ES2564741B1 - Inhibitor device - Google Patents
Inhibitor device Download PDFInfo
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- ES2564741B1 ES2564741B1 ES201530179A ES201530179A ES2564741B1 ES 2564741 B1 ES2564741 B1 ES 2564741B1 ES 201530179 A ES201530179 A ES 201530179A ES 201530179 A ES201530179 A ES 201530179A ES 2564741 B1 ES2564741 B1 ES 2564741B1
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- uav
- protection
- aerial vehicle
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- trajectory
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H13/00—Means of attack or defence not otherwise provided for
- F41H13/0043—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target
- F41H13/005—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam
- F41H13/0056—Directed energy weapons, i.e. devices that direct a beam of high energy content toward a target for incapacitating or destroying the target the high-energy beam being a laser beam for blinding or dazzling, i.e. by overstimulating the opponent's eyes or the enemy's sensor equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Un dispositivo inhibidor (4) conectado a sensores �pticos (2) de vigilancia de una zona objeto de protecci�n, estando conectados a trav�s de una red local a una unidad procesadora (3) para calcular la trayectoria de un dispositivo a�reo no tripulado UAV (5) y comandar �rdenes hacia una unidad inhibidora (7) que emite se�ales inhibidoras hacia el veh�culo UAV (5) con el objeto de interferir en el normal funcionamiento de un sistema de visi�n incluido en el veh�culo (5), sin ocasionar f�sico en los mismos ni en el propio veh�culo UAV (5).An inhibitor device (4) connected to optical sensors (2) for monitoring a protected area, being connected through a local network to a processing unit (3) to calculate the path of a device to UAV unmanned air (5) and command orders to an inhibitor unit (7) that emits inhibitor signals to the UAV vehicle (5) in order to interfere with the normal operation of a vision system included in the vehicle (5), without causing physical in them or in the UAV vehicle (5).
Description
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DESCRIPCIONDESCRIPTION
Dispositivo inhibidor.Inhibitor device
Objeto de la invencionObject of the invention
La presente invencion se refiere a un dispositivo inhibidor de un sistema de vision optico para proteger la privacidad de un objeto.The present invention relates to an inhibitor device of an optical vision system to protect the privacy of an object.
Estado de la tecnicaState of the art
Hoy en dla hay multitud de funciones que son realizadas utilizando un dispositivo aereo no tripulado; es decir, unmanned aerial vehicule UAV.Today there are many functions that are performed using an unmanned aerial device; that is, unmanned aerial vehicles UAV.
Para llevar a cabo funciones de observation, supervision y vigilancia, el vehlculo aereo no tripulado UAV se apoya en su invisibilidad, de manera que el vehlculo aereo no tripulado pasa completamente desapercibido y, al estar dotado de un equipo de captura de imagenes, puede capturar imagenes de cualquier objeto sin que el objeto sea consciente de ello.To carry out observation, supervision and surveillance functions, the UAV unmanned aerial vehicle relies on its invisibility, so that the unmanned aerial vehicle passes completely unnoticed and, being equipped with an image capture equipment, can capture images of any object without the object being aware of it.
Consecuentemente, la utilization del vehlculo aereo no tripulado UAV puede invadir el derecho fundamental a la protection de datos de las personas o de salvaguardia de la privacidad de las mismas.Consequently, the use of UAV unmanned aerial vehicles can invade the fundamental right to the protection of people's data or to safeguard their privacy.
Algunas legislaciones estatales establecen que el operador del vehlculo aereo no tripulado UAV deberla de tener en cuenta las implicaciones que tiene para la privacidad de las personas la utilizacion de los mismos sobre lugares en los que hay presencia de personas.Some state laws state that the UAV operator of the UAV should take into account the implications of their use for the privacy of people in places where there is a presence of people.
Por lo tanto, existe una necesidad de hacer visible el vuelo de un dispositivo aereo no tripulado UAV, sobre una predeterminada zona, para evitar intromisiones inaceptables en la vida privada de personas ubicadas dentro de dicha zona.Therefore, there is a need to make visible the flight of an UAV unmanned aerial device, over a predetermined area, to avoid unacceptable interference in the private life of people located within that area.
SumarioSummary
La presente invencion busca resolver uno o mas de los inconvenientes expuestos anteriormente mediante un dispositivo inhibidor para un sistema de vision optico tal y como es reivindicado en las reivindicaciones.The present invention seeks to solve one or more of the problems set forth above by means of an inhibitor device for an optical vision system as claimed in the claims.
