KR20200109949A - Mine removal management system using drones and mine removal management method using the same - Google Patents

Abstract

The present invention relates to a demining management system using a drone and a demining management method using the same and, more specifically, to a demining management system using a drone and capable of detecting a mine with high accuracy, and a demining management method using the same. According to the present invention, the demining management system using a drone comprises: a drone (100); a demining management server (200) for determining whether to perform demining according to data obtained by the drone (100); and a drone controller (300).

Description

Mine removal management system using drones and mine removal management method using the same}

The present invention relates to mine removal, and more particularly, to a mine removal management system using a drone capable of removing or managing land mines using a drone, and a mine removal management method using the same.

In general, a drone is a type of unmanned aerial vehicle, which refers to an unmanned aerial vehicle that does not ride with humans and is flying by radio waves. It is used in various fields, and in particular, the scope of use is increasing widely for fire suppression, rescue and pesticide spraying.

On the other hand, drones are a generic term for unmanned aerial vehicles (UAVs) in the shape of airplanes or helicopters capable of flying and controlling by induction of radio waves, and have been used in various civilian fields other than military use since the 2010s.

In the case of a flying object that generates lift by rotation of a propeller, such as a helicopter or a drone, the body rotates in the opposite direction in which the propeller rotates due to the reaction of the propeller rotation. In the case of single-rotor helicopters, a tail rotor is required to solve this problem, but drones are based on the principle of counteracting the reaction caused by propeller rotation by reversing the rotation of the front and rear propellers. In other words, the drone controls the rotation of each rotor propeller so that the ascend flight mode (ascend), the descending flight mode (descend), the forward flight mode (forward), the reverse flight mode (backward), the right side flight mode (roll right), and the left side side Flight mode (roll left), left turn flight mode (yaw left), and right turn flight mode (yaw right) are available. The drone uses a plurality of relatively small propellers to obtain lift, and by adjusting the lift generated from each propeller, it moves forward and backward and changes direction.

According to Patent Publication No. 10-2008-0037434, there is a "self-destructive small unmanned aerial vehicle equipped with a camera and a remote control device for it" by a fixed-wing airplane equipped with a rudder, elevator and flap, but the patent does not allow stopping flight. There was a problem that it was difficult to secure attack accuracy without installing expensive electronic equipment because it was proposed as a fixed-wing plane and had to attack the target by flying or glide flight.

Prior Document 1: Republic of Korea Patent Application Publication No. 10-2008-0037434-Self-destructive small unmanned aerial vehicle equipped with a camera and a remote control device therefor Prior Document 2: Korean Patent Laid-Open Publication No. 10-2017-0025386-Fire extinguishing drone capable of firing fire extinguishers Prior Document 3: Republic of Korea Utility Model Publication No. 20-0479365-Drone equipped with a pesticide container

Therefore, the present invention is to solve all the disadvantages and problems of the prior art as described above, collect information on an area where landmines are expected to be buried, and detect landmines using a drone in the area, but use multiple sensors. Apply to detect mines, analyze the detected mines to display the mines according to the type of mines, indicate the location where the mines are buried in order to facilitate mine removal, or remove the mines if possible, and comprehensively collect these mines. The purpose of this is to provide a mine removal management system using a drone that can be managed and a mine removal management method using the same.

In order to achieve the above object, the present invention performs autonomous flight, includes a homecoming function and a detection result analysis function in case of an emergency during flight, and performs mine removal to minimize environmental damage. A drone used to detect and remove landmines in the area where it is expected to be buried, and to collect data for preliminary surveys on the current tree and topsoil removal, wetlands in the DMZ, and natural river ecosystems, as well as landmine detection through images captured by cameras. (100); It manages the mine detection area to be detected by the drone 100 or the area data expected to be buried, determines the mine removal according to the data acquired by the drone 100, and provides equipment and manager information for removing buried mines. A mine removal management server 200 that manages, determines a guideline for land mine removal by region according to the image and data captured by the drone 100, and establishes a plan for using the DMZ including preservation and development; And a drone controller (ground control equipment) 300 configured as a computer for controlling the flight of the drone 100.

