 (en) | 2016-10-26 |
CA2934301A1 (en) | 2015-06-25 |
MX2016008116A (es) | 2017-05-10 |
BR102013033041B1 (pt) | 2022-02-01 |
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