KR102191927B1 - An auto aimed shooting turret - Google Patents

Abstract

The present invention relates to a system for preventing an invasion of an object using an automatically aimed shooting turret having a launching means launching a projectile. The system for preventing an invasion of an object has a plurality of monitoring cameras installed around a protective area to control the shooting of the automatically aimed shooting turret so as to face a position of the object calculated from the plurality of monitoring cameras, thereby further decreasing damage from the object.

Description

An auto aimed shooting turret}

The present invention relates to an automatic aiming shooting turret, and more particularly, to an automatic aiming shooting gun tower for preventing harmful assistants from entering a protected area or for crime prevention of military facilities.

Since the 1970s, Korea has undergone rapid industrialization and urbanization, and a number of environmental destruction, including forest damage and river pollution, has resulted in the loss of habitat and food for wild birds, leading to a decrease in their population. Became.

As the 1990s passed, awareness of the environment increased, and as mountains and rivers began to be restored, the habitats and prey of wild birds became abundant, and the number of them began to increase rapidly.However, humans have already taken away the habitats of wild birds and managed to cover many areas. In the occupied situation, as the number of wild birds increases again, the damage of fruit trees by magpies, damage to the field by pigeons, damage to crops by mammals such as wild boars, etc. In particular, the risk of safety accidents during takeoff and landing of airplanes caused by increased wild birds at airports is increasing, and the scale of damage is also increasing.

In this way, various combat means are mobilized to combat wild birds that damage human life, livestock, poultry, aircraft and buildings, agriculture, forestry, and fisheries, and representative methods of combating artificial sound and animal behavior There is an approach.

First, as for the artificial sound generation methodology, propane gas explosion or explosive sound caused by explosion of gunpowder is mainly used on the runway of airplanes, but it cannot be used in residential areas due to noise, and the flag sound generation method is an artificial sound based on modern technology, and it is viewed as waving a flag. It is a method of dispelling birds with just the sound of a flag by composing stimulus and complex stimulus.

In addition, the distress call (distress signal) method of the animal behavioral approach is a method that uses a stimulus that causes an evasion reaction, which is a negative voice emitted when a bird is chased by a natural enemy or caught. ) Is different, so the effect can be enhanced only by using a distress call (distress signal) suitable for the target bird to combat birds, and the alarm call (warning sound) is a sound that is emitted when a bird finds a natural enemy and is in danger. Since it is a unique voice that transcends the species of birds, the effect is high, but there is a disadvantage that it is difficult to commercialize it because it is difficult to record with a voice with a high alarm call pitch and a narrow frequency band.

Other methods include a natural enemy (hawk) balloon using visual stimuli, a glacial glacial mountain, etc., and a structural transformation method to prevent building magpies on steel towers of KEPCO, a pinwheel or mirror using visual, shiny rotors, and model snakes. There are ways to use such as. These methods have the disadvantage that the repelling effect is halved because the harmful tide easily adapts to the environment and sound because it continuously uses the generated sound when the repelling sound is used, and the methods using the sense of smell, touch and sight have temporary effects, but Since it is highly affected by the environment (foreign substances such as rain, sunlight, dust, etc.), there is a disadvantage that the algae repelling effect decreases after a certain period of time even when applied to crops or KEPCO steel towers.

In order to control the harmful tide as described above, various devices for combating are currently disclosed, and due to the limitation in that it is difficult for an administrator to monitor a wide protected area for 24 hours, it has been recently prepared to automate in various forms. However, the automated combat systems have to consider the case where the target accessing the protected area is not a harmful assistant, so there is a limitation in the combat means that can be used.

Accordingly, Korean Laid-Open Patent Publication No. 10-2012-0053108 (“Object detection method for wild boar monitoring system”) discloses a technology for determining whether an approaching target is a harmful assistant. However, in the case of the above technology, only the determination as to whether it is a hazardous tide is made, and it is difficult to determine information on the location of the hazardous tide.

Korean Registered Patent Publication No. 10-2019340 (“Complex sensor-based unmanned constant monitoring system for moving objects) Korean Patent Publication No. 10-2012-0053108 (“Object detection method for wild boar monitoring system”)

The present invention was conceived to solve the above problems, and an object of the present invention relates to an automatic aiming shooting turret equipped with a projectile launching means in order to combat an approaching harmful assistant or a person through physical means.

