Fixed drone visualization in security systems
First Claim
Patent Images
1. A method comprises:
- receiving by a computer system from a security system an assertion of an alarm condition;
establishing by the computer system, a graph data structure comprising a plurality of nodes and plurality of individual edges;
receiving, from a plurality of drones, navigation data associated with physical objects;
associating each individual edge in the plurality of edges of the graph data structure with the received navigation data associated with the physical objects;
determining, by the computer system a route for a drone of the plurality of drones, from an initial location of the drone to a radio frequency (RF) waypoint emitter where the alarm condition was asserted based on the graph data structure;
sending, by the computer system, a portion of the graph data structure based on the route to the drone causing the drone to fly to the RF waypoint emitter, using the portion of the graph data structure;
determining when the drone has reached the RF waypoint emitter;
causing the drone at the RF waypoint emitter to hover over a substantially fixed area about the RF waypoint emitter;
receiving, by the computer system, sensor data including image data captured by at least an image capture sensor device carried by the drone, with the image data obtained at the RF waypoint emitter;
retrieving a stored image previously obtained at a location;
applying, by the computer system, analytical processing to the received sensor data including the image data to detect feature differences in features contained in the sensor data obtained at the RF waypoint emitter in relation to the retrieved stored image; and
when a difference is detected,outputting, by the computer system, an indication to the security system.
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Abstract
An unmanned aerial vehicle is described and includes a computer carried by the unmanned aerial vehicle to control flight of the unmanned aerial vehicle and at least one sensor. The unmanned aerial vehicle is caused to fly to a specific location within a facility, where the unmanned aerial vehicle enters a hover mode, where the unmanned aerial vehicle remains in a substantially fixed location hovering over the specific location within the facility and sends raw or processing results of sensor data from the sensor to a remote server system.
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Citations
16 Claims
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1. A method comprises:
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receiving by a computer system from a security system an assertion of an alarm condition; establishing by the computer system, a graph data structure comprising a plurality of nodes and plurality of individual edges; receiving, from a plurality of drones, navigation data associated with physical objects; associating each individual edge in the plurality of edges of the graph data structure with the received navigation data associated with the physical objects; determining, by the computer system a route for a drone of the plurality of drones, from an initial location of the drone to a radio frequency (RF) waypoint emitter where the alarm condition was asserted based on the graph data structure; sending, by the computer system, a portion of the graph data structure based on the route to the drone causing the drone to fly to the RF waypoint emitter, using the portion of the graph data structure; determining when the drone has reached the RF waypoint emitter; causing the drone at the RF waypoint emitter to hover over a substantially fixed area about the RF waypoint emitter; receiving, by the computer system, sensor data including image data captured by at least an image capture sensor device carried by the drone, with the image data obtained at the RF waypoint emitter; retrieving a stored image previously obtained at a location; applying, by the computer system, analytical processing to the received sensor data including the image data to detect feature differences in features contained in the sensor data obtained at the RF waypoint emitter in relation to the retrieved stored image; and
when a difference is detected,outputting, by the computer system, an indication to the security system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An unmanned aerial vehicle comprises:
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a body, having a configuration that permits the unmanned aerial vehicle to operate within confines of an indoor facility; at least one sensor carried by the body of the unmanned aerial vehicle; a computer carried by the body of the unmanned aerial vehicle to control flight of the unmanned aerial vehicle, wherein the computer is configured to; establish a graph data structure comprising a plurality of individual nodes and a plurality of individual edges; associate each individual node of the plurality of nodes of the graph data structure with an individual RF waypoint of a plurality of RF waypoint emitters; receive, from a plurality of other drones, navigation data associated with physical objects; associate each individual edge in the plurality of edges of the graph data structure with the received navigation data associated with the physical objects; receive, from a computer system, a portion of the graph data structure based on a route from a current position of the unmanned aerial vehicle to a RF waypoint emitter, wherein the RF waypoint emitter is associated with a location where an assertion of an alarm condition in the indoor facility has occurred; send, to the computer system, a message, in response to reaching the RF waypoint emitter; cause the unmanned vehicle to fly to the RF waypoint emitter based on the portion of the graph data structure; determine when the unmanned aerial vehicle has reached the RF waypoint emitter; cause the unmanned aerial vehicle at the RF waypoint emitter to hover over a substantially fixed area about the RF waypoint emitter; receive, from the at least one sensor, sensor data including image data captured about the RF waypoint emitter; send, to the computer system, the sensor data. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification