KR20200083951A - Control system and method to patrol an RFID tag path of a drone having a camera and embedded with a directional speaker - Google Patents

Abstract

The present invention relates to a system and a method for controlling a drone provided with a directional speaker and a camera patrolling an RFID tag path. The system includes: RFID tag-attached signs installed in the border of a certain area; a drone controller provided with a wireless communication unit and transmitting a drone control signal; and a drone controlled by receiving the drone control signal from the drone controller or a smartphone and provided with a GPS receiver, a camera, a directional speaker, and an RFID reader. During the waypoint schedule path flight of the GPS-guided drone with location, velocity, and altitude preset in each path section of the RFID tag-attached signs, the drone transmits to a video server camera video data of the drone and RFID tag location information on the RFID tag-attached signs while performing patrol along the RFID tag path of the certain area at a certain altitude above the ground. When a person, an animal, or a wild animal in the patrol area is detected from the camera video data of the drone, the drone performs control so that the person, the animal, or the wild animal cannot approach by outputting a remote voice signal transmitted from a PC or a smartphone or outputting an animal repellent sound pre-stored in the storage unit of the drone.

Description

Control system and method to patrol an RFID tag path of a drone having a camera and embedded with a directional speaker}

The present invention relates to a control system and method of a drone that patrols the RFID tag path in a specific area, and more specifically, 2.4 GHz or 2.5 GHz RFID at 50 to 100 m intervals at the border in paddy fields, forests, security areas, and military protection areas. Tagging signs are installed, and the drone's flight area (1->2->3->4...) including location, speed and altitude is set in each path section according to the RFID tag path, and the drone's flight Drone equipped with camera, directional speaker, GPS receiver and 2.4GHz or 2.5GHz RFID reader within 30~50m above the ground under the altitude control of the controller (FC). Or, it recognizes the location of the RFID tag value of 2.5GHz RFID tag-attached signs, transmits and stores the camera image data of the drone to a video server, and monitors it on a PC or smartphone, and uses the Kalman filter algorithm by the video server's video analysis module or Using deep learning technology, it detects and tracks objects in the video, and when people/animals and wild animals are found in the patrol area in the camera video data of the drone, an alarm is generated on the PC/smartphone and the remote voice signal of the PC or smartphone or A drone with a camera and a directional speaker that controls the RFID tag path in a specific area that controls human/animal and wild animals from accessing a drone's directional speaker by outputting the animal repelling sound from the drone's storage section according to a remote control signal. It relates to a control system and method.

Drones are classified into unmanned aerial vehicles (UAVs) for military use, fixed-wing drones in the form of small airplanes, and rotary-wing drones in the form of quadcopters or hexacopters.

The rotorcraft drone is mainly a quadcopter, hexacopter or octocopter used as a commercial multicopter, using drones with 4, 6, or 8 propellers and motors, and using a separate drone controller (RC Transmitter/Receiver) The drone motion control signal (PWM command) is transmitted through the RF frequency to the flying drone to control the drone's vertical takeoff and landing (VTOL) and direction control, linear acceleration, flight path control, and landing.

1 is a view illustrating an operation method of a conventional multicopter drone.

The drone uses a flight controller (FC) and an electronic speed controller (ESC) for aerodynamically stable flight, and the flight controller (FC) is embedded to accurately calculate the direction and position of the drone's movement. It collects information from the gyroscope, accelerometer, and altimeter built into the processor. The principle of operation of a quadcopter with four motors (M1, M2, M3, M4) is that the M1, M3 and M2, M4 rotors rotate in the same direction, but the directions of rotation are opposite to each other, and offset the reaction torque generated by the motor. Let it work.

Table 1 shows the operation principle of the quadcopter.

Rising and falling
(Trottle up/down) If M1~M4 are increased in the same rotation speed, the aircraft will rise, and if the rotation speed is reduced, the aircraft will descend. Forward and backward
(Roll left/right) If you increase the speed of the M3 rotor, the aircraft will lean forward and move forward.
On the other hand, if you only increase the speed of the M1 rotor, the aircraft will tilt back and reverse. Left reverse
(Roll left/right) When the speed of the M2 rotor is increased, the aircraft tilts to the left and moves to the left, while when the speed of the M4 rotor is increased, the aircraft tilts to the right and moves to the right. rotation
(Yaw left/right) When the speeds of the M1 and M3 rotors are equally increased, the anti-torque balance of the aircraft is broken, and the tail of the aircraft is turned to the left. On the other hand, if you increase the speed of the M2 and M3 rotors equally, the tail of the aircraft will turn to the right for the same reason.

The existing drone controller (RC Tx/Rx) uses 1 to 4 modes. Each country has a preferred mode, most of which use Mode 1 and Mode 2. In Mode 1, the right stick is used to control the aileron and throttle, and the left hand is used to control the elevator and aileron. Mode 2 is the closest control to a real airplane. The right stick controls the aileron and elevator, and the left stick controls the throttle and rudder. That is, it is very similar to a real airplane that uses the right hand to control the aileron and elevator between the controls and the left hand to control the throttle lever. The following flight modes are available for drone flight control using a remote controller. This can be set according to FC (Flight Controller). 1) Manual Mode

The manual mode is a mode in which the pitch of the aircraft and the rotational speed in the roll direction are proportional to the stick (angle) of the remote controller. If the stick is tilted a certain amount, the aircraft continues to rotate at the corresponding speed. This mode maintains the angle when the stick is neutral while the aircraft is inclined.

2) Attitude Mode

In Etitude mode, the angle of the aircraft is proportional to the stick of the remote controller. When the stick of the remote controller is neutral, the aircraft is level, and when the stick of the remote controller is tilted as much as possible, the aircraft angle is also tilted to a preset limit. When moving back, forth, left and right, you must keep tilting the stick of the remote controller in that direction.

3) GPS Angle Mode

In GPS Angle Mode, if the remote controller's stick is neutral, the aircraft's position is fixed. When moving the stick of the remote controller 2) It shows the same movement as Attitude Mode.

4) GPS Mode

In GPS Mode, the speed of the aircraft is proportional to the stick of the remote controller. When the stick is kept neutral, it is hovered in the same position.

As related prior art 1, "drone" is disclosed in patent registration number 10-1559898. The drone includes a mechanism frame 60, a determination unit by the sensor unit 40 of a motor, a propeller, an ultrasonic sensor or an infrared sensor, and a communication unit. Mechanism frame 60 has a lower end having two legs landing supports for taking off and landing drones and an embedded system in which a flight controller (FC) is embedded, including an upper end, and an upper end of the instrument frame 60 The central portion 10 is located at the center, and consists of a branch formed in a cross shape around the central portion 10. In the case of a quadcopter, the branching section is composed of a first branching section 31, a second branching section 32, a third branching section 33, and a fourth branching section 34 at 90-degree angles. Each motor (M1, M2, M3, M4) and a propeller corresponding to each motor are mounted. The branch unit is provided with a motor inside, and is configured to rotate and fly with a propeller mounted on the motor shaft.

