System and flying device

Abstract

A system according to one aspect of an embodiment of the present invention includes: a plurality of ground robots, each including an image processing module configured to detect a suspicious person; and a plurality of aerial robots, each including a high-resolution camera configured to monitor a wide area. The ground robots are configured to acquire, in real time, position information of the suspicious person using the image processing module, and the aerial robots are configured to detect a movement path of the suspicious person using the high-resolution camera.

Description

System and Flying Object

[0001] The present disclosure relates to a system and a flying object.

[0002] In conventional security systems, monitoring by fixed cameras and personnel has been the mainstream. These systems can monitor a specific area, but have limitations in wide - area monitoring and real - time tracking. Also, when a suspicious person moves, it is difficult to track them and block their escape route. Furthermore, due to insufficient information sharing among multiple monitoring cameras and security guards, the effect in situations where prompt response is required has been limited.

[0003] Japanese Patent Application Laid - Open No. 2020 - 93618

[0004] Conventional technologies have had the problem that wide - area monitoring and real - time tracking of suspicious persons are difficult, and efficient security has not been achieved.

[0005] The system according to the embodiment aims to efficiently perform wide - area monitoring and real - time tracking of suspicious persons.

[0006] The system according to one aspect of the embodiment includes a plurality of ground robots equipped with an image - processing module for detecting suspicious persons, and a plurality of aerial robots equipped with a high - resolution camera for wide - area monitoring. The ground robots acquire the position information of suspicious persons in real time by the image - processing module, and the aerial robots detect the movement route of the suspicious persons using the high - resolution camera.

[0007] The flying object according to one aspect of the embodiment includes a release unit and an obstruction unit. The release unit releases a capture net. The obstruction unit obstructs the movement of the criminal.

[0008] The system according to one aspect of the embodiment can efficiently perform wide - area monitoring and real - time tracking of suspicious persons.

[0009] Figure 1 is a diagram showing an example of the system configuration according to the embodiment. Figure 2 is a block diagram of the control device according to the embodiment. Figure 3 is a block diagram of the aerial robot control device according to the embodiment. Figure 4 is a block diagram of the ground robot control device according to the embodiment. Figure 5 is a flowchart showing the processing procedure executed by the aerial robot according to the embodiment. Figure 6 is a flowchart showing the processing procedure executed by the ground robot according to the embodiment. Figure 7 is a perspective view of the aerial robot according to the embodiment. Figure 8 is a diagram schematically showing an example of the computer hardware configuration that functions as a ground robot and an aerial robot.

[0010] The following describes in detail the embodiments for implementing the system relating to this application (hereinafter referred to as "embodiments"). Note that these embodiments do not limit the system relating to this application. Furthermore, the same parts are denoted by the same reference numerals in each of the following embodiments, and redundant descriptions are omitted.

[0011] First, an overview of the system according to the embodiment will be described using Figure 1. Figure 1 is a diagram showing an example of the configuration of the system according to the embodiment. The system according to the embodiment functions as the security system 1 shown in Figure 1.

[0012] As shown in Figure 1, the security system 1 comprises a ground robot 2, an aerial robot 3, and a control device 10. Although Figure 1 illustrates one ground robot 2 and one aerial robot 3, the security system 1 can include multiple ground robots 2 and multiple aerial robots 3. Furthermore, as shown in Figure 1, the ground robot 2, the aerial robot 3, and the control device 10 can communicate with each other via a predetermined network N.

[0013] The security system 1 according to an embodiment of the present invention is a system in which a group of ground robots 2 and aerial robots 3 work together to corner a suspicious person. The security system 1 uses "swarm technology (group control technology)" in which multiple drones and ground robots work together to surround and track a suspect or block their escape route.

[0014] Ground robot 2 is an autonomous robot equipped with a camera and an image processing module. For example, ground robot 2 can detect suspicious individuals by analyzing images captured by its camera using its image processing module. Ground robot 2 can also cooperate with aerial robot 3 and other ground robots 2 to restrict the suspicious individual's path or surround them.

[0015] Aerial robot 3 is a robot that floats in the air using the buoyancy generated by the rotation of its propellers. Aerial robot 3 is equipped with a high-resolution camera for wide-area monitoring and for detecting the movement paths of suspicious individuals.

[0016] Ground robot 2 and aerial robot 3 are each equipped with communication modules that enable them to communicate with each other, allowing them to share information in real time via these modules.

[0017] For example, the aerial robot 3 predicts the escape route of a suspicious person from images captured by its high-resolution camera and transmits that information to the ground robot 2. Based on the information received from the aerial robot 3, the ground robot 2 calculates the optimal route and tracks the suspicious person while moving.

[0018] Furthermore, the ground robot 2 and the aerial robot 3 work in cooperation to restrict the escape route of the suspicious person. In the security system 1 according to this embodiment, when a suspicious person enters a specific area, the aerial robot 3 monitors the suspicious person's location with high precision and notifies the ground robot 2, which then performs an encirclement operation against the suspicious person.

[0019] The control device 10 is a device that manages the ground robot 2 and the aerial robot 3. For example, the control device 10 controls the ground robot 2 and the aerial robot 3 based on information transmitted from the ground robot 2 and the aerial robot 3. Alternatively, some or all of the functions of the control device 10 may be performed by the ground robot 2 or the aerial robot 3.

[0020] Next, an example of the configuration of the control device 10 according to the embodiment will be described using Figure 2. Figure 2 is a block diagram of the control device 10 according to the embodiment. As shown in Figure 2, the control device 10 according to the embodiment comprises a communication unit 11, a storage unit 12, and a control unit 13.

[0021] The communication unit 11 is wirelessly connected to the network N. The communication unit 11 transmits and receives information with the ground robot 2 and the aerial robot 3 via the network N.

[0022] The storage unit 12 is implemented by semiconductor memory elements such as RAM (Random Access Memory) and flash memory, or by storage devices such as HDD (Hard Disk Drive), SSD (Solid State Drive), and optical discs. Various programs and various data are stored in the storage unit 12.

[0023] The control unit 13 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output ports, and various circuits. Alternatively, the control unit 13 may be composed of hardware such as an integrated circuit (ASIC) or FPGA (Field Programmable Gate Array).

[0024] The control unit 13 controls the ground robot 2 and the aerial robot 3. For example, the control unit 13 generates information regarding the travel path of the ground robot 2 and the flight path of the aerial robot 3 using a text generation model (a so-called AI chat engine). The text generation model can be interpreted as an algorithm and calculations for automatic dialogue processing using text.

[0025] The control unit 13 generates questions about the suspicious person from various pieces of information detected by the ground robot 2. First, the control unit 13 generates questions, for example, using a language generation model.

[0026] For example, if movement is detected by the infrared sensor of ground robot 2, questions such as, "The infrared sensor detected this movement. Is this movement indicative of a suspicious person? From a criminal's perspective, what action would they take next?" are generated.

[0027] When such questions are input to the text generation model, the control unit 13 generates a sentence such as, "This person is likely a suspicious individual. They will flee if they sense a human presence." The generated sentence is transmitted to the ground robot 2 as information about the travel path, and the ground robot 2 sets a travel path to approach the person suspected of being a suspicious individual at a low speed.

[0028] Furthermore, for example, if a sound is detected by the sensor on ground robot 2 that detects minute sounds, a question will be generated such as, "I hear a beeping sound from 2 meters away. What is this sound?"

[0029] When such a question is input to the text generation model, the control unit 13 generates a sentence such as, "An alarm is sounding." The generated sentence is transmitted to the ground robot 2 as information about the travel route, and the ground robot 2 identifies the person as a suspicious person and sets a travel route to approach the suspicious person via the shortest route, for example.

[0030] The control unit 13 may also generate information regarding the ground robot 2's travel path based on other information detected by the ground robot 2. The control unit 13 may also generate information regarding the ground robot 2's travel path based on information obtained from a 360-degree sensing high-sensitivity camera, LiDAR, thermal camera, and radar. The control unit 13 may also generate information regarding the ground robot 2's travel path based on information obtained from sensors such as vision recognition, ultrasound, vibration, ultraviolet light, and electromagnetic waves.

[0031] Furthermore, information regarding the travel path of the ground robot 2 may be generated similarly based on multiple pieces of information detected by the ground robot 2. The control unit 13 may also set the travel path of the ground robot 2.

[0032] The document generation model generates information about the travel path of the ground robot 2, which allows the ground robot 2 to accurately identify a suspicious person, for example, and to approach the suspicious person without being noticed.

[0033] Furthermore, the control unit 13 may generate information regarding the flight path of the aerial robot 3. For example, the control unit 13 may generate information regarding the flight path using a text generation model.

