# US 2023/0406497 A1 · Fixed drone visualization in security systems

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- Number: US 2023/0406497 A1
- Document ID: US20230406497A1
- Status: Published application
- Kind: A1
- Application number: 18/228,140
- Filed: 2023-07-31
- Published: 2023-12-21
- Earliest claimed: 2014-10-17
- Assignees: Johnson Controls Tyco IP Holdings LLP
- Applicants: Johnson Controls Tyco IP Holdings LLP
- Inventors: Anthony Mucci
- Web page: https://patentgrep.com/patent/US20230406497A1

## CPC

- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- G05D 1/686: Maintaining a relative position with respect to moving targets, e.g. following animals or humans (for pointing payloads towards targets G05D1/689; involving controlling the position or course of two or more vehicles G05D1/69)
- G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672)
- G06Q 50/26: Government or public services (business processes related to the transportation industry G06Q50/40)
- G08B 25/001: {Alarm cancelling procedures or alarm forwarding decisions, e.g. based on absence of alarm confirmation}
- G08B 25/08: using communication transmission lines {(G08B13/19658, G08B21/0286, G08B25/016 take precedence)}
- G08B 29/185: {Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system}
- B64U 2101/30: for imaging, photography or videography
- B64U 2101/31: for surveillance
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G06T 2207/30232: Surveillance
- G08B 13/19695: {Arrangements wherein non-video detectors start video recording or forwarding but do not generate an alarm themselves}
- B64C: AEROPLANES; HELICOPTERS
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## 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.

## Claims

### Claim at position 1

1-7. (canceled)

### Claim 8

A method of aerial surveillance, comprising:
receiving, by a computer system from a server of a building, an alarm condition;
programming, by the computer system and responsive to the alarm condition, an electronic component of a drone with a route between a starting point and a location associated with the alarm condition, the route indicated by a data structure representation of a plurality of radio-frequency (RF) devices;
the drone configured to navigate to the location associated with the alarm condition based on determinations of drone position on the route using signals from the plurality of RF devices; and
sending, by the drone, to the computer system, sensor data associated with the location associated with the alarm condition.

### Claim 9 (depends on 8)

The method of claim 8, comprising:
providing a flight plan to cause the drone to hover.

### Claim 10 (depends on 8)

The method of claim 8, comprising:
receiving the alarm condition from a sensor of a facility.

### Claim 11 (depends on 8)

The method of claim 8, comprising:
the alarm condition indicating an open window, broken glass, or an intrusion.

### Claim 12 (depends on 8)

The method of claim 8, comprising:
identifying, by the computer system, an indication of a detected movement at the location associated with the alarm condition.

### Claim 13 (depends on 8)

The method of claim 8, wherein the drone is a first drone, comprising:
programming a second drone with the route between the starting point and the location associated with the alarm condition.

### Claim 14 (depends on 8)

The method of claim 8, comprising:
providing, to the drone, a command to return to the starting point.

### Claim 15 (depends on 8)

The method of claim 8, comprising:
the data structure representation comprising a series of features extracted from images; and
the drone adjusting the route based on applying feature recognition to the series of features, feature recognition comprising:
capturing flight images;
extracting recognized features from the flight images; and
comparing the recognized features to the series of features.

### Claim 16 (depends on 8)

The method of claim 8, comprising:
the data structure representation including a feature extracted from an image; and
adjusting the route based on applying feature recognition to the feature, the feature recognition including:
obtaining a flight image;
extracting a flight image feature from the flight image; and
comparing the flight image feature with the feature extracted from the image.

### Claim 17 (depends on 8)

The method of claim 8, comprising:
determining a deviation from the route based on a location of the drone; and
obtaining, by the computer system, an indication of the deviation.

### Claim 18 (depends on 8)

The method of claim 8, comprising:
at least one of the plurality of radio-frequency (RF) devices including an asset-to-protect (ATP) waypoint, a home-asset-to-protect (HATP), or a perimeter-point-to-protect (PPP) waypoint.

### Claim 19

An aerial surveillance system, comprising:
a plurality of radio-frequency (RF) devices;
a computer system to:
generate an indication of a route between a starting point and a location of interest, the indication of the route comprising a data structure representation of the plurality of RF devices; and
a drone to:
receive at least a portion of the indication of the route from the computer system;
navigate to the location of interest based on signals from the plurality of RF devices; and
send to the computer system sensor data of the location of interest.

### Claim 20 (depends on 19)

The system of claim 19, comprising:
the data structure representation including a feature extracted from an image; and
the drone to adjust the route based on feature recognition of the feature.

### Claim 21 (depends on 19)

The system of claim 19, comprising:
the drone to determine a deviation from the route, and to report the deviation from the route to the computer system.

### Claim 22 (depends on 19)

The system of claim 19, comprising:
the computer system to update the route based on a deviation.

### Claim 23 (depends on 19)

The system of claim 19, comprising:
the computer system to compare the sensor data to previous sensor data; and
send an indication to a server of a building in response to determination of a feature difference based on the comparison.

### Claim 24 (depends on 19)

The system of claim 19, comprising:
the plurality of radio-frequency (RF) devices including an asset-to-protect (ATP) waypoint, a home-asset-to-protect (HATP) waypoint, or a perimeter-point-to-protect (PPP) waypoint.

### Claim 25 (depends on 19)

The system of claim 19, comprising:
the data structure representation comprising a set of nodes and a set of edges, each of the set of nodes corresponding to one of the plurality of RF devices and the set of edges defining a relationship between the set of nodes.

### Claim 26

A navigation system for an indoor aerial surveillance system comprising:
a plurality of radio-frequency (RF) devices; and
a computer system to:
generate a data structure representation of a path between a starting point and a location of interest, the data structure representation comprising the plurality of RF devices and one or more routes between each of the plurality of RF devices;
update the data structure representation based on data received from one or more drones;
send a route of the one or more routes to a drone of the one or more drones; and
the drone configured to navigate to a RF device of the plurality of RF devices based on the route and a position based on a signal from at least one of the plurality of RF devices.

### Claim 27 (depends on 26)

The system of claim 26, comprising:
each of the plurality of radio-frequency (RF) devices including an asset-to-protect (ATP) waypoint, a home-asset-to-protect (HATP) waypoint, or a perimeter-point-to-protect (PPP).