As related prior art 1, Patent Registration No. 10-16479500000 discloses a "safe route guidance device using a drone and a control method thereof", for at least one patrol that moves along a predetermined patrol route and collects image information. In the safety path guidance device using a drone, a control unit, a communication unit and a storage unit for storing patrol path information and map information of each patrol drone, the control unit receives a safe path request from the user terminal through the communication unit, and Generates safe route information based on the patrol route and map information of the patrol drone, and transmits the generated secure route information to the user terminal through a communication unit, wherein the secure route request includes the current location information, destination information and It includes safety path usage time information, and the safety path information is a movement path from the current location of the user terminal to the destination, and the drones for each patrol drone during a preset time range based on the safety path usage time. It provides a safety path guide device characterized in that the patrol path and a movement path that overlaps a predetermined ratio or more.

However, drone speed control, position and altitude control are required.

Patent Registration No. 10-16479500000 (Registration Date August 08, 2016), "Safe route guidance device and control method using drone", Kwangwoon University Industry-Academic Cooperation Group

The object of the present invention for solving the above problems is to install the 2.4GHz or 2.5GHz RFID tag signs at 50 to 100m intervals on the border in paddy fields, forests, security areas, and military protection areas, and each path section according to the RFID tag path. The drone's flight area (1->2->3->4...) including location, speed, and altitude is set, and within 30~50m above the ground according to the altitude control of the drone's flight controller (FC). In the drone equipped with a camera, directional speaker, GPS receiver and 2.4GHz or 2.5GHz RFID reader, patrols along the RFID tag path and recognizes the location of the RFID tag values of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area. Drone's camera image data is transmitted to and stored in a video server and monitored on PCs and smartphones.Kalman filter algorithm or deep learning technology detects and tracks objects in the image by the video server's image analysis module. When a person/animal or wild animal is found in the patrol area in the camera video data of the camera, an alarm is generated on the PC/smartphone, and the remote voice signal of the PC or smartphone or the animal repelling sound of the drone's storage is output to the drone's directional speaker. Provides a drone control system with cameras and directional speakers that patrol RFID tag paths in specific areas that control animals and wild animals from access.

Another object of the present invention is to provide a method for controlling a drone having a directional speaker and a camera that patrols a RFID tag path in a specific area.

In order to achieve the object of the present invention, a drone control system including a camera and a directional speaker that patrols an RFID tag path in a specific area includes: RFID tag attachment signs installed at a border in a specific area; A drone controller having a wireless communication unit and transmitting a drone control signal; Controlled by receiving the drone control signal from the drone controller or smart phone, and in the way of the GPS-guided drone with the location, speed, and altitude set in each path section of the RFID tag-attached signs. The drone patrols according to the RFID tag path in a specific area, and the RFID reader mounted on the drone uses a 2.4 GHz or 2.5 GHz RFID reader, and the RFID tag location information of the RFID tag attachment signs and the camera video data of the drone It is equipped with a GPS receiver, camera and directional speaker and RFID reader that transmits a video signal to a video server and outputs a remote voice signal transmitted from a PC or smartphone or outputs an animal repelling sound when people, animals and wild animals in the patrol area are detected. Drones; And the drone patrols according to the RFID tag path in a specific region, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored on a PC and a smartphone, and is R by an image analysis module. -CNN, Fast RCNN, and Faster RCNN using deep learning technology or Kalman filter algorithm to detect objects in the image and track the objects, and if a person/animal or wild animal is found in the patrol area, the PC and the smart Includes a video server that generates an alarm on the phone,

The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at regular distances in a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area,

The drone's flight controller (FC) recognizes the location of the RFID tag of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area according to the RFID tag path of the specific area, and the 2.4GHz or 2.5GHz RFID tag location information And camera video data is transmitted to the video server, to be monitored on the PC and/or the smart phone, and if a person/animal or wild animal is found in the patrol area by the video analysis module, an alarm is sent to the PC and the smart phone. And outputting the animal repelling sound of the drone storage unit executed according to the remote voice signal or remote control signal transmitted from the PC or the smartphone to the drone's directional speaker.

In order to achieve another object of the present invention, a control method of a drone having a camera and a directional speaker that patrols a RFID tag path in a specific region includes (a) location, speed, and speed in each path section according to the RFID tag path in a specific region. A drone equipped with a GPS receiver, a camera, a speaker, and an RFID reader at a certain altitude from the ground surface during flight in the waypoint schedule route of a drone with a preset altitude, patrols according to the RFID tag path in a specific area, and the RFID mounted on the drone The reader uses a 2.4GHz or 2.5GHz RFID reader, transmitting RFID tag location information of the RFID tag-attached signs and the camera video data of the drone to a video server and being monitored by a PC and a smartphone linked to the video server; (b) detecting objects in the image and tracking the object by using a deep learning technique or a Kalman filter algorithm of any one of R-CNN, Fast RCNN, and Faster RCNN by the video analysis module of the video server; And (c) when a person, animal, or wild animal in the patrol area is detected by the video analysis module of the video server, RFID tag detection location information and an alarm are generated in a PC and a smartphone linked to the video server, and the PC or smartphone. And outputting the remote voice signal transmitted from the drone to the speaker, or outputting the pre-stored animal repelling sound to the speaker according to the remote control signal.

The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at regular distances in a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area,

The drone patrols along the RFID tag path in a specific area, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored on the PC and the smartphone, and the video of the video server It is equipped with a video server that detects and tracks objects in the image using the Kalman filter algorithm or deep learning technology by the analysis module, and generates alarms on the PC and the smartphone when people/animals and wild animals are found in the patrol area. ,

When a person/animal or wild animal is found in the patrol area by the video analysis module of the video server, an alarm is generated in the PC and the smartphone, and the remote voice signal is transmitted to the drone from the PC or the smartphone, or the PC or The remote control signal is transmitted from the smartphone to the drone.

Drone control system and method comprising a camera and a directional speaker that patrols the RFID tag path in a specific area according to the present invention is 2.4GHz or 2.5GHz at 50 to 100m intervals at the border in paddy fields, forests, security areas, and military protection areas. Signs with RFID tags are installed, and according to the RFID tag path, the drone's flight area (1->2->3->4...) including location, speed and altitude is set in each path section, and the drone's Drone equipped with camera, directional speaker, GPS receiver and 2.4GHz or 2.5GHz RFID reader within 30~50m above the ground under the altitude control of the flight controller (FC). It recognizes the location of the RFID tag values of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area along the route, and transmits and stores the camera image data of the drone to a video server to be monitored on PCs, smartphones, and video servers Detects and tracks the object of the image by using the Kalman filter algorithm or deep learning technology by the video analysis module, and when a person/animal or wild animal is found in the patrol area in the camera video data of the drone, an alarm is generated in the PC/smartphone. It has the effect of controlling the remote voice signal of the PC or smartphone or the animal repelling sound of the drone's storage unit through the directional speaker of the drone so that people/animals and wild animals appearing in the access area are not accessible.

1 is a view illustrating the operation of a conventional multicopter drone.
Figure 2 is a control system configuration diagram of a drone having a 2.4GHz RFID reader and a directional speaker and a camera that patrols the RFID tag path in a specific area according to the present invention.
3 is a conceptual diagram of a drone control system having a camera, a directional speaker, and a 2.4 GHz RFID reader that patrol the RFID tag path in a specific area.
4 is a flowchart illustrating a method of controlling a drone having a camera and a directional speaker and a 2.4 GHz RFID reader that patrol the RFID tag path in a specific area of the present invention.
5 is a photograph showing a preset drone flight route (1->2->3->4,..) and an emergency landing point (ERP) when flying a drone's GPS-guided Waypoint schedule route over 30-50m. to be.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention will be described in detail the configuration and operation of the invention.

