KR102292117B1 - Drone control system and method for detecting and identifying of drone using the same - Google Patents

Abstract

The present invention relates to a drone control system including: detection devices detecting a flying object flying over a detection region or imaging the flying object; and a drone control device performing control such that an intruding flying object in the detection region is identified by analyzing a captured image or a detection signal of the detection devices, the flying object is identified and tracked in real time by controlling the imaging direction of at least one of the detection devices based on the target location information of the flying object, and the identified flying object is displayed on a display device. According to the present invention, detection shade area minimization, detection performance maximization, and detection rate improvement can be achieved. In addition, a micro target can be identified and tracked effectively.

Description

Drone control system and drone detection and identification method using the same

The present invention relates to a drone control system capable of detecting and identifying illegal drones and a drone detection and identification method using the same.

Recently, with the development of drone technology, the use of drones is rapidly increasing, but in proportion to this, illegal or terrorist acts using drones also increase, causing serious damage. For example, various dangerous cases such as terrorism using drones, invasion of privacy, human casualties, and illegal flight within infrastructure are occurring, and the need for a protection system is strongly emphasized accordingly.

In particular, with the proliferation of cutting-edge intelligent drones, there is a need to build a drone defense system in national infrastructure and military facilities, but there is no integrated system that can detect and identify drone threats in real time and respond in real time.

And, in recent years, the size of the drone has been miniaturized and the operating speed has been improved. Therefore, it is necessary to improve the detection performance of the detection system in order to defend against this, but in order to effectively respond to the threat of micro drones, an environment capable of detecting and identifying from a distance as much as possible in real time and then responding in real time is required.

In addition, the existing detection equipment detects the drone by transmitting and receiving radio waves with radar, but the existing detection equipment has strong radio wave straightness and low diffraction rate of obstacles, so the line of sight (LOS ?? Line of Sight) of the detector is lower If it is not secured, there is a difficulty in generating a detection shadow area.

Matters described in this background section are prepared to enhance understanding of the background of the invention, and may include matters that are not already known to those of ordinary skill in the art to which this technology belongs.

The present invention detects a flying object flying in the sky of the detection area by interlocking a plurality of detection devices to minimize the detection shadow area, and controls the shooting direction of the detection device to identify and track the flying object in real time. We would like to propose a system and a drone detection and identification method using the same.

A drone control system according to an embodiment of the present invention detects a flying object flying over a detection area or analyzes a plurality of detection devices for photographing the flying object, and detection signals or captured images of the plurality of detection devices. Identifies the flying object that has entered the detection area, and controls the shooting direction of at least one of the plurality of detection devices based on the target location information of the flying object to identify and track the flying object in real time, and the identified flying object and a drone control device that controls to display on a display device.

The plurality of detection devices detect a flying object flying in the sky of the detection area through an electromagnetic wave, and receive the electromagnetic wave reflected from the flying object to identify the distance, direction, or altitude of the flying object. It may include a device, and a second detection device for tracking the signal source of the equipment emitting a radio frequency (Radio Frequency) and detecting a distance and a direction from a flying object flying over the detection area.

The plurality of detection devices may include an optical camera, a thermal camera, and a pan-tilt, and may further include a third detection device for photographing the flying object with the optical camera and the thermal camera by rotating the pan-tilt. .

The drone control device controls the shooting direction of the third detection device in a plurality of steps to photograph the flying object based on the target position information of the flying object, wherein the third detection device moves the flying object Accordingly, it may include a control control module for controlling to track the flying object in real time.

The drone control device receives the detection signal and target location information of a flying object flying in the sky of the detection area from the first detection device and the second detection device, and image data obtained by photographing the detection area from the third detection device A data transmission/reception module for receiving and transmitting a control signal for controlling the third detection device to the third detection device, and analyzing the detection signals and image data of the plurality of detection devices to fly the detection area of the flying object It may include an analysis module for estimating the direction and distance of the flying object by identifying the type and analyzing the target location information.

The analysis module learns at least one of the size, shape, flight path characteristic, surface homogeneity, or wing motion of the flying object for each type of flying object, and compares the learning result with the characteristics of the flying object entering the detection area It is possible to identify the type of the flying object by analysis.

The drone control device includes a zone setting and alarm control module for dividing the detection area into a plurality of sections to set a plurality of geofencing zones and a risk level, and a display device when the flying object invades the geofencing zone may further include a display control module for controlling to display the alarm in a different color for each section.

