KR20170091263A

KR20170091263A - The drone with camera sensor and bomb for suicide bombing, and the remote control and monitoring device

Info

Publication number: KR20170091263A
Application number: KR1020160012044A
Authority: KR
Inventors: 조영선; 이상기; 금창렬; 조동혁
Original assignee: 자이로캠주식회사
Priority date: 2016-01-31
Filing date: 2016-01-31
Publication date: 2017-08-09

Abstract

The present invention relates to a drone with a camera sensor and a bomb for a suicide bombing towards a target, a remote control apparatus, and a relevant weapon system, which are capable of making the drone for suicide bombing perform a suicide bombing after reaching a target point at attack targets, for which high-priced missiles are not available, by controlling the drone in a concealed place by the remote control apparatus to precisely select and destroy an attack target even without using complex, expensive technologies such as a bunker missile. Specifically, while the conventional missile cant stop if once launched, the drone for suicide bombing allows a user to select a time to attack within the time allowed by a battery. Specifically, if the drone is made to be around 30 cm and to stay at an altitude of 100 m, the drone can be protected from enemy detection and can explode while falling silently towards the target. According to the present invention, a user is able to immediately deal with a frequently changing attack target (a moving target, etc.) based on the camera image information sent from the drone for suicide bombing. The present invention is able to most efficiently provide a modern battle by performing a reconnaissance of the enemy and a precise bombing of an obstacle element within an operational radius for the army, navy, Marine Corps, and anti-terrorist troops before the front-line troops start an operation. The present invention is able to help soldiers overcome their fear of war and to prevent the consumption of war materials due to random fire by an attacking the enemy watching a screen of the remote control apparatus like playing a video game. Specifically, as seen in the Iraq War, the enemy is protected by concealment and hiding in a street battle, and the present invention is able to attack a concealed target by precisely monitoring the status of concealment by using the drone for suicide bombing. Since the radio waves of the remote control apparatus are able to reach over 10 km, the position of the remote controller is not exposed to the enemy, which makes the drone of the present invention a smart, strategic unmanned bomber controlled by personnel. According to the present invention, the drone comprises: a drone; a satellite coordinate reception means, an inertia sensor means, and a flight control computer means; a camera sensor means; a wireless communication means; an explosion apparatus means; a detonator means; and a means to operate an attack button.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a camera sensor and a remote control device,

The drones are collectively referred to as helicopter-shaped unmanned aerial vehicles (UAVs) that can fly and steer by induction of radio waves, and have been used in various civilian and military applications before and after the 2010s. In the case of a flying object, such as a helicopter or a drone, which generates lift by rotation of the propeller, the reaction of the propeller rotation causes the body to rotate in the opposite direction of rotation of the propeller. In the case of a single rotor helicopter, a tail rotor is required to solve this problem, but the drones are based on the principle of counteracting the reaction caused by propeller rotation by reversing the propeller rotation. That is, the drones control the rotation of each rotor propeller so that the ascending, descending, forward, backward, right, left, It is available in roll left, yaw left, and yaw right modes. The drones use a relatively small number of propellers to gain lift and adjust the lift from each propeller to advance and backward and redirect.

The present invention relates to a self-exploding drones capable of hovering with a camera sensor and an explosion device, and a remote control device for the self-exploring drones. More particularly, the importance of unmanned reconnaissance using an unmanned reconnaissance airplane is increasing, Since it is manufactured at a high price on the premise of fine reconnaissance function and repeated use due to high-speed flight, it is used for simple reconnaissance without being used as means for self-destruction. It is compact and simple to provide at an economical cost. It is made to be difficult to identify when floated in the sky of about 100m. It is equipped with explosive device using explosives and CBC weapons, and is transmitted remotely from camera sensor of UAV By selecting the destruction target while looking at the screen and detecting the optimal detonation timing by dropping toward the target or giving it in a form to detonate near the target by remote detonation, the application field is extended not only for the military but also for the suppression of terrorism The present invention relates to a detonation type dron with a camera sensor and an explosion device, and a remote control device therefor. When the self-exploding drone falls freely over 100 m (H = Vo t + 1/2 att, Vo = 0 at free fall, free fall time = 4.47 seconds at H = 100 m)

Filed a patent application entitled "Self-propelled small unmanned aerial vehicle equipped with a camera and a remote control device therefor" by a fixed-wing aircraft equipped with a rudder, an elevator and a flap according to the present invention (Patent Document No. 10-2008-0037434) However, it is difficult to obtain the accuracy of attack without using expensive electronic equipment because it requires a fixed-wing flight that can not be stopped, and it must attack the target by flight or glide flight. In 2015, IAI, an Israeli defense company, Unlike a guided missile that can fly in a simple orbit until it reaches its target, 'Harov' can fly like an airplane. You can attack your target in a variety of ways, In the present invention, an explosion device is mounted on a dron capable of stopping flight, and the object is stopped and flown over the target, If the sensor information is detected, the free fall or propeller of the drone is reversely rotated to speed up the drop, thereby solving the above problem.

