KR20200009638A - Near field drone detection and identifying device - Google Patents

Abstract

The present invention relates to a drone detection device for a short range. More specifically, provided is the drone detection device for a short range which can be used in a drone maneuvering license test center or the like by precisely detecting and measuring a drone position and height using a camera, a Lidar, an ultrasonic sensor, or the like. According to the present invention, the drone detection device for a short range can prevent misjudgment, disadvantage, or the like due to subjective judgment of a test supervisor in the drone maneuvering license test center, by precisely detecting and determining whether the drone is located at a designated location, is located at a specified altitude, and flies along a specified path.

Description

Near field drone detection and identifying device

The present invention relates to a short-range drone detection device, and more particularly, a short-range drone that can be utilized in a drone control license test site by precisely detecting and measuring the position and height of a drone using a camera, a lidar, an ultrasonic sensor, or the like. To a sensing device.

In general, an unmanned aerial vehicle is a plane or a helicopter-shaped vehicle which is driven by radio wave guidance without humans, and is also called a drone.

Such unmanned aerial vehicles are used in various industrial fields. More specifically, in the past, it has been used for military and hobby, but recently, the utilization of the transportation industry, the film and the broadcasting industry has become very wide, and various aircrafts having various sizes and performances have been developed depending on the purpose of use. .

In particular, unmanned aerial vehicles may be operated in areas not accessible to humans, such as jungles, remote areas, volcanic areas, natural disaster areas, and nuclear accident sites.

In addition, the unmanned aerial vehicle can move freely and quickly along a predetermined path to remotely monitor a specific area through a mounted camera or sensor. In addition, the unmanned aerial vehicle may be connected to the pilot device or the pilot terminal by wire or wireless, and may monitor a specific area by performing a function such as flying and photographing according to a command transmitted from the pilot device or the pilot terminal. Here, the control of the unmanned aerial vehicle through the steering device is carried out at close range of several hundred meters.

Pilots using unmanned aerial vehicles fly unmanned aerial vehicles to their desired area through piloting devices or pilot terminals, or spray pesticides, carry out delivery tasks, or take pictures or video of desired areas. .

However, with the spread of various unmanned aerial vehicles, there is a problem that pilots fly unmanned aerial vehicles to areas where privacy is required such as security facilities, power plants, and military facilities, or invade private lands and take pictures or videos illegally. Doing.

In addition, since the evaluation procedure for acquiring the control of the drone is not systemized, there is a problem that reliability and objectivity are inferior due to deterioration of fairness, cheating, and opacity by subjective judgment of the examiner.

KR 10-1083128 B1 KR 10-2017-0088540 A KR 10-2009-0104207 A KR 10-2011-0087442 A

The present invention is to solve the above-mentioned conventional problems, the drone control license by making it possible to detect and determine through different sensors whether the drone is located at a specified position, a specified altitude, or flying along a specified path. The purpose is to provide a short-range drone detection device that can be applied to a drone control license test system to prevent false positives or disadvantages according to the subjective judgment of the examiner at the test site.

Short range drone detection apparatus according to the present invention for achieving the above object and the support body is installed in a designated position; As installed in the support body, to obtain the image information by taking an image of the upper side of the support body, to obtain laser information by emitting a laser beam to the upper side of the support body, or to emit ultrasonic waves to the upper side of the support body A sensor unit for acquiring ultrasonic sensing information; And a processing unit for determining the presence of the drone on the upper side of the support body using the sensed information detected by the sensor unit, and calculating the height of the drone with respect to the support body.

An identification mark including identification information related to a manipulator for controlling the drone is attached to a lower portion of a drone that is a sensing and identification target of a short range drone detection apparatus according to the present invention, and the sensor unit is installed on the support body. And a photographing unit including at least one camera for capturing an image of an upper part of the subject, and the processing unit determines whether the drone is present according to whether the identification mark is included from the image photographed by the photographing unit, and the photographing unit. The height of the drone is calculated according to the ratio of the size of the identification mark in the image to the size of the image taken by the unit.

The sensor unit is characterized in that it comprises a lidar sensor unit which is installed on the support body for receiving the laser beam emitted and reflected back to the support body.

The sensor unit is characterized in that it comprises an ultrasonic sensor unit which is installed in the support body to receive the ultrasonic wave is emitted and reflected back to the upper support body.