The drone control device, when receiving target location information from the first and second detection devices, rotates the pan/tilt of the third detection device at high speed to capture the target in the wide view image of the third detection device and a detection device control module for controlling to capture the target in the central region of the narrow view image of the third detection device by precisely rotating the pan and tilt when the image is clicked.

The detection device control module displays the target detected by the detection device in the line of sight and the center of the image, and controls the first and second detection devices and the third detection device to track according to the moving direction of the target, but zoom in (zoom in) ) function and the high-speed autofocus function to track the target, and control to simultaneously display a wide view image and a narrow view image of the third detection device.

A drone detection and identification method according to an embodiment of the present invention comprises the steps of receiving a detection signal and target location information of a flying object flying in the sky of a detection area from first and second detection devices, based on the target location information 3 The step of controlling to photograph the flying object by rotating the pan and tilt of the detection device in multiple stages, analyzing the detection signal of the first and second detection devices and the photographed image of the third detection device to identify the type of the flying object step, and when the flying object is an illegal drone, it is tracked along the moving direction of the flying object and displayed on a map, and when the location of the flying object enters a specific section, a preset alarm is output for each set section. including the steps of

According to the present invention, a flying object illegally intruding into the sky of the detection area is detected by using a variety of different detection devices at the same time, and the shooting direction of the detection device is controlled based on the target location information of the flying object to fly By identifying and tracking objects in real time, it provides an environment that can improve detection rates by minimizing detection shadow areas and maximizing detection performance.

In addition, the present invention controls the shooting direction of the third detection device in a plurality of steps based on the target position information of the flying object detected by the first detection device and the second detection device, and the third detection device is the flying object By controlling to track the flying object in real time along the moving direction of

In addition, in the present invention, when the target location information is received from the first and second detection devices, the pan/tilt of the third detection device is rotated at high speed to capture the target in a wide view image, and when the image is clicked, the pan By controlling the tilt to precisely rotate to capture the target in the central area of the narrow view image, it provides an environment that can accurately capture a small-sized target from a long distance in real time.

In addition, the present invention controls the first and second detection devices and the third detection device to track according to the moving direction of the target, and tracks the target by repeatedly using a zoom-in function and a high-speed auto-focus function, It provides an environment for effectively identifying and tracking microscopic targets.

In addition, the present invention uses an artificial intelligence algorithm to learn the size, shape, flight path characteristics, surface homogeneity, and wing motion of a flying object for each type of flying object, and the learning result and the flying object entering the detection area By comparing and analyzing the characteristics of the flying object to identify the type of the flying object, it provides an environment that can minimize the false positive rate by effectively identifying the small drone from a distance of several kilometers.

In addition, the present invention divides the detection area into a plurality of sections, sets a plurality of geofencing zones and risk grades, establishes various response scenarios and standard operating procedures (SOP) according to illegal drone infiltration, and pre-defined In case of drone intrusion into an area, it provides an environment that can respond in real time to illegal drone intrusion by warning and alarming step by step according to the risk level.

In addition, the present invention outputs a deceptive signal to a specific flying object that has invaded the detection area to guide the specific flying object to a set safety zone, or emits a radio jamming frequency to a specific area to fly the flying object entering the specific area. It provides an environment that can effectively protect important national facilities from unauthorized drones.

1 is a diagram schematically illustrating a drone control system using a drone control device according to an embodiment of the present invention.
2 is a block diagram showing a schematic configuration of a drone control device according to an embodiment of the present invention.
3 is a block diagram showing a schematic configuration of a third detection device according to an embodiment of the present invention.
4 is a flowchart schematically illustrating a process of detecting a flying object entering a detection area, identifying an illegal drone, and tracking and neutralizing the illegal drone in real time according to an embodiment of the present invention.
5 is a flowchart schematically illustrating a process of searching and capturing a flying object in real time using a plurality of detection devices according to an embodiment of the present invention.
Figure 6 is a narrow-view image by rotating the pan-tilt of the third detection device at high speed based on the target position information according to an embodiment of the present invention to capture the target in the optical-field image, and rotating the pan-tilt of the third detection device precisely. It is a flowchart briefly showing the process of capturing and displaying in the central area of the image.
7 is a flowchart schematically illustrating a process of learning the characteristics of each type of flying object according to an embodiment of the present invention, and comparing and analyzing the learned data when the flying object enters the detection area to identify the type of the flying object. .
8 is a view showing an example of learning the flight trajectory according to the type of the flying object and identifying the type of the flying object by comparing the learned flight trajectory and the flight trajectory of the flying object invading the detection area.
9 is a flowchart schematically illustrating a process of setting a detection area by dividing the detection area into a plurality of zones, tracking the movement path of an illegal drone, and outputting different alarms for each zone according to an embodiment of the present invention.
10 is a diagram illustrating an example of setting a plurality of zones according to distance, tracking the movement path of an illegal drone, and outputting alarms in different colors for each zone according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings.