[0034] For example, if a suspicious person is detected by ground robot 2, and the suspicious person is a car, and the license plate number of the suspicious person is detected as "AA-BB", then control unit 13 will use a language generation model to create a sentence that says, "Photograph the car with the license plate AA-BB." Then, control unit 13 will input the generated sentence into a text generation model to generate information about the flight path. For example, control unit 13 will use the camera of aerial robot 3 to photograph the car with the license plate "AA-BB" and generate a flight program for aerial robot 3 to track the car with the license plate "AA-BB". Then, it will generate the generated flight program as information about the flight path. When the generated information about the flight path is transmitted to aerial robot 3, aerial robot 3 will fly to track the car with the license plate "AA-BB".

[0035] For example, by generating information about the flight path of the aerial robot 3 using a document generation model, the ability of the aerial robot 3 to track suspicious individuals can be improved.

[0036] The generation of information regarding the travel path of the ground robot 2 using a text generation model may be performed by the ground robot 2 itself.

[0037] Next, an example of the configuration of the aerial robot control device 20 will be described using Figure 3. Figure 3 is a block diagram of the aerial robot control device 20 according to this embodiment. The aerial robot control device 20 shown in Figure 3 is a control device that controls the aerial robot 3.

[0038] As shown in Figure 3, the aerial robot control device 20 comprises a communication unit 21, a storage unit 22, and a control unit 23. The aerial robot control device 20 is connected to various sensors mounted on the aerial robot 3, as well as propellers and other components used to keep the aerial robot 3 afloat.

[0039] The communication unit 21 is wirelessly connected to the network N. The communication unit 21 transmits and receives information to and from the ground robot 2 and the control device 10 via the network N.

[0040] The storage unit 22 is implemented by, for example, semiconductor memory elements such as RAM and flash memory, or storage devices such as HDDs, SSDs, and optical discs. Various programs and various data are stored in the storage unit 22.

[0041] The control unit 23 is a controller and includes, for example, a microcomputer having a CPU, ROM, RAM, input / output ports, etc., and various circuits. The control unit 13 may also be composed of hardware such as an integrated circuit like an ASIC or FPGA.

[0042] The control unit 23 controls the aerial robot 3. The control unit 23 functions as a detection unit and a flight control unit. The detection unit detects suspicious persons (e.g., suspicious individuals). The detection unit detects suspicious persons by, for example, performing predetermined image processing on images captured by a camera mounted on the aerial robot 3. If the aerial robot 3 is equipped with an infrared sensor, the detection unit may also detect suspicious persons according to the detection results from the infrared sensor. The detection unit may also detect suspicious persons using an AI suspicious person detection model.

[0043] The flight control unit controls the flight of the aerial robot 3. When the detection unit detects a suspicious person, the flight control unit activates the warning lights mounted on the aerial robot 3, and also sounds an alarm from the alarm device mounted on the aerial robot 3 and alerts nearby residents. The flight control unit may also initiate the alarm sound from the alarm device and alert nearby residents if it anticipates the suspicious person's movement and detects the suspicious person there.

[0044] For example, the flight control unit sets a flight path that can track a suspicious person and flies along the set flight path. For example, the trackable flight path includes information on positions and heights where the suspicious person can be photographed by the camera of the aerial robot 3.

[0045] For example, the flight control unit uses a text generation model to set the flight path. For example, the flight control unit inputs texts such as "Please calculate a location where a suspicious person can be photographed over a wide area" to the text generation model at a predetermined cycle. The text generation model appropriately calculates the position of the aerial robot 3 based on these texts. Then, the flight control unit appropriately moves the aerial robot 3 to the position specified by the text generation model, so that the aerial robot 3 can appropriately monitor the suspicious person.

[0046] In addition, the flight control unit may set the flight path of the aerial robot 3 based on the predicted escape path of the suspicious person. The predicted escape path is generated, for example, by an escape path prediction model. The escape path prediction model predicts the escape path of the suspicious person from the position information of the suspicious person, map information, traffic information, etc.

[0047] For example, the escape path prediction model can use MapGPT. For example, the escape path prediction model is a text generation model (so-called AI chat engine) and may be interpreted as an algorithm and calculation for automatic dialogue processing by text. Since the text generation model is publicly known as disclosed in, for example, Japanese Patent Application Laid-Open No. 2018-081444 and chatGPT (Internet search <URL: https: / / openai.com / blog / chatgpt>), a detailed description thereof is omitted. Such a text generation model is composed of a large language model (LLM: Large Language Model).

[0048] Then, the prediction result of the escape path of the suspicious person by the flight control unit is shared with each ground robot 2 via the communication unit 21. Then, based on the prediction result of the escape path, the ground robot 2 restricts the escape path of the suspicious person or surrounds the suspicious person. For example, in this case, each ground robot 2 restricts the escape path of the suspicious person so as to drive the suspicious person into a specific area.

[0049] For example, the ground robot 2 restricts the escape route of a suspicious person so as to drive the person into a dead end as a specific area. Thereby, in the security system 1 according to the embodiment, the suspicious person can be appropriately driven in.

[0050] At this time, the ground robot 2 may notify in advance information regarding a specific area that is the destination of driving the suspicious person to a security guard, a security company, or the like. Thereby, the security guard or the security company can appropriately capture the suspicious person in the specific area.

[0051] Further, as a specific area, the ground robot 2 may restrict the escape route of the suspicious person so as to drive the person into the nearest police station, koban (police box), police substation, and the running position of a police vehicle in motion.

[0052] As described above, the security system 1 according to the embodiment restricts the escape route of a suspicious person by the cooperation of a plurality of aerial robots 3 and a plurality of ground robots 2. Thereby, the security system 1 according to the embodiment can appropriately capture the suspicious person.

[0053] Next, with reference to FIG. 4, a configuration example of a ground robot control device 30 that controls the ground robot 2 according to the embodiment will be described. FIG. 4 is a block diagram of the ground robot control device 30 according to the embodiment.

[0054] As shown in FIG. 4, the ground robot control device 30 includes a communication unit 31, a storage unit 32, and a control unit 33. The ground robot control device 30 is connected to various sensors mounted on the ground robot 2, power (for example, a motor) for driving the ground robot 2, and the like.

[0055] The communication unit 21 is wirelessly connected to the network N. The communication unit 21 transmits and receives information to and from the aerial robot 3 and the control device 10 via the network N.

[0056] The storage unit 32 is implemented by, for example, semiconductor memory elements such as RAM and flash memory, or storage devices such as HDDs, SSDs, and optical discs. Various programs and various data are stored in the storage unit 32.

[0057] The control unit 33 is a controller and includes, for example, a microcomputer having a CPU, ROM, RAM, input / output ports, etc., and various circuits. Alternatively, the control unit 33 may be composed of hardware such as an integrated circuit like an ASIC or FPGA.

[0058] The control unit 33 implements "swarm technology" in which multiple aerial robots 3 and multiple ground robots 2 work together to surround and track a suspicious person or block their escape route.

[0059] The control unit 33 may generate information regarding the travel path of the ground robot 2. For example, the control unit 33 generates information regarding the travel path of the ground robot 2 using a text generation model (a so-called AI chat engine). The text generation model can be interpreted as an algorithm and calculations for automatic dialogue processing using text, as described above.

[0060] The control unit 33 generates questions about the suspicious person from various pieces of information detected by the ground robot 2. First, the control unit 33 generates questions, for example, using a language generation model.

[0061] For example, if movement is detected by the infrared sensor of ground robot 2, the following question is generated: "The infrared sensor detected this movement. Is this movement indicative of a suspicious person? From a criminal's perspective, what action would they take next?"

[0062] When such questions are input to the text generation model, the control unit 33 generates a sentence such as, "This person is likely a suspicious individual. They will flee if they sense a human presence." The generated sentence is transmitted to the ground robot 2 as information about the travel path, and the ground robot 2 sets a travel path to approach the person suspected of being a suspicious individual at a low speed.

[0063] Furthermore, for example, if a sound is detected by the sensor on ground robot 2 that detects minute sounds, a question will be generated such as, "I hear a beeping sound from 2 meters away. What is this sound?"

[0064] When such a question is input to the text generation model, the control unit 33 generates a sentence such as, "An alarm is sounding." The generated sentence is transmitted to the ground robot 2 as information about the travel route, and the ground robot 2 identifies the person as a suspicious person and sets a travel route to approach the suspicious person via the shortest route, for example.

[0065] The control unit 33 may also generate information regarding the ground robot 2's travel path based on other information detected by the ground robot 2. The control unit 33 may also generate information regarding the ground robot 2's travel path based on information obtained from a 360-degree sensing high-sensitivity camera, LiDAR, thermal camera, and radar. The control unit 33 may also generate information regarding the ground robot 2's travel path based on information obtained from sensors such as vision recognition, ultrasound, vibration, ultraviolet light, and electromagnetic waves.