With the recent advances in defense technology, unmanned aerial vehicles (UAVs) can overcome the disadvantages of reconnaissance satellites and manned reconnaissance aircraft, and can be flexibly adapted to future unmanned and telecommunication future battle environments. It is widely used for dragon and attack. It is generally possible to fly by semi-automatic or pre-programmed programs that remotely control from remote to wireless communication without relying on a pilot on a repeatable flight. Depending on the mission, Talk about a plane that can perform a mission for a certain period of time. Military UAVs are mostly used for reconnaissance, with a size of about 3m, a duration of 2 to 9 hours, and a speed of over 400km / h. In the case of US Global Hawk, the price per unit is more than US $ 150 million. This is a very high level compared to a small missile of about 800,000 US dollars, and it is equipped with a high-speed reconnaissance electronic equipment and a navigation device so that it can be repeatedly used. Therefore, It is made in the form of dropping a bomb or attacking a target and returning to the base.

Recently, drone control technology, flight design technology, material technology, and wireless communication technology have been developed. As a result, a dragon, a small flying object, is being produced. It is about 10cm in size and weighs about 50g. , It captures the image of the ground with the camera sensor attached to the propeller and sends it wirelessly, so remote control is possible while looking at the screen within the wireless reach distance, the propeller is moved through the motor, There is a possibility of being used. In addition, the Micro Air Vehicle contest is being held in various countries, and the US Department of Defense is developing a 1.3-cm micro aviation system that will be used for CBRN and secret infiltration operations of $ 35 million. EDAS, a European air carrier, developed a 65 x 65 cm quadropter with four rotating blades. In addition to its own weight of 550 g, it can be equipped with various sensors and video cameras within a range of 50 g, We developed a flight capable of stopping flight in early 2000. Recently, drone technology has been rapidly developed and various kinds of drones have been commercialized. In the case of courier and logistics, stopping flight is possible even at an air speed of 12m / s and a payload of 30kg or more is being supplied. It is made up of octa-copter installed from 1 to 8 propellers, and it is turned into military grade, division grade, and battalion grade for military use.

In the past, there was almost no case of killing the same side except for melee like night fighting. After the gun was developed, the melee was reduced. However, since the First World War, there has been a fierce battle in the form of an open spread, rather than a dense one. The development of techniques such as concealment has increased the number of false accidents and 28 false accidents in the Gulf War. In addition, it is said that it consumed about 140,000 bullets per person in the war against Vietnam because of fear of the war, not the target shooting but the shooting. The attack on bunkers armed with many firearms is accompanied by more firepower and loss of life. In 2000, the US military deployed bunker missiles, which are classified as state-of-the-art weapons that are not exported. It combines ultra-precision GPS, video information, wireless systems, and bomber remote control devices, costing at least $ 2 million a pair, and similar ATCMS ground-based missiles are known to cost $ 1.3 million. The US Department of Defense (DOD) deployed a number of domestic missiles, such as Hyundai, HaeSung, and Iron, and unmanned aerial vehicles, in order to limit their sales to strategic weapons. , 'Shadow200', 'Luna', 'Global Hawk' and 'Free Data', both operating at 45,000 ft.

As high-performance weapons are costly and high-tech, modern warfare has become a new strategy (for example, launching less than 100 million unmanned aircraft and causing more than a billion missiles to flare, causing enemy missile losses). In this respect, the importance of unmanned reconnaissance using unmanned reconnaissance planes is increasing. However, the current unmanned aerial vehicle is used as a simple reconnaissance aircraft because it can not be used as a means of self-destruction because it is manufactured at a high price on the assumption of fine reconnaissance function and repeated use due to high-speed flight. It is known that the price of 'HaRoop', a self-destructing weapon of Israel announced in 2015, is 50% higher than the guided missile. Drones with slow payloads and low payloads compared to fixed-wing unmanned aerial vehicles are being tested for reconnaissance rather than offensive.

In recent years, 'Free Data' has been operated as 'Global Hawk', which is used for reconnaissance at over 45,000 ft, following Pointer, RemoEye, Shadow 200 and Luna. Armed weapons, such as the Korean rifle (K11), which explodes a shotgun in the concealed enemy airspace, are also being upgraded in the battle carried out by troop movements, but the strategy of performing battle within the visibility distance is similar to the past. Therefore, as a result of the fear of war, it is possible to use 140,000 rounds of bullets per person in order to kill a single enemy, as in the case of Vietnam. In order to solve the above-mentioned problems, the present invention proposes a soldier-type attack weapon (an intelligent grenade or a grenade-like weapon) used by a front-side soldier in opposition to an enemy, Grenade launcher). To solve this problem, the following problems must be solved first.

First, it should be provided to attack based on the image information sent to the camera sensor while stopping over the destination. If you can not make a stop flight like a fixed wing UAV, it is very difficult to control the UAV with a remote control to fly near the target and detonate explosives with the detonator.

