KR20190141941A - Detecting and neutralizing apparatus of flight vehicle capable of flying underground and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and a method for detecting/neutralizing a flight vehicle capable of flying in disguise with low altitude, which can accurately obtain a coordinate of a target flight vehicle in real time by extracting a central coordinate from image information capable of obtaining two-dimensional GPS information and converting the same into a three-dimensional air coordinate. The apparatus of the present invention comprises: a long distance flight vehicle detecting unit for detecting a long distance flight vehicle; an image detection unit for obtaining an image of the flight vehicle to identify and track the flight vehicle as an image at an image identifiable distance; and an air defending unit for determining whether to enter the image identifiable distance through continuous detection when the flight vehicle is detected by the long distance flight vehicle detecting unit, determining a three-dimensional position of the flight vehicle from image information obtained by the image detection unit when entering the image identifiable distance, and neutralizing the flight vehicle on the basis of the determined position information.

Description

Detecting and neutralizing apparatus of flight vehicle capable of flying underground and method

The present invention relates to a device for detecting / disabling a vehicle capable of low-flying flight, and more particularly, to extracting a central coordinate from image information capable of obtaining two-dimensional GPS information and converting the coordinate to a three-dimensional aerial coordinate. By doing so, the present invention relates to a device for detecting / disabling a vehicle capable of low-flying flight capable of accurately obtaining a coordinate of a target aircraft in real time, and a method thereof.

Small, lightweight (e.g., 150 kg or less) unmanned aerial vehicles (e.g. drones) can be remotely piloted on the ground without the pilot directly boarding the aircraft. An autonomous vehicle in auto-piloted or semi-auto-piloted mode, which is equipped with artificial intelligence and performs its mission according to its own environmental judgment.

Unmanned aerial vehicles can be used to detect information in key areas or facilities, and to destroy key areas or facilities. In some cases, they can also be used as terrorist weapons to destroy common facilities such as power plants and important conference rooms. Therefore, there is a need for a method of monitoring and detecting an approaching aircraft in certain areas and facilities such as military units, prisons, power plants, and important buildings, and then blocking access to the aircraft in some cases.

In particular, major national and security facilities built with enormous funds are vulnerable to attacks caused by inexpensive aircraft. Overland access to the facility can be blocked and controlled through gates or barbed wire, but most facilities have no defense against public security.

General radars require significant additional costs and manpower to build air defenses, and they are more concerned about detecting and disabling lower-flying ultralight drones.

Fixed radar to detect flying objects, "RF sensors" to detect communications between manipulators and aircraft, to effectively detect and neutralize attacks from nearby unmanned aerial vehicles, video surveillance equipment (CCTV) to visually identify aircraft, Jammer, a radio defense means to disable the aircraft through jamming, "net" for capturing the aircraft, capture method (hard kill) using the eagle, and laser tracking of the aircraft Intercept methods to intercept, or to incapacitate a vehicle by generating an electromagnetic power (HPEM) with directivity, should be used.

On the other hand, a conventionally proposed technique for detecting an unmanned aerial vehicle and neutralizing it is disclosed in the following <Patent Documents 1> to <Patent Document 2>.

The prior art disclosed in <Patent Document 1> detects a control signal related to an invasive unmanned aerial vehicle based on at least one lower defense unit of the plurality of lower defense units, at least one lower defense unit and at least one lower defense unit Generating location information of the invasive drone based on a plurality of adjacent lower defenses; determining whether the intruded drone enters the restricted area based on the location information; Performing a defensive operation on the invasive drone, and performing a tracking on the invasive drone. Through this configuration, the approach of the drone is defended.

In addition, the prior art disclosed in <Patent Document 2> is a base, a mounting table rotatably installed on the top of the base, the radar or rider is installed on the base to emit electromagnetic waves for monitoring and detection of the drone, the image for identification of the drone Including a camera for photographing, a radio wave disturbance unit for radiating disturbance radio waves to the drone, a controller for controlling the operation of the radar or rider and the camera and the jammer unit, implements a drone approach method device. This configuration monitors and detects drones through radar or riders, identifies drones through video from cameras, and then emits disturbance signals to the drones, allowing them to approach specific areas or facilities without intercepting or shooting down drones. Prevent it.