[0066] Furthermore, information regarding the travel path of the ground robot 2 may be generated similarly based on multiple pieces of information detected by the ground robot 2. The control unit 33 may also set the travel path of the ground robot 2.

[0067] The document generation model generates information about the travel path of the ground robot 2, which allows the ground robot 2 to accurately identify a suspicious person, for example, and to approach the suspicious person without being noticed.

[0068] Next, the processing procedures performed by the aerial robot 3 and the ground robot 2 according to this embodiment will be described using Figures 5 and 6. Figure 5 is a flowchart showing the processing procedures performed by the aerial robot 3 according to this embodiment. Figure 6 is a flowchart showing the processing procedures performed by the ground robot 2 according to this embodiment.

[0069] As shown in Figure 5, the aerial robot 3 first determines whether or not the pursuit of a suspicious person has been initiated (step S101). The aerial robot 3 determines that the pursuit of a suspicious person has been initiated if the security system 1 detects a suspicious person in either of the aerial robots 3 or in either of the ground robots 2.

[0070] If the aerial robot 3 determines that the pursuit of a suspicious person has begun (step S101; Yes), it pursues the suspicious person and detects the suspicious person's movement path (step S102). If the aerial robot 3 determines in step S101 that the pursuit of a suspicious person has not begun (step S101; No), it terminates the process.

[0071] Next, the aerial robot 3 predicts the suspicious person's escape route based on their movement path (step S103) and determines a specific area to surround the suspicious person (step S104). Subsequently, the aerial robot 3 shares information regarding the processing results up to step S104 with other aerial robots 3 and ground robots 2 (step S105).

[0072] Next, the aerial robot 3 determines whether the suspicious person is in a specific area (step S106). If the aerial robot 3 determines that the suspicious person is in a specific area (step S106; Yes), it surrounds the suspicious person in the specific area (step S107) and terminates the process.

[0073] Furthermore, if the aerial robot 3 determines in step S106 that the suspicious person is not in the designated area (step S106; No), it continues to perform the processing from step S102 onward.

[0074] Next, the processing procedure performed by the ground robot 2 according to this embodiment will be explained using Figure 6. As shown in Figure 6, the ground robot 2 determines whether or not the pursuit of a suspicious person has been initiated (step S201).

[0075] If the ground robot 2 determines that the pursuit of a suspicious person has begun (step S201; Yes), it pursues the suspicious person and detects the suspicious person's location information (step S202). If the ground robot 2 determines in step S201 that the pursuit of a suspicious person has not begun (step S201; No), it terminates the process.

[0076] Next, ground robot 2 shares the suspicious person's location information with other ground robots 2 and aerial robot 3 (step S203). Subsequently, ground robot 2 moves to a position that restricts the suspicious person's escape route (step S204).

[0077] For example, the ground robot 2 restricts the escape route of the suspicious person based on the prediction of the suspicious person's escape route shared by the aerial robot 3. Then, for example, the ground robot 2 surrounds the suspicious person in response to instructions from the aerial robot 3 (step S205) and terminates the process.

[0078] Next, a specific example of the configuration of the aerial robot 3 according to this embodiment will be described using Figure 7. Note that the aerial robot 3 corresponds to an example of a flying object according to this embodiment. Figure 7 is a perspective view of the aerial robot 3 according to this embodiment.

[0079] As shown in Figure 7, the aerial robot 3 according to this embodiment has a control device 3a, a plurality of propeller sections 3b, and a plurality of shaft sections 3c. The control device 3a is a device that controls the entire aerial robot 3. The control device 3a is also equipped with a battery and the like.

[0080] The propeller section 3b consists of a propeller and a motor that rotates the propeller. Based on instructions from the control device 3a, the propeller section 3b controls the aerial robot 3 in mid-air by rotating the propeller.

[0081] The shaft section 3c is composed of a shaft that holds the propeller section 3b. As shown in Figure 7, the shaft section 3c is provided with a plurality of release sections 3d that face vertically downward. The release sections 3d are composed of pins or the like. The release sections 3d hold the capture net 3e in an open position, and release the capture net 3e when the pins are released from the shaft section 3c in response to instructions from the control device 3a or the like.

[0082] Multiple weights 3f are attached to the outer edge of the capture net 3e. Therefore, when the capture net 3e is released from the release section 3d, the capture net 3e will be released in an open state.

[0083] As described above, in the aerial robot 3 according to this embodiment, the capture net 3e is released in a circular, open state, allowing the capture net 3e to be released over a wide area. This allows the suspect to be temporarily restrained by the capture net 3e, for example, buying time until other investigators arrive.

[0084] Furthermore, the aerial robot 3 may be equipped with a function to restrict the perpetrator's actions, such as releasing tear gas spray in addition to the capture net 3e. In this case, the aerial robot 3 can restrict the perpetrator's actions by releasing tear gas spray towards them.

[0085] Furthermore, the aerial robot 3 may be equipped with a communication defense device. For example, the communication defense device is a device equipped with a radio jamming function. In this case, the aerial robot 3 will disrupt the communication of the perpetrator's mobile phone by activating the communication defense device toward the perpetrator.

[0086] This allows the aerial robot 3 to restrict the perpetrator's actions, such as planning escape routes using a cell phone or calling for backup using a cell phone.

[0087] Furthermore, the aerial robot 3 may be configured to include a loudspeaker. For example, the aerial robot 3 can use the loudspeaker to publicize information such as the presence of the suspect and the suspect's escape route to those around it. This allows the aerial robot 3 to appropriately assist investigators in capturing the suspect.

[0088] In this way, the aerial robot 3 according to this embodiment restricts the actions of the suspicious person by means of a capture net 3e, etc. As a result, the aerial robot 3 according to this embodiment can physically obstruct the movements of the perpetrator.

[0089] The following describes a security system including the aerial robot 3. The security system according to an embodiment of the present invention is a security system that has a function to release a capture net and can restrict the actions of a suspicious person. This security system has a function to release a capture net and can restrict the actions of a suspicious person. The security system also has a function to obstruct the movement of a suspect by releasing tear gas spray or rubber balls. This allows the suspect to be temporarily restrained with the capture net and prevented from escaping. The security system also has a communication jamming device that can prevent the suspect from using communications to escape or contact accomplices. This makes it difficult for the suspect to plan an escape route or call for backup. Furthermore, the security system may be equipped with a location tracking device for identifying the location of the suspect. This allows the security system to track the location of the suspect in real time and provide information to other investigators. The security system may be equipped with an infrared camera and weather-resistant sensors for effective operation even at night or in bad weather. This allows the security system to effectively track and capture suspects in various environments. This allows the security system to release a capture net and obstruct the movement of the suspect.

[0090] The security system according to this embodiment comprises a release unit and a jamming unit. The release unit releases a capture net. The capture net is made of, for example, a lightweight and high-strength material and can temporarily restrain a suspect. The release unit releases the net at high speed, for example, by using compressed air. The release unit can also release the net using, for example, an electric motor. Furthermore, the release unit is equipped with a control mechanism for adjusting the direction of net release. For example, by adjusting the release angle of the net, the release unit can accurately track the movements of a suspect. The jamming unit obstructs the movements of a suspect. For example, the jamming unit can obstruct the suspect's vision by releasing tear gas spray. The jamming unit can also restrict the suspect's movements by releasing, for example, a rubber ball. Furthermore, the jamming unit is equipped with an acoustic device for obstructing the movements of a suspect. For example, the jamming unit can obstruct the suspect's actions by generating high-frequency sound. Thus, the security system according to this embodiment can release a capture net and obstruct the movements of a suspect.

[0091] The release unit deploys a capture net. The capture net is made of a lightweight, high-strength material, for example, and can temporarily restrain a suspect. High-strength fibers such as Kevlar® and nylon are often used as materials for the capture net. These materials are lightweight yet have high tensile strength, allowing the net to reliably restrain the suspect without damaging it. The release unit deploys the net at high speed, for example, using compressed air. By using compressed air, the net expands instantly, covering a wide area. Compressed air is supplied from a small air tank mounted on the drone, and the air tank is automatically refilled during the drone's flight. The release unit can also deploy the net using an electric motor, for example. When using an electric motor, the rotational force of the motor is used to wind up the net, and when deploying, it is reversed to deploy the net at high speed. The electric motor is battery-powered and operates in conjunction with the drone's power system. Furthermore, the release unit is equipped with a control mechanism to adjust the direction of net deployment. For example, by adjusting the net deployment angle, the release unit can accurately track the movements of a suspect. The control mechanism uses gyro and accelerometer sensors to detect the drone's attitude in real time and automatically adjusts the net's release direction. This allows the drone to accurately capture targets even while moving. The release unit is controlled by the drone's central control unit, which uses an AI algorithm to calculate the optimal release timing and angle. This allows the release unit to efficiently and effectively release the capture net, enabling the swift apprehension of suspects.