Secondly, means must be provided to attack enemy forces in the air, as well as on the ground and at sea. It is possible to fly the enemy over the enemy with UAV, as well as to get information on the situation of enemy forces and receive support from the artillery unit. Although the mines and explosives are installed in core areas by predicting the enemy's movement route and putting in commandos, explosives that operate at remote sites on the ground and in the sea should be installed by UAV, without using commandos.

Third, if attack weapons in the form of public land mines are provided based on UAVs, they should not explode in friendly areas even if they fall into friendly areas due to hacking and weather conditions. In the battle using an attack helicopter, misfits and attacks on the ally are also reported in various battles conducted by the US military.

Fourth, when a battery is insufficient to mount an explosive device on the UAV and stay in the sky to attack the enemy, a corresponding scenario should be provided. Generally, it can be provided in the form of returning to the base. However, when returning is required, there is a problem that it is necessary to secure the remaining capacity of the battery and to make it more sophisticated in the navigation system.

Fifth, when attacking an enemy target in UAV, the target must move quickly because it can move. When a vehicle target of 60 km / h is detected based on the camera sensor information of the UAV, it travels 16m / sec. Therefore, the UAV should approach the target within a short time (4.6 seconds at 100m above the free fall) even considering the explosion radius.

The present invention has been proposed in order to solve the above-mentioned problems, and has been proposed in order to solve the above-mentioned problems. In the present invention, 1) a detonator and an explosion device are mounted on a dron equipped with a camera sensor, 2) 4) to see the image of the dron around the dron from the camera sensor through the remote control screen, 5) to fly over the target, and then wait in a static flight state, ) When an attack target is detected, it is based on the fact that the explosive device is operated by approaching the target at a high speed to explode the explosive device to achieve the desired purpose.

First, to provide the attack based on the image information sent to the camera sensor while stopping the flight from the destination, apply the drones of the form of a rotary wing unmanned such as quadrotor (including single and dual rotor, hexacopter, octacopter) .

Second, there must be means to attack not only the enemy's airspace, but also the ground and the sea. Airborne landmines that are equipped with explosives in the drones are used for land mines, but if necessary or strategically landed on the ground or at sea to cover up as much as possible while monitoring the targets with the camera sensor, . The location can be called a one-sided mobile ground mine because it can move. Although a mine can be installed at sea, this is usually a defense strategy, but if the drone is equipped with an explosive device and a buoyancy device (eg, a tube), it will land at the desired sea level and drive the propeller can do.

Third, in case that an attack weapon in the form of public land mines is provided based on the UAV, in order to prevent explosion in a friendly area even if it falls into a friendly area according to the weather condition, The detonator can be programmed to not operate.

Fourth, when explosives are mounted on a UAV, if they stay in the sky to attack the enemy, if the battery is insufficient, if the base return mode is possible as the corresponding scenario, there is a fear that the attack means may be provided to the enemy by hacking. Landing in the core area, monitoring with camera sensors, using active land mines that explode when the target approaches, or landing on the ground of enemy enemies and then flying over the target in a timely manner to attack with land mines Can be proposed.

Fifth, when attacking an enemy target in UAV, the target must move quickly because it can move. If a vehicle target of 60 km / h is detected on the basis of the camera sensor information while the drones are stationary in flight above 100 m, stopping the propeller rotation and taking a free fall will take 4.5 seconds to reach the ground. have. A method of increasing the falling speed by generating a force in the gravity direction by rotating the propeller which generates the lift force in reverse to increase the dropping speed can be proposed. If the attack is determined, the target is set with the camera sensor. Even if the target moves, it is automatically tracked to the image recognition, and the approach is exploited.

As described above, according to the present invention, the attack targets, which are difficult to use expensive missiles, are controlled by the remote control unit in the place concealed with the self-exploding type drones so as to self-expire after reaching the target point, So that attack targets can be accurately selected and destroyed. In particular, an existing missile can not be stopped by launch, but a self-exploding dron can be chosen within the time allowed by the battery. Especially, it is developed as small as about 30cm and can be protected from enemy's rainfall if it is over 100m so that it can explode while falling and fly toward the target without any sound, (Movement of the target, etc.). In addition to the army, navies, marines, and terrorist squads can perform most of the modern warfare tasks, such as rerun reconnaissance and obstacle refinement, within the operational radius before the foremost unit begins operations, By watching this remote control screen, you can attack the enemy and overcome the fear of warfare of the military and prevent the consumption of war material by shooting. Especially, as shown in the Iraq war, the enemy is protected by cover and cover in the street market, and the self-exploding drones of the present invention can attack concealment while monitoring the concealment state accurately. The distance of the radio signal from the remote control device can be more than 10 km, so that the position of the remote controler is a smart tactical manned and controlled unmanned bomber that is not exposed to the enemy. The following effects are expected through this.

First, when monitoring the camera image information while shooting on the enemy base, it is possible to provide a smart land mine as if it is dropped when the target is landed, and automatically tracking the movement of the target if necessary and exploding when the target is approached.

Secondly, instead of infiltrating a special unit to set up explosives and landmines on the enemy base, a self-destructing drones is placed on the enemy ground and is waiting for an advanced attack There is an effect of providing tactics. Especially, when landing at the core ground element of the enemy at night and blowing it, it has the effect of maximizing the damage.