Figure 2 is a control system configuration diagram of a drone having a 2.4GHz RFID reader and a directional speaker and a camera that patrols the RFID tag path in a specific area according to the present invention.

3 is a conceptual diagram of a drone control system having a camera, a directional speaker, and a 2.4 GHz RFID reader that patrol the RFID tag path in a specific area.

The drone control system and method having a camera and a directional speaker that patrol the RFID tag path in a specific area of the present invention are 2.4GHz at 50 to 100m intervals at a border of a specific area such as a paddy field, a forest field, a security area, and a military protection area. Alternatively, 2.5GHz RFID tag attachment signs are installed, and the drone flight area (1->2) includes location, speed, and altitude in each route section of the RFID tag route in a specific area by the drone flight planning software according to the RFID tag route. ->3->4...) is set, and the camera and directional speaker, GPS receiver and 2.4GHz or 2.5GHz RFID reader are equipped within 30~50m above the ground according to the altitude control of the drone's flight controller (FC). The drone patrols according to the RFID tag path in a specific area, recognizes the location of the RFID tag values of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area, and transmits and stores the camera image data of the drone to the video server. It is monitored on PC, smartphone, and detects and tracks the object of the image using the Kalman filter algorithm or deep learning technology by the video analysis module of the video server, and the person/animal in the drone's patrol area from the camera video data of the drone, When a wild animal is found, an alarm is generated on the PC/smartphone, and the remote voice signal of the PC or smartphone or the animal repelling sound of the drone's storage (eg lion sound) is output to the drone's directional speaker to show the person/animal in the approach area. , Control the wild animals from approaching.

For example, in certain areas of paddy fields, in order to prevent crop damage, 2.4GHz or 2.5GHz RFID tag attachment signs are installed at the border of the paddy field forest at 50~100M intervals, and drones patrol the tag path over 30~50M. When the wild animal is detected from the camera image data, a remote audio signal or an animal repelling sound (eg, a lion sound) of the drone's storage unit is output to the drone's directional speaker to prevent access to the wild animal.

In the embodiment, the 2.4 GHz RFID tag attached signs and the 2.4 GHz RFID reader will be described as an example.

The drone 200 uses a rotary wing drone.

The drone 200 is powered by a battery (not shown), and is connected to a flight controller (FC) 201 in a basic drone component, a GPS receiver 212, an infrared camera or a NIR camera 217, 2.4 GHz An RFID reader 230 and a directional speaker 219 are further provided.

In an embodiment, the drone 200 used a quadcopter rotorcraft drone.

1) Flywheel Drone: DJI Flywheel Drone

INS (Inertial Navigation System) with 4/6 propellers and motors, electronic speed controller (ESC), flight controller (FC), altimeter, GPS receiver, gyroscope and acceleration sensor Device), altimeter, camera, Wi-Fi, NB-IoT modem or LTE 4G/5G modem, and battery.

The inertial navigation system (INS) includes a gyro sensor and an acceleration sensor.

To reach the target speed value of the drone's schedule route flight, the speed controller, position control and altitude control are performed by controlling the number of revolutions of the motors of the drone using a feedback controller such as a drone speed PI control or a fuzzy PID controller.

On the GPS-guided drone's Waypoint schedule flight route (1->2->3->4...), the position, speed, and altitude of each section are preset, and the speed at which the drone is set at a predetermined altitude of 30-50 m. A scheduled flight of a GPS-guided drone running along the RFID tag path at the border of a specific area is conducted.

A drone control system having a camera and a directional speaker and a 2.4 GHz RFID reader that patrol the RFID tag path in a specific area of the present invention

A drone controller 100 having a radio communication unit of any one of an RF communication unit, a Wi-Fi communication unit, an LTE NB-IoT modem, and an LTE 4G/5G communication unit and transmitting a drone control signal;

It is controlled by receiving the drone control signal from the drone controller 100 or the smartphone 320, and the vertical takeoff and landing of the drone, vertical ascent/descent, linear acceleration, direction control, altitude control of the drone, hovering (stop), landing and Control the flight path, and according to the drone's flight path setting, the location, speed, and altitude of the RFID tag-attached signposts are set in advance. The drone's Waypoint schedule path The flight path of the drone according to the flight (1->2->3- >4...) is controlled, and includes four or more propellers (204,206,208,210) and motors (203,205,207,209), electronic speed controller (ESC) 202 and flight controller (FC) 201, with a camera 217 It has a directional speaker 219, a GPS receiver 212 connected to a flight controller (FC) 201, an acceleration sensor, a gyroscope, an altimeter 213, and a 2.4 GHz RFID reader 230, 30-50 m from the ground surface The drone patrols along the path of the RFID tag in a specific area from above, the RFID reader mounted on the drone uses a 2.4GHz or 2.5GHz RFID reader, and recognizes the RFID tag location of the 2.4GHz RFID tag-attached signs installed in the patrol surveillance area. The RFID tag location information and camera video data are transmitted to the video server 300 to be monitored by the PC 310 and the smartphone 320, and the Kalman filter algorithm or dip is performed by the video analysis module of the video server 300. It is possible to detect and track the object of the image using the running technology, and when a person/animal or wild animal is found in the patrol area, an alarm is generated in the PC/smartphone, and the remote transmitted from the PC 310 or the smartphone 320 A drone 200 which outputs an audio signal or outputs an animal repelling sound of the drone storage unit to the directional speaker 219 of the drone by a remote control signal transmitted from the PC 310 or the smartphone 320; And the drone 200 patrols according to the RFID tag path in a specific area, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, and transmits them to the PC 310 and the smartphone 320. It is monitored, and the video analysis module of the video server detects objects in the image and tracks the objects in the patrol area by using deep learning technology of either R-CNN, Fast RCNN, or Faster RCNN or Kalman filter algorithm. When a person/animal or wild animal is found, it includes a video server 300 that generates an alarm in the PC 310 and the smartphone 320,

The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at a certain distance (50 to 100m) from a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area,

The flight controller (FC) 201 of the drone 200 recognizes the RFID tag positions of the 2.4 GHz or 2.5 GHz RFID tag-attached signs installed in the patrol surveillance area according to the RFID tag path of the specific region, When transmitting 2.4GHz or 2.5GHz RFID tag location information and camera video data to a video server, allowing the PC 310 and/or the smartphone 320 to be monitored, and if a person/animal or wild animal is found in the patrol area An alarm is generated in the PC 310 and the smartphone 320, and the animal repelling sound of the drone storage unit executed according to a remote voice signal or a remote control signal transmitted from the PC 310 or the smartphone 320 To be output to the directional speaker 219 of the drone 200.