Republic of Korea Patent Application Publication No. 10-2018-0033612 (Apr. 04. 2018.) (Method and system for defending the access of unmanned aerial vehicle) Republic of Korea Patent Application Publication No. 10-2018-0019462 (published Feb. 26, 2018) (drone approach device)

However, the prior art as described above is a method of inducing a neutralization or a fall of the unmanned aerial vehicle by using a capture or electromagnetic waves, in which the position information is generated using only two-dimensional GPS information for the detection of the unmanned aerial vehicle, Accurate positioning is difficult, and this causes a disadvantage of lowering the defense of the drone.

For example, in order to improve the defense of an unmanned aerial vehicle, it is most important to accurately detect the position of the unmanned aerial vehicle in space. Since only two-dimensional GPS information is used, the detection capability of the unmanned aerial vehicle is degraded in space.

In particular, <Patent Literature 2> finds the intersection of each circle by drawing a circle whose radius is measured by the lower defense part, and then assumes the position of the intersection as the position of the invading unmanned aerial vehicle, and the direction and orientation of the invading unmanned aerial vehicle. As a method of determining, as a positioning method on a two-dimensional plane, accuracy of position detection is inferior to that of a positioning method on a three-dimensional space. Lack of positioning accuracy results in a relatively low level of defense.

Therefore, the present invention has been proposed to solve the above-mentioned problems in the prior art, by extracting the center coordinates from the image information that can obtain the two-dimensional GPS information and converting the three-dimensional aerial coordinates, An object of the present invention is to provide a method for detecting / disabling a vehicle capable of low-flying flight, which can accurately acquire a coordinate of a vehicle in real time.

In order to achieve the above object, a low-flying flight detection / neutralization apparatus according to the present invention, the remote vehicle detection unit for detecting a remote vehicle; An image detector for acquiring an image of the aircraft to identify and track the aircraft as an image at a distance capable of image identification; When the vehicle is detected by the remote vehicle detection unit, it is determined whether the image identification distance is entered through continuous detection, and when the image identification distance is entered, the 3D position of the aircraft is determined from the image information obtained by the image detection unit. And an air defense unit that disables the vehicle based on the determined position information.

The air defense unit is a vehicle tracking control unit for controlling the continuous detection when the aircraft is detected by the remote vehicle detection unit, and controls the image detection when the detected vehicle enters the image identification distance; A vehicle extractor configured to extract a vehicle from a plurality of image information obtained by the image detector; A center coordinate extraction unit for extracting a two-dimensional center coordinates of the vehicle extracted by the vehicle extraction unit; And a three-dimensional positioning unit configured to determine a position in space by converting the plurality of two-dimensional central coordinates extracted by the central coordinate extracting unit into three-dimensional aerial coordinates.

The three-dimensional positioning unit is characterized in that for converting a plurality of two-dimensional center coordinates to three-dimensional aerial coordinates through a space front intersection (Space Intersection).

The aerial defense unit further comprises a vehicle disabling unit for disabling the vehicle by firing a disturbing radio wave at a corresponding position on the basis of the three-dimensional position information in space determined by the three-dimensional positioning unit.

In addition, a method for detecting / disabling a vehicle capable of low-flying flight according to the present invention includes (a) detecting a vehicle by a remote vehicle detection unit, and when the vehicle is detected at a long distance, the vehicle may be detected at a distance capable of image identification through continuous detection. Confirming entry; (b) when the aircraft enters the image identification distance as a result of the checking in step (a), performing image tracking through the image detector and extracting the vehicle from the plurality of image information obtained through image tracking; (c) extracting two-dimensional center coordinates of the extracted vehicle; (d) converting the plurality of two-dimensional center coordinates extracted in step (c) into three-dimensional aerial coordinates to determine a position in space; (e) disabling the vehicle through radio wave disturbances based on the three-dimensional position information determined in step (d);

Step (d) is characterized in that to convert a plurality of two-dimensional center coordinates to three-dimensional aerial coordinates through a space front intersection (Space Intersection).