In order to achieve the object as described above, the present invention provides an automatic aiming shooting turret for combating an object approaching a protected area, comprising: a fixing part fixed on the ground; A first rotating body rotated on a two-dimensional plane parallel to the ground on the fixed part; A second rotating body coupled to the first rotating body and rotating on a two-dimensional plane perpendicular to the ground; And a launching means formed on the second rotating body to launch a projectile to the outside.

In addition, the present invention is a first image acquisition unit formed on the first rotating body; And a second image acquisition unit formed on the second rotating body, wherein when the object detected in the image of the first image acquisition unit or the second image acquisition unit is detected within a certain radius of the image image, the launch means It can be made to fire projectiles out of this.

In addition, the present invention is a sensor means for measuring the distance of the object; And a night camera for detecting an image in a low-illuminance environment.

In addition, the present invention includes a first driving unit including a motor for applying rotational power to the first rotating body; A second driving unit including a motor for applying rotational power to the second rotating body; And a control module for controlling the rotation angle of the first driving unit and the second driving unit, wherein each motor of the first driving unit and the second driving unit is composed of a servo motor, and each of the first driving unit and the second driving unit A motor encoder that senses the rotation angle of the servo motor may be formed.

The object intrusion prevention system of the present invention for achieving the above object comprises: an automatic aiming shooting turret installed around a protected area; Doedoe installed around the protection area, a plurality of surveillance cameras formed to be rotatable about the vertical direction; And a main controller configured to receive an image from the plurality of surveillance cameras and detect object information in the image, and to control the automatic aiming shooting turret and the plurality of surveillance cameras, wherein the main controller includes a plurality of surveillance cameras. When an object is detected by any one of the cameras, at least one other surveillance camera rotates in the direction in which the object is detected, and two or more surveillance cameras are provided to face the object, and a surveillance camera facing the object The position of the object may be calculated through the rotation angle between them.

In addition, a surveillance camera in which an object is detected among the plurality of surveillance cameras may be configured to track the object.

In addition, when an object is detected by two or more surveillance cameras among the plurality of surveillance cameras, the main control unit, relative to the automatic aiming shooting turret, of the surveillance camera at which the object is detected, and the rotation of the surveillance camera relative to the aligned orientation. Through the data calculated through the angle, it is possible to control the rotation angle of the automatic aiming shooting turret.

The automatic aiming shooting turret of the present invention having the configuration as described above, including a launching means for firing a projectile, prevents the object from approaching the protected area by physical impact, and prevents harmful assistants or people from approaching There is an advantage that immediate action can be taken to prevent damage caused by it.

In this case, the present invention has the advantage that a more precise hit can be made by determining the location of the object through the image acquisition unit mounted on a plurality of surveillance cameras or automatic aiming shooting turrets. Accordingly, the present invention has an advantage in that it is possible to prevent accidents by preventing accidents by preventing accidents from occurring, in addition to economic advantages, as it is possible to further reduce waste of projectiles by preventing misfire.

1 is a block diagram of an object intrusion prevention system according to an embodiment of the present invention.
Figure 2 is a perspective view of an automatic aiming shooting turret according to an embodiment of the present invention.
3 is a block diagram of an object intrusion prevention system according to an embodiment of the present invention.
Figure 4 is a block diagram of the automatic aiming shooting turret control according to an embodiment of the present invention.
5 and 6 are block diagrams of an object intrusion prevention system using a plurality of surveillance cameras according to an embodiment of the present invention.

Hereinafter, an object intrusion prevention system according to the present invention will be described in detail with reference to the accompanying drawings. The drawings introduced below are provided as examples in order to sufficiently convey the spirit of the present invention to those skilled in the art. Therefore, the present invention is not limited to the drawings presented below and may be embodied in other forms. Also, throughout the specification, the same reference numbers indicate the same elements.

If there is no other definition in the technical terms and scientific terms used at this time, they have the meanings commonly understood by those of ordinary skill in the art to which this invention belongs, and the subject matter of the present invention is unnecessary in the following description and accompanying drawings. Descriptions of known functions and configurations that may be blurred will be omitted.

1 and 2 are related to an object intrusion prevention system, Fig. 1 is a configuration diagram of the system, Fig. 2 is a perspective view of the automatic aiming shooting turret, respectively.