The flight controller (FC) 201 is connected to an electronic speed controller (ESC) 202, vertical takeoff and landing of a drone, vertical ascent/descent, linear acceleration, direction control, altitude control of a drone, hovering, landing and flight path Control the location of a specific area, and make sure that the drone is accurately positioned over the corresponding location of the flight, speed control, position control, altitude control so that the altitude of the drone is 30-50m, and the camera video of the drone 200 Transmit the RFID tag location information to the video server 300,

By the video analysis module of the video server 300, the Kalman filter algorithm or real-time camera video of a specific area is applied to the drone's camera video data on the RFID tag path of a specific area such as a field, forest, protected area, or military protected area. When detecting a person/animal or wild animal, a microphone of the PC 310 and a remote voice signal transmitted from a wireless communication unit such as RF, Wi-Fi, NB-IoT, LTE 4G/5G, or from the smartphone 320, or Alternatively, the animal repelling sound pre-stored in the storage unit 215 of the drone 200 is output to the directional speaker 219 by the remote control signal.

The drone controller 100 is an RC Transmitter/Receiver (RC Tx/Rx), and a key for remotely controlling the drone 200 through any one of RF, Wi-Fi, LTE NB-IoT, and LTE 4G/5G. Adjusting unit 101; Control unit 102 for controlling to transmit the remote control data of the drone; A wireless communication unit 103 that transmits remote control data of a drone and receives GPS position and altitude information of the drone from the drone 200; And a battery 104.

The drone 200 sets the movement path of the RFID tag-attached signs preset by the flight route planning SW, generates lift in accordance with the position, speed, and acceleration control of the drone 200, and presets the specific area after vertical takeoff. It generates and moves thrust along the RFID tag path.

The flight route planning SW includes the flight altitude, overlapping degree (double axle, transverse axle), and the interval of the camera's photo taking according to the drone's flight altitude, emergency landing point (ERP), home position altitude (RTH), and safety circle ( Geofencing) radius.

The flight control software uses wireless communication technology to display the location, flight direction (0->1->2->3->4...), speed, and altitude values in real time and display the visual field (VLOS), It is a program to control the flying devices in the invisible area.

The drone 200 includes four or more propellers 204, 206, 208, 210 and motors 203, 205, 207, 209, an electronic speed controller (ESC) 202, and a flight controller (FC) 201. 212), an acceleration sensor, a gyroscope, an altimeter 213, a camera 217, a directional speaker 219, and a 2.4 GHz RFID reader 230.

The drone 200 includes four or more propellers 204,206,208,210 and motors 203,205,207,209;

It is connected to the flight controller (FC) 201, receives remote control data from the drone controller 100, and receives a remote voice signal from the microphone and NB-IoT communication unit of the PC 310 or from the smartphone 320. A wireless communication unit 211 having any one of an LTE 4G/5G modem, an NB-IoT modem, a Wi-Fi communication unit, or an RF communication unit to which an IP address is assigned;

Remote control data is received from the drone controller 100 or the smartphone 320 through the wireless communication unit 211, vertical takeoff and landing of the drone, vertical rise/fall, linear acceleration, direction control, altitude control of the drone, and hovering ( Stop), control landing and flight paths, control data transmission and reception, and schedule the drone's waypoint from 30 to 50 m above the drone's schedule. Route flight is controlled, drone patrols along the RFID tag path in a specific area 30~50m above the surface, recognizes the RFID tag location of the 2.4GHz RFID tag-attached signs installed in the patrol surveillance area, RFID tag location information and camera The video data is transmitted to the video server 300, to be monitored on the PC 310 and/or the smartphone 320, and the Kalman filter algorithm or deep learning technology is used by the video analysis module of the video server 300. Object detection and tracking of video is possible, and when a person/animal or wild animal is found in the patrol area, an alarm is generated on the PC and the smartphone, depending on the remote voice signal or remote control signal transmitted from the PC or smartphone. A flight controller (FC) 201 that outputs the animal repelling sound of the drone storage unit 215 to be output to the drone directional speaker 219;

An electronic speed controller (ESC) 202 connected to four or more propellers 204, 206, 208, 210 and motors 203, 205, 207, 209 and connected to the flight controller (FC) 201; And

A GPS receiver 212 connected to the flight controller (FC) 201 and providing GPS location coordinates of a drone flying in the sky;

An altimeter 213 connected to the flight controller (FC) 201 and providing elevation information of the drone;

It is connected to the flight controller (FC) 201 and measures the angular velocity of four propellers 204,206, 209, 210 rotating based on the z axis to control yaw, roll, and pitch to control the quadcopter drone 200 ) To control the attitude of the drone to maintain horizontal balancing of the left and right gyroscopes (gyroscope, gyro sensor);

An acceleration sensor connected to the flight controller (FC) 201 and measuring acceleration of a drone moving a flight path;

A camera 217 provided under the drone;

An A/V image processing unit 216 which is connected to the flight controller (FC) 201 and encodes the image of the camera 217;

An audio signal processing unit 218 connected to the flight controller (FC) 201 and processing an audio signal;

A drone that is connected to the flight controller (FC) 201 and controls an RFID tag path on a border of a specific area, such as a paddy field, a forest field, a security area, and a military protection area, at a distance of 30-50 m, the video server 300 When detecting a person/animal or wild animal of a video transmitted to the video server 300 by the video analysis module of the microphone of the PC 310 and the LTE 4G/5G modem, NB-IoT modem, Wi-Fi communication unit or RF communication unit Amplify and output the remote voice signal transmitted from any one communication unit or from the smartphone 320, or to the microphone of the PC 310 and the remote control signal transmitted from the one communication unit or from the smartphone 320. A directional speaker 219 for amplifying and outputting pre-stored animal repelling sound in the drone storage unit;

A storage unit (hard disk) 215 in which animal repelling sound is stored, and records aerial image data of the camera, and position, velocity, and acceleration data of each time zone;

Battery 227; And

It includes an upper body of the drone 200 and a mechanism part frame having a lower vertical takeoff and landing part.

The drone 200 may further include a timer connected to the flight controller (FC) 201.

The drone 200 may further include a USB memory connection connected to the flight controller (FC) 201.

The drone 200 further includes an SD card connector (not shown) in addition to the USB memory connector, and can record photographed images, flight records, and data to the SD memory card through the SD card slot.

An electronic speed controller (ESC) 202 connected to the flight controller (FC) 201 of the drone 200 induces GPS in which the location, speed, and altitude of each route section of the RFID tag-attached signs in a specific area are preset. Drone's Schedule Route When flying, the position, speed, and altitude of the drone are accurately controlled over 30~50m of the patrol target area along the RFID tag route of a specific area.

The drone 200 is remote from the NB-IoT communication unit or the smartphone 320 of the NB-IoT device mounted on the PC 310 through the wireless communication unit 211 of the drone when detecting a person/animal or wild animal in a specific area. Receiving and amplifying and outputting a voice signal, or receiving a signal for remote control, outputs an animal repelling sound pre-stored in the storage unit 215 of the drone 200 to the drone directional speaker 219.

The A/V image processing unit 216 connected to the drone's flight controller (FC) 201 uses an H.264 or MJPEG (Motion JPEG) codec to encode/decode camera images.

The directional speaker 219 emits sound by putting sound in an audible frequency band of 20 to 20 kHz of the ultrasonic sensor, has better audibility than a general speaker, and has a radiation directing angle (±15° to 90° sound pressure level), maximum effective It transmits remote voice signals with directivity over the disaster area 100m, the longest transmission distance 300m, and the disaster area.