[0092] The jamming unit obstructs the perpetrator's movements. For example, the jamming unit can obstruct the perpetrator's vision by releasing tear gas. Tear gas contains irritating chemicals such as capsaicin and CS gas, which act on the perpetrator's eyes and respiratory system to temporarily impair their vision and restrict their actions. The tear gas is released from a small cartridge mounted on the drone, and the cartridge is easily replaceable. The jamming unit can also restrict the perpetrator's movements by releasing rubber balls. The rubber balls are used as non-lethal projectiles and restrict the perpetrator's movements by delivering a physical impact. The rubber balls are released using an air gun or spring-loaded launcher mounted on the drone, and the launcher is designed to automatically reload while the drone is in flight. Furthermore, the jamming unit is equipped with acoustic devices to obstruct the perpetrator's movements. For example, the jamming unit can disrupt the perpetrator's actions by generating high-frequency sounds. High-frequency sounds are perceived as unpleasant to the human ear and have the effect of depriving the perpetrator of their concentration and hindering their actions. The acoustic device generates high-frequency sound from a speaker mounted on the drone, and its direction and intensity can be adjusted. The jamming unit is controlled by the drone's central control unit, which uses an AI algorithm to calculate the optimal jamming method and timing. This allows the jamming unit to efficiently and effectively disrupt the perpetrator's movements, maximizing the effectiveness of the entire security system.

[0093] The jamming unit can obstruct the perpetrator's movements by releasing tear gas or rubber balls. For example, the jamming unit can obstruct the perpetrator's vision by releasing tear gas. It can also restrict the perpetrator's movements by releasing rubber balls. Furthermore, the jamming unit is equipped with an acoustic device to obstruct the perpetrator's movements. For example, the jamming unit can disrupt the perpetrator's actions by generating high-frequency sounds. This allows the perpetrator's movements to be obstructed using tear gas or rubber balls.

[0094] The security system further includes a communications jamming unit to disrupt the perpetrator's communications. The communications jamming unit can, for example, use a radio jamming device to disrupt the perpetrator's communications. For example, the communications jamming unit can disrupt the operation of communication equipment used by the perpetrator by jamming a specific frequency band. Alternatively, the communications jamming unit can completely disrupt the perpetrator's communications by, for example, performing broadband radio jamming. Furthermore, the communications jamming unit is equipped with a signal analysis device to disrupt the perpetrator's communications. For example, the communications jamming unit can analyze the communication protocol used by the perpetrator and effectively disrupt it. This allows the perpetrator's communications to be disrupted.

[0095] The security system further includes a location tracking device to identify the suspect's location. The location tracking device can, for example, use GPS to pinpoint the suspect's location. The location tracking device can, for example, acquire the suspect's location information in real time and provide it to other investigators. Furthermore, the location tracking device has a tracking function to, for example, track the suspect's movement path. In addition, the location tracking device is equipped with sensors to pinpoint the suspect's location. For example, the location tracking device can use infrared sensors to pinpoint the suspect's location even at night. This allows the suspect's location to be identified.

[0096] The security system is equipped with infrared cameras to operate effectively at night and in bad weather. Infrared cameras can capture images using infrared light to ensure visibility even at night. They also provide high-resolution images even in low-light environments. Furthermore, infrared cameras are equipped with waterproofing to ensure visibility in bad weather. In addition, infrared cameras have an automatic adjustment function to operate effectively at night and in bad weather. For example, they automatically adjust sensitivity in response to environmental changes to provide optimal images. This allows them to operate effectively even at night and in bad weather.

[0097] The security system is equipped with weather-resistant sensors. Weather-resistant sensors can withstand changes in temperature and humidity, for example. Weather-resistant sensors provide accurate data even under extreme weather conditions. Furthermore, weather-resistant sensors are waterproof, allowing them to operate normally even in rainy weather. In addition, weather-resistant sensors are shock-resistant and can withstand physical impacts. For example, weather-resistant sensors maintain stable performance even against strong winds and vibrations. This allows them to operate effectively in a variety of environments.

[0098] The system according to the embodiment is not limited to the example described above, and various modifications are possible, for example, as follows.

[0099] The security system may also be equipped with a voice recognition unit. The voice recognition unit has the function of detecting and analyzing the content of voices emitted by suspicious individuals. For example, the voice recognition unit can acquire ambient sounds using microphones and identify the content of what the suspicious individual is saying using voice analysis technology. This makes it possible to infer the intentions and actions of the suspicious individual from the voice they emit. The voice recognition unit can also detect specific keywords. For example, it can detect highly urgent keywords such as "help" or "run away" and notify the security system. This allows the security system to respond quickly. In addition, the voice recognition unit can determine the direction of the sound source using multiple microphones. For example, the voice recognition unit can determine the direction of the sound source and transmit this information to ground robots and air robots. This makes it possible to pinpoint the location of the suspicious individual more accurately. Furthermore, the voice recognition unit can analyze voice data in real time and feed it back to the security system. For example, the voice recognition unit can analyze the voice emitted by a suspicious individual in real time and transmit the results to the security system. This allows the security system to grasp the actions of the suspicious individual more quickly and take appropriate action.

[0100] The security system may also be equipped with an environmental sensor unit. The environmental sensor unit has the function of acquiring and analyzing information about the surrounding environment. For example, the environmental sensor unit can acquire information about the surrounding environment using temperature sensors, humidity sensors, and atmospheric pressure sensors. This allows the security system to identify places where a suspicious person may be hiding. The environmental sensor unit can also detect harmful gases using gas sensors. For example, the environmental sensor unit can detect specific harmful gases and notify the security system of this information. This allows the security system to understand the possibility that a suspicious person is using harmful gases and take appropriate action. The environmental sensor unit can also detect ambient brightness using light sensors. For example, the environmental sensor unit can detect ambient brightness and transmit this information to the security system. This allows the security system to understand the possibility that a suspicious person is hiding in darkness and take appropriate action. Furthermore, the environmental sensor unit can also detect ground vibrations using vibration sensors. For example, the environmental sensor unit can detect ground vibrations and transmit this information to the security system. This allows the security system to understand the possibility that a suspicious person is moving on the ground and take appropriate action.

[0101] The security system may also be equipped with a biometric authentication unit. The biometric authentication unit has the function of acquiring and analyzing the biometric information of a suspicious person. For example, the biometric authentication unit can identify a suspicious person using fingerprint authentication, facial recognition, or iris recognition. This allows the security system to quickly identify the suspicious person and take appropriate action. The biometric authentication unit can acquire a suspicious person's fingerprint using fingerprint authentication. For example, the biometric authentication unit can acquire a suspicious person's fingerprint using a fingerprint sensor and transmit that information to the security system. This allows the security system to identify the suspicious person and take a quick response. Furthermore, the biometric authentication unit can recognize a suspicious person's face using facial recognition. For example, the biometric authentication unit can photograph a suspicious person's face using a camera and transmit that information to the security system. This allows the security system to identify the suspicious person and take a quick response. Additionally, the biometric authentication unit can recognize a suspicious person's iris using iris authentication. For example, the biometric authentication unit can acquire a suspicious person's iris using an iris sensor and transmit that information to the security system. This allows the security system to identify the suspicious person and respond quickly.

[0102] The security system can also be equipped with a drone charging unit. The drone charging unit has the function of automatically charging the aerial robot's battery. For example, the drone charging unit can charge the aerial robot's battery using a charging station installed on the ground. This allows the aerial robot to perform surveillance activities for extended periods. The drone charging unit can also charge the aerial robot's battery using wireless charging technology. For example, the drone charging unit can charge the aerial robot's battery using a wireless charging pad. This allows the aerial robot to charge its battery without using a charging cable. Furthermore, the drone charging unit can charge the aerial robot's battery using solar panels. For example, the drone charging unit can convert sunlight into electricity using solar panels to charge the aerial robot's battery. This allows the aerial robot to charge its battery in an environmentally friendly way. In addition, the drone charging unit has a battery replacement function and can automatically replace the aerial robot's battery. For example, the drone charging unit can automatically replace the battery when the aerial robot returns to the charging station, allowing it to resume surveillance activities. This ensures the aerial robot always has sufficient battery power for extended surveillance activities.