El dispositivo inhibidor para el sistema de vision embarcado en un vehlculo, esta adaptado para detectar la trayectoria que sigue el vehlculo dentro de una predeterminada zona e interferir temporalmente el funcionamiento del sistema deThe inhibitor device for the vision system embarked on a vehicle is adapted to detect the trajectory of the vehicle within a predetermined area and temporarily interfere with the operation of the vehicle system.
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vision embarcado en el vehlcuio, el cual es un dispositivo aereo no tripulado UAV.vision embarked on the vehicle, which is an UAV unmanned aerial device.
El dispositivo inhibidor esta configurado para emitir una perturbacion destinada a interferir el normal funcionamiento del sistema de vision embarcado. Consecuentemente, el dispositivo inhibidor no esta configurado para interferir el funcionamiento de otros sistemas embarcados en el dispositivo UAV y/o el vuelo del propio dispositivo UAV.The inhibitor device is configured to emit a disturbance intended to interfere with the normal operation of the on-board vision system. Consequently, the inhibitor device is not configured to interfere with the operation of other systems embedded in the UAV device and / or the flight of the UAV device itself.
Por lo tanto, el inhibidor persigue impedir exclusivamente la captura de imagenes por medio del sistema de vision embarcado en el del dispositivo UAV, manteniendo la integridad del propio dispositivo UAV al mismo tiempo.Therefore, the inhibitor seeks to prevent the capture of images exclusively by means of the vision system embedded in the UAV device, while maintaining the integrity of the UAV device at the same time.
El dispositivo inhibidor del sistema de vision embarcado en el dispositivo UAV emplazable dentro de una predeterminada zona objeto de protection; comprende una unidad apuntadora para recibir datos asociados a la trayectoria y vector velocidad del dispositivo UAV detectado dentro de la predeterminada zona objeto de proteccion; y suministra instrucciones para mover y orientar una unidad inhibidora hacia el dispositivo UAV.The vision system inhibitor device shipped on the UAV device that can be placed within a predetermined area of protection; it comprises a pointing unit for receiving data associated with the trajectory and velocity vector of the UAV device detected within the predetermined area of protection; and provides instructions for moving and orienting an inhibitor unit towards the UAV device.
La unidad inhibidora emite una senal inhibidora hacia el dispositivo UAV para interferir el correcto funcionamiento del sistema de vision del dispositivo UAV. La senal inhibidora es del tipo radiation IR focalizada, rayo LASER o similar.The inhibitor unit emits an inhibitor signal to the UAV device to interfere with the correct functioning of the vision system of the UAV device. The inhibitory signal is of the focused IR radiation type, LASER ray or similar.
El dispositivo inhibidor esta conectado a traves de una red local a una unidad procesadora y al menos a un sensor optico el cual esta localizado dentro de la predeterminada zona objeto de proteccion.The inhibitor device is connected through a local network to a processing unit and at least to an optical sensor which is located within the predetermined area of protection.
El conjunto de sensores opticos observan el espacio aereo dentro de la predeterminada zona objeto de proteccion y transmiten trenes continuos de senales de detection correspondiente a la presencia del vehiculo dentro de la predeterminada zona objeto de proteccion.The set of optical sensors observe the air space within the predetermined area of protection and transmit continuous trains of detection signals corresponding to the presence of the vehicle within the predetermined area of protection.
Los trenes continuos de senales de deteccion son transmitidos hacia la unidad procesadora que ejecuta un procedimiento de triangulacion de calculo de la trayectoria y vector velocidad del vehiculo. Los datos calculados de trayectoria y vector velocidad del vehiculo son transmitidos hacia la unidad apuntadora.Continuous trains of detection signals are transmitted to the processing unit that executes a triangulation procedure for calculating the trajectory and vehicle speed vector. The calculated trajectory and vehicle speed vector data are transmitted to the pointing unit.