Referring to FIG. 1, the object intrusion prevention system of the present invention may include an automatic aiming shooting turret 100 to prevent the intrusion of objects 20 such as harmful assistants and people in the protection area 10. . At this time, the automatic aiming shooting turret 100 may be provided to rescue the protection area 10 when the object 20 invades within a certain radius or surveillance range. Here, the object 20 may include terrestrial wild animals such as wild boar and elk, or various birds, people, etc., and in the case of the protected area 10, to protect in various industries such as crops, forests, livestock, etc. It may be a target. The object intrusion prevention system of the present invention may further include a single or a plurality of surveillance cameras 200, and the automatic aiming shooting turret 100 and the surveillance camera 200 are compatible with each other to provide more effective protection. .

A detailed configuration of the automatic aiming shooting turret 100 will be described with reference to FIG. 2 as follows. The automatic aiming shooting turret 100 includes a fixing part 110 fixed on the ground, a first rotating body 120 rotating on the fixing part 110, and a first rotating body 120 rotating on the first rotating body 120. It may include a two-rotation body 140. Here, the first rotation body 120 may include a rotation center axis perpendicular to the ground so as to rotate on a plane parallel to the ground, and the second rotation body 140 rotates on a plane perpendicular to the ground. It may include parallel rotational center axes. Here, the linearity of the rotation center axis of the second rotation body 140 may be changed according to the rotational state of the first rotation body 120, so the linear line set on a virtual plane parallel to the ground I can. Side-by-side here may include inclined shapes that are not completely parallel.

The automatic aiming shooting turret 100 may include a first driving unit 171 and a second driving unit 172 for applying power to rotate to the first rotating body 120 and the second rotating body 140. Each of the first driving unit 171 and the second driving unit 172 may be formed with a motor to be coupled to the ends of the rotational center axis of the first and second rotational bodies 120 and 140. Here, each motor of the first driving unit 171 and the second driving unit 172 is configured as a servo-motor, so that the rotation angle of the rotation center axis can be adjusted in detail. In addition, the first driving unit 171 and the second driving unit 172 may further include a motor encoder to detect the angle of the rotational central axis that is finely adjusted by the servo motor, and the motor encoder is the first driving unit 171 And the second driving unit 172 is coupled to the gear side or the rotation center axis of the first rotation body 120 and the second rotation body 140 to detect the rotation angle.

A barrel 150 may be mounted on the second rotating body 140, and the barrel 150 may include a launching means 151 for firing the projectile to the outside. Here, the present invention can prevent further access by applying a physical blow to an object such as a harmful assistant that has invaded into the protected area by using the projectile.

The present invention may further include a connecting member 130 connecting the second rotating body 140 and the first rotating body 120. Here, the connecting member 130 may be formed in a “c” shape with an open area facing upward, and may be coupled to the upper end of the first rotating body 120. The connecting member 130 may be formed to have a smaller diameter toward the top, and a rotation center axis of the second rotating body 140 connected to the second driving part 172 may pass through the upper side.

In the present invention, a first image acquisition unit 131 and a second image acquisition unit 152 may be formed on each of the first rotation body 120 and the second rotation body 140, and in FIG. 2, the first It shows that the image acquisition unit 131 may also be formed in the connection member 130. The first image acquisition unit 131 and the second image acquisition unit 152, based on a set direction, the external image observed from the direction in which the first rotation body 120 and the second rotation body 140 are viewed. You can shoot.

The present invention is provided with the auxiliary mounting body 160 rotating together on the first rotating body 120, it is possible to sense a variety of information from the outside. Here, the auxiliary mounting body 160 may be equipped with a sensor means 161 including a displacement detection sensor or an environment measurement sensor, and a night camera 162 provided to photograph the outside even at night. In addition, the present invention may further include sound means for outputting sound to the outside, laser output means, lighting means, etc., as well as the auxiliary mounting body 160 is a second rotating body (not the first rotating body 120) 140) may be coupled to the phase.

The present invention may further include a control module 170 for controlling the entire device by supplying power to the above-described configurations or inputting and outputting information, and device control through the control module 170 is shown in FIG. 4 to be described later. It will be described in more detail.

3 and 4 relate to an object intrusion prevention system, FIG. 3 is a block diagram of the object intrusion prevention system, and FIG. 4 is a block diagram of the automatic aiming shooting turret control.

3, the target intrusion prevention system of the present invention may include an automatic aiming shooting turret 100 and a surveillance camera 200 as described above, and the automatic aiming shooting turret 100 and a monitoring camera 200 ), and may further include a main control unit 300 for data communication with the automatic aiming shooting turret 100 and the surveillance camera 200. In addition, the main control unit 300 may perform data communication with the user terminal 400 of the administrator.

