WO2021206204A1

WO2021206204A1 - Monitoring method and system using plurality of drones

Info

Publication number: WO2021206204A1
Application number: PCT/KR2020/004935
Authority: WO
Inventors: 정승호; 정승현
Original assignee: (주)아르고스다인
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2021-10-14

Abstract

The present invention relates to a monitoring method and system using a plurality of drones, wherein the system comprises: a plurality of auxiliary drones that perform monitoring by using cameras; a main drone that sets a bus coordinate system with the main drone's own location as an original point, configures a flight formation by controlling flight of the plurality of auxiliary drones through short-distance communication on the basis of the set bus coordinate system, and performs monitoring by using a camera while maintaining the flight formation with the plurality of auxiliary drones; and a ground control server that controls flight of the main drone to monitor a designated area.

Description

Monitoring method and system using multiple drones

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

Drones, which are unmanned robots, were initially developed for military use, but have the advantages of convenient transport and storage, and easy operation, so they are widely used for filming for TV broadcasts and the like. Recently, by building an unmanned delivery service system using a drone, goods can be delivered by minimizing human interference, and a technology that provides a safe unmanned delivery service through mutual authentication between the sender and the drone has also emerged.

Since drones are highly mobile because they move in the air, they can move quickly through the air even in severe traffic jams and rough road conditions. Using these characteristics of drones, drones are also being used to manage and monitor specific areas that are difficult for humans to access. That is, the drone can perform remote monitoring of a specific area through the mounted camera or sensor. For example, drones can be used for public purposes, such as searching for survivors, monitoring wildfires, cracking down on traffic violations, and monitoring crime zones and border areas.

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

[Prior art literature]

[Patent Literature]

(Patent Document 1) Domestic Registered Patent No. 10-1851539

(Patent Document 2) Domestic Patent Publication No. 10-2017-0070713

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

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

According to an embodiment of the present specification, for achieving the above object, a monitoring system using a plurality of drones according to the present specification includes a plurality of auxiliary drones performing monitoring using a camera; Sets a mothership coordinate system with its own position as the origin, controls the flight of the plurality of auxiliary drones through short-distance communication based on the set mothership coordinate system to form a flight squadron, and maintains the flight squadron together with the plurality of auxiliary drones a main drone that performs surveillance using a camera; 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 performance of a camera mounted on each auxiliary drone. and setting the Z coordinate values of the plurality of auxiliary drones using a scanning area determined by the angle of view of the camera of each auxiliary drone and a preset scanning area tolerance.

Preferably, 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 by more than a preset scanning area tolerance.

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 except for 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 when an abnormality occurs in the main drone, it gives its authority to any one auxiliary drone among the at least one auxiliary drones. It is characterized by delegating

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 separated from itself by a predetermined distance or more.

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 the flight squadron is changed according to the monitoring purpose.

According to another embodiment of the present specification, a monitoring method using a plurality of drones according to the present specification includes: setting, by a main drone, a mother ship coordinate system having its own position as an origin; configuring, by the main drone, a flight squadron by controlling the flight of a plurality of auxiliary drones through short-distance communication based on a set mothership coordinate system; and controlling, by the ground control server, the flight of the main drone to perform monitoring of a predetermined area using a camera while maintaining a flight squadron together with the plurality of auxiliary drones.

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 by more than a preset scanning area tolerance. characterized in that

Preferably, the method comprising: determining, by the main drone, whether an abnormality has occurred in at least one auxiliary drone among the plurality of auxiliary drones; and when the main 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 method comprising: determining, by the main drone, whether an abnormality has occurred in itself; and when the main drone determines that an abnormality has occurred in itself, delegating its authority to any one auxiliary drone among at least one auxiliary drone including a long-range communication module among the plurality of auxiliary drones characterized in that

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 configure a flight squadron, and the ground control server recognizes the flight squadron as a single virtual drone and controls the plurality of 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 view showing a schematic configuration of a monitoring system using a plurality of drones according to an embodiment of the present invention;

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

3 is a view 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 main drone and an auxiliary drone according to an embodiment of the present invention;

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

6 is a view showing the reconstruction of the squadron configuration when any one of the own ships in the squadron has landed or crashed for some reason;

7 is a diagram showing the reconstruction of the squadron configuration if the mothership in the squadron has landed or crashed 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 the technical terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. In addition, the technical terms used in this specification should be interpreted in the meaning generally understood by those of ordinary skill in the art to which the present invention belongs, unless otherwise defined in this specification, and excessively inclusive. It should not be construed in the meaning of a human being or in an excessively reduced meaning. In addition, when the technical terms used in the present specification are incorrect technical terms that do not accurately express the spirit of the present invention, they should be understood by being replaced with technical terms that those skilled in the art can correctly understand. In addition, general terms used in the present invention should be interpreted as defined in advance or according to the context before and after, and should not be interpreted in an excessively reduced meaning.