[0103] The security system can also be equipped with an emergency response unit. The emergency response unit has the function of responding quickly to the actions of an intruder. For example, the emergency response unit can issue an alarm if an intruder enters a specific area. This allows for quick notification to security guards and other relevant personnel, enabling appropriate action. In addition to issuing alarms, the emergency response unit can also provide specific response instructions to security guards. For example, it can notify security guards of the intruder's location and movement route to support a rapid response. Furthermore, the emergency response unit can control the operation of the entire security system and direct the optimal actions to respond to an emergency. For example, the emergency response unit can enhance the coordination between aerial and ground robots to quickly block the intruder's escape route. In addition, the emergency response unit can cooperate with external emergency response agencies. For example, the emergency response unit can provide information on the intruder to emergency response agencies such as the police and fire department to support a rapid response. This enables the security system to respond quickly and effectively to emergencies.

[0104] Security systems can also be equipped with acoustic jamming devices. Acoustic jamming devices can disrupt and confuse a suspect's hearing by generating high-frequency or low-frequency sounds. For example, an acoustic jamming device can reduce a suspect's concentration by generating high-frequency sounds. It can also disrupt a suspect's sense of balance and restrict their movement by generating low-frequency sounds. Furthermore, an acoustic jamming device can interfere with the operation of a suspect's communication equipment by generating sounds of specific frequencies. In this way, an acoustic jamming device can disrupt a suspect's hearing and sense of balance, preventing escape. For example, when a suspect attempts to escape, an acoustic jamming device can reduce the suspect's concentration by generating high-frequency sounds, preventing escape. It can also disrupt a suspect's sense of balance and restrict their movement by generating low-frequency sounds. Furthermore, it can interfere with the operation of a suspect's communication equipment by generating sounds of specific frequencies, preventing escape. In this way, an acoustic jamming device can disrupt a suspect's hearing and sense of balance, preventing escape.

[0105] Security systems can also be equipped with smoke screen devices. Smoke screen devices can obstruct a suspect's vision and prevent escape by generating smoke. For example, smoke screen devices can generate smoke by burning chemical substances. They can also generate smoke by evaporating liquids. Furthermore, they can generate smoke by scattering powders. This allows smoke screen devices to generate smoke in a variety of ways and obstruct a suspect's vision. For example, when a suspect attempts to escape, the smoke screen device can generate smoke to obstruct their vision and prevent their escape. Smoke screen devices can also completely block a suspect's vision by adjusting the smoke density. Furthermore, by adjusting the smoke generation range, smoke screen devices can obstruct vision over a wide area. This allows smoke screen devices to obstruct a suspect's vision and prevent escape.

[0106] Security systems can also be equipped with tracking devices. These tracking devices can track the suspect's location in real time using technologies such as GPS and RFID. For example, a tracking device can accurately determine the suspect's location by attaching a small GPS tracker to the suspect. Alternatively, the tracking device can track the suspect's location using RFID tags. Furthermore, the tracking device can monitor the suspect's movements using cameras and sensors mounted on the drone itself. This allows the tracking device to determine the suspect's location in real time and prevent escape. For example, if a suspect attempts to escape, the tracking device can prevent escape by tracking the suspect's location using a GPS tracker. It can also track the suspect's location using RFID tags. Furthermore, it can prevent escape by monitoring the suspect's movements using cameras and sensors mounted on the drone itself. This allows the tracking device to determine the suspect's location in real time and prevent escape.

[0107] The security system can also be equipped with a warning sound generator. This generator can deter criminals and prevent escape by emitting loud warning sounds. For example, it can deter criminals by emitting a siren sound. It can also issue warnings in a human voice. Furthermore, it can interfere with the criminal's hearing by emitting sounds of a specific frequency. This allows the warning sound generator to deter criminals and prevent escape in a variety of ways. For example, when a criminal attempts to escape, the warning sound generator can emit a siren sound to deter the criminal and prevent escape. It can also issue warnings in a human voice to give specific instructions to the criminal. Furthermore, it can interfere with the criminal's hearing by emitting sounds of a specific frequency, thus preventing escape. This allows the warning sound generator to deter criminals and prevent escape.

[0108] Security systems can also be equipped with lighting devices. These lighting devices can obstruct a suspect's vision and prevent escape by emitting powerful light. For example, a lighting device can temporarily impair a suspect's vision by using powerful LED lights. It can also confuse a suspect's vision by using strobe lights. Furthermore, a lighting device can monitor a suspect's movements even in darkness by using infrared lights. Thus, lighting devices can obstruct a suspect's vision and prevent escape in a variety of ways. For example, when a suspect attempts to escape, a lighting device can temporarily impair their vision by emitting powerful LED lights, preventing escape. It can also confuse a suspect's vision and restrict their movement by emitting strobe lights. Furthermore, it can monitor a suspect's movements even in darkness and prevent escape by using infrared lights. Thus, lighting devices can obstruct a suspect's vision and prevent escape.

[0109] The security system can also be equipped with an acoustic jamming unit. This unit can disrupt the perpetrator's hearing and restrict their actions by generating high-frequency and low-frequency sounds. For example, generating high-frequency sounds can disrupt the perpetrator's concentration and make escape difficult. Generating low-frequency sounds can cause discomfort and discourage escape. Furthermore, the acoustic jamming unit can interfere with the operation of the perpetrator's communication devices by emitting sounds of specific frequencies, preventing them from contacting accomplices. The acoustic jamming unit can be mounted on the drone and remotely controlled to generate sound at any desired time. This allows the operator to restrict the perpetrator's actions from a safe distance.

[0110] The security system can also be equipped with a visual obstruction unit. This unit can temporarily impair the suspect's vision using powerful flashlights or laser pointers. For example, a powerful flashlight can blind the suspect, making escape difficult. A laser pointer can directly interfere with the suspect's vision, restricting their movement. Furthermore, the visual obstruction unit can confuse the suspect's vision by emitting specific patterns or colors of light, causing them to abandon their escape. The visual obstruction unit can be mounted on a drone and remotely controlled to emit light at any time. This allows the operator to restrict the suspect's movements from a safe distance.

[0111] The security system can also be equipped with a tracking unit. This unit can track the suspect's location in real time using GPS or RFID tags. For example, using GPS, the system can accurately determine the suspect's current location and predict their escape route. By attaching RFID tags to the suspect, the system can perform close-range location tracking and monitor their movements. Furthermore, the tracking unit can use a drone camera to transmit real-time video of the suspect, allowing operators to visually track them. This enables the security system to prevent the suspect's escape and respond quickly.

[0112] The security system can also be equipped with a warning unit. This unit can use a speaker to emit warning sounds and messages to the perpetrator. For example, emitting a warning sound can alert the perpetrator and deter them from fleeing. Emitting a message can encourage surrender. Furthermore, the warning unit can repeatedly emit specific voice messages to exert psychological pressure on the perpetrator, making escape difficult. The warning unit can be mounted on the drone's airframe and remotely controlled to emit warning sounds and messages at any time. This allows the operator to warn the perpetrator from a safe distance.

[0113] The security system can also be equipped with a smoke screen unit. The smoke screen unit can obstruct the suspect's vision and make escape difficult by generating a smoke screen. For example, generating a smoke screen can completely block the suspect's view, causing them to lose their escape route. The smoke screen can also be concentrated in a specific area to restrict the suspect's movement. Furthermore, the smoke screen unit can generate smoke containing specific chemicals to cause temporary discomfort to the suspect, potentially discouraging them from escaping. The smoke screen unit is mounted on the drone's airframe and can be remotely controlled to generate the smoke screen at any time. This allows the operator to obstruct the suspect's vision from a safe distance and prevent their escape.

[0114] The security system can also be equipped with a voice recognition unit. The voice recognition unit can analyze the perpetrator's voice and surrounding sounds in real time and estimate the perpetrator's actions and intentions. For example, the voice recognition unit can analyze instructions and conversations given by the perpetrator and predict the actions the perpetrator is planning. In addition, by analyzing surrounding sounds, the voice recognition unit can identify the perpetrator's hiding place and escape route. Furthermore, the voice recognition unit can analyze the characteristics of the perpetrator's voice and provide information to identify the perpetrator. As a result, the security system can utilize voice information to more accurately understand the perpetrator's actions and deal with them more effectively.

[0115] The security system can also be equipped with a biometric authentication unit. This unit can acquire biometric information such as the suspect's face and fingerprints, and identify the suspect. For example, the biometric authentication unit can use a camera mounted on a drone to photograph the suspect's face and use facial recognition technology to identify the suspect. It can also acquire the suspect's fingerprints and use fingerprint authentication technology to identify the suspect. Furthermore, the biometric authentication unit can analyze the suspect's gait patterns and voiceprints, providing information to identify the suspect. This allows the security system to quickly identify the suspect and deal with them effectively by utilizing biometric information.