An identification mark including identification information associated with an operator who controls the drone is attached to a lower portion of the drone, and the sensor unit is installed on the support, and includes at least one camera to capture an image of the upper support. A photographing unit, a lidar sensor unit installed on the support body for receiving a laser beam emitted and reflected back to the support body, and installed on the support body to emit ultrasonic waves above the support body; At least one or two or more of the ultrasonic sensor unit for receiving the reflected ultrasonic waves, wherein the processing unit determines the presence of the drone in accordance with the inclusion of the identification mark from the image taken by the photographing unit, The ratio of the size of the identification mark in the image to the size of the image taken by the photographing unit It is characterized in that for calculating the height of the drone.

A communication unit for transmitting the drone presence information and the height information of the drone obtained through the processing unit to a control server; And an alarm unit that provides an alarm signal by using light or sound to the outside when it is determined that the drone is present in the processing unit.

The short-range drone detection apparatus according to the present invention can accurately detect and determine whether a drone is located at a designated position, at a specified altitude, or follows a designated path through a combination of a stereo camera, a lidar sensor, and an ultrasonic sensor. By doing so, it is possible to prevent a misjudgment or a disadvantage due to the subjective judgment of the examiner at the drone control license test site.

1 is a perspective view showing an installation example of a short-range drone detection apparatus according to the present invention.
Figure 2 is a perspective view of the support body and the sensor unit of the short-range drone detection apparatus according to the present invention.
Figure 3 is a block diagram showing a control system of the short-range drone detection apparatus according to the present invention.
Figure 4 is a bottom view showing an example of the identification mark attached to the lower portion of the drone of the short-range drone detection apparatus according to the present invention.
Figure 5 is a bottom view showing another example of the identification mark attached to the bottom of the drone of the short-range drone detection apparatus according to the present invention.
Figure 6 is a bottom view showing another example of the identification mark attached to the bottom of the drone of the short-range drone detection apparatus according to the present invention.
Figure 7a is a view showing an image taken through the recording unit of the short-range drone detection apparatus according to the present invention.
Figure 7b is a view showing an image taken through the photographing unit of the short-range drone detection apparatus according to the invention.
8 is a perspective view showing an example of the use of a near-field drone detection apparatus according to the present invention.

Hereinafter, a short range drone sensing apparatus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 to 8 illustrate a short range drone sensing device 1 according to the present invention. 1 to 8, the short-range drone sensing apparatus 1 according to the present invention includes a support 100, a sensor unit 200, and a processing unit 300.

The support body 100 is installed at a designated position to guide a flight point (stop position or path) of the drone 10, and is formed in a cone shape so as to be erected on the ground, and the sensor unit 200 is located on the upper side. Combined.

The sensor unit 200 is detachably installed on the support 100, a housing 210 formed to be coupled to and detachable from the support 100, a photographing unit 220 installed on the housing 210, It is configured to include a lidar sensor 230, the ultrasonic sensor 240.

The housing 210 has a space portion formed therein, and a lower portion of the housing 210 has a fitting portion 211 extending downward to engage the upper portion of the support body 100. Inside the housing 210, a device constituting the sensor unit 200 and a battery for supplying power to the processing unit 300 to be described later are embedded, and the battery can be charged through a charging terminal installed in the housing.

The photographing unit 220 is installed on the upper portion of the housing 210 so that the image and the image 220A of the upper body 100 can be photographed upwards, and the housing 210 is disposed on the housing 210 so as to constitute a stereo camera. The first camera 221 and the second camera 222 are spaced apart from each other, the image 220A processor 223 for processing the image taken by the first camera 221 and the second camera 222 and will be described later It is configured to include a communication interface that supports communication with the processing unit 300. The image or image 220A captured by the photographing unit 220 is transmitted to the processing unit 300 to be described later, and the photographing unit 220 and the processing unit 300 can communicate through a USB protocol and an interface.

The short-range drone detection apparatus according to the present invention includes identification information related to a manipulator for manipulating the drone 10 at the bottom of the drone 10 for detecting the presence of the drone 10 and the height of the drone 10. The identification mark 11 is attached.

The identification mark 11 attached to the drone 10 is formed in various QR code forms. Identification mark 11 may be formed in the form of a conventional QR code, as shown in Figure 4, as shown in Figure 5 to the circular mark around the QR code or shown in Figure 6 to improve the identification power As pentagonal markers may be further provided.

The photographing unit 220 photographs the drone 10 on the support body 100, and the identification mark 11 attached to the lower portion of the drone 10 is photographed together with the image 220A photographed by the photographing unit 220. do.

Lidar sensor unit 230 is to obtain the laser 231 information by emitting a laser beam to the upper side of the support 100, the laser 231 for transmitting the laser beam upwards on the housing 210 and The first driving motor 233 and the second driving motor 234 which rotates the laser 231 to irradiate the receiver 232 and the laser 231 which receive the reflected laser beam in various directions, The lidar controller controls the output and operation of the laser 231 and the operations of the first driving motor 233 and the second driving motor 234, respectively, and receives and processes the laser beam information received from the receiving unit 232. And 235. The lidar information obtained by the lidar sensor unit 230 is transmitted to the processing unit 300, and the lidar sensor unit 230 and the processing unit 300 are connected to each other by an I ² C (Inter-Integrated Circuit) method. And communication is possible.