4, the main control unit 300 may perform data communication with the control module 170 of the automatic aiming shooting turret 100, and the control module is an input/output module of the automatic aiming shooting turret 100 And, it is possible to control the driving unit overall. First, the input module of the automatic aiming shooting turret 100 may include the first image acquisition unit and the second image acquisition unit for acquiring an external image, a sensor means, and a night camera.

Here, the input module of the automatic aiming shooting turret 100 may photograph or measure various pieces of information and transmit them to the main control unit 300 through a communication means in the control module. The main control unit 300 may determine whether an object matching an object such as a harmful assistant is included in the received image. Here, the main control unit 300 first performs omnidirectional detection through an external monitoring camera, and the image acquisition unit of the input module determines the detailed location of the object when it is determined that the object is close through the monitoring camera. May be provided.

The output module of the automatic aiming shooting turret 100 may include a launching means for firing a projectile to the outside, an acoustic means for emitting sound to prevent the object from approaching, a laser output means, and a lighting means. Here, the main control unit 300 determines the detailed position of the object through the external surveillance camera and the image acquisition unit, as described above, and the launching means to face the detailed position through the first driving unit and the second driving unit. When adjusted, it can be made to fire the projectile outward. The sound means, laser output means, lighting means, etc. may be controlled to operate when the object is located at a distance greater than the effective distance of the launching means, or when the object is closer after the projectile is launched.

In addition, as described above, the first driving unit and the second driving unit are configured in which the launching means is adjusted to face an object such as a harmful assistant, and is inputted from the control module through the adjustment of the first rotating body and the second rotating body. The servomotor may be provided to precisely control the rotation angle by the control signal. Herein, the present invention can detect in real time the rotation angle of the servomotor through the encoder, and measure in real time whether a failure or poor control occurs, such as an idle rotation of the servomotor. At this time, when the control signal for the rotation angle input to the servo motor and the actual rotation angle of the rotation shaft sensed by the encoder are out of a certain range, it may be determined as a failure and a notification may be transmitted to the user.

In addition, the main control unit may transmit a signal indicating that an object has been detected to the user terminal of the administrator before transmitting the projectile launch signal through the launching means to the automatic aiming shooting turret. When there is no separate reply from the user terminal, it may be driven according to an automatically set algorithm, and the automatically set algorithm may include a process such as automatic firing after a certain period of time. At this time, an input module connected to the main control unit 300 may be formed in the user terminal, and the user can use the main control unit 300 to provide a first driving unit, a second driving unit, and an input module of the automatic aiming shooting turret 100. And it may be provided to directly operate the output module. Alternatively, as described above, the first driving unit and the second driving unit are provided to automatically track the object, and only control for the launching means may be provided.

5 and 6 are related to an object intrusion prevention system, and FIGS. 5 and 6 sequentially show a block diagram of an object intrusion prevention system using a plurality of surveillance cameras.

5, the object intrusion prevention system of the present invention may be aligned in the direction of the image acquisition unit and the surveillance camera 200 based on the projectile launch path of the automatic aiming shooting turret 100. Here, as shown in FIG. 5(a), the direction alignment may be provided so that the rotation angle is set in the same direction as the reference point based on the absolute orientation. In this case, the absolute orientation may be a reference point, or may be defined as different angles for the same direction. For example, assuming that the projectile generation path facing east is a 60-degree angle of 0 degrees, the surveillance camera may be set to 0 degrees or a different angle with respect to the east direction. When the automatic aiming shooting turret 100 and the surveillance camera 200 are fixedly installed on the ground, respectively, the relative positions for the plurality of surveillance cameras 200 around the automatic aiming shooting turret 100 are pre-inputted. I can. Here, the projectile launch path of the automatic aiming shooting turret 100 and the surveillance range of the surveillance camera 200 may be formed to be adjustable in three axes.

Referring to FIG. 6, the surveillance camera 200 monitors all directions, and an image captured by the surveillance camera 200 may be transmitted in real time to the main control unit. The main control unit may detect whether an object exists for the image received in real time, and when an object is detected in an image captured by one or more of the plurality of surveillance cameras 200, one or more other surveillance cameras The photographing may be performed centering on the area in which the surveillance camera 200 was photographing the object 200 has detected the object. Here, the main controller may control the surveillance camera 200 to face the target by transmitting a tracking signal in real time to the surveillance camera 200 that initially detects the target.

