KR20180129240A - Intrusion object detection system and method for controlling the system thereof - Google Patents

Abstract

An intrusion object detection system which detects and determines an intrusion object to eradicate the intrusion object, and a control method thereof. The intrusion object detection system comprises: an active laser for outputting a laser over a 360-degree omnidirectional angle, and receiving a reflected laser that the output laser is reflected on the surface of an object; a drone for autonomously flying to a target position, detecting the object using a proximity sensor, and photographing the object using a camera; and a control module for calculating a position of the object based on the reflected laser received through the active laser, and setting the calculated position of the object as a target position so as to control the drone to autonomously fly to the target position, and to enable the drone to determine the photographed object.

Description

TECHNICAL FIELD [0001] The present invention relates to an intrusion object detection system and a control method thereof,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an intruding object detection system and a control method thereof, and more particularly, to an intruder object detection system and a control method thereof that detect, judge and eliminate an intruding object.

Conventional intrusion detection systems use passive devices such as linear irradiation type laser or passive type heat detection sensor and ultrasonic sensor to detect only intrusion of an object. Such existing intrusion detection system judges information only by the on-off signal of the sensor, and thus there is a problem that the possibility of occurrence of an alarm / alarm is high.

In addition, there is a problem that it is difficult to judge whether an intruder is an intruding object because it detects only the movement of an object, and that it can be used only in an enclosed space such as a room.

Due to these problems, existing intrusion detection systems have difficulty in detecting intruding objects in order to prevent damages of bird strike, harmful assistant or theft crime in a wide open space such as airfield, rice field, field, orchard.

Accordingly, there is a need for a system capable of detecting an intruding object in an open space, and further, there is a need for a system capable of automatically detecting a detected intruding object and eliminating the intruding object by various methods corresponding to the intruding object There is a growing need.

It is an object of the present invention to provide an intruding object detection system for detecting an intruding object, discriminating a detected intruding object and eliminating the intruding object, and a control method thereof.

According to an aspect of the present invention, there is provided an intrusion object detection system including an active laser outputting a laser over a 360-degree azimuth angle and receiving the reflected laser reflected from a surface of an object, ; A dron that autonomously flies to a target position, detects an object using a proximity sensor, and photographs the object using a camera; And controlling the drones to autonomously fly the drones to the target position by calculating the position of the object based on the reflected laser received through the active laser and setting the position of the calculated object to a target position, And a control module for determining the photographed object.

The drones generate an erasure event corresponding to the determined object, and the erasure event may be any one of preset ultrasonic generation, sound generation, and stored liquid discharge.

Further, the drones may include RTK-GPS for calculating a detailed position of the drones during the autonomous flight, the control module receiving a detailed position of the drones calculated from the RTK-GPS, Based on the detailed location of the dron, the dron can update the target location of the dron during autonomous flight,

The control module may calculate the distance and the azimuth angle of the object from a predetermined reference point based on the received reflected laser beam.

Also, the control module may compare the stored data with the previously stored data to determine the type of the photographed object.

The communication module may further transmit the intruding object information including the type, location, and the event of the detected object to the external terminal.

The active laser may output a laser over a 360-degree azimuth angle so that the active laser is directed to the ground with respect to a horizontal plane on which the active laser is installed.

In addition, if it is determined that the object sensed through the drone is sensed in a predetermined area, the control module may determine that the object is not an intruding object, and may not determine the sensed object.

According to another aspect of the present invention, there is provided a control method of an intruding object detection system, comprising: an active laser outputting a laser over an azimuth angle of 360 degrees; Receiving a reflected laser beam; The control module calculating a position of an object based on the received reflected laser; A step of autonomous flight of the drone to the calculated position; Sensing the object using the proximity sensor and photographing the sensed object using the camera; And a step of the control module determining an object photographed by the drones.

As described above, according to various embodiments of the present invention, a user can detect and eliminate intruding objects without the need for passive equipment or human input.

1 is a block diagram schematically showing a configuration of an intruding object detection system according to an embodiment of the present invention;
FIG. 2 is a block diagram illustrating a detailed configuration of an intruding object detection system according to an embodiment of the present invention;
3 is a diagram for explaining a method for detecting and preventing an intruding object from an intruding object detection system according to an embodiment of the present invention,
4 is a diagram for explaining a control method of an intruding object detection system according to an embodiment of the present invention.

The terms used in the embodiments of the present disclosure will be briefly described, and the embodiments will be described in detail.