Also, as used herein, the singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as "consisting of" or "comprising" should not be construed as necessarily including all of the various components or various steps described in the specification, some of which components or some steps are It should be construed that it may not include, or may further include additional components or steps.

In addition, the suffixes "module" and "part" for the components used in this specification are given or mixed in consideration of the ease of writing the specification, and do not have distinct meanings or roles by themselves.

Also, terms including an ordinal number such as first, second, etc. used herein may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

As used herein, a surveillance mission refers to an arbitrary operation or combination of operations programmed to be performed by a drone in order to cope with a situation occurring within a predetermined area. Programming commands for performing the surveillance mission may be sent 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 programming commands. In addition, the monitoring 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 movement of a specific type of drone, movement or rotation of a part of the drone, and detection of information by the drone, output of images and/or sounds, other objects or servers It refers to one or more combinations of individual operations, such as communication with a specific number, or a call or video call connection to a specific number.

In addition, in the present specification, for convenience of explanation, a camera is exemplified as a monitoring means of a drone, but 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., acquires images and surrounding information to monitor people or animals, and recognizes sounds with a size or frequency higher than the standard value from people or animals to detect a crisis situation can be detected.

[Explanation of code]

110: multiple auxiliary drones 120: main drone

130: ground control server 210: long-distance communication module

220: short-distance communication module 230: camera module

240: control unit

Hereinafter, a preferred embodiment according to 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 reference numerals, and redundant description thereof will be omitted.

In addition, in the description of the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easy understanding of the spirit of the present invention, and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

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

Referring to FIG. 1 , a monitoring 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 and shoot detailed images of the predetermined area while flying in the predetermined area to capture the detailed image of the main drone 120 through short-distance communication. ) is a drone that transmits 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 mother ship coordinate system with its own position as the origin, and controls the flight of a plurality of auxiliary drones 110 through short-distance communication based on the set mother ship coordinate system to form a flight control server of a flight control server. It performs a role and performs monitoring using a camera while flying while maintaining a flight squadron together with a plurality of auxiliary drones 110 . That is, the main drone 120 collects images captured by the plurality of auxiliary drones 110 and transmits them to the ground control server 130 through long-distance communication, thereby monitoring a predetermined area.

In addition, the main drone 120 may include a video and/or audio output device, and when detecting a crisis situation, output the corresponding information in video and/or audio to inform people in the area. For example, the main drone 120 calculates the direction of a sudden movement of a human body or an object around the user, predicts a crisis situation resulting therefrom, and outputs the predicted information as an image and/or voice to the It can be possible to prepare in advance.

Also, the main drone 120 may control one or more user devices based on the information on the crisis situation. For example, when a crisis situation is detected, the main drone 120 may transmit an alert message to one or more users' smartphones designated in advance, or may control and move the user's vehicle. In addition, the main drone 120 may 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 in a preset place after the user gets off the vehicle.

In addition, when the main drone 120 detects a crisis situation from the image and surrounding information, it may take measures according to the crisis situation by communicating with one or more related agency servers. 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 institution server may collectively refer to a plurality of servers operated by a plurality of institutions. For example, the related institution server may be a server operated by the police 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.

Additionally, 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, for example, an address, a map, information about a nearby public institution, etc. can do. Meanwhile, a detailed configuration of the main drone 120 will be described with reference to FIG. 2 .

The ground control server 130 transmits/receives data to and from the main drone 120 through long-distance communication, and transmits a command for controlling the main drone 120 based on the WGS84 coordinate system, or receives a plurality of The image information collected from the auxiliary drone 110 may be received. Also, when the main drone 120 detects a crisis situation, the ground control server 130 may receive the corresponding information from the main drone 120 . To this end, the ground control server 130 may be implemented in the form of a computing device possessed by the user, for example, a smartphone, a tablet computer, a notebook computer, or a desktop computer. Alternatively, the ground control server 130 may be implemented in the form of a server operated by an operator providing a monitoring service.

The ground control server 130 and the main drone 120 may perform communication through satellite communication, but is not limited thereto, and is not limited thereto, and includes a LAN, a Metropolitan Area Network (MAN), a Global System for Mobile Network (GSM), and an Enhanced EDGE (EDGE). Data GSM Environment), High Speed Downlink Packet Access (HSDPA), Wideband Code Division Multiple Access (W-CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Bluetooth, Zigbee , Voice over Internet Protocol (VoIP), 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 is performed by any 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 ultrasound-based communication. can be configured to perform.