According to the present invention, by extracting the center coordinates from the image information capable of acquiring two-dimensional GPS information and converting the coordinates into three-dimensional aerial coordinates, there is an advantage in that the coordinates of the target aircraft can be accurately obtained in real time.

In addition, by accurately obtaining the three-dimensional aerial coordinates with respect to the target aircraft in real time, it is possible to optimally cope with the disabling of the aircraft capable of low-flying flight, thereby improving the air defense.

1 is a conceptual diagram of a detection / neutralization device of a low-flying flying vehicle according to the present invention,
Figure 2 is an embodiment configuration of the detection / neutralization device of a low-flying flight capable of flying according to the present invention,
Figure 3 is a flow chart showing a detection / neutralization method of the vehicle capable of low-flying flight according to the present invention.

Hereinafter, an apparatus for detecting / disabling a vehicle capable of low-flying flight according to a preferred embodiment of the present invention and a method thereof will be described in detail with reference to the accompanying drawings.

<Example 1>

1 is a conceptual diagram of an apparatus for detecting / disabling a vehicle capable of low-flying flight according to a preferred embodiment of the present invention, which is installed in a defense object 2 and detects a distant vehicle 1 and a radar (Radar) 12, a fence wall (3) for the boundary between the defense object 2 and the defense object (2) is installed in the image pickup distance to obtain the image information by shooting the aircraft (1) 3D position information of the plurality of image cameras (CCTVs) 21 to 23 and the aircraft 1, and a vehicle disabling unit 34 for disabling the vehicle 1 by radio wave disturbance based on the determined 3D position information. ).

Although only three video cameras 21 to 23 are shown, only two of them may be used or more video cameras may be used.

2 is a block diagram of the detection / neutralization device of a low-flying flying vehicle according to the present invention, the remote vehicle detection unit 10 for detecting a remote vehicle, the identification of the aircraft 1 in the image identifiable distance image And if the vehicle (1) is detected by the image detector 20, the remote vehicle detector 10 for obtaining an image of the vehicle (1) for tracking to determine whether to enter the image identification distance through the continuous detection The air defense unit determines the three-dimensional position of the aircraft 1 from the image information acquired by the image detector 20 and disables the aircraft 1 based on the determined position information. 30, visually displaying the vehicle detection information detected by the remote vehicle detection unit 10 in conjunction with the aerial defense unit 30, or visually displaying the detection image acquired by the image detection unit 20. And a display device 40 for displaying.

The remote vehicle detection unit 10 may include an RF sensor 11 for detecting communication between the manipulator and the aircraft 1, and a fixed radar 12 for detecting a flying object.

In addition, the air defense unit 30 controls continuous detection when the vehicle 1 is detected by the remote vehicle detection unit 10, and detects an image when the detected vehicle 1 enters an image identification distance. Air vehicle tracking control unit 35 for controlling the vehicle, the vehicle body extraction unit 31 for extracting the air vehicle 1 from the plurality of image information obtained by the image detection unit 20, the air vehicle detected by the air vehicle extraction unit 31 The center coordinate extraction unit 32 for extracting the two-dimensional center coordinates of (1) and the plurality of two-dimensional center coordinates extracted by the central coordinate extraction unit 32 are converted into three-dimensional aerial coordinates to determine the position in space. Three-dimensional positioning unit 33 is included.

In addition, the air defense unit 30 is a vehicle disabling unit 34 to disable the aircraft 1 by firing a disturbing radio wave at the position based on the three-dimensional position information in the space determined by the three-dimensional positioning unit 33. ) May be further included.