The terms used in the embodiments of the present disclosure have selected the currently widely used generic terms possible in light of the functions in this disclosure, but these may vary depending on the intentions or precedents of those skilled in the art, the emergence of new technologies, and the like . Also, in certain cases, some terms are arbitrarily selected by the applicant, and in this case, the meaning thereof will be described in detail in the description of the corresponding embodiments. Therefore, the terms used in the embodiments should be defined based on the meaning of the term, not on the name of a simple term, and on the contents of the embodiments throughout.

In the embodiments of the present disclosure, terms including ordinal numbers such as first, second, and so on can be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present disclosure, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Moreover, in the embodiments of the present disclosure, the singular forms "a", "an" and "the" include plural referents unless the context clearly dictates otherwise.

Also, in the embodiments of the present disclosure, terms such as "comprise" or "have ", etc. are intended to specify that there is a feature, number, step, operation, component, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Further, in the embodiments of the present disclosure, "module" or "module" performs at least one function or operation, and may be implemented in hardware or software or a combination of hardware and software. Also, a plurality of "modules" or a plurality of "parts" may be embodied as at least one processor integrated into at least one module, except "modules" or "modules "

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 this disclosure belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a configuration of an intruding object detection system according to an embodiment of the present invention. 1, the intruding object detection system 10 includes an active laser 110, a communication module 120, a drones 130, and a control module 140. As shown in FIG.

The active laser 110 outputs a laser, and the output laser can receive a reflected laser beam reflected from the surface of the object. Specifically, the active laser 110 can output the laser over the 360 azimuthal angle toward the ground. Then, when the output laser is reflected from the surface of the object, the active laser 110 can receive the reflected laser. On the other hand, the active laser 110 may be disposed at a center of a specific region where an intrusion of an object is to be detected, for example, at a height of 5 to 10 m above the building.

Such an active laser 110 may be more than one.

The communication module 120 can exchange data with an external terminal. Specifically, the communication module 120 may transmit intruding object information including at least one of the type, position, method of elimination, and whether or not the intruding object is destroyed to the external terminal. Meanwhile, the external terminal may be various electronic devices such as a smart phone, a smart watch, a smart glass, a tablet PC, a notebook PC, a control server, and the like.

The drone 130 may autonomously fly to the target position set in the control unit 140. [ Specifically, when the drones 130 are in the standby state, the drones 130 are fixedly disposed at predetermined positions. When the intruding object is detected through the active laser 110, the coordinates of the detected intruding object can be set to the target position and autonomous flight can be performed.

Then, the drone 130 can detect the object using the proximity sensor during the autonomous flight. When an object is detected, the drones 130 can photograph the sensed object. The drones 130 are airplanes or helicopter-shaped military unmanned airplanes capable of flying and manipulating by induction of radio waves without a pilot, and may include a frame, a motor, a propeller, an ultrasonic sensor or an infrared sensor, .

Such drones 130 may be more than one.

The control module 140 can calculate the position of the object based on the reflected laser received through the active laser 110. [ Specifically, when the active laser 110 outputs a laser and the output laser receives the laser reflected from the object, the control module 140 determines whether or not the laser output is performed based on the difference between the output time of the laser and the time when the reflected laser is received The distance to the object can be calculated by measuring the round trip time with the object. The control module 140 can calculate the position of the object based on the azimuth angle of the reflected laser received by the active laser 110 and the distance to the object. That is, the position of the object can be expressed by the azimuth angle and distance from the reference position.

If it is determined that the sensed object is sensed in a predetermined area, the control module 140 may determine that the sensed object is not an intruding object. For example, when an object is detected in an area set as a moving path, the control module 140 determines that the object is not an intruding object, and may not control the drones 130 to fly autonomously.

Then, the control module 140 sets the position of the calculated object to the target position so that the drone 130 can control the drone 130 to autonomously fly to the target position.

The control module 140 may update the target position of the drones 130 based on the detailed position of the drones calculated from the RTK-GPS while the drones 130 are flying autonomously. This can reduce the error caused by autonomous flight of the drone 130 to the target position in units of cm.

When the drones 130 autonomously fly to the target position and photographs the sensed object, the control module 140 can determine the photographed object. Specifically, the control module 140 can automatically determine the type of the intruding object by comparing the photographed object with predetermined data.

The control unit 140 may control the drone 130 to generate an erasure event corresponding to the determined object. For example, the control unit 140 controls the drones 130 to generate sounds for eliminating birds, generate ultrasonic waves in a predetermined area, or take out stored liquids, according to the determined object Can be controlled.

The control unit 140 may control the communication module 120 to transmit the intruding object information including the detected position of the intruding object, the type of the sensed object, the occurrence of the erroneous event and the object being eradicated to the external terminal .

The external terminal may be implemented by various electronic devices such as a smart phone, a smart watch, a desktop PC, a tablet PC, a notebook PC, and the like.