In addition, in order to achieve the above object, the present invention provides a method for managing a mine removal using a mine removal management system using a drone, the step of collecting and storing mine burial data in a mine removal management server (S100); Collecting and managing information on a device for mine removal in the mine removal management server (S110); Operating a drone for detecting mines (S120); If the drone detects a landmine, the drone controller emits a mine detection lamp (S140), and transmits the data to the mine removal management server (S150); Controlling the mine position detected by the drone according to the function of the drone to be displayed (sprayed) with respect to the mine detected by the drone according to the control of the drone controller or indicated by the laser of the drone (S160); A step of removing landmines through a robot arm provided in the drone according to the control of the drone controller (S170); And it provides a mine removal management method using a mine removal management system using a drone comprising; and a step (S180) of the drone returning when the drone has an abnormality or a return command.

According to an embodiment of the present invention, there are the following effects.

First, it is possible to detect mines with high precision.

Second, mines can be removed directly from the site or through server management.

Third, it is possible to collect data for preliminary surveys on the current tree and topsoil removal, wetlands in the DMZ, and natural river ecosystems, as well as landmine detection according to images captured by drones.

1 is a view for explaining a mine removal management system using a drone according to the present invention.
2 and 3 are views for explaining an embodiment of a drone used in a mine removal management system using a drone according to the present invention and a battery used in a drone.
4 is a view for explaining a ground-penetrating radar which is one of the mine detection methods in the mine removal management system using a drone according to the present invention.
5 is a block diagram illustrating an embodiment of a drone used in a mine removal management system using a drone according to the present invention.
6 is a block diagram illustrating an embodiment of a drone removal management server used in a mine removal management system using a drone according to the present invention.
7 is a block diagram illustrating an embodiment of a drone controller used in a mine removal management system using a drone according to the present invention.
8 is a flowchart illustrating a mine removal management method using a mine removal management system using a drone according to the present invention.

The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

In addition, the terms used in the present invention have selected general terms that are currently widely used as far as possible, but in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms has been described in detail in the description of the corresponding invention. It should be noted that the present invention should be understood as the meaning of the term, not the name of. In addition, in describing the embodiments, descriptions of technical contents that are well known in the technical field to which the present invention pertains and are not directly related to the present invention will be omitted. This is to more clearly convey the gist of the present invention by omitting unnecessary description.

1 is a view for explaining a mine removal management system using a drone according to the present invention.

As shown in FIG. 1, the mine removal management system using a drone according to the present invention includes a drone 100 for detecting and removing mines in a mine buried area or an area expected to be buried with a fixed-wing or rotary-wing unmanned aerial vehicle, and a mine buried area. In addition, a drone controller (ground control) consisting of a mine removal management server 200 that provides and manages information about an area where the drone is expected to be buried, and a computer (for example, a laptop) to control the flight of the drone 100. Equipment) 300 and the drone 100 detects and finds or destroys a mine in a mine buried area or an area where a mine is expected to be buried, and handles various financial expenses incurred, especially when the drone 100 is rented. It consists of a financial company server 400 for periodically paying the usage cost and a drone controller 300 and a mine removal management server 200 and a data transmission/reception terminal 500 for transmitting and receiving data.

Here, the drone 100 basically performs autonomous flight and has a homecoming function and a detection result analysis function in case of an emergency situation during flight, so that it is possible to perform landmine removal to minimize environmental damage. Through these drones 100, it is composed of mine removal organizations or experts, and can be utilized in the ecological evaluation plan by utilizing the mine map detected by the drone 100 or the existing mine map, and the current tree and topsoil removal, wetland within the DMZ. , Using it as data for preliminary surveys on ecosystems such as natural rivers, determining guidelines for land mine removal by region suitable for use, and planning to use DMZ for conservation, development, etc., conducts ecological surveys such as biodiversity after landmine detection, and land management. It is used for planning.