When using the smartphone 320 instead of using the drone controller 100, the smartphone 320 is a drone (Wi-Fi) or a mobile communication network (LTE NB-IoT, LTE 4G/5G) through the drone ( 200) and transmits remote control data to the smartphone 320 from the drone 200, transmits the camera image data and RFID tag location information of the drone and the GPS location coordinates and altitude information of the drone, to the smartphone 320 Drone camera image data, RFID tag location information, and drone GPS location coordinates and altitude information are displayed in real time.

The flight controller (FC) 201 receives remote control data from the drone controller 100 or the smartphone 310 to the drone 200, and uses four or more motors M1, M2, M3.M4. It is connected to an electronic speed controller (ESC) 202 that drives and rotates four or more propellers 204,206, 208, 210, vertical takeoff and landing of a drone, vertical up/down, linear acceleration, direction control, altitude control of a drone, hovering, landing and Control the flight path,

Speed control, position control, and altitude control to ensure that drones that are scheduled to fly over 30~50m in accordance with the RFID tag path on the border of a specific area are accurately positioned and moved.People/animals of drone camera images received by the video server or Upon detection of the wild animal, an LTE 4G/5G modem, NB-, which is assigned an IP address from the NB-IoT communication unit of the NB-IoT device mounted on the PC 310 or the smartphone 320 through the wireless communication unit 211 of the drone, NB- The directivity of the drone that receives a remote voice signal through one of the IoT modem, the Wi-Fi communication unit or the RF communication unit, or the animal repellent sound stored in the storage unit 215 of the drone 200 according to the received remote control signal It is controlled to output through the speaker 219.

The electronic speed controller (ESC) 202 may control the speed of the drone by PD control (proportional differential control), and each propeller by controlling the rotational speed of the propellers of the motors M1, M2, M3, and M4, respectively. (204,206,209,210) is rotated to control the rise and fall.

The GPS receiver 212 uses a D-GPS receiver connected to the flight controller (FC) 201, and provides GPS location coordinates of drones flying in the sky from four satellites,

The altimeter 213 is connected to the flight controller (FC) 201 and provides elevation information of the drone.

The altitude control of the drone 200 receives altitude altitude information from the altimeter 213 of the drone 200 using the drone controller 100 or a smartphone controlling the drone, and receives remote control data from the drone wireless communication unit 211 It is received by the flight controller (FC) 201 through controlling the ascending and descending of each of the motors (M1, through the PD control of the drone flight controller (FC) 201 and the electronic speed controller (ESC) 202 The speed of M2, M3, and M4 is controlled to control the number of revolutions of each propeller 204,206,208,210.

The inertial navigation system (IMU) of the drone includes a gyroscope (gyro sensor) 223 connected to a flight controller (FC) 201 and an acceleration sensor (221) connected to a flight controller (FC) 201 ).

The gyroscope (gyroscope, gyro sensor) 223 is connected to the flight controller 201, and measures the angular velocity of four or more propellers 204, 206, 208, 210 rotating about the z axis The yaw, roll, and pitch are controlled to control the posture of the quadcopter structured drone 200 to maintain horizontal balance between the left and right drones.

The accelerometer 221 uses any one of a piezoelectric type accelerometer, a capacitive type, a strain gage accelerometer, an electro dynamic type accelerometer, or a silicon semiconductor accelerometer. .

The drone is basically an acceleration sensor (221) and a gyroscope (Gyroscope Sensor) 223 connected to the flight controller (FC) 201, respectively, so as to maintain horizontal balance between left and right, and measure an angle.

The drone storage unit 215 is provided with a hard disk, in addition to a USB memory connection, or SD card connection, the data stored in the shooting image and flight records and data through the SD Card Slot to a laptop or computer Can be transferred.

When a smart phone 310 is used without using a separate drone controller (RC transmitter/receiver), the drone 200 including the smart phone 310 and the wireless communication unit 211 has a physical layer and a physical layer. NB-IoT or 4G LTE or 5G mobile communication protocol is used as the Data Link Layer, and TCP/IP or UDP/IP is used for the upper layer (Network Layer, Transport Layer) to vertically take off and land. , Linear acceleration, drone altitude control, flight path control, hovering, landing control, remote control data, drone camera image data and drone GPS position coordinates (x,y coordinates) and altitude information (z coordinates) can be transmitted. have.

Drone control system having a camera and a directional speaker to control the RFID tag path of the present invention

RFID tag attachment signs installed on the border in a specific area;

A drone controller having a wireless communication unit and transmitting a drone control signal; And

Controlled by receiving the drone control signal from the drone controller or smart phone, and in the way of the GPS-guided drone with the location, speed, and altitude set in each path section of the RFID tag-attached signs. The drone patrols according to the RFID tag path in a specific area, recognizes the RFID tag location of the RFID tag-attached signs, transmits the RFID tag location information and the camera video data of the drone to the video server, and sends it to the video server's video analysis module. By detecting and tracking objects in the image using the Kalman filter algorithm or deep learning algorithm, when a person, animal, or wild animal in the patrol area is detected, an alarm is generated from the video server to the PC or smartphone, and the drone from the PC or smartphone A GPS receiver, camera, directional speaker and RFID reader that control the human/animal and wild animals from accessing by outputting a remote voice signal transmitted to or outputting a pre-stored animal repelling sound to the drone's storage by a remote control signal Includes equipped drone.

The method of controlling a drone having a camera and a directional speaker that patrols a RFID tag path in a specific area according to the present invention includes (a) a drone having a position, speed, and altitude preset in each path section according to the RFID tag path in a specific area. Waypoint Schedule Route When flying, a drone equipped with a GPS receiver, camera, speaker, and RFID reader at a certain altitude of 30 to 50m above the ground surface patrols according to the RFID tag path in a specific area, and the RFID reader mounted on the drone is 2.4. Using a GHz or 2.5GHz RFID reader, transmitting the RFID tag location information of the RFID tag-attached signs and the camera video data of the drone to a video server and being monitored on a PC, a smartphone linked to the video server; (b) detecting and tracking an object of an image using a Kalman filter algorithm or deep learning technology by the image analysis module of the video server with respect to the image data recorded on the video server; And (c) if a person, animal, or wild animal in the patrol area is detected by the video analysis module of the video server, RFID tag detection location information and an alarm are generated in a PC and a smartphone linked to the video server, and the PC or smartphone. And outputting the remote voice signal transmitted from the drone to the speaker, or outputting the pre-stored animal repelling sound to the speaker according to the remote control signal.

The drone 200 patrols along the RFID tag path in a specific region, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored on a PC and a smartphone, and the video server The image analysis module detects and tracks objects in the image using the Kalman filter algorithm or deep learning technology, and generates alarms in the PC 310 and the smartphone 320 when people/animals and wild animals are found in the patrol area. It has a video server 300,

When a person/animal or wild animal is found in the patrol area, an alarm is generated in the PC 310 and the smartphone 320, and the remote voice signal is transmitted from the PC 310 or the smartphone 320 to the drone 200. Transmit or transmit the remote control signal from the PC 310 or the smartphone 320 to the drone 200.

The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at 50 to 100m intervals in a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area.

The RFID reader uses a 2.4 GHz or 2.5 GHz RFID reader.