Third, it provides an advanced maritime tactic to land a self-sustaining drone with a buoyancy device on its path to infiltrate enemy naval forces, not a defensive mine that is fixed at sea, and to explode when the target approaches. . Unlike a defense mine, the propeller can be driven to move the position even at sea.

Fourth, the new aggressive smart weapon such as mobile mine landmine, ground mine and marine mine is a new weapon system concept that can overcome the disadvantages of existing weapons system represented by firearms and missiles, and ultimately The effect of preventing war is expected.

FIG. 1 is a general form of a courier-type quadrupter drone image.
FIG. 2 is a single rotor and duct-controlled drones constructed in a spherical shape in which the propeller is not exposed to the outside.
The third figure is an image of HAIROP, which was released in 2015 by Israel IAI company.
FIG. 4 is a conceptual diagram of the aerial attack-detonating drones of the present invention.
FIG. 5 is a conceptual diagram of a ground attack detonating drones having the same effect as the mobile land mine of the present invention.
FIG. 6 is a conceptual diagram of a maritime attack-detonating drones having the same effect as the mobile mine of the present invention.
FIG. 7 is a block diagram showing the configuration of the self-exploding drones of the present invention. FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concept of the term appropriately in order to describe its own invention in the best way. The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

In the present invention, a dron equipped with a camera sensor is equipped with an explosion device and an explosion device, and the enemy air is allowed to fly. The dron image information transmitted from the camera sensor is viewed through a remote control device screen, And if the attack target is detected while waiting in the state of stopping flight, the explosive device is operated by approaching the target to detonate the explosive device, thereby achieving the intended purpose. A drones, such as a quadrotter, are used to attack based on image information sent to the camera sensor while flying at a stop over the destination. It is designed to provide means to attack not only the opponent's enemy airspace but also the ground and sea. If an attack weapon in the form of a public land mine is provided based on UAV, if it falls into a friendly area according to weather conditions, it should not be exploded in friendly areas. Since the target can move when attacking the target of the enemy in the UAV, it is configured to rapidly fall and self-explosion. Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a general form of a courier-type quadrupter drone image. As the courier dron transports the goods while flying freely, it is expected to develop into a form that has a flying time of about 60 minutes in the future, a payload of about 30 kg, and stable flight performance even at wind speeds of 12 m / s or more. It is possible to create a self-destructing air mine of the present invention by adding a plurality of sensors and installing an explosive device and an explosive device in place of the product and developing a program suitable for a self-exploding type drones. FIG. 2 is a single rotor and duct-controlled drones constructed in a spherical shape in which the propeller is not exposed to the outside. Since the self-exploding type drones of the public land mine concept of the present invention are suitable for use as platoon and sub-class equipment, it is necessary to secure the size, shape and weight suitable for personal portable equipment. If it is provided in the form of a sphere or an egg, air resistance can be minimized when falling, and portability as an individual device can be improved. The third figure is an image of HAIROP, which was released in 2015 by Israel IAI company. 'Haaruf' has 150km / h, 500km / h, 15kg high bomb.