In addition, the method can be applied in the development area, but a healthy ecosystem is used to remove landmines in a direction that does not affect the ecological environment carefully, taking time, and by reading the operation status ridge of the GOP unit and recording the explosion situation in the DMZ when a forest fire occurs. It conducts a D/B site survey, performs topographic analysis by comparing it with drone photos, and makes it possible to judge and analyze the expected land mine burial area. Such a drone 100 can climb up to 5,000m, and it is desirable to be able to transport 10-20kg of objects using a robotic arm. In addition, it is possible to use a robotic arm to cut wires or connect cables, etc., and to collect terrain information in connection with GPS and LTE signals. In addition, it is desirable that the mine point is irradiated with a metal detector and irradiated with an underground PVC detector (for ultra-high frequency radio radar 2.45GHz technology), and a laser for indication of the detection location, depth measurement and PVC size can also be measured.

On the other hand, it is desirable to set the sensitivity in 32 steps when detecting mines to enable detection of anti-personnel mines such as ankle mines (small, protective color, lightness, and difficult to detect because of 8 g of explosive detonator) or anti-tank mines with an explosion pressure of 9 kg. In addition, the map displays (saves) the place where the mines are buried in GPS coordinates, and is attached to the ground at a height of 4cm to find the mines with the minesweeper composed of the drone 100, and the location information is marked on the server or the system of the drone controller operator. Make it possible. For reference, you can use a method of placing a small detonator on the mine with a robot arm attached to the drone 100 and securing a safe distance by a detonator timer, and then detonating it.By adding a device, you can cut the cable in the air or rotate the rotary dial. Make the work possible. Basically, it can be composed of a prototype that is remotely controlled, and it enables automatic operation and autonomous flight, and it is equipped with an underground exploration radar to detect obstacles in the ground within 10m depth. In addition, it is desirable to mount an ultra-wideband triple frequency (1GHz, 500MHz, 250MHz) to enable precise and high-resolution exploration, and data recording and conversion values are output on the tablet PC (drone controller) screen during field exploration. It is high-resolution and clearly visible even in daylight (metal detector).

In addition, options for Internet service connection are possible, and 3G, 4G, and 5G direct Internet service connection options are possible. In addition, it provides S/W that facilitates analysis by downloading the measurement results and compensating them with a picture file and correcting the measurement results, and after propagating the ultra-high frequency radio frequency 2.45 GHz) underground, the signal reflected from the density difference interface is received. do.

At this time, as a problem, noise may occur due to recognition or interference of minerals, which are characteristics of the soil around the mines, so the detection position indication laser function is installed so that the mines are recognized by tree roots or bushes without hitting wooden obstacles. Depth measurement (indirect method), pipe size measurement method (2cm must be recognized), and target detection display (target indicator using LED) with a graph are possible.

In addition, after propagating the ultra-high frequency radio frequency specialized in PVC material from the built-in transmitter (communication unit) to the basement, the electromagnetic wave reflected from the boundary of the medium with different physical properties among the propagation paths is received from the main body receiving unit and installed in the control unit, the central processing unit. It is desirable to use advanced non-destructive exploration equipment that locates buried objects by processing them in real time by a CPU (MICROPROCESSOR). At this time, the data acquired by the drone 100 may be finally determined by the center based on the data transmitted from the mine removal management server 200.

The mine removal management server 200 manages the data of the mine detection area to be detected by the drone 100 or the area data expected to be buried, and the data acquired by the drone 100 is based on the data transmitted from the mine removal management server 200. It is finally decided by the center, manages information on equipment and managers, etc. to remove buried mines, and performs the corresponding cost settlement when cost settlement is necessary. In particular, it decides to remove mines according to the data acquired by the drone 100, manages equipment and manager information for removing buried mines, and determines guidelines for land mine removal for each region according to the images and data captured by the drone 100. When a DMZ utilization plan is established, including conservation, development, and development, the corresponding utilization plan is also managed.