[0116] The security system can also be equipped with an environmental monitoring unit. This unit can acquire real-time information about the surrounding environment and utilize it for security activities. For example, it can acquire weather information such as temperature, humidity, and atmospheric pressure to optimize the security system's operation. Furthermore, it can detect the concentration of harmful substances and gases in the air and identify chemicals that a perpetrator might use. Additionally, it can detect ambient sounds and vibrations, providing information to predict the perpetrator's movements. This allows the security system to effectively conduct security activities by utilizing environmental information.

[0117] The security system can also be equipped with an automatic charging unit. This unit automatically charges the drone's battery, enabling extended continuous operation. For example, the unit can allow the drone to automatically return to a designated charging station to recharge its battery. It can also charge the battery using wireless charging technology while the drone is in flight. Furthermore, the unit can maximize the drone's operational efficiency by monitoring its battery level in real time and charging as needed. This allows the security system to operate continuously for extended periods, enabling effective security operations.

[0118] The security system can also be equipped with a data analysis unit. This unit can analyze data acquired by the drone, such as video, audio, and sensor information, in real time, and utilize this information for security activities. For example, the data analysis unit can analyze video data to track the movements of a suspect and predict their escape route. It can also analyze audio data to understand the content of the suspect's conversation and infer their intentions. Furthermore, the data analysis unit can analyze sensor information to understand the surrounding environment and provide information to optimize the security system's operation. This allows the security system to effectively conduct security activities by utilizing the acquired data.

[0119] Figure 8 is a schematic diagram showing an example of a computer hardware configuration that functions as a ground robot 2 and an aerial robot 3. A program installed on computer 1200 can cause computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by CPU 1212 to cause computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0120] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0121] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires the image data generated by the CPU 1212 and stores it in the frame buffer provided in the RAM 1214 or within itself, so that the image data is displayed on the display device 1218.

[0122] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0123] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 when activated. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0124] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0125] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as the RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

[0126] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as a storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0127] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if a plurality of entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the plurality of entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0128] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0129] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0130] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks (registered trademark), diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray (registered trademark) disk, memory stick, integrated circuit card, etc.

[0131] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and conventional procedural programming languages ​​such as the C programming language or similar programming languages.

[0132] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit, either locally or via a wide area network (WAN) such as a local area network (LAN) or the internet, so that the computer-readable instructions may be executed by the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, in order to generate means for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

[0133] The following describes another example of the tracking system according to the embodiment. First, multiple ground robots are equipped with image processing modules for detecting suspicious persons and acquiring their location information in real time. Furthermore, the aerial robot is equipped with a high-resolution camera for monitoring a wide area and detecting the suspicious person's movement path. Next, a communication module is provided for sharing information about the suspicious person's location and movement path between the ground robot and the aerial robot, thereby enabling the ground and aerial robots to share information in real time. The aerial robot predicts the suspicious person's movement path and transmits this information to the ground robot. Based on this information, the ground robot calculates the optimal path and tracks the suspicious person while moving. Furthermore, the ground and aerial robots work together to restrict the suspicious person's escape route. When a suspicious person enters a specific area, the aerial robot monitors their location with high precision and notifies the ground robot, which then performs a siege operation. The system implements an algorithm for achieving cooperative control, which consists of the following steps: When a suspicious person is detected, the aerial robot monitors a wide area and predicts the suspicious person's movement path. Based on information from the aerial robots, ground robots move at the appropriate time towards the suspicious person's location. When the suspicious person reaches a specific area, multiple ground robots coordinate their movements to surround the suspicious person. If necessary, the aerial robots provide additional surveillance and track the suspicious person's new movements. This system allows for efficient tracking and encirclement of suspicious persons through the coordinated operation of multiple ground and aerial robots. Furthermore, by utilizing surveillance information from the aerial robots' perspective, a wide-area and rapid response becomes possible, resulting in a higher effectiveness compared to conventional security systems. In this way, the security system enables multiple ground and aerial robots to cooperate in tracking and encircling suspicious persons.

[0134] The security system according to this embodiment comprises a plurality of ground robots equipped with an image processing module, a plurality of aerial robots equipped with high-resolution cameras, a communication module, tracking control means, encirclement control means, and a control algorithm. The image processing module has a function for detecting suspicious persons. For example, the image processing module acquires images of the surroundings using a camera and identifies suspicious persons using image analysis technology. The image processing module can also analyze the images in real time and acquire the location information of suspicious persons. Furthermore, the image processing module can integrate images from multiple cameras to perform wide-area surveillance. For example, the image processing module analyzes camera images in real time and tracks the movements of suspicious persons. The image processing module can also detect persons with specific characteristics from the images and determine their location. The high-resolution camera has a function for monitoring a wide area. For example, the high-resolution camera acquires high-resolution images and performs detailed surveillance. Furthermore, the high-resolution camera has a zoom function and can observe distant objects in detail. Furthermore, the high-resolution camera can acquire clear images even at night or in bad weather. For example, the high-resolution camera uses an infrared camera to perform surveillance even at night. Furthermore, the high-resolution camera is waterproof and can operate normally even in rainy weather. The communication module has the function of sharing information about the location and movement path of suspicious persons between ground robots and aerial robots. The communication module sends and receives data between ground robots and aerial robots using, for example, wireless communication technology. The communication module also has a protocol for sharing information in real time, enabling rapid information transmission. In addition, the communication module can build a network for efficient information sharing among multiple robots. For example, the communication module communicates data between ground robots and aerial robots and shares the location information of suspicious persons in real time. The communication module can also monitor the network status and ensure the stability of communication. The tracking control means has the function of the aerial robot predicting the movement path of suspicious persons and transmitting that information to the ground robot.The tracking and control means, for example, analyzes video footage acquired by the aerial robot to predict the movement pattern of a suspicious person. The tracking and control means can also transmit the predicted movement path to the ground robot, providing information for the ground robot to select the optimal path. Furthermore, the tracking and control means can share information among multiple aerial robots to predict movement paths more accurately. For example, the tracking and control means analyzes video footage acquired by the aerial robot in real time to predict the direction of movement of a suspicious person. It also transmits movement path information to the ground robot, supporting the ground robot in efficient tracking. The encirclement control means has functions to restrict the escape route of a suspicious person through cooperation between the ground robot and the aerial robot. For example, if a suspicious person enters a specific area, the encirclement control means allows the aerial robot to monitor their location with high precision and notify the ground robot. The encirclement control means can also control the movement of the ground robots to coordinately encircle the suspicious person. Furthermore, the encirclement control means is equipped with algorithms for efficient cooperation among multiple robots, enabling rapid encirclement operations. For example, the encirclement control means identifies the location of a suspicious person based on images acquired by the aerial robot and instructs the ground robot to perform an encirclement action. The encirclement control means can also calculate the optimal path for the ground robots to cooperate in encircling the suspicious person. The control algorithm has functions to realize cooperative control. For example, when a suspicious person is detected, the control algorithm allows the aerial robot to monitor a wide area and predict the suspicious person's movement path. The control algorithm can also assist the ground robot in moving at the appropriate time based on information from the aerial robot and heading towards the suspicious person's location. Furthermore, if the suspicious person reaches a specific area, the control algorithm can control the movement of multiple ground robots to cooperate in encircling the suspicious person. For example, the control algorithm predicts the direction of movement of the suspicious person based on images acquired by the aerial robot and instructs the ground robot to move. The control algorithm can also calculate the optimal path for the ground robots to cooperate in encircling the suspicious person.As a result, the security system according to this embodiment can track and surround intruders in cooperation with multiple ground robots and aerial robots.

[0135] The image processing module has the functionality to detect suspicious individuals. For example, the image processing module acquires surrounding video using a camera and identifies suspicious individuals using image analysis technology. Specifically, the image processing module implements an image recognition algorithm using deep learning, which enables high-precision identification of people and objects in the video. For example, it can identify a specific person using facial recognition technology and track their movements. The image processing module can also analyze video in real time and acquire the location information of suspicious individuals. This allows the system to constantly know the current location of suspicious individuals and respond quickly. Furthermore, the image processing module can integrate video from multiple cameras to perform wide-area surveillance. For example, it can integrate video from multiple cameras onto a single screen, allowing for an overview of the entire situation at a glance. This makes it possible to monitor the situation of the entire surveillance area in real time and track the movements of suspicious individuals. The image processing module can also detect individuals with specific characteristics from the video and pinpoint their location. For example, it can identify individuals wearing or carrying specific clothing or items and track their movements. This enables surveillance based on specific conditions, resulting in more effective security.