Breve enunciado de las figurasBrief statement of the figures
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Una explication mas detallada de la invention se da en la description que sigue y que se basa en las figuras adjuntas:A more detailed explanation of the invention is given in the description that follows and which is based on the attached figures:
La figura 1 muestra una vista general simplificada de un conjunto inhibidor de un sistema de vision optico embarcado en un dispositivo aereo no tripulado UAV;Figure 1 shows a simplified overview of an inhibitor assembly of an optical vision system shipped in an UAV unmanned aerial device;
La figura 2 muestra una vista detallada del dispositivo inhibidor propiamente dicho comprendiendo una unidad apuntadora y una unidad inhibidora,Figure 2 shows a detailed view of the inhibitor device itself comprising a pointing unit and an inhibitor unit,
La figura 3 muestra una vista en una planta y en un alzado los angulos de elevation y azimut definidos para el dispositivo inhibidor; yFigure 3 shows a plan view and elevation elevation and azimuth angles defined for the inhibitor device; Y
La figura 4 muestra un diagrama de flujo con las etapas para determinar los angulos de apuntamiento del dispositivo inhibidor a partir de las mediciones realizadas por una pluralidad de sensores opticos.Figure 4 shows a flow chart with the steps for determining the pointing angles of the inhibitor device from measurements made by a plurality of optical sensors.
DescriptionDescription
En relation ahora con la figura 1 donde se muestra un conjunto inhibidor 1 configurado para inhabilitar temporalmente un sistema de vision embarcado en un dispositivo aereo 5 no tripulado UAV, cuando el dispositivo UAV 5 esta sobrevolando una predeterminada zona objeto de protection o vigilada.In relation now to Figure 1 where an inhibitor assembly 1 is shown configured to temporarily disable a vision system embarked on an UAV 5 unmanned aerial device, when the UAV device 5 is flying over a predetermined area of protection or monitored.
Un dispositivo inhibidor 1 esta conectado a traves de una red local a una unidad procesadora 3 a una pluralidad de sensores opticos 2 distribuidos por la predeterminada zona vigilada y los sensores opticos 2 son responsables de observar el espacio aereo cercano.An inhibitor device 1 is connected through a local network to a processing unit 3 to a plurality of optical sensors 2 distributed over the predetermined monitored area and the optical sensors 2 are responsible for observing the nearby airspace.
La predeterminada zona vigilada es la zona en la cual se desea evitar que el dispositivo UAV 5 capture imagenes de objetos tal como personas por medio del sistema de vision embarcado en un dispositivo aereo 5 no tripulado UAV.The predetermined monitored area is the area in which it is desired to prevent the UAV 5 device from capturing images of objects such as persons by means of the vision system embarked on an UAV unmanned aerial device 5.
Cuando el dispositivo aereo 5 no tripulado UAV entra dentro del area de cobertura de un sensor optico 2, este realiza un seguimiento del dispositivo UAV 5 y genera un tren continuo de senales de detection correspondiente a la presencia del dispositivo UAV 5 sobrevolando el area de cobertura del sensor optico 2. El area de cobertura coincide total o parcialmente con la predeterminada zona vigilada.When the UAV unmanned aerial device 5 enters the coverage area of an optical sensor 2, it tracks the UAV 5 device and generates a continuous train of detection signals corresponding to the presence of the UAV 5 device flying over the coverage area of the optical sensor 2. The coverage area coincides totally or partially with the predetermined monitored area.
El tren de senal de detection es transmitido desde el sensor optico 2 a una unidad procesadora 3 que recibe el tren de senales de detection y el procesador 3 ejecuta un procedimiento de triangulacion para calcular la trayectoria y vector velocidad delThe detection signal train is transmitted from the optical sensor 2 to a processing unit 3 that receives the detection signal train and the processor 3 executes a triangulation procedure to calculate the trajectory and velocity vector of the
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dispositivo UAV 5.UAV device 5.
El procesador 3 esta conectado al dispositivo inhibidor 4 que comprende una unidad apuntadora 6 y una unidad inhibidora 7 propiamente dicha.The processor 3 is connected to the inhibitor device 4 comprising a pointing unit 6 and an inhibitor unit 7 itself.