The drone controller (ground control equipment) 300 is composed of a computer that controls the flight of the drone 100. In addition, the drone controller 300 performs flight control or image control of the drone 100 through a wireless data transmission/reception function, relays the image data transmitted from the drone 100 through a communication network, and 3G, 4G and 5G. It may be configured to transmit to the process management server 200 through wireless data transmission/reception such as.

When the financial company server 400 purchases and uses a drone 100 and a drone controller 300 directly from the military for a mine buried area or an expected area for the drone 100 and the drone controller (ground control equipment) 300 However, there may be cases where it is rented for a certain period of time, but in such a case, it is to handle various financial expenses incurred in the relevant area, and the usage fee for the preset rental period is calculated in daily, weekly and monthly amounts. To deal with.

The data transmission/reception terminal 500 is for relaying data transmission/reception between the drone controller 300 and the process management server 200, and when direct data transmission/reception between the drone controller 300 and the process management server 200 is difficult, 3G, 4G And wireless data transmission/reception such as 5G is relayed. That is, it is irrelevant if the drone controller 300 has a wireless data transmission/reception function, but if not, the drone controller 300 and the process management server 200 transmit and receive data through the data transmission/reception terminal 500. The data transmission/reception terminal 500 may use a smartphone of a field manager, or may use a tablet computer or a notebook computer.

2 and 3 are views for explaining an embodiment of a drone used in a mine removal management system using a drone according to the present invention and a battery used in a drone, and FIG. 4 is a mine removal management using a drone according to the present invention A diagram for explaining a ground-penetrating radar, one of the mine detection methods in the system.

As shown in FIG. 2, the drone used in the mine removal management system using a drone according to the present invention may have a basic drone body and a plurality of flight control wings, and a camera that photographs surrounding information when detecting a mine, It consists of lighting lighting, a robotic arm used to transmit equipment for mine removal or other equipment, and a target indicator to indicate mine detection and discovery.

In addition, it is preferable to use an aluminum-air flow battery as shown in FIG. 3 as a battery.

In addition, as shown in FIG. 4, the drone can use a ground-penetrating radar when detecting mines in a mine buried area or an area where a mine is expected to be buried. Such a ground-penetrating radar is capable of searching 3-50m deep with a GPR ground-penetrating radar, and 14m long distance metal. Detection, introduction of ground-penetrating radar (GPR) can be used, GPR is based on ground-penetrating radar non-invasive method material analysis, transmits ultra-wide band EM signal into the material, EM partial wave reflects different electrical characteristics between the reach boundary, brings the reflected signal .

5 is a block diagram illustrating an embodiment of a drone used in a mine removal management system using a drone according to the present invention.

An embodiment of a drone used in the mine removal management system using a drone according to the present invention is as shown in FIG. 5, a communication unit 101, a sensor unit 102, a flight unit 103, a GPS receiving unit 104, a land mine The detection unit 105, the mine analysis unit 106, the mine display unit 107, the mine recognizer spray unit 108, the target indication unit 109, the camera unit 110, the lighting unit 111, the memory unit 112, It consists of a power supply (battery) 113, a speaker 114, a robot arm control unit 115 and a control unit (control module) 116.

Here, the communication unit 101 communicates with the drone controller 300 and transmits the data acquired from the drone 100 to the drone controller 300 or receives control data from the drone controller 300.

The sensor unit 102 is composed of a wind direction / wind speed / altitude sensor, agricultural and tobacco visualization sensor, a geomagnetic sensor, an acceleration sensor, a gyro sensor, a lidar sensor (cognitive detection radar sensor), etc., and the wind direction according to the moving direction of the drone 100 The wind speed and current altitude are sensed, the direction of movement (direction of travel) of the drone 100, and the state of rotational motion are measured, and the slope is sensed.