Prior to this, the configurations shown in the embodiments and drawings described in this specification are only the most preferred embodiment of the present invention and do not represent all the technical spirit of the present invention, so they can be substituted at the time of the present application It should be understood that various equivalents and modifications may exist.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Since the size and thickness of each component shown in the drawings are arbitrarily indicated for convenience of description, the present invention is not necessarily limited to the bar shown in the drawings, and the thickness is enlarged to clearly express various parts and regions.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. have.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description of the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the embodiment, the detailed description thereof will be omitted.

Now, a drone control system using a drone control device according to an embodiment of the present invention and a drone detection and identification method using the same will be described in detail with reference to FIGS. 1 to 10 .

1 is a diagram schematically illustrating a drone control system using a drone control device according to an embodiment of the present invention. At this time, the drone control system 10 shows only a schematic configuration necessary for description according to an embodiment of the present invention, but is not limited to this configuration.

Referring to FIG. 1 , the drone control system 10 according to an embodiment of the present invention detects and identifies in real time an unauthorized flying object that has entered the detection area illegally, and prepares a response system that can respond immediately in case of an emergency provide an environment in which

In addition, the drone control system 10 according to an embodiment of the present invention includes a drone control device 100 , a plurality of detection devices 200 to 400 , a display device 500 , and a defense device 600 .

The drone control device 100 may detect a flying object illegally intruding into the sky of the detection area by using a plurality of detection devices 200 to 400 of different types at the same time. And, the drone control device 100 displays the data detected by the plurality of detection devices 200 to 400 on the display device 500 in real time, so that a small drone with a size of 40x40cm or less that invades from a distance of 3km to 5km is detected. It provides an environment that can surface and identify in real time.

In addition, the drone control device 100 may analyze the detection signals and captured images of the plurality of detection devices 200 to 400 to identify a flying object that has invaded the detection area. The drone control device 100 controls the shooting direction of the third detection device 400 in multiple stages based on the target position information of the flying object detected by the first and second detection devices 200 and 300 to control the flying object in real time. can be identified and tracked.

The plurality of detection devices 200 to 400 may detect a flying object flying over the detection area or photograph the flying object. Here, the first detection device 200 detects a flying object flying in the sky of the detection area through an electromagnetic wave, and receives the electromagnetic wave reflected from the flying object to identify the distance, direction, or altitude of the flying object can do. For example, the first detection device 200 may include a radar according to an embodiment of the present invention.

In addition, the second detection device 300 detects a flying object flying in the sky of the detection area by tracking the signal source of the equipment that emits a radio frequency, and estimates the distance and direction from the flying object. can For example, the second detection device 300 may be an RF scanner according to an embodiment of the present invention.

And, the third detection device 400 is composed of an optical camera, a thermal camera, and a pan-tilt, by rotating the pan-tilt can be photographed while tracking the flying object with the optical camera and the thermal camera. For example, the third detection device 400 may be an EO/IR camera according to an embodiment of the present invention.

Then, the defense device 600 outputs a deceptive signal to a specific flying object illegally intruding into the detection area to guide the specific flying object to a set safe area, or emits a radio jamming frequency to a specific area to enter the specific area. It may interfere with the flight of a flying object.

In this way, the drone control system 10 according to an embodiment of the present invention detects a flying object illegally invading the sky of the detection area by using a variety of different detection devices at the same time, and the target position of the flying object By controlling the shooting direction of the detection device based on the information to identify and track flying objects in real time, it provides an environment in which detection shadow areas can be minimized and detection performance can be maximized to improve detection rates.

2 is a block diagram showing a schematic configuration of a drone control device according to an embodiment of the present invention. In this case, the drone control device 100 only shows a schematic configuration necessary for description according to an embodiment of the present invention, but is not limited to this configuration.

Referring to FIG. 2 , the drone control device 100 according to an embodiment of the present invention analyzes the detection signals or captured images of the plurality of detection devices 200 to 400 to identify a flying object that has invaded the detection area. can In this case, the drone control device 100 according to an embodiment of the present invention may control the shooting direction of the third detection device 400 in multiple stages to identify the flying object in real time.