The self-destructing drones can be classified as aerial attack, ground attack, and offensive attack, depending on how the target is attacked after flying to and from the operation area. In order to reduce the battery consumption even when using the air attack method, the drones are landed on the ground and in the sea of the operation area and wait on the basis of the camera image information. You can fly by land mines. The present invention can provide a mine landing mine, a mobile ground mine, a self-exploding drones of a mobile maritime mine system, a remote control device for controlling the self-exploiting drones, and a corresponding weapon system for operating the self-exploding drones. FIG. 4 is a conceptual diagram of the aerial attacking type drones (aka public mines) of the present invention. FIG. 7 is a block diagram showing the configuration of the self-exploding drones of the present invention. FIG. A UAV that attacks in the form of self-destructing targets in the form of public landmines is composed as follows. A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position (including hovering); Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones; Camera sensor means (9) for observing a target in an attack direction; Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10); Explosive devices (8) such as explosives and Cuban weapons; (7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode; The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 Way; Flight and Stop In the flying airspace, descend toward the ground target and activate the detonator (7) to attack the target and self-destruct. It can provide self-exploiting aerial attack drones and remote control devices of the public land mine type and corresponding weapon systems. Means for programming the detonator (8) to not operate in a specific range of the satellite coordinate receiver (5), in order to block the explosion in the friendly zone in the air attack; Inevitably, it should be constructed so that it does not explode in friendly areas even if it falls into a friendly area. As a method for preventing the drones from being attacked, a camera sensor 9 is additionally provided on the upper end of the self-exploding drone, and means for detecting a flying object in the upper surveillance region and a means for discriminating that the dragon penetrates over unauthorized important facilities ; Means for controlling the flight control computer (4) to fly faster towards the location of the intruding drones; The detonator 7 is operated in proximity to the drone that has entered the surveillance region so that the detonator 8 is self-exploded. In the future, attacks using small UAVs will become mainstream. Small UAVs are small in size and low in metal usage, making them difficult to detect with radars and difficult to shoot down. It is considered effective to defend the drones with drones. The Japanese Metropolitan Police Agency announced a method of capturing a dron by placing a net on the drones or launching a net gun. The drones of the public landmine type mobile phone detect the attack target by watching the remote control screen or recognizing the moving image. After the attack target is detected, the attack button is pressed and the attack target is self-exploded. However, when a target moves, it is automatically tracked and a function of dropping flight control (propeller reverse rotation, angle propeller rotation control drop flight in order to increase dropping speed), and self destruct function near the target are required. A means for selecting an attack target from the remote control device 11 based on the image information of the camera sensor 9; Means for registering an image of an attack target on the flight control computer (4) via the wireless communication means (10); The flight control computer (4) comprises means for recognizing the image information of the camera sensor (9) and tracking an image of the attack target; The self-propelled drone (1) is controlled to fly over the attack target. When the attack target moves, it is necessary to increase the falling speed and self-destruct within a short time. However, there is a problem that it takes 4.6 seconds when the free fall falls over 100 m. In the drones 1 having the function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position in order to increase the dropping speed, When a command to operate the device 7 is received, a plurality of propeller drive motors 3 generate a force that causes the rotation of each propeller 2 in the opposite direction, not a lift, ) Is made faster. If there is an object of about 20cm in size or more above 100m above the ground, it is necessary to have a camouflage because there is a possibility of detection if it is observed closely. For this purpose, in the drone 1 having the function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position, A means of applying the sky blue; It consists of a sphere or egg shape with a wind path formed to reduce wind resistance. The air mines such as the present invention are suitable for military and marine strategic weapon systems because they are small (within 3kg of explosives) of less than 30cm and are hard to detect with naked eyes and radar, In the operating scenario, although it can be generally provided as a form of returning to the base, there is a problem in that it is necessary to secure the remaining capacity of the battery and to improve the function of the navigation system. Therefore, in order to reduce the battery consumption after flying with the enemy, it is necessary to land on the ground and the sea of the enemy camp to wait for concealment, and then to use the land mine after flying in the air at the right time.

FIG. 5 is a conceptual diagram of a ground attack detonating drones having the same effect as the mobile land mine of the present invention. A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 and flying or stopping to a desired position (including hovering); Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones; Camera sensor means (9) for observing a target in an attack direction; Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10); Explosive devices (8) such as explosives and Cuban weapons; (7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode; A remote control for monitoring the information of the camera sensor 9 of the dron 1 or automatically recognizing the set attack target by the camera sensor means 9 or landing at a necessary point on the ground after flying over the attack target, Means for actuating an attack button (14) for commanding an attack on the device (11); The detonator (7) is activated to attack the ground targets and self-destructing forms. Through this, it is possible to provide a self-destructing ground attack drones and a remote control device and a corresponding weapon system in a manner of landing on the ground after flying to an operation area. The ability to deploy explosives without infiltrating the enemy forces is expected to revolutionize existing combat systems. In addition, it is also advantageous to change the operation point by using the camera sensor and the propeller. That is, after flying over the attack target, the propeller 2 is stopped and a concealment stand-by is made to land at a required point on the ground, and according to the movement of the set attack target, the flight control computer 4 rotates the propeller 2 So that the position of the dragon drill 1 is moved near the ground surface. Conventional tactics of dispatching Special Forces to the enemy base for the purpose of detonating and detonating are limited to modernized modern warfare, so that the self-destructing drones of the present invention can simultaneously perform the reconnaissance and demolition missions without dispatching special troops. In order to overcome the limitation of self-destructing drones flying to a long distance, it is possible to penetrate deeper into the enemy with a helicopter, and then drop the self-destructing drones from the rinse to the air of the element to construct a public landmine network.

FIG. 6 is a conceptual diagram of a maritime attack-detonating drones having the same effect as the mobile mine of the present invention. A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position (including hovering); Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones; Camera sensor means (9) for observing a target in an attack direction; Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10); Explosive devices (8) such as explosives and Cuban weapons; (7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode; Buoyancy means for floating during landing; The airplane control system according to claim 1, wherein the airplane control unit (5) controls the propeller (2) to maintain its position in the sea. The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 Way; The detonator (7) activates the means to attack in the form of a naval target and self-destruct. Through this, it is possible to provide a self-propelled maritime attack drone and a remote control device and a corresponding weapon system in a manner of landing and waiting at the sea after the flight. Although the mine is installed to defend the coastline, the present invention can be made to wait near the offensive water and wait for it to self-detonate at an optimal time, thereby improving the efficiency of maritime battle. The drones are waiting at the position, consuming the least amount of battery in the sea so that the marine target is near as much as the usage time is limited by the battery, and when the target is detected, . In the case of ships, the sides are reinforced with steel so that they can withstand high explosions, but it is also important to consider that the upper part is relatively rigid. That is, the attacking button 14 for automatically detecting the set attack target by the camera sensor means 9 or instructing the remote control device 11 to monitor the information of the camera sensor 9 of the drones 1 Actuation means for actuating, optionally, means for releasing the buoyancy means from the self-propelled drones 1; The flight control computer 4 means that the propeller 2 is rotated to float above the attack target above sea level and then descend toward the attack target from above the attack target in the stop flight while operating the detonator 7 means, Attacks in the form of self-destruction. After moving to the operational area by the sea helicopter, the dragon dragon dragon with the buoyancy device is dropped on the element of the marine element, and the dragon dragon floating on the sea by the buoyant device keeps the position operated by the propeller while the attack target is detected It is possible to operate the battery in a standby mode. If necessary, a solar panel may be installed in the buoyancy device to charge the battery. The conventional mine attacked the side of the vessel reinforced with the double iron plate, but the drones of the present invention were standing on the sea while detaching the buoyancy device, and after flying to the airfield, And self-destruct.