The agricultural visualization sensor extends the line of sight, and the lidar sensor is the cognitive detection radar sensor (ADAS), which basically allows the driver to take appropriate actions or take appropriate measures based on the external environment information detected by the camera. It is a system that builds a safer driving environment by controlling the system.In general, it is the 2nd stage of driver assistance stage 1, partial vehicle (2nd stage), conditional automation (3rd stage), and full automation (4th stage), which are generally fully autonomous vehicles implementation stages. Corresponds to. The behavioral assumptions of ADAS go through the process of recognition, judgment, and control similarly to human behavior. The technology that is indispensable for the recognition part of this operation process is the sensor.

Recognition technology is used such as camera, radar, lidar, ultrasonic sensor, GPS, accelerometer, gyroscope, etc. to recognize the surroundings.

Recently, sensor fusion technology is being developed to accurately recognize the location information of obstacles by synthesizing data between different sensors.

The radar for ADAS can detect up to 77 GHz, and among the sensors required for ADAS recognition technology, the ultrasonic sensor is the most common, and the camera is used to identify obstacles at a distance of about 5m or for parking assistance. Each sensor plays its own role and plays a necessary role in the realization of an autonomous vehicle, but among them, the most important sensors are radar and lidar.

Radar is one of the core technologies of ADAS by providing a means to accurately grasp the surrounding environment of a vehicle, thereby reducing the burden on the driver, and is useful for determining the distance to the target and the relative speed.

In the case of Lida, it is a technology that implements a 3D image of an object detected through a radar or a camera, and a mid- to long-range radar-based technology that can detect up to 77GHz distance following a 24GHz short-range radar was recently unveiled.

Hella has developed a compact radar sensor based on the RFCMOS radar system, a 77GHz radar single-chip transceiver released by NXP Semiconductors, and can detect not only gesture recognition but also the environment around the exterior of the vehicle in 360 degrees.

The LiDAR sensor has the disadvantage of being expensive, but it is expected to greatly contribute to the development of ADAS in the future in that it allows precise measurement and has less interference. In addition, Lida is a technology that has been used in the fields of construction and defense, and by applying it for automobiles, it enables warning or automatic control by measuring the distance between cars in real time to avoid collisions with cars or minimize impact.

The biggest feature of the lidar sensor is that it has a very high measurable distance and spatial resolution compared to microwaves.

In addition, it is possible to measure the 2D and 3D spatial distribution by real-time observation.

The flight unit 103 is composed of at least one of a plurality of rotating blades, a driving motor, and a power generation unit, and the rotating blades are for the flight of the drone 100 by driving a driving motor, and are composed of a plurality, and the driving motor is also In order to independently drive each of the rotary blades may be configured as a plurality. Of course, these drones may use batteries, but engines, hybrid engines that combine gasoline engines and electric battery engines, and gasoline engines alone can be used.

The GPS receiver 104 receives the current location of the drone 100.

The mine detection unit 105 is for detecting a land mine, and may include a metal detector, an infrared detector, a thermal neutron activation detector, a ground penetration radar, and a micro power impulse radar. For reference, the thermal neutron activation detector is also called a thermal neutron analyzer that can detect 95% of plastic bombs that could not be detected with an X-ray or metal detector. This analyzer has already been installed at Kennedy Airport in New York, and is not available for luggage. The United States Aviation Administration is requesting the installation of these detectors at more than 40 foreign departure airports for passenger aircraft arriving in the United States. Gamma ray detection is possible using such a thermal neutron analyzer. In addition, there are other advanced scientific fields such as nuclear quadrupole resonance (NQR) technology and thermal neutron activation analysis (TNAA).The neutrons and characteristic gamma rays penetrate through nearby obstacles such as metals and plastics, so the detection of explosives hidden in the obstacles Is known effectively. Recently, as a key project of the National Natural Science Fund, a technology for detecting explosives using gamma rays generated by proton accelerators in nuclear power and the photonuclear resonance reaction is being developed recently, and this can be applied.