The drone control device 100 according to an embodiment of the present invention includes a control control module 110 , a data transmission/reception module 120 , an analysis module 130 , a detection device control module 140 , a zone setting and an alarm control module 150 , a display control module 160 , and a database 170 .

The control control module 110 controls the shooting direction of the third detection device 400 in a plurality of steps to photograph the flying object based on the target position information of the first and second detection devices 200 and 300, The third detection device 400 may control the operation of each part to track the flying object in real time along the moving direction of the flying object.

The data transmission/reception module 120 may receive a detection signal and target location information of a flying object flying over a detection area from the first detection device 200 and the second detection device 300 . In addition, the data transmission/reception module 120 receives image data obtained by photographing the detection area from the third detection apparatus 400 and transmits a control signal for controlling the third detection apparatus 400 to the third detection apparatus (400).

In addition, the data transmission/reception module 120 may include a data reception unit 122 and a signal transmission unit 124 according to an embodiment of the present invention.

The data receiving unit 122 receives the detection signal and target location information of the flying object flying in the sky of the detection area from the first detection device 200 and the second detection device 300, and the third detection device Image data obtained by photographing the detection area may be received from 400 .

And, the data receiving unit 122 stores the data received from the plurality of detection devices 200 to 400 in the database 170 so that the control and control module 110 can immediately extract and display it in real time, At the same time, it can be encrypted and stored on a physical disk.

The signal transmitter 124 may transmit a control signal for controlling the photographing direction of the third detection device 400 to the third detection device 400 . Also, the signal transmitter 124 may transmit various data to the display device 500 and the defense device 600 .

The analysis module 130 may analyze the detection signals and image data of the plurality of detection devices 200 to 400 to identify the type of the flying object flying in the detection area. In addition, the analysis module 130 may analyze the target location information detected by the plurality of detection devices 200 to 400 to estimate the direction and distance of the flying object.

For example, the analysis module 130 uses an artificial intelligence algorithm to learn at least one of the size, shape, flight path characteristic, surface homogeneity, or wing motion of a flying object for each type of flying object, and the learning result and the characteristics of the flying object entering the detection area can be compared and analyzed to identify the type of the flying object or to predict the flight path of the flying object.

In addition, the analysis module 130 may include an artificial intelligence analysis unit 132 and a flying object identification unit 134 according to an embodiment of the present invention.

The artificial intelligence analysis unit 132 may learn the size, shape, flight path characteristics, surface homogeneity, and wing motion of the flying object by type of the flying object by using an artificial intelligence algorithm.

In addition, the flying object identification unit 134 compares and analyzes the learning result of the artificial intelligence analysis unit 132 with the various characteristics of the flying object detected by the plurality of detection devices 200 to 400 to determine the type of the flying object. can be identified.

For example, the flying object identification unit 134 predicts the pre-flight path of the flying object invading the detection area using the data accumulated in the plurality of detection devices 200 to 400, or the identity of the flying object. (For example, drones, birds, kites, wind lanterns, etc.) can be identified by analyzing what they are.

The detection device control module 140 controls the pan/tilt 450 of the third detection device 400 in multiple stages based on the target location information received from the first and second detection devices 200 and 300 to control the flying object. can be captured and identified.

3 is a block diagram showing a schematic configuration of a third detection device according to an embodiment of the present invention. In this case, the third detection device 400 shows only a schematic configuration necessary for description according to an embodiment of the present invention, but is not limited thereto.

Referring to FIG. 3 , the third detection device 400 according to an embodiment of the present invention includes a controller 410 , an optical camera 420 , a thermal camera 430 , a laser rangefinder 440 , and a pan tilt 450 . ) is included. In addition, the third detection device 400 rotates the pan and tilt 450 by 360 degrees under the control of the controller 410 , and the optical camera 420 , the thermal imager 430 , and the laser range finder 440 may image and identify the target.

And, when the target location information is received from the first and second detection devices 200 and 300, the detection device control module 140 rotates the pan/tilt 450 of the third detection device 400 at high speed, The optical camera 420 or the thermal camera 430 of the third detection device 400 may be controlled to capture a target in a wide view image. For example, the rotation angle during high-speed rotation of the pan/tilt 450 of the third detection device 400 may be 1 degree to 360 degrees according to an embodiment of the present invention, and the The rotation speed may be 90 degrees per second to 120 degrees per second.