2 is a block diagram showing a schematic configuration of the inside of the 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-range communication module 220 , a camera module 230 , and a controller 240 . Here, the main drone 120 is powered by a battery and has the configuration of a general aircraft such as wings and an engine, 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 provide its own location information and a plurality of assistants to the ground control server 130 . Location information of the drone 110 may be transmitted. Also, 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), Wi-Fi (Wi-Fi), Wi-Bro (Wireless Broadband: Wibro), Wimax (World Interoperability for Microwave Access: Wimax) , High Speed Downlink Packet Access (HSDPA), IEEE 802.16, Long Term Evolution (LTE), Broadband Wireless Mobile Broadband Service (WMBS), and the like.

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

To this end, the short-distance communication technology of the short-range communication module 220, Bluetooth (Bluetooth), RFID (Radio Frequency Identification), infrared communication (Infrared Data Association: IrDA), ultra-wideband radio (Ultra Wideband: UWB), 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 body of the drone 120 and tilted.

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

The control unit 240 sets the mothership coordinate system with its own position as the origin, and controls the flight of the plurality of auxiliary drones 110 through the short-distance communication module 220 based on the set mothership coordinate system to configure the flight squadron, Monitoring is performed using the camera module 230 while flying while maintaining a flight squadron together with a plurality of auxiliary drones 110 . In addition, the controller 240 collects the images captured by the plurality of auxiliary drones 110 through the short-range communication module 220 and transmits them to the ground control server 130 through the long-distance communication module 210, thereby providing a predetermined area. carry out monitoring for

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 . It is possible to set the Y coordinate value of , and set the Z coordinate value of the plurality of auxiliary drones 110 using a scanning area determined by the angle of view of the camera of each auxiliary drone 110 and a preset scanning area allowable value.

Also, 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 by more than a preset scanning area allowable value.

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

Also, when an abnormality occurs in itself, the controller 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-range communication module.

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

In addition, the control unit 240 may change the flight squadron according to the size of the determined area or the purpose of monitoring.

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.

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

The main drone 120 uses the mother ship coordinate system, not the WGS84 coordinate system, in group control of the plurality of auxiliary drones 110 , that is, own ships. Accordingly, the coordinates of the main drone 120 in the mothership coordinate system become (0, 0, 0). That is, in the coordinate system within the cluster, when the mother ship controls its own ship, the mother ship uses the mother ship coordinate system with the location of the mother ship as the origin.

4 is a diagram for explaining a position evaluation index between a main drone and an auxiliary drone according to an embodiment of the present invention.

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

Referring to FIG. 4 , it is most efficient to set the positions of the mother ship 120 and the own ship 110 so that OV ₁₂ , OV ₂₃ , OV _3P , OV _P4 , OV ₄₅ , and OV _{56 are all zero.} However, in reality, since an error is involved in controlling the position of the drone, a certain amount of overlap must be maintained.

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

First, before positioning the own ship 110 in the mother ship coordinate system, the X coordinate value of the own _{ships (X' c} ), the altitude of the mother ship and the own ships (Z' _c ), and the tolerance of the overlapping scanning area between the aircraft (OV _tolerance ) should be defined Here, the X coordinate value (X' _c ) of the own ships is determined by the cluster type (eg, the ruler shape and the Hakikjin shape, etc.), and the altitude (Z' _c ) of the mother ship 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 purpose of the scanning.

Referring to FIG. 5 , (X' _c , Y' _c , Z' _c ) represents the position of the own ship 110 on the mother ship coordinate system. (X _m , Y _m , Z _m ) represents the position of the bus 120 on the WGS84 coordinate system. A _c represents the angle of view of the sensor/camera installed in the own ship 110 . A _m represents the angle of view of the sensor/camera installed on the bus line 120 . OV represents an overlap index of the sensing region between the own ship 110 and the mother ship 120 .

And, the scanning area D _{c of the} own ship 110 is calculated by the equation (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 optimal position coordinates of the own ship 110 become (X' _c , Y' _c , Z' _c ). Here, X' _c is determined according to the form of the formation flight, and does not affect the optimal position. Z' _c is the altitude of the own ship 110, and an appropriate altitude value is selected according to the performance of the attached sensor/camera. Y' _c is determined by the equation (Y' _c = (D _c + D _m ) - OV _{tolerance ).}

As such, the position between the mother ship and the own ship or between the ships is calculated in the same way.

6 is a view showing the reconstruction of the squadron configuration when any one of the own ships in the squadron has landed or crashed for some reason.

As shown in Figure 6, when any one of the own ships 110 in the squadron has landed or crashed for some reason, the mother ship 120 may, for example, reorganize the zigzag squadron into a straight squadron.