The drones for self-length can be configured to change the observation direction of the camera sensor 9 in the remote control apparatus 11 by providing a rotation servo mechanism for rotating the fixed plate on which the camera sensor 9 is fixed. The rotating surveillance system is applied to domed surveillance cameras that monitor the whole area. Alternatively, a microphone sensor 13 may be installed to allow the remote control device 11 to transmit sound information around the drones 1 by providing a microphone sensor 13 for a tapping function during reconnaissance. In self-attacking drones for ground attack, the tapping function is an important factor in finishing the infiltration operation. Alternatively, the infrared ray sensor 15 may be installed, and when the infrared rays above the reference value are detected, the infrared ray detection data is sent to the remote control device 11 by the wireless communication means 10 to display it. By automatically detecting and informing the infrared rays emitted from the target (enemy group), the efficiency of operation can be improved. Alternatively, a collision detection sensor 12 for detecting a collision and a separation distance with an attack target; When the remote control device 11 receives the detonation command and a proximity distance or a collision occurrence signal is detected by the collision detection sensor 12, the explosion device 8 is immediately activated to detonate the explosion device 8 . Or means for determining that the data of the satellite coordinate receiver (5) is not reliable due to GPS disturbance; Means for controlling the flight control computer (4) to optical flow metering to maintain the position based on the image information of the camera sensor (9); And notifies the remote control device 11 that the remote control mode is entered based on the image information. GPS disturbance is technically as easy as possible, and in unmanned aerial vehicles, assisted by location information and stop flight based on image information when GPS coordinates are disturbed. In general, the drones are equipped with an ultrasonic sensor and camera information at the bottom, and it is possible to stop the flight in the room by controlling the flight position according to the change of the bottom image. This control scheme is called optical flow metering. (8) means such as explosives and CBRN weapons, and detonators (8) means for detonating explosives and CBR weapons by operating detonators in accordance with the detonation mode, so that they can be detached and mounted on the drones (1) So that it can be used for reconnaissance when detonating device 7 and detonator 8 are separated.

In addition, the remote control device which monitors the camera sensor and various sensor information and makes an attack command at the optimal time is important in the self-propelled dragon. That is, the remote control device 11 includes means for displaying the image of the camera sensor 9 and the satellite coordinate information sent from the self-explaining drone 1 on the screen of the remote control device 11; A flight control operating means (16) for controlling the speed and direction of the self-exploding drone (1); When an attack button 14 for instructing the explosion duration of the self-exploding drones 1 while viewing camera image information is provided and the attack button 14 is activated, the detonator 7 of the self- 8). In this case, the remote control apparatus 11 needs to be configured to reproduce the audio data sent from the microphone sensor 13 of the self-exploding drone 1 by the audio output means. Alternatively, the remote control device 11 may be configured to display infrared sensing data sent from the infrared sensing sensor 15 of the self-exploding drone 1. Alternatively, the remote control device 11 may be configured to include a camera position manipulation means 17 for adjusting a rotation servo mechanism for determining the position of the self-explanatory drones 1 in the observation direction of the camera sensor 9. Alternatively, the remote control apparatus 11 can be configured to transmit the image information of the received camera sensor 9 and the detection information of the mounted sensor to the communication apparatus of the higher-level unit. The remote control device used in the self-explanatory drone should support a microphone or infrared or collision detection sensor for target detection unlike the civilian. When the attack button is activated, the propeller is rotated in reverse to rotate the target, (No reverse maneuver in which the propeller of the drones is reversed by cranking the propeller to fall down), the flight position should be controlled while falling, and access to the moving target must be made. It can be controlled by controlling the propeller which reversely rotates even at high speed drop, which is considered to be an important technology of the self-exploding drones.

Through the present invention, a smart mine land mine is basically provided as if it is dropped when a target is landed while monitoring camera image information while shooting in the enemy sky, and automatically tracking movement of a target when necessary and exploding when approaching a target. For ground attack, an advanced attack tactic can be applied, in which a self-exploding drones is landed on the enemy's ground and is monitored while video and microphone information of the camera sensor is monitored and detonated when the target approaches. For maritime aggression, an advanced maritime attack that allows a non-defensive mine to land on a landing ship with a buoyancy device added to the path to infiltrate enemy maritime forces, Provide tactics. As with the present invention, the new aggressive smart weapon such as mobile mine landmine, ground mine and marine mine is a new weapon system concept that overcomes the disadvantages of existing weapons systems represented by firearms and missiles, Ultimately, the effect of preventing war is expected.