In addition, the detection device control module 140 precisely rotates the pan/tilt 450 when the user clicks on the optical clock image, and through this, the optical camera 420 of the image third detection device 400 . ) or the thermal camera 430 may be controlled to capture the target in the central region of the narrow view image. For example, the rotation angle during the precise rotation of the pan and tilt 450 of the third detection device 400 may be 0.0001 degrees to 0.5 degrees, preferably 0.0004 degrees to 0.0008 degrees, according to an embodiment of the present invention. and more preferably 0.0005 degrees. The detection device control module 140 may precisely rotate the pan/tilt 450 at the angle repeatedly until the trap is disposed in the central region of the narrow view image.

In addition, the detection device control module 140 displays the target detected by the detection device on the line of sight and the image screen of the display device 500, and the first and second detection devices 200 and 300 and the third detection device ( 400) can be controlled to track according to the moving direction of the target. At this time, the detection device control module 140 controls the display device 500 to simultaneously display the wide view image and the narrow view image received from the third detection device 400 in parallel. can do.

The zone setting and alarm control module 150 may divide the detection area into a plurality of sections to set a plurality of geofencing zones and a risk level. And, the zone setting and alarm control module 150 creates a system operation scenario for the detection area based on the geofencing zone, and a standard operating procedure (Standard Operating Procedure, SOP) can be established.

In addition, the display control module 160 controls the display device 500 to display an alarm in a different color for each section when the flying object invades the geo-fencing zone. For example, when the detection area is set to be divided into a plurality of zones, the display control module 160 tracks the movement path of the illegal drone when an illegal drone invades a set specific section, and is configured for each zone. Alarms can be output in different colors.

4 is a flowchart schematically illustrating a process of detecting a flying object entering a detection area, identifying an illegal drone, and tracking and neutralizing the illegal drone in real time according to an embodiment of the present invention. In this case, the following flowchart will be described using the same reference numerals in connection with the configuration of FIGS. 1 to 3 .

Referring to FIG. 4 , the drone control apparatus 100 according to an embodiment of the present invention may detect a flying object entering a detection area by simultaneously using a plurality of heterogeneous detection apparatuses 200 to 400 ( S110 ). ).

And, the drone control device 100 according to an embodiment of the present invention stores/analyzes the data collected by the plurality of detection devices 200 to 400, and detects illegal drones illegally intruding into the detection area without permission. can be identified (S120).

In addition, the drone control device 100 according to an embodiment of the present invention may track the illegal drone in real time through interworking and control of the plurality of detection devices 200 to 400 ( S130 ).

Also, the drone control apparatus 100 according to an embodiment of the present invention may protect the illegal drone by applying a satellite signal deception technique (S140). For example, in the drone control device 100 according to an embodiment of the present invention, the defense device 600 sends a false GPS signal to the illegal drone through an RF jammer to guide the infiltrating drone to a safe area or to a specific area. By emitting a radio jamming frequency, it is possible to control to interfere with the flight of illegal drones that have entered the specific area.

5 is a flowchart schematically illustrating a process of searching and capturing a flying object in real time using a plurality of detection devices according to an embodiment of the present invention. In this case, the following flowchart will be described using the same reference numerals in connection with the configuration of FIGS. 1 to 3 .

Referring to FIG. 5 , the drone control device 100 according to an embodiment of the present invention provides a detection signal of a flying object intruding into a detection area from the first and second detection devices 200 and 300, and a target location and location of the flying object. Information may be received (S210).

And, the drone control device 100 according to an embodiment of the present invention is the third detection device 400 based on the target location information so that the third detection device 400 can capture the flying object. The pan/tilt 450 may be controlled in stages by dividing it into high-speed rotation and precision rotation (S220).

In addition, the drone control device 100 according to an embodiment of the present invention can analyze the image data captured by the third detection device 400 to search for and capture a flying object that has invaded the detection area in real time. (S230).

And, the drone control device 100 according to an embodiment of the present invention may analyze the signals collected by the plurality of detection devices 200 to 400 to identify the type of the flying object (S240).

In this way, the present invention controls the shooting direction of the third detection device in a plurality of steps based on the target position information of the flying object detected by the first detection device and the second detection device, and the third detection device is the flight By controlling the flying object to be tracked in real time along the moving direction of the object, an environment capable of identifying and responding to a detection target in real time is provided.

In addition, when the identified flying object is identified as an illegal drone intruding illegally, the drone control device 100 according to an embodiment of the present invention tracks the flying object in real time and displays the image of the flying object. It can be displayed in real time at 500 (S250).