7 is a view showing the reconstruction of the squadron configuration when the mothership in the squadron has landed or crashed for some reason.

As shown in FIG. 7 , when the mother ship 120 in the squadron lands or crashes for some reason, the mother ship 120 may set up one own ship including a long-distance communication module among a 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 with its own position as the origin, and controls the flight of a plurality of own ships 110 through short-distance communication based on the set mother ship coordinate system to form a flight squadron. It performs the role of a flight control server, and performs monitoring using a camera while flying while maintaining a flight squadron with a plurality of own ships 110 .

Referring to FIG. 8 , the main drone 120 sets a mother ship coordinate system having its own position as the origin ( S810 ).

The main drone 120 controls the flight of the plurality of auxiliary drones 110 through short-distance communication based on the set mothership coordinate system to configure a flight squadron (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 by more than a preset scanning area tolerance.

Then, the ground control server 130 controls the flight of the main drone 120, thereby causing the main drone 120 to maintain a flight squadron together with the plurality of auxiliary drones 110 and use a camera to monitor a predetermined area. control to be performed (S830).

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

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 the at least one auxiliary drone ( S842 ).

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

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

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

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 the memory unit and driven by the processor. The memory unit may be located inside or outside the processor, and may transmit and receive data to and from the processor by various known means.

The embodiments disclosed herein have been described above with reference to the accompanying drawings. As such, the embodiments shown in each drawing should not be construed as being limited, and may be combined with each other by those skilled in the art having read the contents of the present specification, and when combined, it may be construed that some components may be omitted.

Here, the terms or words used in the present specification and claims should not be construed as being limited to conventional or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical ideas 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 the technical ideas disclosed in the present specification, so various equivalents that can replace them at the time of the present application It should be understood that there may be water and variations.

Through the present invention, monitoring and surveying time can be shortened, and multiple drones can be controlled simultaneously with simple control equipment.

Claims

A plurality of auxiliary drones performing surveillance using a camera;

Sets a mothership coordinate system with its own position as the origin, controls the flight of the plurality of auxiliary drones through short-distance communication based on the set mothership coordinate system to form a flight squadron, and maintains the flight squadron together with the plurality of auxiliary drones a main drone that performs surveillance using a camera; and

a ground control server that controls the flight of the main drone to monitor a predetermined area;

A monitoring system using a plurality of drones comprising a.
According to claim 1,

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 each A monitoring 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 the auxiliary drone's camera and a preset scanning area allowable value.
According to claim 1,

The monitoring system using a plurality of drones, characterized in that 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 by more than a preset scanning area tolerance.
According to claim 1,

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, a flight squadron is reconfigured except for the at least one auxiliary drone.
According to claim 1,

At least one auxiliary drone among the plurality of auxiliary drones includes a long-range communication module,

The monitoring system using a plurality of drones, wherein the main drone delegates its authority to any one auxiliary drone among the at least one auxiliary drone when an abnormality occurs in itself.
According to claim 1,

The main drone is a monitoring 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 separated from itself by a predetermined distance or more.
According to claim 1,

The main drone is a monitoring system using a plurality of drones, characterized in that the flight squadron is changed according to the size of the determined area.
According to claim 1,

The main drone is a monitoring system using a plurality of drones, characterized in that the flight squadron is changed according to the monitoring purpose.
setting, by the main drone, a mother ship coordinate system having its own position as an origin;

configuring, by the main drone, a flight squadron by controlling the flight of a plurality of auxiliary drones through short-distance communication based on a set mothership coordinate system; and

controlling, by the ground control server, the flight of the main drone to perform monitoring of a predetermined area using a camera while maintaining a flight squadron together with the plurality of auxiliary drones;

A monitoring method using a plurality of drones comprising a.
setting, by the main drone, a mother ship coordinate system having its own position as an origin;

configuring, by the main drone, a flight squadron by controlling the flight of a plurality of auxiliary drones through short-distance communication based on a set mothership coordinate system; and

controlling, by the ground control server, the flight of the main drone to perform monitoring of a predetermined area using a camera while maintaining a flight squadron together with the plurality of auxiliary drones;

A monitoring method using a plurality of drones comprising a.
10. 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

when the main 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;

Monitoring method using a plurality of drones, characterized in that it further comprises.
10. The method of claim 9,

determining, by the main drone, whether an abnormality has occurred in itself; and

delegating, by the main drone, its authority to any one auxiliary drone among at least one auxiliary drone including a long-range communication module among the plurality of auxiliary drones when it is determined that an abnormality has occurred;

Monitoring method using a plurality of drones, characterized in that it further comprises.