The drone's flight controller (FC) is connected to an electronic speed controller (ESC), and controls the drone's vertical takeoff and landing, vertical ascent/descent, linear acceleration, direction control, drone's altitude control, hovering, landing and flight path, Scheduled route of GPS guided drone in a specific area When flying, the speed control, position control, and altitude control of the drone's motor are 30~50m.

The drone patrols along the RFID tag path in a specific area, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored by the PC 310 and the smartphone 320, and a video server. Detects and tracks the object of the image using the Kalman filter algorithm or deep learning technology by the image analysis module of (300).If a person/animal or wild animal is found in the patrol area in the camera video data of the drone, it is connected to the PC and smartphone. Further comprising a video server 300 for generating an alarm,

The monitoring agent monitors the camera image of the drone 200 connected to the video server 300, or detects and tracks objects in the image by using the Kalman filter algorithm or deep learning technology by the video analysis module of the video server, When a person/animal or wild animal is found in the patrol area according to the RFID tag path, an alarm is generated in the PC 310 and the smartphone 320, and the drone 200 from the PC 310 or the smartphone 320 Or a remote control signal from the PC 310 or the smartphone 320 to the drone 200.

For reference, the Kalman filter algorithm used in the video analysis module of the video server 300 assumes that the state at a specific time point of the camera image in the image processing process is linearly related to the state of the previous time point. The measured values are used to track the detection and location of objects in the image using a Kalman filter.

The Kalman filter algorithm can be used for the image object and tracking algorithm. The Kalman filter algorithm is used in computer vision, and estimates the state of the future motion by correcting errors from past and current data from the measurement model and the process model in a linear system. Algorithm. For example, in discrete-time linear dynamic systems, the measured value of an object contains a stochastic error. It is possible that the state at a specific point in time has a linear relationship with the state at the previous point in time. For example, the noise (error) in the image may be a field of view inaccuracy due to fog, multiple motions, obscuration, etc., and is considered white noise.

The estimating step includes: i) a prediction step of calculating the state variable estimate and the covariance at the next measurement time from the current state variable estimate and the covariance value; ii) In order to calculate an accurate state based on the actual measured state, a correction is performed through an inductive state correction and an inductive covariance correction using an error between the calculated predicted state and the actual measured value. That is, deductive state prediction and deductive covariance prediction are made. The estimated state of each time is expressed as mean and variance. Variance is a statistic indicating the degree of spread, and covariance is a statistic indicating the direction of variation between two random variables X and Y. Linear systems can express matrix operations and Gaussian can be modeled as mean and covariance.

The image analysis module of the video server 300 uses any one of deep learning technology of Recurrent Convolutional Neural Network (R-CNN), Fast RCNN, and Faster Region based Convolutional Neural Network (RCNN) for object detection of images.

The image analysis module of the video server 300 is a feature of a convolutional neural network (CNN) structure composed of a multi-layered structure of an input layer, a hidden layer, and an output layer among deep learning technologies. The feature map information uses feature information of the object. The deep learning structure tracks the objects in the image by receiving the region information of the previous image, the current image, and the object of the previous image, and outputting the location information of the current object as a result. Currently, it is composed of 5 layers of convolution layer and 3 layers of fully_connected layer. It uses a learning database and calculates the error between the correct answer position and the output position of the network in the next frame. The learned network can receive the information of the object in the previous frame in conjunction with the object detection network to know the location of the object in the current frame.

The image analysis module of the video server 300 uses the deep learning technique of any one of Recurrent Convolutional Neural Network (R-CNN), Fast RCNN, and Faster Region based Convolutional Neural Network (RCNN) or Kalman filter. Detect and track objects. When a person/animal or wild animal is found in the patrol area according to the RFID tag path, an alarm is generated in the PC and the smartphone, and a remote voice signal is transmitted from the PC 310 or the smartphone 320 to the drone 200. Or, a remote control signal is transmitted from the PC 310 or the smartphone 320 to the drone 200.

For example, the basic structure of R-CNN uses Region Proposal generation algorithm called Selective Search from the input image to extract Region Proposals that are supposed to exist. Each Region Proposal is in the form of an image in a rectangular Bounding Box. After making the same size for all Region Proposals, it is classified by CNN.

R-CNN needs to run one Convolutional Neural Network (CNN) for every Region Proposal, so it slows down and learns the model for extracting image features, the model for classification, and the model for holding the Bounding Box at the same time. It took a lot of time.

To solve the speed problem of R-CNN, a model called Fast R-CNN was developed. The Fast R-CNN model does not extract the feature from the input image, but extracts the feature using RoI Pooling, a special form of spatial pyramid pooling, on the feature map that has passed through CNN.

Faster R-CNN is a model that puts the method of creating the region proposal itself into the network structure inside the CNN. This network is called RPN (Region Proposal Network). The layer performing RoI pooling through the RPN and the layer extracting the bounding box can share the same feature map.

Fast RCNN receives the entire image and objects, and acquires a feature map of the CNN for the whole image. The Region of Interest (ROI) pooling layer extracts a feature vector of fixed length from a feature map for each individual. Each feature vector becomes a sequence through the Fully Connected (FC) layer, and outputs the probability estimation through Softmax and the location of the bounding box.

Pooling is a sub-sampling process that aggregates statistics of features at various locations to reduce the resolution of an image.Pooling improves robustness against image distortion such as rotation, noise, and distortion, so maximum and average values for pooling Two methods of pooling are used.

A CNN classifier repeats the convolution layer and the pooling layer, and various functional layers may be added depending on the structure. Features extracted through a convolution and pooling process on an input image may be classified by applying various classifiers (eg, SVM classifiers).

Faster R-CNN extracts the features of the input image through the whole convolution layer several times, and the extracted output feature map is shared between the RPN and the RoI Pooling Layer. The RPN extracts Region Proposals from the feature map, and the RoI Pooling Layer performs RoI pooling on the Region Proposals extracted from the RPN.

The image analysis module extracts a feature map including the object location area and type information from the middle 5 convolutional layers of the CNN structure to extract the object of the image and track the object by behavior recognition. As it passes, the size of the feature map decreases, and object location area information is extracted from feature maps of different sizes, and the behavior recognition model of the object in the image is linked with the stored CNN learning data, and the processing speed of object detection in the image is fast. Faster RCNN algorithm can be used.

4 is a flowchart illustrating a method for controlling a drone having a camera, a directional speaker, and a 2.4 GHz RFID reader that patrol the RFID tag path in a specific area of the present invention.

Also, the control method of the drone with the directional speaker

(i) It is controlled by receiving a drone control signal from a drone controller or a smartphone as a drone, and controlling the drone's vertical takeoff and landing, vertical ascent/descent, linear acceleration, direction control, drone's altitude control, hovering, landing and flight path, Transmitting and receiving data; And

(ii) An electronic speed controller (ESC) connected to the drone's flight controller (FC) performs Fussy PID speed control to re-adjust the drone's position, altitude correction, and speed correction in units of travel distance and altitude per unit time during flight on the schedule route. And, it includes the step of controlling the speed of the motor, position control, and the altitude control of the drone by the flight controller (FC) so that the drone is accurately positioned at the position and altitude of the sky.