Figure 6 is a narrow-view image by rotating the pan-tilt of the third detection device at high speed based on the target position information according to an embodiment of the present invention to capture the target in the optical-field image, and rotating the pan-tilt of the third detection device precisely. It is a flowchart briefly showing the process of capturing and displaying in the central area of the image. In this case, the following flowchart will be described using the same reference numerals in connection with the configuration of FIGS. 1 to 3 .

Referring to FIG. 6 , the drone control device 100 according to an embodiment of the present invention provides a detection signal of a flying object intruding into a detection area from the first and second detection devices 200 and 300 and a target position of the flying object. Information may be received (S310).

In addition, the drone control apparatus 100 according to an embodiment of the present invention may rapidly rotate the pan/tilt 450 of the third detection device 400 based on the target location information (S320).

In addition, the drone control device 100 according to an embodiment of the present invention controls the third detection device 400 to capture a target in the central region of the image within a wide view image, and the target is The included optical field of view image may be displayed on the display device 500 (S330). For example, the rotation angle during high-speed rotation of the pan/tilt 450 of the third detection device 400 may be 1 degree to 360 degrees according to an embodiment of the present invention, and the The rotation speed may be 90 degrees per second to 120 degrees per second.

Then, the drone control apparatus 100 according to an embodiment of the present invention may allow the user to click an image or automatically rotate the pan/tilt 450 precisely (S340). For example, the rotation angle during the precise rotation of the pan and tilt 450 of the third detection device 400 may be 0.0001 degrees to 0.5 degrees, preferably 0.0004 degrees to 0.0008 degrees, according to an embodiment of the present invention. and more preferably 0.0005 degrees.

And, the drone control device 100 according to an embodiment of the present invention may control the camera of the third detection device 400 to capture the target in the central region of the narrow view image (S350). . The drone control device 100 according to an embodiment of the present invention may precisely rotate the pan/tilt 450 at the angle repeatedly until the trap is disposed in the central region of a narrow view image. .

Then, the drone control device 100 according to an embodiment of the present invention analyzes the narrow field of view image including the target to identify a flying object, and to display the identified flying object on the display device 500 . It can be (S360).

As described above, according to the present invention, when the target location information is received from the first and second detection devices, the pan-tilt of the third detection device is rotated at high speed to capture the target in a wide view image, and when the image is clicked, the target is captured. By precisely rotating the pan and tilt to capture the target in the central area of the narrow view image, it provides an environment that can accurately capture a small-sized target from a long distance in real time.

7 is a flowchart schematically illustrating a process of learning the characteristics of each type of flying object according to an embodiment of the present invention, and comparing and analyzing the learned data when the flying object enters the detection area to identify the type of the flying object. . In this case, the following flowchart will be described using the same reference numerals in connection with the configuration of FIGS. 1 to 3 .

Referring to FIG. 7 , the drone control apparatus 100 according to an embodiment of the present invention may learn characteristics of each type of flying object using an artificial intelligence algorithm (S410). For example, the drone control device 100 according to an embodiment of the present invention uses an artificial intelligence algorithm to at least the size, shape, flight path characteristics, surface homogeneity, or wing motion of a flying object for each type of flying object. one can learn

In addition, when the drone control apparatus 100 according to an embodiment of the present invention detects a flying object that has entered the detection area, it is possible to compare and analyze the learning result and the characteristics of the flying object entering the detection area ( S420, S430).

For example, the drone control device 100 according to an embodiment of the present invention may compare and analyze the flight trajectory of the flying object, and identify the type of the flying object based on the comparison result (S440).

In this way, the present invention also uses an artificial intelligence algorithm to learn the size, shape, flight path characteristics, surface homogeneity, and wing motion of a flying object for each type of flying object, and enter the learning result and detection area. By comparing and analyzing the characteristics of a flying object to identify the type of the flying object, it provides an environment that can minimize the false positive rate by effectively identifying small drones from a distance of several kilometers.

8 is a view showing an example of learning the flight trajectory according to the type of the flying object and identifying the type of the flying object by comparing the learned flight trajectory and the flight trajectory of the flying object invading the detection area.

Referring to FIG. 8 , the drone control apparatus 100 according to an embodiment of the present invention may learn a flight trajectory 710 of a bird such as a bird and a flight trajectory 720 of a drone through an artificial intelligence algorithm. And, the drone control apparatus 100 according to an embodiment of the present invention can compare and analyze the flight trajectory with the artificial intelligence algorithm (730), and through this, identify the type of the flying object that has entered the detection area.