[0136] High-resolution cameras have the capability to monitor a wide area. For example, they can acquire high-resolution video for detailed surveillance. Specifically, by acquiring 4K or 8K high-resolution video, distant objects and details can be observed clearly. High-resolution cameras also have a zoom function, allowing for detailed observation of distant objects. For example, the zoom function can be used to identify the faces of people or the license plates of vehicles from a distance. Furthermore, high-resolution cameras can acquire clear images even at night or in bad weather. For example, by using high-sensitivity sensors or infrared cameras, bright and clear images can be acquired even at night. In addition, high-resolution cameras are waterproof and can operate normally even in rainy weather. This enables all-weather surveillance and a 24 / 7 monitoring system. Furthermore, high-resolution cameras have an image analysis function, allowing for real-time analysis of acquired video. For example, they can detect movement in the video and identify individuals exhibiting suspicious behavior. As a result, high-resolution cameras can perform wide-area and detailed surveillance, maximizing the effectiveness of security systems.

[0137] The communication module has the function of sharing information about the location and movement path of suspicious individuals between ground robots and air robots. The communication module sends and receives data between ground robots and air robots using, for example, wireless communication technology. Specifically, it can send and receive large amounts of data in real time using high-speed wireless communication technologies such as Wi-Fi, LTE, and 5G. The communication module also has protocols for sharing information in real time, enabling rapid information transmission. For example, it can efficiently send and receive data using protocols such as MQTT and HTTP. Furthermore, the communication module can build a network for efficient information sharing among multiple robots. For example, by building a mesh network and having each robot communicate with each other, information sharing over a wide area can be achieved. As a result, the communication module performs data communication between ground robots and air robots and shares information about the location of suspicious individuals in real time. The communication module can also monitor the network status and ensure the stability of communication. For example, by monitoring communication delays and packet loss and changing the communication path as needed, stable communication can be maintained at all times. As a result, the communication module can achieve efficient and stable information sharing and maximize the effectiveness of the security system.

[0138] The tracking and control means has the function of allowing an aerial robot to predict the movement path of a suspicious person and transmit that information to a ground robot. For example, the tracking and control means analyzes the video acquired by the aerial robot to predict the movement pattern of the suspicious person. Specifically, it implements an AI-based prediction algorithm that can predict the suspicious person's next actions based on past movement data and the current situation. The tracking and control means can also transmit the predicted movement path to the ground robot, providing the ground robot with information to select the optimal path. This allows the ground robot to efficiently track the suspicious person. Furthermore, the tracking and control means can share information among multiple aerial robots to make more accurate predictions of movement paths. For example, by integrating video acquired by multiple aerial robots and understanding the situation over a wide area, more accurate predictions can be made. As a result, the tracking and control means analyzes the video acquired by the aerial robot in real time and predicts the direction of movement of the suspicious person. The tracking and control means also transmits information about the movement path to the ground robot, supporting the ground robot in efficiently tracking the suspicious person. This allows the tracking and control system to enable aerial and ground robots to work together to track suspicious individuals, maximizing the effectiveness of the security system.

[0139] The encirclement control system has the function of restricting the escape route of an intruder by coordinating ground robots and aerial robots. For example, if an intruder enters a specific area, the encirclement control system has the aerial robot monitor the intruder's location with high precision and notify the ground robot. Specifically, it analyzes the video acquired by the aerial robot in real time to identify the intruder's location. The encirclement control system can also control the movement of the ground robots to coordinately surround the intruder. This effectively restricts the intruder's escape route. Furthermore, the encirclement control system is equipped with an algorithm for efficient coordination between multiple robots, enabling rapid encirclement operations. For example, the encirclement control system identifies the intruder's location based on the video acquired by the aerial robot and instructs the ground robot to perform encirclement operations. The encirclement control system can also calculate the optimal route for the ground robots to coordinately surround the intruder. In this way, the encirclement control system enables the aerial robots and ground robots to cooperate in surrounding the intruder, maximizing the effectiveness of the security system.

[0140] The control algorithm has functions to achieve cooperative control. For example, when a suspicious person is detected, the control algorithm allows the aerial robot to conduct wide-area surveillance and predict the suspicious person's movement path. Specifically, it implements an AI-based prediction algorithm that can predict the suspicious person's next actions based on past movement data and the current situation. The control algorithm can also assist ground robots in moving at the appropriate time based on information from the aerial robot and heading towards the suspicious person's location. This allows ground robots to efficiently track the suspicious person. Furthermore, if the suspicious person reaches a specific area, the control algorithm can control the movement of multiple ground robots to coordinate and surround the suspicious person. For example, the control algorithm predicts the suspicious person's direction of movement based on video footage acquired by the aerial robot and instructs the ground robots to move. The control algorithm can also calculate the optimal path for ground robots to coordinate and surround the suspicious person. In this way, the control algorithm enables aerial and ground robots to work together to track and surround the suspicious person, maximizing the effectiveness of the security system.

[0141] The image processing module can acquire the location information of suspicious individuals in real time. For example, the image processing module can acquire surrounding video using a camera and identify suspicious individuals using image analysis technology. Furthermore, the image processing module can analyze the video in real time to acquire the location information of suspicious individuals. In addition, the image processing module can integrate video from multiple cameras to perform wide-area surveillance. For example, the image processing module can analyze camera video in real time to track the movements of suspicious individuals. The image processing module can also detect individuals with specific characteristics within the video and determine their location. This allows for a rapid response by acquiring the location information of suspicious individuals in real time.

[0142] High-resolution cameras can detect the movement paths of suspicious individuals. For example, they can acquire high-resolution video for detailed surveillance. They also feature zoom capabilities, allowing for detailed observation of distant objects. Furthermore, high-resolution cameras can acquire clear images even at night or in bad weather. For instance, they utilize infrared technology for nighttime surveillance. Additionally, high-resolution cameras are waterproof, enabling them to function normally even in rainy conditions. This improves tracking accuracy by detecting the movement paths of suspicious individuals.

[0143] The communication module can share information about the location and movement path of suspicious individuals in real time between ground robots and air robots. The communication module uses, for example, wireless communication technology to send and receive data between ground and air robots. It also features a protocol for real-time information sharing, enabling rapid information transmission. Furthermore, the communication module can build a network for efficient information sharing among multiple robots. For example, it can communicate data between ground and air robots to share information about suspicious individuals in real time. The communication module can also monitor the network status to ensure communication stability. This real-time information sharing between ground and air robots enables coordinated operation.

[0144] The tracking and control means allows an aerial robot to predict the movement path of a suspicious person and transmit that information to a ground robot. For example, the tracking and control means analyzes video footage acquired by the aerial robot to predict the suspicious person's movement pattern. The tracking and control means can also transmit the predicted movement path to the ground robot, providing information for the ground robot to select the optimal path. Furthermore, the tracking and control means can share information among multiple aerial robots to make more accurate movement path predictions. For example, the tracking and control means analyzes video footage acquired by the aerial robot in real time to predict the direction of the suspicious person's movement. The tracking and control means also transmits movement path information to the ground robot, supporting the ground robot in efficient tracking. This enables efficient tracking by allowing the aerial robot to predict the suspicious person's movement path and transmit that information to the ground robot.

[0145] The encirclement control means allows an aerial robot to accurately monitor the location of an intruder when they enter a specific area and notify a ground robot, enabling the ground robot to perform an encirclement operation. For example, if an intruder enters a specific area, the encirclement control means monitors the location of the aerial robot with high precision and notifies the ground robot. The encirclement control means can also control the movement of the ground robots to coordinately encircle the intruder. Furthermore, the encirclement control means is equipped with an algorithm for efficient coordination between multiple robots, enabling rapid encirclement operations. For example, the encirclement control means identifies the intruder's location based on video footage acquired by the aerial robot and instructs the ground robot to perform an encirclement operation. The encirclement control means can also calculate the optimal route for the ground robots to coordinately encircle the intruder. This prevents escape by quickly executing an encirclement operation when an intruder enters a specific area.

[0146] The control algorithm allows the aerial robot to perform wide-area surveillance and predict the movement path of a suspicious person when one is detected. For example, the control algorithm analyzes the video footage acquired by the aerial robot to predict the suspicious person's movement pattern. The control algorithm can also transmit the predicted movement path to a ground robot, providing the ground robot with information to select the optimal path. Furthermore, the control algorithm can share information among multiple aerial robots to make more accurate movement path predictions. For example, the control algorithm analyzes the video footage acquired by the aerial robot in real time to predict the suspicious person's direction of movement. The control algorithm also transmits movement path information to the ground robot, supporting the ground robot in efficient tracking. This enables a rapid response by performing wide-area surveillance and predicting the movement path when a suspicious person is detected.