The ultrasonic sensor unit 240 obtains ultrasonic sensing information by emitting ultrasonic waves toward the upper side of the support body 100, and at least one receiving ultrasonic waves which are transmitted and reflected ultrasonically upward on the upper portion of the housing 210. The ultrasonic sensor 241 and the ultrasonic sensor 241 to control the operation, and comprises a ultrasonic controller 242 for processing the received ultrasonic information. Ultrasonic information obtained from the ultrasonic sensor unit 240 is transmitted to the processing unit 300, and the ultrasonic sensor unit 240 and the processing unit 300 can be communicated with each other by the I ² C (Inter-Integrated Circuit) method. .

The processing unit 300 determines whether the drone 10 exists on the upper side of the support body 100 using the sensing information detected by the sensor unit 200, and the drone 10 is positioned on the upper side of the support body 100. When located, the height of the drone 10 relative to the support 100 is calculated.

The processing unit 300 includes a central processing unit 310 that oversees data processing and overall control of the system, a storage unit 320 for storing data, a display 330 for displaying various types of information, and communication for external devices. It comprises a communication unit.

The communication unit includes a Wifi communication module 341, an Ethernet communication module 342, and a Bluetooth communication module 343, and each communication module is controlled by the central processing unit 310.

The detection information transmitted to the outside through the communication unit is received by the control server 350, the control server 350 may send the detection information to the supervision and monitoring terminal 360 for the license test of the drone 10.

The processing unit 300 determines whether the drone 10 is present according to whether the identification mark 11 is included from the image 220A photographed by the photographing unit 220, and the image photographed by the photographing unit 220 ( The height of the drone 10 is calculated according to the size ratio of the identification mark 11 in the image 220A to the size of 220A.

The processing unit 300 captures an object to be photographed at a specific distance from the photographing unit 220, and photographs the photographing unit 220 based on a ratio of the size of the photographed image 220A to the size of the object in the image 220A. The distance between the object and the object becomes larger as the object becomes smaller or closer to the object. Thus, the principle of calculating the separation distance of the object with respect to the photographing unit 220 is used.

To this end, the storage unit 320 of the processing unit 300 includes each image 220A photographed when the drone 10 is positioned at different heights from the photographing unit 220 and included in each image 220A. The lookup table (LTU) in which the size information of the identification mark 11, the size ratio of the identification mark 11 to the size of the image 220A, and the distance information according to each ratio information are matched.

For example, as illustrated in FIG. 7A, the processing unit 300 may include an identification mark in the image 220A captured by the photographing unit 220 when the drone 10 is located at a first distance from the photographing unit 220. 11) calculating the length L1 of the (first identification mark 11) and calculating the ratio of L0: L1 which is the ratio of the length L1 of the first identification mark 11 to the length L0 of the image 220A, The current distance of the drone 10 may be calculated from the photographing unit 220 by matching the calculated first ratio information with the lookup table stored in the storage unit 320.

As another example, and as shown in FIG. 7B, when the drone 10 is located at the second distance, the identification mark 11 (the second identification mark) in the image 220A photographed through the photographing unit 220 is captured. 11)) when the length is L2, the ratio of L0: L2, which is the ratio of the length L2 of the second identification mark 11 to the length L0 of the image 220A, is calculated, and the calculated second ratio information is stored. The current distance of the drone 10 from the photographing unit 220 may be calculated by matching the lookup table stored in the unit 320.

The processing unit 300 determines whether the drone 10 is present and measures the height of the drone 10 through the lidar sensor unit 230 and the ultrasonic sensor unit 240, and measures the height of the drone 10. ) And the distance measuring method through the ultrasonic sensor unit 240 has been applied to the conventional method will not be repeated.

In addition, the processing unit 300 is any of the above-described photographing unit 220, lidar sensor 230, ultrasonic sensor 240 to measure the presence of the drone 10 and the height of the drone 10. Alternatively, alternatively, the photographing unit 220 or the ultrasonic sensor unit 240 may be applied for short range sensing, and the lidar sensor unit 230 may be applied for remote sensing, and these may be used in combination with each other. Can be.

The short-range drone detection apparatus according to the present invention may further include an alarm unit that provides an alarm signal to the outside using light or sound to the outside when it is determined that the drone 10 is present in the processing unit 300. have.