9 is a flowchart schematically illustrating a process of setting a detection area by dividing the detection area into a plurality of zones, tracking the movement path of an illegal drone, and outputting different alarms for each zone according to an embodiment of the present invention. In this case, the following flowchart will be described using the same reference numerals in connection with the configuration of FIGS. 1 to 3 .

Referring to FIG. 9 , the drone control apparatus 100 according to an embodiment of the present invention divides a detection area into a plurality of sections to set a plurality of zones, and sets different alarms for each zone. can be set (S510).

And, the drone control device 100 according to an embodiment of the present invention, when the flying object entering the detection area is identified as an illegal drone, the plurality of detection devices 200 to track the movement path of the illegal drone. 400) can be controlled (S520, S530).

At this time, the drone control apparatus 100 according to an embodiment of the present invention determines whether the illegal drone enters a preset specific zone, and when it enters the specific zone, the zone Alarms set for each may be displayed (S540, S550).

For example, the drone control device 100 according to an embodiment of the present invention, when the illegal drone invades a preset specific area, tracks the movement path of the illegal drone and issues an alarm in a different color for each zone. can be printed out.

10 is a diagram illustrating an example of setting a plurality of zones according to distance according to an embodiment of the present invention, tracking the movement path of an illegal drone, and outputting alarms in different colors for each zone.

Referring to FIG. 10 , the drone control apparatus 100 according to an embodiment of the present invention may set a plurality of zones 810 according to a distance based on a specific protection point. In addition, the drone control device 100 according to an embodiment of the present invention tracks the movement path of the illegal drone, and when the illegal drone invades a preset specific zone, it follows the movement path of the illegal drone ( Alarms can be output in different colors for each zone).

As described above, the drone control system and the drone detection and identification method using the same according to an embodiment of the present invention detect a flying object illegally intruding into the sky of the detection area by using a variety of different detection devices at the same time, and It provides an environment in which the detection rate can be improved by minimizing the detection shadow area and maximizing the detection performance by controlling the shooting direction of the detection device based on the target location information of the flying object and identifying and tracking the flying object in real time.

In addition, the present invention controls the shooting direction of the third detection device in a plurality of steps based on the target position information of the flying object detected by the first detection device and the second detection device, wherein the third detection device is the flying object By controlling to track the flying object in real time along the moving direction of

In addition, in the present invention, when the target location information is received from the first and second detection devices, the pan/tilt of the third detection device is rotated at high speed to capture the target in a wide view image, and when the image is clicked, the pan By controlling the tilt to precisely rotate to capture the target in the central area of the narrow view image, it provides an environment that can accurately capture a small-sized target from a long distance in real time.

In addition, the present invention controls the first and second detection devices and the third detection device to track according to the moving direction of the target, and tracks the target by repeatedly using a zoom-in function and a high-speed auto-focus function, It provides an environment for effectively identifying and tracking microscopic targets.

In addition, the present invention uses an artificial intelligence algorithm to learn the size, shape, flight path characteristics, surface homogeneity, and wing motion of a flying object for each type of flying object, and the learning result and the flying object entering the detection area By comparing and analyzing the characteristics of the flying object to identify the type of the flying object, it provides an environment that can minimize the false positive rate by effectively identifying the small drone from a distance of several kilometers.

In addition, the present invention divides the detection area into a plurality of sections, sets a plurality of geofencing zones and risk grades, establishes various response scenarios and standard operating procedures (SOP) according to illegal drone infiltration, and pre-defined In case of drone intrusion into an area, it provides an environment that can respond to illegal drone intrusion in real time by warning and alarming step by step according to the risk level.

In addition, the present invention outputs a deceptive signal to a specific flying object that has invaded the detection area to guide the specific flying object to a set safety zone, or emits a radio jamming frequency to a specific area to fly the flying object entering the specific area. It provides an environment that can effectively protect national important facilities from unauthorized drones.

The embodiment of the present invention described above is not implemented only through the apparatus and method, and may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded. Such a recording medium may be executed not only in the server but also in the user terminal.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improved forms of the present invention are also provided by those skilled in the art using the basic concept of the present invention as defined in the following claims. is within the scope of the right.