1: Self-propelled drone 2: Propeller
3: propeller drive motor 4: flight control computer
5: Satellite coordinate receiver 6: Inertial sensor
7: detonator 8: detonator
9: camera sensor 10: wireless communication means
11: Remote control device 12: Collision detection sensor
13: microphone sensor 14: attack button
15: Infrared detection sensor 16: Flight control operating means
17: Camera position manipulation means

Claims

In a UAV that attacks targets in the form of self-destruct,
A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position (including hovering);
Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones;
A camera sensor (9) means for observing a target in the attack direction;
Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10);
Explosive devices (8) such as explosives and Cuban weapons;
(7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode;
The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 Way;
Airborne attack drones and remote control devices of the air mine type, characterized by attacking in the form of targets and self-destructing by operating the detonator (7) means while descending toward the ground target from the airborne flying and stopping airspace Weapon System

In a UAV that attacks targets in the form of self-destruct,
A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position (including hovering);
Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones;
A camera sensor (9) means for observing a target in the attack direction;
Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10);
Explosive devices (8) such as explosives and Cuban weapons;
(7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode;
After flying over the attack target, land at the required point on the ground,
The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 Way;
(7) A self-destructing ground-based attack drones and a remote control device in the form of landing on the ground after flight, characterized by attacking in the form of ground targets and self-

In a UAV that attacks targets in the form of self-destruct,
A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 to fly or stop to a desired position (including hovering);
Satellite coordinate receiver (5) means and inertial sensor (6) means and flight control computer (4) means for controlling the flight path and attitude of the drones;
Camera sensor means (9) for observing a target in an attack direction;
Wireless communication means for transmitting the information of the camera sensor 9 and the satellite coordinate receiver 5 to the remote control device 11 by radio and for transmitting a signal for controlling the drones 1 of the remote control device 11 at the remote location 10);
Explosive devices (8) such as explosives and Cuban weapons;
(7) means to detonate explosive and CBR weapons by operating a detonator according to an attack mode;
Buoyancy means for floating during landing;
The airplane control system according to claim 1, wherein the airplane control unit (5) controls the propeller (2) to maintain its position in the sea.
The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 Way;
A detonating device (7) is a self-propelled aeronautical attack drones and a remote control device in the form of a landing on the sea after the flight, characterized by attacking in the form of a naval target and a self-

The method according to any one of claims 1 and 2 and 3,
A rotation servo mechanism for rotating the fixed plate on which the camera sensor 9 is fixed is provided
The remote control device (11) is configured to change the observation direction of the camera sensor (9). The remote control device

The method according to any one of claims 1 and 2 and 3,
A microphone sensor (13) is installed for the tapping function during the reconnaissance
Characterized in that the wireless communication means (10) is configured to send sound information around the drones (1) to the remote control device (11)

The method according to any one of claims 1 and 2 and 3,
By installing the infrared ray sensor 15
If infrared rays above the reference value are detected
The remote control device (11) according to claim 1 or 2, wherein the remote control device (11)

The method according to any one of claims 1 and 2 and 3,
A collision detection sensor (12) for detecting an impact target and a collision and a separation distance;
When the proximity distance or the collision occurrence signal is detected by the collision detection sensor 12 after receiving the detonation command by the remote control device 11,
Characterized in that the explosion device (8) is activated immediately by operating the detonator (7) to instantly explode the target in the event of a collision with the attack target.

The method according to any one of claims 1 and 2 and 3,
Means for determining that the data of the satellite coordinate receiver (5) is unreliable as a GPS disturbance;
Means for controlling the flight control computer (4) to optical flow metering to maintain the position based on the image information of the camera sensor (9);
A self-exploding drones and remote control device corresponding to a GPS disturbance characterized by remotely controlling the remote control device 11 based on image information

The method according to any one of claims 1 and 2 and 3,
Explosive devices such as explosives and Cuban weapons (8)
The detonator (8) means for detonating explosives and CBR weapons by operating the detonator according to the detonation system is configured to be detachable from the drones (1)
Wherein the detonator is adapted to be used for reconnaissance when the detonator (7) and the detonator (8) are separated from each other.

The method according to any one of claims 1 and 2 and 3,
Optionally, means for installing a solar panel to charge the battery in the air;
Self-destructing drones for maritime attacks
Optionally, a solar panel is installed in the buoyancy device detachable from the self-exploding drone to charge the battery in the air. A self-exploding drone and a remote control device

The method according to claim 1,
Means for programming the detonator 8 to be inoperative in a specific range of the satellite coordinate receiver 5;
It is designed so as not to explode in friendly areas even if it collapses inevitably into a friendly area.