The control unit 140 may control the communication module 120 to transmit the intruding object information including the detected position of the intruding object, the type of the sensed object, the occurrence of the erroneous event and the object erasure to the control server.

The control server (not shown) can store intrusion object information including a location of an intruding object received from the communication module 120, a type of the sensed object, an occurrence of an occurrence of an intruding event,

In addition, the control server (not shown) uses the intruding object information including the position at which the intruding object transmitted from the communication module 120 is detected, the type of the sensed object, The kind of the detected object, the event of the occurrence, and the object of the object can be derived.

The control server (not shown) can store the derived statistical results, and the control server (not shown) can transmit the statistical results derived to the external terminal.

The intruding object detection system 10 may further include a drones charging station (not shown).

A drones charging station (not shown) may charge the battery included in the drones 130.

In addition, a drones charging station (not shown) may replace the battery included in the drones 130.

And a drones charging station (not shown) may replace the liquid stored in the canal 135. [

Hereinafter, various embodiments of the present invention will be described with reference to FIGS. 2 and 3. FIG. FIG. 2 is a detailed view showing the configuration of the intruding object detection system 10 according to an embodiment of the present invention. 2 includes an active laser 110, a communication module 120, a drones 130, and a control module 140, as shown in FIG.

2 shows an example of a system in which an intruding object detection system 10 has various functions such as an intruding object detection function, an intruding object determination function, an intruding object removal function, and the like. to be. Therefore, depending on the embodiment, some of the components shown in Fig. 2 may be omitted or changed, and other components may be further added.

The active laser 110 includes a laser emitting unit 111 and a laser receiving unit 113. The laser emitting portion 111 is configured to output a laser. Specifically, the laser emitting section 111 can output the laser beam toward the ground across the full azimuth angle at predetermined intervals. The laser emitting unit 111 may be implemented by a laser oscillator or a transmitting telescope.

The laser receiving unit 113 is a configuration in which the laser output from the laser emitting unit 111 receives a laser beam reflected by a specific object. Specifically, the laser receiving unit 113 can perform the signal processing temporally or spectrally by receiving the laser beam reflected from the specific object by the laser output from the laser emitting unit 111. The laser receiving unit 113 may be implemented as a receiving telescope, a spectroscope, or a detector.

The communication module 120 is configured to perform communication with various types of external terminals according to various types of communication methods. The communication module 120 may include various communication chips such as a Wi-Fi chip, a Bluetooth chip, an NFC chip, a wireless communication chip, and the like. In particular, the communication module 120 may transmit intruding object information including at least one of the type, position, method of elimination, and whether or not the intruding object is destroyed to the external terminal.

The drones 130 include a proximity sensor 131, a camera 133, an elimination unit 135, and an RTK-GPS 137. The proximity sensor 131 detects the proximity of an object in a noncontact manner and detects the position thereof. Specifically, the proximity sensor 131 can detect that the intruding object is at a predetermined distance when the shortest distance between the drone 130 and the object is equal to or less than the threshold value.

The camera 133 is configured to photograph an image. Specifically, the camera 133 can photograph the detected intruding object. On the other hand, the camera 133 may shoot an image while the dragon 130 is flying autonomously, or may capture an image when an intruding object is detected by the proximity sensor 131. [

The eliminator 135 is configured to generate ultrasonic waves, generate sound, and take out the stored liquid. Specifically, the control unit 140 controls the control unit 140 to generate an interruption event corresponding to the type of the intruding object. For example, if the intruding object determined by the control module 140 is new, the suppression unit 135 may generate a sound for suppressing the bird.

A real-time kinematic GPS (RTK-GPS) 137 calculates a detailed position of the drones 130. Specifically, the RTK-GPS 137 is disposed in the reference position and the drones 130, respectively, so as to calculate the detailed position of the drones 130 during autonomous flight of the drones 130.

The control module 140 includes an object position calculation unit 141 and an object type determination unit 143. The object position calculating section 141 calculates the position of the intruding object sensed by the active laser 110. [ Specifically, when the laser output from the laser emitting unit 111 is received by the laser receiving unit 113 and the signal processing is performed temporally or spectrally, the distance to the object can be calculated have. For example, the object position calculating unit 141 can calculate the distance to the object by measuring the round trip time with the object based on the difference between the output time of the laser and the received time of the reflected laser.

The object position calculating section 141 can calculate the position of the object based on the azimuth angle of the reflected laser received by the laser receiving section 113 and the distance to the object.

The object type determination unit 143 is configured to determine an object photographed through the camera 133. [ Specifically, the object type determination unit 143 can automatically determine the type of the intruding object by comparing the predetermined data with the intruding object through machine learning.