Referring to the operation of the detection / neutralization device of the vehicle capable of low-flying flight according to the present invention configured as described above are as follows.

First, the remote vehicle detection unit 10 installed in the defense object (2), such as military facilities, protective facilities, critical facilities, detects a vehicle that is a remote detection target. Here, the remote vehicle detection unit 10 detects a remote vehicle by detecting a radio signal (RF) signal between the vehicle and the remote controller using the RF sensor 11. In addition, by using the radar 12 to emit an electromagnetic wave of microwave (extreme microwave, 10cm ~ 100cm wavelength) to the object, receives the electromagnetic wave reflected from the object to detect the distance, direction, altitude and the like. When the vehicle 1 to be detected through the remote detection operation is detected, the vehicle tracking control unit 35 of the air defense unit 30 continuously detects the vehicle information through the RF sensor 11 and the radar 12. While controlling to detect the vehicle 1, the distance information with the detected vehicle is analyzed.

As a result of this analysis, when the detected vehicle 1 enters a preset image-identifiable distance, the image detector 20 acquires image information for setting position information while tracking the vehicle 1 through an image. do. Here, the image detector 20 preferably uses a plurality of CCTVs. CCTV can use a camera equipped with a PTZ (Pan-Tilt-Zoom) function that can monitor the flight tracking. By using a PTZ camera, it is possible to follow the aircraft up, down, left and right automatically tracking the aircraft. Since a technique for automatically tracking a vehicle using a PTZ camera is well known in the art, a detailed description thereof will be omitted.

When the vehicle 1 to be detected enters the image-identifiable distance and acquires image information, the vehicle extractor 31 of the aerial defense unit 30 extracts the vehicle from the image acquired by the image detector 20. . The method of extracting the vehicle from the acquired image information may use a known image recognition technology. Image recognition techniques are various, and the present invention detects and extracts an object (airplane) from an image using an intelligent image detection technique using an image object recognition technique. The specific method of intelligent image detection technique is "Jeong Sang-jin, Kim Jung-jung, Lee Dong-young, Cho Seong-je, Kim Kook-Bo, Journal of Multimedia Society, Vol. 13, No. 2, 2010.02, 171-178 (8 pages), Intelligent Image Detection System using Image Object Recognition The technique described in (Intelligent Video Event Detection System Used by Image Object Identification Technique) can be used.

When image object recognition is performed, the central coordinate extractor 32 extracts the two-dimensional central coordinates of the vehicle 1 recognized by the vehicle extractor 31. Since a technique of extracting the 2D center coordinates of the recognized image from the image information is also known, a detailed description thereof will be omitted.

The two-dimensional center coordinates are extracted from the plurality of image information. For example, a plurality of image cameras (CCTVs) are installed for air defense of the defense object 2, and two-dimensional center coordinates are extracted from image information obtained through the plurality of image cameras, respectively.

Next, the three-dimensional positioning unit 33 converts the plurality of two-dimensional central coordinates extracted by the central coordinate extraction unit 32 into three-dimensional aerial coordinates to determine the position of the aircraft in space. There are various methods of converting a plurality of two-dimensional center coordinates into three-dimensional aerial coordinates, and in the present invention, a plurality of two-dimensional center coordinates are converted into three-dimensional aerial coordinates through a space intersection. Alternatively, a three-dimensional position tracking technique can be used to convert the plurality of center coordinates into three-dimensional aerial coordinates.

In this way, by converting the two-dimensional GPS coordinates to three-dimensional aerial coordinates to determine the position in three-dimensional space, this becomes accurate three-dimensional position information of the aircraft 1 for the actual air.

Subsequently, the aircraft disabling unit 34 performs jamming based on the recognized three-dimensional position information, thereby disabling the aircraft 1. Here, the vehicle disabling unit 34 may use a known jammer. Conventional jammers are devices that disturb radio waves by using broadband, noise, discrete frequency repeaters, and deception equipment.