On the waypoint schedule flight route (1->2->3->4...), the location, altitude, and speed of each section of the RFID tag route in a specific area are preset and the coordinates and speed of the 3D position of the specified altitude. In a scheduled flight of a GPS-guided drone that is driven, the speed of the drone is controlled by controlling the number of revolutions of the motor of the drone, and altitude control and position control are performed with reference to the altimeter.

A method of controlling a drone having a camera and a directional speaker that patrols a RFID tag path in a specific area of the present invention

(a) Signposts with 2.4GHz or 2.5GHz RFID tags are installed at every 50 to 100m intervals in the border paths of specific areas such as paddy fields, forests, security areas, and military protected areas, and RFID tags in specific areas by drone flight planning software A step (S10) in which a drone's flight area (1->2->3->4) is set for each route section of a route for a waypoint schedule route flight of a drone in which position, speed, and altitude are preset;

(b) GPS receivers, cameras and directional speakers, 2.4GHz or 2.5GHz RFID readers, at 30m to 50m above the ground per RFID tag path at the border of the specific area, under drone altitude control of the drone's flight controller (FC) Drone equipped with a patrol along the RFID tag path, the RFID reader mounted on the drone uses a 2.4GHz or 2.5GHz RFID reader, and a 2.4GHz or 2.5GHz RFID tag attached sign installed in the patrol surveillance area according to the RFID tag path Recognizing the location of the RFID tag value of (S20), the image data captured by the camera of the drone is transmitted to the video server in real time and stored and monitored on a PC, a smartphone (S30);

(c) For video data recorded on the video server, the video server's video analysis module detects objects in the image using deep learning technology of either R-CNN, Fast RCNN, or Faster RCNN or Kalman filter. Tracking step (S40);

(d) if a person/animal or wild animal is found in the patrol area by the video analysis module of the video server, generating RFID tag detection location information and an alarm in a PC and a smartphone linked to the video server (S50); And

(e) Receives a remote voice signal from a PC's microphone and NB-IoT or a smartphone as a drone and outputs it to the drone's directional speaker, or drones animal extermination sounds (e.g. lion sounds) stored in the drone's storage It includes a step (S60, S70) of controlling the access to people/animals and wild animals that appear in the approach area by outputting to the directional speaker of the

The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at regular distances from a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area.

As shown in FIG. 5, when flying a drone's GPS-guided Waypoint schedule route, the drone's flight plan software is based on flight altitude, redundancy (longitudinal redundancy, lateral redundancy), and drone flight altitude. The interval between the number of times the camera is taken, the emergency landing point (ERP), the home position altitude (RTH), and the safety circle radius are set.

Drone's GPS-guided Waypoint Schedule Route This image shows an example of a drone's flight route (0->1->2->3->4,..) and an emergency landing point (ERP) when flying.

* Drone with directional speaker to patrol RFID tag path

○ Drone equipped with GPS receiver, inertial navigation system (INS) with accelerometer and gyroscope, and altimeter

○ Equipped with drone flight controller (FC), infrared camera or NIR camera, directional speaker

○ Over 30~50m, remote voice signal or drone using directional speaker of drone equipped with PC's NB-IoT communication unit or Wi-Fi communication unit wirelessly communicating with smartphone, LTE NB-IoT modem, and LTE 4G/5G modem Output of animal repelling sound from storage

-UAV (Unmanned Aerial Vehicles), using a rotary wing drone (e.g. DJI)

-2.4GHz RFID RFID tag attachment sign for each border path in paddy fields, forests, security areas, and military protected areas: 50~100m installed

-The drone's flight area (1->2->3->4) including location, speed, and altitude in each route section according to the RFID tag route in a specific area such as paddy field, forest field, security area, and military protection area It is set and controls the altitude of the drone's flight controller (FC) to fly over 30-50m above the ground.

-Drone's GPS Guided Route Flight (Waypoint Schedule Route Flight), Drone's Flight Plan Software and Flight Control Software

-A drone equipped with a 2.4GHz or 2.5GHz RFID reader patrols the 2.4GHz or 2.5GHz RFID tag path on the border of a specific area such as a paddy field, a forest field, a security area, a military protected area, etc.

-Rotorcraft drone (quad copter)-Wi-Fi communication unit connected to flight controller (FC) or LTE 4G/5G communication unit or NB-IoT communication unit, 2.4GHz RFID reader connected to flight controller (FC), flight controller ( Using an infrared camera or NIR camera connected to the FC), an alarm output from the speaker (approaching person/animal boar, wild animal, etc.) connected to the flight controller (FC) (remote voice signal from the smartphone, or animal repelling sound output)

-RFID reader mounted on drone-2.4GHz RFID tag recognition of sign, RFID tag path drone patrol (PC, smartphone monitoring-NVR server (Video server), remote security monitoring)

-Approaching people/animal boar and wild animals when approaching a drone's camera (LTE communication) Smartphone alarm

-Smartphone remote voice signal -> Output to the drone's speaker, or output the animal repellent stored in the drone's memory to the drone's directional speaker

The method of the present invention is implemented as a combination of hardware and software. In addition, the software may be implemented as an application program that is actually implemented on the program storage unit. The application program can be uploaded to a machine containing any software architecture and executed by the machine. Preferably, the machine can be implemented on a computer platform with hardware having one or more central processing units (CPUs), a computer processor, random access memory (RAM), and input/output (I/O) interfaces. . In addition, the computer platform may include an operating system and micro-instruction code. The various processes and functions described herein can be part of the micro-instruction code or part of the application program, or any combination thereof, which can be executed by various processing devices including a CPU.

As described above, the method of the present invention is implemented as a program and recorded in a form that can be read using software of a computer (CD-ROM, RAM, ROM, memory card, hard disk, magneto-optical disk, storage device, etc.) ).

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, and magnetic media such as floptical disks. -Any type of hardware device that stores program instructions, such as magneto-optical media, and ROM, RAM, flash memory, etc., can be included. Examples of program instructions may include those produced by a compiler and high-level language code executed by a computer using an interpreter as well as machine language code. The hardware device is configured to operate as one or more software modules to perform the operations of the present invention.

Although described with reference to preferred embodiments of the present invention, those skilled in the art variously modify or modify the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be understood that it can be carried out.

100: drone controller (RC Transmitter/Receiver) or smartphone
101: key adjustment unit 102: control unit
103: wireless communication unit 104: battery
200: drone 201: flight controller (FC)
202: electronic speed controller (ESC) 203,205,207,209: motors (M1, M2, M3, M4)
204,206,208,210: propeller 211: wireless communication unit
212: GPS receiver 213: altimeter
214: Timer 216: A/V image processing unit
217: camera 218: audio signal processing unit
219: directional speaker 221: acceleration sensor
223: gyroscope 227: battery
230: RFID reader 300: video server
310: PC 320: Smartphone

Claims (7)