Claims (10)

A plurality of detection devices for detecting a flying object flying over the detection area or photographing the flying object, and
By analyzing the detection signal or the photographed image of the plurality of detection devices to identify the flying object that has invaded the detection area, and controlling the shooting direction of at least one of the plurality of detection devices based on the target location information of the flying object, the It includes a drone control device that identifies and tracks a flying object in real time, and controls to display the identified flying object on a display device,
The drone control device,
When the target location information is received from the first and second detection devices, the pan and tilt of the third detection device is rotated at high speed to capture the target in the wide view image of the third detection device, and when the image is clicked Control to capture the target in the central region of the narrow-view image of the third detection device by precisely rotating the pan-tilt, but when the user clicks the optical-view image, the pan-tilt is adjusted to a preset rotation angle a detection device control module that precisely rotates the pan and tilt at the rotation angle repeatedly until the target is placed in the central region of the narrow-view image,
The detection signal and image data of the plurality of probe devices are analyzed to identify the type of the flying object flying in the detection area, and the direction and distance of the flying object are estimated by analyzing the target location information, an artificial intelligence algorithm The size, shape, flight path characteristics, surface homogeneity, and wing motion of the flying object are studied by the type of the flying object using the An analysis module that identifies the type and predicts the path of the flying object,
A zone setting and alarm control module that divides the detection area into a plurality of sections to set a plurality of geofencing zones and risk levels, and establishes various response scenarios and standard operating procedures according to illegal drone infiltration; and
and a display control module for controlling a display device to display an alarm in a different color for each section when the flying object invades the geofencing zone. In claim 1,
The plurality of detection devices,
A first detection device that detects a flying object flying in the sky of the detection area through an electromagnetic wave, and receives the electromagnetic wave reflected from the flying object to identify the distance, direction, or altitude of the flying object, and
A second detection device that detects the distance and direction of a flying object flying over the detection area by tracking the signal source of the equipment that emits a radio frequency
A drone control system comprising a. In claim 2,
The plurality of detection devices,
A third detection device comprising an optical camera, a thermal camera, and a pan-tilt, and rotating the pan-tilt to photograph the flying object with the optical camera and the thermal camera
Drone control system further comprising a. In claim 3,
The drone control device,
Control the shooting direction of the third detection device in a plurality of steps to photograph the flying object based on the target position information of the flying object, wherein the third detection device detects the flying object along the moving direction of the flying object Control and control module to control tracking in real time
A drone control system comprising a. In claim 1,
The drone control device,
Receive a detection signal and target location information of a flying object flying in the sky of the detection area from the first detection device and the second detection device, receive image data of the detection area from the third detection device, and the third detection device The drone control system further comprising a data transmission/reception module for transmitting a control signal for controlling the detection device to the third detection device. delete delete delete In claim 1,
The detection device control module,
The target detected by the detection device is displayed in the line of sight and the center of the image, and the first and second detection devices and the third detection device are controlled to track according to the moving direction of the target, but with a zoom in function and a high-speed autofocus function A drone control system, characterized in that it tracks the target by using and controls to simultaneously display a wide view image and a narrow view image of the third detection device. Receiving a detection signal and target location information of a flying object flying over the detection area from the first and second detection devices;
Control to photograph the flying object by rotating the pan-tilt of the third detection device in multiple stages based on the target location information, but when the target location information is received from the first and second detection devices, the pan-tilt of the third detection device to capture the target within the wide view image of the third detection device by rotating at high speed Control to capture the target in the area, but when the user clicks on the optical field image, the pan and tilt is precisely rotated to a preset rotation angle, repeatedly until the target is placed in the central area of the narrow field of view image precisely rotating the pan tilt at the rotation angle;
The detection signal of the first and second detection devices and the photographed image of the third detection device are analyzed to identify the type of the flying object, and the direction and distance of the flying object are estimated by analyzing the target location information, but artificial intelligence By using an algorithm, the size, shape, flight path characteristics, surface homogeneity, and wing motion of the flying object are learned by the type of the flying object, and the learning result and the characteristics of the flying object entering the detection area are compared and analyzed for the flight. identifying the type of object and predicting the path of the flying object; and
When the flying object is an illegal drone, it is tracked along the moving direction of the flying object and displayed on a map, and when the location of the flying object enters a specific section, it controls to output a preset alarm for each set section, By dividing the detection area into a plurality of sections, setting a plurality of geofencing zones and risk levels, establishing various response scenarios and standard operating procedures according to illegal drone infiltration, and when the flying object invades the geofencing zone A drone detection and identification method comprising controlling a display device to display an alarm in a different color for each section.

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