As described above, the present invention obtains two-dimensional GPS coordinate information from the image information acquired through CCTV, and converts it into three-dimensional aerial coordinates by using a technique such as a church in front of the space, thereby accurately determining the spatial position coordinates of the aircraft in real time. This allows the aircraft to be disturbed in the air and can be neutralized in the air.

<Example 2>

3 is a flowchart showing a method for detecting / disabling a vehicle capable of low-flying flight according to the present invention, where S represents a step, and (a) the vehicle 1 is detected by the remote vehicle detection unit 10. And, if the vehicle (1) is detected at a long distance through the continuous detection to determine whether the aircraft 1 enters the image identification distance (S11-S13), (b) as a result of the check in step (a), the aircraft ( When 1) enters the image identification distance, performing image tracking through the image detection unit 20, extracting the aircraft 1 from the plurality of image information obtained through image tracking (S14-S15), (c) extracting the two-dimensional center coordinates of the extracted vehicle 1 (S16), (d) converting the extracted plurality of two-dimensional center coordinates to three-dimensional aerial coordinates to determine the position in space (S17) ), (e) through jamming based on the three-dimensional position information determined in step (d). Disabling 18 the sea vehicle 1.

Hereinafter, a method for detecting / disabling the vehicle capable of low-flying flight according to the present invention configured as described above will be described.

First, in step S11, the remote vehicle detection unit 10 installed in the defense object 2 such as a military facility, a protective facility, an important facility, and the like detects a vehicle that is a remote detection target. Here, the remote vehicle detection unit 10 detects a remote vehicle by detecting a radio signal (RF) signal between the aircraft and the remote controller using the RF sensor 11, and uses a radar 12 to detect microwaves (microwaves, 10cm ~ 100cm). Electromagnetic waves of a wavelength) are emitted to the object, and the electromagnetic wave reflected from the object is received to detect distance, direction, and altitude of the object.

When the target object to be detected 1 is detected through such a remote detection operation, the vehicle tracking control unit 35 of the air defense unit 30 in step S12 continues to fly through the RF sensor 11 and the radar 12. 1) Analyze the distance information with the detected aircraft while controlling to detect.

As a result of the analysis, when the detected vehicle 1 enters the preset image-identifiable distance as shown in step S13, the process moves to step S14 to track the vehicle 1 through the image using the image detector 20, and then the position. Obtain image information for setting the information. Here, the image detector 20 preferably uses a plurality of CCTVs. CCTV can use a camera equipped with a PTZ (Pan-Tilt-Zoom) function that can monitor the flight tracking.

When the vehicle 1 to be detected enters the image identification distance and acquires the image information through the image detector 20, the vehicle extractor 31 of the aerial defense unit 30 performs the image detector (S15) in step S15. The vehicle is extracted from the image obtained in 20). The method of extracting the vehicle from the acquired image information may use a known image recognition technology. In the present invention, an object (plane) is detected from an image and extracted using the intelligent image detection technique using the image object recognition technique. The detailed method of the intelligent image detection technique is the same as the method mentioned in the above-described apparatus.

When image object recognition is performed, the central coordinate extractor 32 extracts the 2D central coordinates of the vehicle 1 recognized by the vehicle extractor 31 in step S16. Since a technique of extracting the 2D center coordinates of the recognized image from the image information is also known, a detailed description thereof will be omitted.

The two-dimensional center coordinates are extracted from the plurality of image information. For example, a plurality of image cameras (CCTVs) are installed for air defense of the defense object 2, and two-dimensional center coordinates are extracted from image information obtained through the plurality of image cameras, respectively.

Next, in step S17, the three-dimensional positioning unit 33 converts the plurality of two-dimensional central coordinates extracted by the central coordinate extraction unit 32 into three-dimensional aerial coordinates to determine the position of the aircraft in space. There are various methods of converting a plurality of two-dimensional center coordinates into three-dimensional aerial coordinates, and in the present invention, a plurality of two-dimensional center coordinates are converted into three-dimensional aerial coordinates through a space intersection. Alternatively, a three-dimensional position tracking technique can be used to convert the plurality of center coordinates into three-dimensional aerial coordinates.