The alarm unit may include a light emitting module 410 for emitting light or a speaker 420 for transmitting an alarm sound, and the alarm sound transmitted from the speaker 420 may be stored in the storage unit 320 of the processing unit 300. Is stored in advance.

As described above, the short-range drone sensing device may detect and detect whether the drone 10 passes through a specific test point after installing two or more at specific test points, respectively, as shown in FIG. 8.

Referring to FIG. 8, a specific test point is set as a start point P0, a first test point P1, and a second test point P2 as shown, and the flight path of the drone 10 is a starting point ( Move from P0) to the first test point P1 and move from the first test point P1 to the second test point P2 and start again at the second test point P0 or the first test point P1 Set the path to return to.

First, the drone 10 maneuver checks the drone 10 to the set height at the starting point P0 on which the first drone 10 is placed, and checks for abnormality of the aircraft, and then starts the drone 10 at the starting point P0. Move to. In this case, it is determined whether the drone 10 exists on the first test point P1 and is located at a set height through a short-range drone sensing device according to the present invention installed at the first test point P1. When it is determined that it is located, the alarm unit operates so that the operator can recognize it.

Thereafter, the operator moves the drone 10 to the second test point P2 so that the drone 10 can fly along the second test path L2, and then moves to the first test point P1 again. . At this time, the short-range drone sensing device installed at the second test point P2 determines whether the drone 10 exists on the second test point P2 and is located at a set height, and determines that it is located at the correct position. Alarm unit when activated.

In addition, the short-range drone sensing device installed at the first test point P1 has a drone 10 when the drone 10 returns from the second test point P2 to the first test point P1. It is determined whether it is located at the point P1, and when it is determined that it is located in the correct position, the alarm unit operates.

The short-range drone detection apparatus according to the present invention described above has been described with reference to the accompanying drawings, which are merely exemplary, and those skilled in the art may make various modifications and other equivalent embodiments therefrom. Will understand.

Therefore, the true technical protection scope of the present invention should be defined only by the technical spirit of the appended claims.

1: detection device
10: drone
100: holding body
200: sensor unit
210: housing
220: shooting unit
221: first camera
222: second camera
223 image processor
230: lidar sensor
231: Laser
232: receiver
233: first driving motor
234: second drive motor
235: rider controller
240: ultrasonic sensor
300: processing unit
310: central processing unit
320: storage unit
330: display

Claims (6)

A support body installed at a designated position;
As installed in the support body, to obtain the image information by taking an image of the upper side of the support body, to obtain laser information by emitting a laser beam to the upper side of the support body, or to emit ultrasonic waves to the upper side of the support body A sensor unit for acquiring ultrasonic sensing information;
And a processing unit for determining the presence of the drone on the upper side of the support body using the sensed information detected by the sensor unit, and calculating the height of the drone with respect to the support body. Drone detection device.
The method of claim 1,
The bottom of the drone is attached with an identification mark containing identification information associated with the manipulator to control the drone,
The sensor unit is provided on the support body, and provided with a recording unit including at least one or more cameras for taking an image of the upper side of the support body,
The processing unit determines whether the drone is present according to whether the identification mark is included from the image photographed by the photographing unit, and according to the size ratio of the identification mark in the image to the size of the image photographed by the photographing unit. Short drone sensing device, characterized in that for calculating the height of the drone.
The method of claim 1,
The sensor unit is installed in the support body is short-range drone sensing device, characterized in that it comprises a lidar sensor unit for receiving the laser beam emitted and reflected back to the support body.
The method of claim 1,
The sensor unit is installed in the support body is short-range drone sensing device characterized in that it comprises an ultrasonic sensor unit for receiving the ultrasonic wave is emitted and reflected back to the upper support body.
The method of claim 1,
The bottom of the drone is attached with an identification mark containing identification information associated with the manipulator to control the drone,
The sensor unit
A photographing unit installed in the support body and including at least one camera for capturing an image of the upper support body; and receiving a laser installed in the support body to emit and reflect a laser beam onto the support body At least one or two or more of a lidar sensor unit and an ultrasonic sensor unit installed in the support body and receiving the ultrasonic wave emitted and reflected back to the support body.
The processing unit determines whether the drone is present according to whether the identification mark is included from the image photographed by the photographing unit, and according to the size ratio of the identification mark in the image to the size of the image photographed by the photographing unit. Short drone sensing device, characterized in that for calculating the height of the drone.
The method of claim 1,
A communication unit for transmitting the drone presence information and the height information of the drone obtained through the processing unit to a control server;
And an alarm unit configured to provide an alarm signal by using light or sound to the outside when it is determined that the drone is present in the processing unit.

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