La unidad apuntadora 6 recibe desde el procesador 3 los datos asociados a la trayectoria y vector velocidad del dispositivo UAV 5 que esta sobrevolando la predeterminada zona vigilada. La unidad apuntadora 6 esta conectada a la unidad inhibidora 7 para mover y desplazar la unidad inhibidora 7 hacia al menos un punto de la trayectoria del dispositivo UAV 5, de manera que la unidad inhibidora 7 realiza un seguimiento del dispositivo UAV 5 mientras sobrevuela la predeterminada zona vigilada.The pointing unit 6 receives from the processor 3 the data associated with the trajectory and velocity vector of the UAV device 5 which is flying over the predetermined monitored area. The pointing unit 6 is connected to the inhibitor unit 7 to move and move the inhibitor unit 7 towards at least one point of the trajectory of the UAV device 5, so that the inhibitor unit 7 tracks the UAV device 5 while flying over the predetermined guarded area
Una vez que la unidad inhibidora 7 ha sido desplazada a la trayectoria del dispositivo UAV 5; la unidad apuntadora activa la unidad inhibidora 7 para emitir una senal inhibidora del tipo radiacion IR focalizada y/o rayo LASER; estando la senal inhibidora adaptada para inhabilitar o interferir en el sistema de vision del dispositivo UAV 5.Once the inhibitor unit 7 has been displaced to the trajectory of the UAV device 5; the pointing unit activates the inhibitor unit 7 to emit an inhibitor signal of the focused IR radiation type and / or LASER beam; the inhibitory signal being adapted to disable or interfere with the vision system of the UAV 5 device.
Consecuentemente, la unidad inhibidora 7 realiza un seguimiento del dispositivo UAV 5 mientras esta volando sobre la predeterminada zona vigilada y mientras realiza el seguimiento del dispositivo UAV 5, emite la senal inhibidora para inhabilitar el sistema de vision del dispositivo UAV 5.Consequently, the inhibitor unit 7 tracks the UAV 5 device while it is flying over the predetermined monitored area and while it tracks the UAV 5 device, it emits the inhibitor signal to disable the vision system of the UAV 5 device.
El seguimiento que realiza el dispositivo inhibidor 4 del dispositivo UAV 5 volando la predeterminada zona vigilada es realizado gracias a la informacion obtenida por la pluralidad de sensores opticos 2 y al calculo de la trayectoria y vector velocidad que realiza el procesador 3 en base a la informacion recibida desde los sensores opticos 2.The monitoring carried out by the inhibitor device 4 of the UAV device 5 flying the predetermined monitored area is carried out thanks to the information obtained by the plurality of optical sensors 2 and the calculation of the trajectory and speed vector performed by the processor 3 based on the information received from the optical sensors 2.
El dispositivo inhibidor 4 mantiene el seguimiento de la trayectoria del dispositivo UAV 5 desde el momento que es identificado dentro de la predeterminada zona vigilada hasta que la abandona.The inhibitor device 4 keeps track of the trajectory of the UAV device 5 from the moment it is identified within the predetermined monitored area until it leaves it.
Los sensores opticos 2 son ensamblables sobre plataformas fijas o moviles, de tal forma que resulte sencillo distribuirlos sobre la predeterminada zona a vigilar.The optical sensors 2 are assembled on fixed or mobile platforms, so that it is easy to distribute them over the predetermined area to be monitored.
El conjunto de sensores opticos 2 proporciona constantemente imagenes de la predeterminada zona vigilada, las cuales son transmitidas al procesador 3 para ser analizadas por la inteligencia del procesador 3.The set of optical sensors 2 constantly provides images of the predetermined monitored area, which are transmitted to the processor 3 to be analyzed by the intelligence of the processor 3.
El procesador 3 esta configurado para recibir y analizar en tiempo real un elevadoProcessor 3 is configured to receive and analyze in real time a high
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numero de imagenes captadas por los sensores opticos 2 y, una vez que las imagenes han sido analizadas, suministrar datos de trayectoria y vector velocidad del dispositivo UAV 5, que vuela sobre la predeterminada zona vigilada.number of images captured by the optical sensors 2 and, once the images have been analyzed, provide trajectory data and velocity vector of the UAV 5 device, which flies over the predetermined monitored area.
Cuando el procesador 3 identifica, en base al analisis de las imagenes recibidas, la presencia de un dispositivo UAV 5 volando en la predeterminada zona vigilada, su senal se triangula mediante las lecturas angulares obtenidas por al menos dos sensores opticos 2.When the processor 3 identifies, based on the analysis of the received images, the presence of a UAV device 5 flying in the predetermined monitored area, its signal is triangulated by the angular readings obtained by at least two optical sensors 2.
Cada sensor optico 2 proporciona una lectura angular de azimut y elevacion en coordenadas locales. Cada sensor optico 2 se encuentra situado en coordenadas conocidas (xi,yi,zi) y proporciona mediciones de azimut ai y elevacion pi.Each optical sensor 2 provides an angular reading of azimuth and elevation in local coordinates. Each optical sensor 2 is located at known coordinates (xi, yi, zi) and provides measurements of azimuth ai and elevation pi.