The mine analysis unit 106 analyzes whether or not it is a mine, if it is a mine, whether it is an anti-tank mine, or an anti-tank mine according to the result detected by the mine detection unit 105. At this time, as described above, the mine point is irradiated with a metal detector and then buried underground with a PVC detector (for ultra-high frequency radio radar 2.45GHz technology), a laser for indication of the detection location, depth measurement, and PVC size can be measured. When detecting mines, it is preferable to set the sensitivity in 32 steps to detect anti-personnel mines such as ankle mines (small, protective color, lightness, and difficult to detect because of 8 g of explosive detonator) or anti-tank mines with an explosion pressure of 9 kg. Do. In addition, the map displays (saves) the place where the mines are buried in GPS coordinates, and is attached to the ground at a height of 4cm to find the mines with the minesweeper composed of the drone 100, and the location information is marked on the server or the drone controller 300. Make it possible. In addition, it is desirable to install an underground exploration radar to detect obstacles in the ground within 10m depth, and to enable precise and high-resolution exploration by mounting a wideband triple frequency (1GHz, 500MHz, 250MHz).

At this time, as a problem, noise may occur due to recognition or interference of minerals, which are the characteristics of the soil around the mines, so the detection position indication laser function is installed so that the mines are recognized by tree roots or bushes without hitting wooden obstacles.

The land mine display unit 107 is basically digitally displayed on the mine removal management server 200 or the drone controller 300, and is intended to leave traces on the land, and can be displayed in the same manner as a spray. have.

The mine recognizer spraying unit 108 is basically stored and displayed in digital coordinates according to the GPS coordinates of the drone 100 in the mine removal management server 200 or the drone controller 300, and the location of the detected mines is basically It is to make it easier to find by spraying a separate identifier (tag) for Edo mine recognition. This may be inaccurate whether it is a mine or not, or if a work is required by an operator (if it is difficult to explode in a private area, etc.).

The target indicating unit 109 indicates an accurate position on the ground with, for example, a red laser when detecting a target mine, so that an operator (user) can easily know the detected exact position.

The camera unit 110 photographs a preset mine buried area or a mine buried area as the drone 100 moves. A zoom function and a tilt function are added to the camera unit.

The lighting unit 111 is equipped with LED lighting so that high-definition video can be detected in a dark place during real-time transmission through the HD camera of the camera unit 110 mounted on the drone 100.

The memory unit 112 compresses and stores an image photographed by the camera unit 110, and stores GPS data on what is recognized as a mine by analysis when a mine is detected. Also, mine map data is stored. In particular, taking into account the characteristics of the DMZ, FCC data is also stored so that it can be controlled from a distance without entering an unidentified minefield.

The power supply (battery) 113 supplies power required by the drone 100.

The speaker 114 can output the location to the operator through a warning sound when detecting a mine, or can be used to easily find a corresponding drone when the drone 100 is lost or lost.

The robot arm control unit 115 can use a method of placing a small detonator on the mine with a robot arm attached to the drone 100 and securing a safe distance by a detonator timer, and then bursting it. Make it possible to perform tasks such as turning. Basically, it can be composed of a prototype that is remotely controlled, and it enables automatic operation and autonomous flight, and it is equipped with an underground exploration radar to detect obstacles under the ground within 10m depth.

The control unit 116 includes a communication unit 101, a sensor unit 102, a flight unit 103, a GPS receiving unit 104, a mine detection unit 105, a mine analysis unit 106, a mine display unit 107, and a mine recognizer. The spraying unit 108, the target indication unit 109, the camera unit 110, the lighting unit 111, the memory unit 112, the power supply unit (battery) 113, the speaker 114, and the robot arm control unit 115 Control, position estimation and mapping (SLAM), autonomous flight algorithm development and loading.