In this way, by converting the two-dimensional GPS coordinates to three-dimensional aerial coordinates to determine the position in the three-dimensional space, this becomes accurate three-dimensional position information of the aircraft 1 for the actual air.

Subsequently, the vehicle disabling unit 34 performs jamming based on the three-dimensional position information recognized in step S18 to disable the vehicle 1. Here, the vehicle disabling unit 34 may use a known jammer. Conventional jammers are devices that disturb radio waves by using broadband, noise, discrete frequency repeaters, and deception equipment.

As described above, the present invention obtains two-dimensional GPS coordinate information from the image information acquired through CCTV, and converts it into three-dimensional aerial coordinates by using a technique such as a church in front of the space, thereby accurately determining the spatial position coordinates of the aircraft in real time. This allows the aircraft to be disturbed in the air and can be neutralized in the air.

Although the invention made by the present inventors has been described in detail according to the above embodiments, the present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit and scope of the present invention. Self-evident to those who have

1: aircraft 2: defense object
3: Boundary Wall 10: Ranged Vehicle Detector
11: RF sensor 12: radar
20: video detector 30: air defense
31: air vehicle extraction unit 32: center coordinate extraction unit
33: three-dimensional positioning unit 34: aircraft disabling unit
35: aircraft tracking control

Claims (5)

As a device for detecting and disabling a low-flying aircraft,
Remote vehicle detection unit for detecting a remote vehicle;
An image detector for acquiring an image of the aircraft to identify and track the aircraft as an image at a distance capable of image identification; And
When the vehicle is detected by the remote vehicle detection unit, it is determined whether the image identification distance is entered through continuous detection, and when the image identification distance is entered, the 3D position of the vehicle is determined from the image information obtained by the image detection unit. And an aerial defense unit for disabling the vehicle based on the determined positional information.
The air defense system of claim 1, wherein the air defense unit comprises: a vehicle tracking control unit configured to control continuous detection when a vehicle is detected by the remote vehicle detection unit and to control image detection when the detected vehicle enters an image identifying distance; A vehicle extractor configured to extract a vehicle from a plurality of image information obtained by the image detector; A center coordinate extraction unit for extracting a two-dimensional center coordinates of the vehicle extracted by the vehicle extraction unit; Detecting / neutralizing low-flying aircraft capable of low-flying flight, characterized in that it comprises a three-dimensional positioning unit for determining the position in space by converting the plurality of two-dimensional center coordinates extracted from the central coordinate extraction unit to three-dimensional aerial coordinates .
The apparatus of claim 2, wherein the three-dimensional positioning unit converts a plurality of two-dimensional center coordinates into three-dimensional aerial coordinates through a space intersection.
The method of claim 2, wherein the air defense unit further includes a low-flying aircraft disabling unit for disabling the aircraft by firing a disturbing radio wave at a corresponding position based on the spatial three-dimensional position information determined by the three-dimensional positioning unit; Detecting / disabling device capable of flying.
As a method for detecting and disabling low-flying aircraft,
(a) detecting a vehicle by a remote vehicle detector, and checking whether the vehicle enters an image identification distance through continuous detection when a vehicle is detected at a distance;
(b) when the aircraft enters the image identification distance as a result of the checking in step (a), performing image tracking through the image detector and extracting the vehicle from the plurality of image information obtained through image tracking;
(c) extracting two-dimensional center coordinates of the extracted vehicle;
(d) converting the plurality of two-dimensional center coordinates extracted in step (c) into three-dimensional aerial coordinates to determine a position in space; And
(e) disabling the vehicle through radio wave disturbances based on the three-dimensional position information determined in step (d);
The step (d) is a low-flying flight detection / neutralization method, characterized in that for converting a plurality of two-dimensional center coordinates to a three-dimensional aerial coordinates through the space ahead (Space Intersection).

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