Referring to FIG. 6, when the other one or more surveillance cameras 200 also detect the object, two or more surveillance cameras 200 may capture an image facing the object. At this time, in the case of real-time tracking, at a certain point in time, the two surveillance cameras 200 are in a state in which rotation angles (a, b) are rotated from each other in the first direction aligned reference. Accordingly, the main control unit, through the relative position of the two surveillance cameras 200 relative to the automatic aiming shooting turret, and the rotation angle of the surveillance camera 200 relative to the aligned orientation, from the automatic aiming shooting turret to the object. Distance and direction can be calculated. The present invention can control the automatic aiming shooting turret 100 to face the object based on the calculated information.

In the present invention, the lens of the image acquisition unit is formed to have a longer focal length than the lens of the surveillance camera 200 so that the position control is performed more precisely through the image acquisition unit mounted on the controlled automatic aiming shooting turret 100. I can. Accordingly, the present invention has the advantage of controlling the launch path more precisely in the enlarged state.

In the above description, it has been described that the angle is controlled on a plane parallel to the ground, and in the case of control in the vertical direction perpendicular to the ground, it can be calculated by reflecting the vertical rotation angle. The automatic aiming shooting turret 100 can determine whether there are other obstacles in the path of the projectile by comparing the displacement value measured by the displacement sensor and the distance value calculated previously with the object before firing. have. When a difference between the calculated distance between the object and the calculated object is greater than a set error range than the displacement value measured by the displacement detection sensor, the automatic aiming shooting turret 100 and the surveillance camera 200 are controlled to track in real time. Can be. In this case, when the distance value and the displacement value are calculated within a preset error range in the real-time tracking process, the automatic aiming shooting turret 100 may control the projectile to be launched.

As described above, in the present invention, specific matters such as specific components and the like have been described with reference to the limited embodiment drawings, but this is provided only to help a more general understanding of the present invention, and the present invention is limited to the above-described embodiment. It is not, and those of ordinary skill in the field to which the present invention belongs can make various modifications and variations from this description.

Therefore, the spirit of the present invention is limited to the described embodiments and should not be determined, and all things having equivalent or equivalent modifications to the claims as well as the claims to be described later belong to the scope of the spirit of the present invention. will be.

10: protected area 20: hazardous assistant
100: automatic aiming gun tower
110: fixed part
120: first rotating body
130: connecting member 131: first image acquisition unit
140: second rotating member
150: barrel
151: launch means 152: second image acquisition unit
160: auxiliary vehicle
161: sensor means 162: night camera
170: control module
171: first driving unit 172: second driving unit
200: surveillance camera

Claims (7)

delete delete delete delete An automatic aiming shooting turret installed around the protected area to combat objects approaching the protected area;
Doedoe installed around the protection area, a plurality of surveillance cameras formed to be rotatable about the vertical direction; And
In the target intrusion prevention system comprising a main control unit for receiving an image from the plurality of surveillance cameras, detecting information of the target in the image, and controlling the automatic aiming shooting turret and the plurality of surveillance cameras,
The automatic aiming gun tower
A fixing part fixed on the ground;
A first rotating body rotated on a two-dimensional plane parallel to the ground on the fixed part;
A second rotating body coupled to the first rotating body and rotating on a two-dimensional plane perpendicular to the ground; And
It is formed on the second rotating body and includes a launching means for firing the projectile to the outside,
The main control unit,
When an object is detected by any one of a plurality of surveillance cameras, at least one other surveillance camera rotates in the direction in which the object was detected, and two or more surveillance cameras are provided to face the object,
Object intrusion prevention system, characterized in that the position of the object is calculated through the rotation angle between the object and the facing surveillance cameras.
The method of claim 5,
An object intrusion prevention system, characterized in that a surveillance camera in which an object is detected among the plurality of surveillance cameras tracks the object.
The method of claim 6,
When an object is detected by two or more surveillance cameras among the plurality of surveillance cameras,
The main control unit,
Through the data calculated through the relative position of the surveillance camera in which the object is detected relative to the automatic aiming shooting turret, and the rotation angle of the surveillance camera relative to the aligned orientation,
Object intrusion prevention system, characterized in that for controlling the rotation angle of the automatic aiming shooting turret.

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