6 is a block diagram illustrating an embodiment of a drone removal management server used in a mine removal management system using a drone according to the present invention.

An embodiment of the drone removal management server used in the mine removal management system using a drone according to the present invention is a communication unit 210, a display unit 220, an interface unit 230, and mine map data collection as shown in FIG. And a classification unit 240, a mine buried map storage unit 250, a buried mine data classification and storage unit 260, a mine removal device management unit 270, a control unit 280, and a cost calculation unit 290.

The display unit 220 is a monitor monitored by the administrator of the drone removal management server 200 and displays the location of the mine buried in the image or data captured and transmitted by the drone 100.

The interface unit 230 allows an administrator of the drone removal management server 200 to access the drone removal management server 200 to input various data or to be connected to a mouse, a keyboard, a printer, and a monitor that output various data.

The mine map data collection and classification unit 240 is a mine burial record book, and collects and classifies mine map data through the creation of a mine map (based on the path of the installer when buried), the Korea Anti-personnel Mine Countermeasures Meeting, and the Ministry of Defense data. (Classification of the source of raw data, data collected from drones, etc.)

The mine burial map storage unit 250 stores a mine burial map collected and classified by the mine map data collection and classification unit 240.

The buried mine data classification and storage unit 260 stores data on the buried mines stored in the land mine map storage unit 250 by type, location, discovery date, processing date, and discovery/processing progress (discovery, processing schedule, processing Data for completion, etc.).

The mine removal device management unit 270 manages the type, year, function of each device, and manager information (name, phone number, affiliation, etc.) for the device (drone or other removal device) that removes mines.

The control unit 280 includes a communication unit 210, a display unit 220, an interface unit 230, a mine map data collection and classification unit 240, a mine map storage unit 250, a buried mine data classification and storage unit ( 260) and the mine removal device management unit 270 is controlled.

If the drone is leased, the cost calculation unit 290 calculates the cost of using the drone. At this time, it can be settled according to the type of drone and the day of use of the drone.

7 is a block diagram illustrating an embodiment of a drone controller used in a mine removal management system using a drone according to the present invention.

An embodiment of a drone controller used in the mine removal management system using a drone according to the present invention is as shown in FIG. 7, a communication unit 310. It consists of a flight control unit 320, a display unit 330, a camera control unit 340, a voice input unit 350, an alarm generation unit 360, a driving area setting unit 370 and a control unit 380.

Here, the communication unit 310 communicates with the drone 100 to transmit various control signals or receive image information from the drone 100.

The flight control unit 320 generates a signal for controlling the flight unit 103 of the drone 100.

The display unit 330 displays the current location of the drone 100 or displays image data transmitted from the drone 100. At this time, the display unit 330 adjusts the detection sensitivity of 32 steps described above by using, for example, a scroll button on the mine removal equipment operation unit 380, which will be described later, so that the user can adjust the state of the work area (the state of the medium). Accordingly, when a sensitivity level is appropriately selected using a scroll button to minimize unwanted noise (noise) and efficiently and accurately perform a search operation, the display unit 330 displays this as various information displayed on the screen. In addition, when the target (land mine) is analyzed according to the analysis of the mine analysis unit 106 of the drone 100, the bar graph increases left and right when the target is approached in the form of a bar graph on the screen of the display unit 330 through the indicator function. Therefore, the operator can accurately and quickly detect and accurately track the target. At this time, when all the bar graphs are displayed, the location is indicated that the location is the correct target, and when approaching the piping location while exploring the area to be searched (suspect buried piping area), the LED lamp on one side of the main body of the drone controller 300 As the light turns on, the bar graph increases on the display window (screen) and the sound starts to sound.When one LED lamp is lit, turn the equipment left and right, and the equipment coincides in parallel with the buried pipe when the correct position is detected. When a sound is produced, both LED lamps of the equipment main body light up, and the bar graph on the display unit 330 increases at the same time, and the laser target indicator indicates the correct position on the ground, and this position is marked with a spray lamp. Can be used.