The method according to claim 1,
An additional camera sensor (9)
Means for sensing a flying object in the upper surveillance zone and means for determining that it is a drone entering unauthorized above the critical facility;
Means for controlling the flight control computer (4) to fly faster towards the location of the intruding drones;
Characterized in that the detonator (8) is self-exploded by operating the detonator (7) in proximity to the drones that have entered the surveillance area, characterized in that the self-

The method according to claim 1,
Based on the image information of the camera sensor 9
Means for selecting an attack target with the remote control device (11);
Means for registering an image of an attack target on the flight control computer (4) via the wireless communication means (10);
The flight control computer (4) comprises means for recognizing the image information of the camera sensor (9) and tracking an image of the attack target;
Self-propelled drones (1) are self-propelled drones and remote controls that automatically traverse attack targets featuring flight control to be located above attack targets

The method according to claim 1,
A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 and flying or stopping to a desired position
When an instruction to operate the detonator 7 is received by the remote control device 11,
The falling speed of the self-propelled drones 1 is increased by generating a force that causes the propeller drive motors 3 to rotate in the opposite direction with a plurality of propeller drive motors 3 in the previous stage,
Alternatively, the flight control computer 4 may be configured to track the image of the attack target by recognizing the image information of the camera sensor 9, and to control the propeller so that the drones 1 for self-propulsion fall down toward the attack target A self-exploding drone and a remote control device for rapidly controlling the falling speed in an exploitation mode

The method according to claim 1,
A dron 1 having a function of controlling the rotation of each propeller 2 by a plurality of propeller drive motors 3 and flying or stopping to a desired position
Optionally, means for applying a sky blue color to the appearance so that the stomach is possible during upstairs stay;
Characterized in that it is manufactured in the form of a sphere or an egg in which the wind path is formed so as to reduce the wind resistance.

3. The method of claim 2,
After flying over the attack target, landing at the necessary point on the ground to stop the propeller (2), wait for concealment,
Depending on the movement of the set attack target
The flight control computer (4) is configured to rotate the propeller (2) to move the position of the self-propelled dragon (1) near the ground surface. Drone and remote control

The method of claim 3,
The attacking button 14 for operating the remote control device 11 for commanding an attack to automatically recognize the set attack target by the camera sensor means 9 or monitor the information of the camera sensor 9 of the drones 1 When the means is operated,
Optionally, a means for installing a solar panel to guide the battery to the buoyancy device;
Optionally, means for separating the buoyancy device means from the self-propelled drones 1;
The flight control computer 4 means that the propeller 2 is rotated to float above the attack target,
(7) attack by attacking in the form of target and self-explosion by descending toward the attacking target from above the attacking target in the stopping flight.

The method according to any one of claims 1 and 2 and 3,
The remote control device 11
Means for displaying the image of the camera sensor 9 and the satellite coordinate information sent from the self-exploding drone 1 on the screen of the remote control device 11;
A flight control operating means (16) for controlling the speed and direction of the self-exploding drone (1);
The attack button 14 for instructing the explosion duration of the self-exploding drones 1 while viewing the camera image information is provided
Characterized in that when the attack button (14) is activated, the detonator (8) is detonated by the detonator (7) of the self-exploding drone (1)

19. The method of claim 18,
The remote control device 11
And the audio data sent from the microphone sensor (13) of the self-exploding drone (1) is reproduced by the audio output means. The remote control device

19. The method of claim 18,
The remote control device 110
And displays the infrared detection data sent from the infrared detection sensor (15) of the self-exploding drone (1). The remote control device of the self-exploding drones

19. The method of claim 18,
The remote control device 11
And a camera position manipulating means (17) for adjusting a rotation servo mechanism for determining the position of the self-explanatory drones (1) in the observation direction of the camera sensor (9)

19. The method of claim 18,
The remote control device 11
The received camera sensor (9)
Characterized in that the detection information of the mounted sensor is transmitted to the communication apparatus of the advanced unit

In a drones attacking targets in the form of self-destruct,
Aircraft (helicopter) in the sky above the operation area
If you drop multiple self-exploding drones onto the element
Each of the self-exploding drones reaches its designated area of responsibility
Waiting in a stationary state in the sky,
After landing on the ground,
It is floating on the sea and waiting
When the camera sensor detects and accesses the attack target,
A drones and a remote control device for self-propelled sprays to be deployed in an operational area, characterized by the fact that the detonator and the explosion device are operated by flying toward the attack target,

24. The method of claim 23,
The self-propelled dragon dropped from the aircraft
After landing on the ground,
If you are in a floating state at sea,
When the camera sensor detects and accesses the attack target,
After flying over the attack target and reaching the target altitude,
And a self-destructing weapon system comprising a self-propelled drones, a remote control device and a corresponding weapon system

24. The method of claim 23,
Self-propelled drones dropped on air and ground from aircraft
Optionally, means for installing a solar panel to charge the battery in the air;
A self-propelled dragon dropped on the air from an aircraft
Optionally, a solar panel is installed in the buoyancy device detachable from the self-propelled dragon to charge the battery in the air, characterized in that the self-propelled drones and the remote control device and the corresponding weapon system
The target and the self-destructing aircraft, the self-propelled drones and the remote control device and the corresponding weapon systems