RFID tag attachment signs installed on the border in a specific area;
A drone controller having a wireless communication unit and transmitting a drone control signal;
Controlled by receiving the drone control signal from the drone controller or smart phone, and in the way of the GPS-guided drone with the location, speed, and altitude set in each path section of the RFID tag-attached signs. The drone patrols according to the RFID tag path in a specific area, and the RFID reader mounted on the drone uses a 2.4GHz or 2.5GHz RFID reader, and the RFID tag location information of the RFID tag-attached signs and the video data of the drone camera. It is equipped with a GPS receiver, camera and directional speaker and RFID reader that transmits to a video server, outputs a remote voice signal transmitted from a PC or smartphone or outputs an animal repelling sound when people, animals and wild animals in the patrol area are detected. Drones; And
The drone patrols according to the RFID tag path in a specific area, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored on the PC and the smartphone, and is analyzed by an image analysis module. Deep learning technology of either R-CNN, Fast RCNN, or Faster RCNN or Kalman filter algorithm is used to detect objects in the image and track the objects, and if a person/animal or wild animal is found in the patrol area, the PC and the Includes a video server that generates an alarm on the smartphone,
The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at regular distances in a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area,
The drone's flight controller (FC) recognizes the location of the RFID tag of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area according to the RFID tag path of the specific area, and the 2.4GHz or 2.5GHz RFID tag location information And camera video data is transmitted to the video server, to be monitored on the PC and/or the smart phone, and if a person/animal or wild animal is found in the patrol area by the video analysis module, an alarm is sent to the PC and the smart phone. A camera that controls the RFID tag path and a directionality to generate an animal repelling sound of a drone storage unit executed according to a remote voice signal or a remote control signal transmitted from the PC or the smartphone to a drone directional speaker. Drone control system with a speaker. According to claim 1,
The drone uses a rotary wing drone, a drone control system having a camera and a directional speaker to control the RFID tag path. According to claim 1,
The drone's flight controller (FC) is connected to an electronic speed controller (ESC), and controls the drone's vertical takeoff and landing, vertical ascent/descent, linear acceleration, direction control, drone's altitude control, hovering, landing and flight path, Drones equipped with a camera and a directional speaker to control the RFID tag path, which control the speed of the drone's motor, position control, and altitude control so that the drone's altitude is 30-50m when flying in a specific route. Control system. According to claim 1,
The drone
4 or more propellers and motors;
LTE 4G, which is connected to the flight controller (FC), receives remote control data from the drone controller or the smartphone, and is assigned an IP address to receive a remote voice signal from the PC's microphone and NB-IoT communication unit or smartphone. Wireless communication unit having any of /5G modem, NB-IoT modem, Wi-Fi communication unit or RF communication unit;
According to the drone's schedule flight path setting, the waypoint schedule path flight of the drone with the location, speed, and altitude set in each path section of the RFID tag-attached signs is controlled, and the drone moves to the RFID tag path in a specific area 30~50m above the surface. Depending on the patrol, it recognizes the RFID tag location of the 2.4GHz or 2.5GHz RFID tag attached signs installed in the patrol surveillance area, and transmits the 2.4GHz or 2.5GHz RFID tag location information and camera video data to the video server. It is monitored on the smartphone, and the object analysis and tracking of the image is possible using the Kalman filter algorithm or deep learning technology by the video server's image analysis module.If a person/animal or wild animal is found in the patrol area, it can be monitored on the PC and smartphone. A flight controller (FC) that generates an alarm and outputs the animal repelling sound of the drone storage unit executed according to a remote voice signal or a remote control signal transmitted from a PC or a smartphone to a drone directional speaker;
An electronic speed controller (ESC) connected to the four or more propellers and a motor and connected to the flight controller (FC); And
A GPS receiver connected to the flight controller (FC) and providing a GPS position coordinate of a drone;
An altimeter connected to the flight controller (FC) and providing elevation information of the drone;
It is connected to the flight controller (FC) and measures the angular velocity of four propellers rotating on the basis of the z-axis to control yaw, roll, and pitch to control the attitude of the drone with quadcopter structure to control the drone's left and right horizontal A gyroscope to maintain balancing;
An acceleration sensor connected to the flight controller (FC) and measuring acceleration of a drone moving a flight path;
A camera provided under the drone;
An A/V image processing unit connected to the flight controller (FC) and encoding the image of the camera;
A voice signal processor connected to the flight controller (FC);
A drone that is connected to the flight controller (FC) and controls the RFID tag path on the border of a specific area, human/animal of the image transmitted to the video server by the video analysis module of the video server at 30~50m. When detecting a wild animal, it outputs a remote voice signal transmitted from a smartphone of a PC and one of the LTE 4G/5G modem, NB-IoT modem, Wi-Fi communication unit, or RF communication unit, or from a smartphone, or to a remote control signal. A directional speaker for amplifying and outputting pre-stored animal repelling sound according to a drone storage unit;
A storage unit for storing the animal repelling sound and recording the aerial image data of the camera and the position, speed, and acceleration data of each time zone;
battery; And
A drone control system with a directional speaker and a camera that patrols an RFID tag path including a mechanism frame having an upper body of the drone and a lower vertical takeoff and landing part. (a) When a route, a route, and a route of a drone with a preset position, speed, and altitude in each route section according to a specific RFID tag route in a specific area, a GPS receiver, camera, speaker, and RFID reader are provided at a certain altitude above the surface. The drone patrols along the route of the RFID tag in a specific area, and the RFID reader mounted on the drone uses a 2.4 GHz or 2.5 GHz RFID reader, and the RFID tag location information of the RFID tag attachment signs and the video data of the drone camera. Transmitting to a server and being monitored by a PC and a smartphone linked to a video server;
(b) detecting objects in the image and tracking the object by using a deep learning technique or a Kalman filter algorithm of any one of R-CNN, Fast RCNN, and Faster RCNN by the video analysis module of the video server; And
(c) When a person, an animal, or a wild animal in a patrol area is detected by the video analysis module of the video server, RFID tag detection location information and an alarm are generated in a PC and a smartphone linked to the video server, and the PC or the And outputting a remote voice signal transmitted from the smart phone to the drone to a speaker or outputting a pre-stored animal repelling sound to the speaker according to the remote control signal,
The RFID tag-attached signs use 2.4GHz or 2.5GHz RFID tag-attached signs at regular distances in a border path of a specific area including a paddy field, a forest field, a security area, and a military protection area,
The drone patrols along the RFID tag path in a specific area, receives RFID tag location information and camera video data recognized by the RFID tag attachment signs, is monitored on the PC and the smartphone, and the video of the video server Equipped with the video server that detects and tracks objects in the image using Kalman filter algorithm or deep learning technology by the analysis module, and generates alarms on the PC and the smartphone when people/animals and wild animals are found in the patrol area. And
When a person/animal or wild animal is found in the patrol area by the video analysis module of the video server, an alarm is generated in the PC and the smartphone, and the remote voice signal is transmitted to the drone from the PC or the smartphone, or the PC or A method of controlling a drone comprising a camera and a directional speaker that patrols an RFID tag path that transmits the remote control signal from the smartphone to the drone. The method of claim 5,
The drone uses a rotary wing drone, a method of controlling a drone having a camera and a directional speaker to control the RFID tag path. The method of claim 5,
The drone's flight controller (FC) is connected to an electronic speed controller (ESC), and controls the drone's vertical takeoff and landing, vertical ascent/descent, linear acceleration, direction control, drone's altitude control, hovering, landing and flight path, Drones equipped with a camera and a directional speaker to control the RFID tag path, which control the speed of the drone's motor, position control, and altitude control so that the drone's altitude is 30-50m when flying in a specific route. Control method.

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