El procesador 3 traduce los datos de las lecturas recibidas a valores de posicion y velocidad instantaneos del dispositivo UAV 5 utilizando un Filtro de Kalman Extendido. El procesador 3, basandose en las mediciones angulares recibidas, es capaz de determinar la posicion y el vector velocidad del dispositivo UAV 5, al mismo tiempo que proporciona una estimacion de la incertidumbre asociada al resultado.The processor 3 translates the data from the readings received to instantaneous position and speed values of the UAV 5 device using an Extended Kalman Filter. The processor 3, based on the angular measurements received, is able to determine the position and velocity vector of the UAV 5 device, while providing an estimate of the uncertainty associated with the result.
La unidad apuntadora 6 recibe los datos de azimut aj y elevacion pj a los que debe girar la unidad inhibidora 7 para quedar asl apuntando al dispositivo UAV 5. El dispositivo inhibidor 4, ubicado en lugar conocido (xj,yj,zj), puede realizar una adquisicion del dispositivo UAV 5 por medidas de correccion que realiza la unidad apuntadora 6, debido a que incluye una unidad adquisidora de imagenes con gran capacidad de zoom. Las mediciones obtenidas por esta unidad adquisidora permiten llevar a cabo un apuntamiento de mayor precision y corregir errores existentes en la medicion proporcionada por el procesador 3.The pointing unit 6 receives the azimuth aj and elevation data pj to which the inhibitor unit 7 must turn to remain pointing to the UAV device 5. The inhibitor device 4, located in a known place (xj, yj, zj), can perform an acquisition of the UAV 5 device for correction measures carried out by the pointing unit 6, because it includes an image acquisition unit with a large zoom capability. The measurements obtained by this acquiring unit allow to carry out a more precise aiming and correct existing errors in the measurement provided by the processor 3.
Consecuentemente, la unidad apuntadora 6 orienta a la unidad inhibidora 7 orientable y, ademas, activa dicha unidad inhibidora 7 para que emita la senal inhibidora LASER y/o IR procediendo a cegar temporalmente los sistemas de vision del dispositivo UAV 5, protegiendo de esta manera la privacidad del usuario del conjunto inhibidor 1 sin ocasionar danos flsicos al dispositivo UAV 5.Consequently, the pointing unit 6 orients the orientable inhibitor unit 7 and, in addition, activates said inhibitor unit 7 so that it emits the LASER and / or IR inhibitor signal by temporarily blinding the vision systems of the UAV device 5, thus protecting the privacy of the user of the inhibitor set 1 without causing physical damage to the UAV 5 device.
Una vez, ha sido activada la unidad inhibidora 7, mediante la activacion del emisor LASER o un emisor IR focalizado, el sistema de vision del dispositivo UAV 5 es cegado. La unidad inhibidora 7 es mantenida activada hasta que el dispositivo UAV 5 abandona la zona vigilada.Once, the inhibitor unit 7 has been activated, by activating the LASER emitter or a focused IR emitter, the vision system of the UAV 5 device is blinded. The inhibitor unit 7 is kept activated until the UAV 5 leaves the monitored area.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES201530179A ES2564741B1 (en) | 2015-02-13 | 2015-02-13 | Inhibitor device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ES201530179A ES2564741B1 (en) | 2015-02-13 | 2015-02-13 | Inhibitor device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| ES2564741A1 ES2564741A1 (en) | 2016-03-28 |
| ES2564741B1 true ES2564741B1 (en) | 2017-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| ES201530179A Active ES2564741B1 (en) | 2015-02-13 | 2015-02-13 | Inhibitor device |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2696838A1 (en) * | 1978-08-03 | 1994-04-15 | Alsthom Cge Alcatel | Device for pointing a moving target. |
| US20070103552A1 (en) * | 2005-11-10 | 2007-05-10 | Georgia Tech Research Corporation | Systems and methods for disabling recording features of cameras |
| US8581771B2 (en) * | 2009-07-28 | 2013-11-12 | The United States Of America As Represented By The Secretary Of The Navy | Scene illuminator |
| US8833231B1 (en) * | 2012-01-22 | 2014-09-16 | Raytheon Company | Unmanned range-programmable airburst weapon system for automated tracking and prosecution of close-in targets |
| US9319641B2 (en) * | 2013-07-24 | 2016-04-19 | The Boeing Company | Controlling movement of a camera to autonomously track a mobile object |
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