FIG. 3 is a diagram for explaining a method of detecting an intruding object by the intruding object system 10 according to an embodiment of the present invention. As shown in FIG. 3, the active laser 310 is preferably disposed at the center of the security area so as to completely cover the security area, and is preferably disposed at a certain distance from the ground. For example, it may be placed at a height of 5 to 10 meters above the building to prevent intruding objects into the area surrounding the building 320.

Then, the active laser 310 may output a laser toward the ground so as to include all the security areas. Specifically, the active laser 310 outputs the laser 311 toward the ground across the full azimuth angle of 360 degrees so that the surface formed by the laser can include all the security areas.

When the control module 140 detects an object in a predetermined area, it can determine that the detected object is not an intruding object. For example, when an object is detected in the movement path 330, the control module 140 may determine that the detected object is not an intruding object, and may not detect the fixed object such as the fence 340, have.

Hereinafter, a method of controlling the intruding object detection system 10 according to an embodiment of the present invention will be described with reference to FIG.

First, the intruding object detection system 10 outputs a laser, and the output laser receives a reflected laser beam reflected from the object (S410).

Then, the intruding object detection system 10 calculates the position of the object based on the received reflected laser (S420). Specifically, the intruding object detection system 10 calculates the distance to the object by measuring the round trip time with respect to the object based on the difference between the output time of the laser and the time of receiving the reflected laser, Can be determined. The intruding object detection system 10 can calculate the position of the object based on the distance to the calculated object and the azimuth angle.

Then, the intruding object detection system 10 sets the position of the calculated object to the target position and makes an autonomous flight to approach the object (S430).

Then, the intruding object detection system 10 senses an object and captures the sensed object (S440). Specifically, the intruding object detection system 10 can detect an object using a proximity sensor, and can take an object using a camera.

Then, the intruding object detection system 10 judges the photographed object (S450). Specifically, the intruding object detection system 10 can automatically determine the type of an intruding object by comparing predetermined data with an intruding object.

According to various embodiments of the present invention as described above, an intruding object can be detected and eradicated without the need for passive equipment or human input.

Meanwhile, the above-described method can be implemented in a general-purpose digital computer that can be created as a program that can be executed by a computer and operates the program using a computer-readable recording medium. In addition, the structure of the data used in the above-described method can be recorded on a computer-readable recording medium through various means. The computer-readable recording medium includes a storage medium such as a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), optical reading medium (e.g., CD ROM,

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, disclosure methods should be considered from an illustrative point of view, not from a restrictive point of view. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

10: Intrusion detection system
110: active laser
120: Communication module
130: Drones
140: Control module

Claims (9)

In an intruding object detection system,
An active laser for outputting a laser over 360 azimuthal azimuths and for receiving the reflected laser beam reflected from the surface of the object;
A dron that autonomously flies to a target position, detects an object using a proximity sensor, and photographs the object using a camera; And
Calculates a position of an object based on the reflected laser received through the active laser, sets the position of the calculated object to a target position, and controls the dron to autonomously fly the dron to the target position, And a control module for determining the photographed object. The method according to claim 1,
The drones,
And generates an erasure event corresponding to the determined object,
Wherein the erasure event is any one of preset ultrasonic generation, sound generation, and stored liquid discharge. The method according to claim 1,
The drones,
And RTK-GPS for calculating a detailed position of the drones during the autonomous flight,
The control module includes:
Receives the detailed position of the dron calculated from the RTK-GPS, and updates the target position of the dron during self-flight based on the detailed position of the received dron. The method according to claim 1,
The control module includes:
And calculates the distance and azimuth angle of the object from a predetermined reference point based on the received reflected laser. The method according to claim 1,
The control module includes:
And determines the type of the photographed object by comparing the photographed image with previously stored data. The method according to claim 1,
And a communication module for transmitting the intruding object information including the type, position, an erasure event and the erasure of the sensed object to an external terminal. The method according to claim 1,
The active laser includes:
Wherein the laser is output over a 360-degree azimuth angle with the horizontal plane on which the active laser is installed as a reference. The method according to claim 1,
The control module includes:
Wherein the controller determines that the object is not an intruding object and does not determine the sensed object if it is determined that the object detected through the drone is detected in a predetermined area. A control method for an intruding object detection system,
The active laser outputting a laser over a 360 degrees azimuthal angle and the output laser receiving a reflected laser beam reflected from a surface of an object;
The control module calculating a position of an object based on the received reflected laser;
A step of autonomous flight of the drone to the calculated position;
Sensing the object using the proximity sensor and photographing the sensed object using the camera; And
And controlling the control module to determine an object photographed by the drones.

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