[0147] The control algorithm allows ground robots to move at the appropriate time based on information from aerial robots and head towards the location of the suspicious person. For example, the control algorithm analyzes video footage acquired by the aerial robot to predict the suspicious person's movement pattern. The control algorithm can also transmit the predicted movement path to the ground robot, providing information for the ground robot to select the optimal path. Furthermore, the control algorithm can share information among multiple aerial robots to predict movement paths more accurately. For example, the control algorithm analyzes video footage acquired by the aerial robot in real time to predict the suspicious person's direction of movement. The control algorithm also transmits movement path information to the ground robot, supporting the ground robot in efficient tracking. As a result, the ground robot can move at the appropriate time, leading to efficient tracking of the suspicious person.

[0148] The control algorithm can control the movement of multiple ground robots to surround an intruder when the intruder reaches a specific area. For example, the control algorithm analyzes video footage acquired by the aerial robot to predict the intruder's movement pattern. The control algorithm can also transmit the predicted movement path to the ground robot, providing information for the ground robot to select the optimal path. Furthermore, the control algorithm can share information among multiple aerial robots to make more accurate movement path predictions. For example, the control algorithm analyzes video footage acquired by the aerial robot in real time to predict the intruder's direction of movement. The control algorithm also transmits movement path information to the ground robot to help the ground robot efficiently track the intruder. This allows multiple ground robots to cooperate in surrounding the intruder and prevent escape.

[0149] The control algorithm allows the aerial robot to perform additional monitoring as needed and track any new movements of the suspicious individual. For example, the control algorithm analyzes video footage acquired by the aerial robot to predict the suspicious individual's movement patterns. It can also transmit the predicted movement path to a ground robot, providing the ground robot with information to select the optimal path. Furthermore, the control algorithm can facilitate information sharing among multiple aerial robots to predict movement paths more accurately. For example, the control algorithm analyzes video footage acquired by the aerial robot in real time to predict the suspicious individual's direction of movement. It also transmits movement path information to the ground robot, supporting its efficient tracking. This allows the aerial robot to respond to any new movements of the suspicious individual by performing additional monitoring.

[0150] The system according to the embodiment is not limited to the example described above, and various modifications are possible, for example, as follows.

[0151] The security system may also be equipped with a voice recognition unit. The voice recognition unit has the function of detecting and analyzing the content of voices emitted by suspicious individuals. For example, the voice recognition unit can acquire ambient sounds using microphones and identify the content of what the suspicious individual is saying using voice analysis technology. This makes it possible to infer the intentions and actions of the suspicious individual from the voice they emit. The voice recognition unit can also detect specific keywords. For example, it can detect highly urgent keywords such as "help" or "run away" and notify the security system. This allows the security system to respond quickly. In addition, the voice recognition unit can determine the direction of the sound source using multiple microphones. For example, the voice recognition unit can determine the direction of the sound source and transmit this information to ground robots and air robots. This makes it possible to pinpoint the location of the suspicious individual more accurately. Furthermore, the voice recognition unit can analyze voice data in real time and feed it back to the security system. For example, the voice recognition unit can analyze the voice emitted by a suspicious individual in real time and transmit the results to the security system. This allows the security system to grasp the actions of the suspicious individual more quickly and take appropriate action.

[0152] The security system may also be equipped with an environmental sensor unit. The environmental sensor unit has the function of acquiring and analyzing information about the surrounding environment. For example, the environmental sensor unit can acquire information about the surrounding environment using temperature sensors, humidity sensors, and atmospheric pressure sensors. This allows the security system to identify places where a suspicious person may be hiding. The environmental sensor unit can also detect harmful gases using gas sensors. For example, the environmental sensor unit can detect specific harmful gases and notify the security system of this information. This allows the security system to understand the possibility that a suspicious person is using harmful gases and take appropriate action. The environmental sensor unit can also detect ambient brightness using light sensors. For example, the environmental sensor unit can detect ambient brightness and transmit this information to the security system. This allows the security system to understand the possibility that a suspicious person is hiding in darkness and take appropriate action. Furthermore, the environmental sensor unit can also detect ground vibrations using vibration sensors. For example, the environmental sensor unit can detect ground vibrations and transmit this information to the security system. This allows the security system to understand the possibility that a suspicious person is moving on the ground and take appropriate action.

[0153] The security system may also be equipped with a biometric authentication unit. The biometric authentication unit has the function of acquiring and analyzing the biometric information of a suspicious person. For example, the biometric authentication unit can identify a suspicious person using fingerprint authentication, facial recognition, or iris recognition. This allows the security system to quickly identify the suspicious person and take appropriate action. The biometric authentication unit can acquire a suspicious person's fingerprint using fingerprint authentication. For example, the biometric authentication unit can acquire a suspicious person's fingerprint using a fingerprint sensor and transmit that information to the security system. This allows the security system to identify the suspicious person and take a quick response. Furthermore, the biometric authentication unit can recognize a suspicious person's face using facial recognition. For example, the biometric authentication unit can photograph a suspicious person's face using a camera and transmit that information to the security system. This allows the security system to identify the suspicious person and take a quick response. Additionally, the biometric authentication unit can recognize a suspicious person's iris using iris authentication. For example, the biometric authentication unit can acquire a suspicious person's iris using an iris sensor and transmit that information to the security system. This allows the security system to identify the suspicious person and respond quickly.

[0154] The security system can also be equipped with a drone charging unit. The drone charging unit has the function of automatically charging the aerial robot's battery. For example, the drone charging unit can charge the aerial robot's battery using a charging station installed on the ground. This allows the aerial robot to perform surveillance activities for extended periods. The drone charging unit can also charge the aerial robot's battery using wireless charging technology. For example, the drone charging unit can charge the aerial robot's battery using a wireless charging pad. This allows the aerial robot to charge its battery without using a charging cable. Furthermore, the drone charging unit can charge the aerial robot's battery using solar panels. For example, the drone charging unit can convert sunlight into electricity using solar panels to charge the aerial robot's battery. This allows the aerial robot to charge its battery in an environmentally friendly way. In addition, the drone charging unit has a battery replacement function and can automatically replace the aerial robot's battery. For example, the drone charging unit can automatically replace the battery when the aerial robot returns to the charging station, allowing it to resume surveillance activities. This ensures the aerial robot always has sufficient battery power for extended surveillance activities.

[0155] The security system can also be equipped with an emergency response unit. The emergency response unit has the function of responding quickly to the actions of an intruder. For example, the emergency response unit can issue an alarm if an intruder enters a specific area. This allows for quick notification to security guards and other relevant personnel, enabling appropriate action. In addition to issuing alarms, the emergency response unit can also provide specific response instructions to security guards. For example, it can notify security guards of the intruder's location and movement route to support a rapid response. Furthermore, the emergency response unit can control the operation of the entire security system and direct the optimal actions to respond to an emergency. For example, the emergency response unit can enhance the coordination between aerial and ground robots to quickly block the intruder's escape route. In addition, the emergency response unit can cooperate with external emergency response agencies. For example, the emergency response unit can provide information on the intruder to emergency response agencies such as the police and fire department to support a rapid response. This enables the security system to respond quickly and effectively to emergencies.

[0156] Although embodiments of the present application have been described in detail above, these are illustrative examples, and the present invention can be implemented in various other forms based on the knowledge of those skilled in the art, including the embodiments described in the disclosure section of the invention.

[0157] 1. Security system 2. Ground robot 3. Aerial robot 10. Control device 20. Aerial robot control device 30. Ground robot control device

Claims

1. A system comprising: multiple ground robots equipped with image processing modules for detecting suspicious persons; and multiple aerial robots equipped with high-resolution cameras for monitoring a wide area, wherein the ground robots acquire location information of suspicious persons in real time using the image processing modules; and the aerial robots use the high-resolution cameras to detect the movement paths of suspicious persons.

2. The system according to claim 1, comprising a communication module for sharing information regarding the location and movement path of a suspicious person between the ground robot and the aerial robot, wherein the ground robot and the aerial robot share information regarding the location and movement path of the suspicious person in real time via the communication module.

3. The system according to claim 2, characterized in that the aerial robot predicts the escape route of a suspicious person from the movement path detected using the high-resolution camera, and the ground robot tracks the suspicious person based on the escape route predicted by the aerial robot.

4. The system according to claim 3, characterized in that the ground robot and the aerial robot operate in coordination to restrict the escape route of the suspicious person.

5. The system according to claim 4, characterized in that the ground robot restricts the escape route of a suspicious person to guide them to a specific area.

6. The system according to claim 5, characterized in that the aerial robot instructs the ground robot to surround a suspicious person when the suspicious person enters a specific area, and the ground robot, upon receiving instructions from the aerial robot, performs an action to surround the suspicious person.

7. An aerial object characterized by comprising a release unit for releasing a capture net and an obstruction unit for hindering the movements of a suspect.

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