The camera control unit 340 controls the camera unit 140 of the drone 100 and transmits a zoom or tilt control signal.

The voice input unit 350 may perform a warning broadcast or various information broadcasts to be broadcast through the warning broadcast unit 180 of the drone 100.

The alarm generator 360 outputs an alarm sound or LED light when dangerous data such as fire is generated from a signal transmitted from the drone 100 through the communication unit 310.

The operation area setting unit 380 allows the drone 100 to operate a newly set section by the administrator even if the operation area is set in advance.

The control unit 390 is a communication unit 310. It controls the flight control unit 320, the display unit 330, the camera control unit 340, the voice input unit 350, the alarm generation unit 360, and the operation area setting unit 370.

8 is a flowchart illustrating a mine removal management method using a mine removal management system using a drone according to the present invention.

In the mine removal management method using the mine removal management system using a drone according to the present invention, as shown in FIG. 8, the mine removal management server collects, classifies, and stores mine burial data (S100).

In addition, the mine removal management server manages information of a device for mine removal (S110).

Then, a drone is operated for detecting mines (S120).

Then, it is determined whether an event has occurred (S130), and if a landmine is detected, the drone controller emits a mine detection lamp (S140). At this time, the data is transmitted to the mine removal management server (S150).

The drone controller manager controls to mark (spray) mines according to the drone's function, or to instruct them through a laser or the like with respect to the mines detected by the drone while viewing the images transmitted from the drone (S160).

In addition, the drone controller manager removes the mine through the robot arm according to the type of mine (S170).

And when the drone body is abnormal or a return command, the drone returns (S180).

Meanwhile, the drone controller transmits the data collected through the drone directly through the communication network or through the data transmission/reception terminal to the mine removal management server (S190).

On the other hand, when the drone 100 is rented, the cost is calculated by interlocking with the financial company server (S200).

At this time, the cost is calculated and billed through drone contract information and drone user (administrator) information (name, phone number, mobile phone number, email address, smart device identification information, purchase, unmanned aerial vehicle information, etc.).

Meanwhile, the financial company server 400 may be a bank, a credit card company, or PayPal.

Although the present invention has been described with the above examples, the present invention is not necessarily limited to these examples, and various modifications may be made without departing from the spirit of the present invention. Accordingly, the examples disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these examples. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: drone 101: communication department
102: sensor unit 103: flight unit
104: GPS receiver 105: mine detection unit
106: mine analysis unit 107: mine display unit
108: mine recognizer spraying unit 109: target indicating unit
110: camera unit 111: lighting unit
112: memory unit 113: power supply unit
114: speaker 115: robot arm control unit
116: control unit
300: drone controller 400: financial company server
500: data transmission/reception terminal

Claims (2)

It performs autonomous flight, includes a homecoming function and a detection result analysis function in case of an emergency during flight, and performs mine removal to minimize environmental damage.It detects and removes mines in a mine buried area or an area expected to be buried. , A drone 100 used to collect data for preliminary surveys on the current tree and topsoil removal, wetlands in the DMZ, and natural river ecosystems, as well as landmine detection through images taken through a camera;
It manages the mine detection area to be detected by the drone 100 or the area data expected to be buried, determines the mine removal according to the data acquired by the drone 100, and provides equipment and manager information for removing buried mines. A mine removal management server 200 that manages, determines a guideline for land mine removal by region according to the image and data captured by the drone 100, and establishes a plan for using the DMZ including preservation and development; And
A mine removal management system using a drone, characterized in that it comprises a drone controller (ground control equipment) (300) consisting of a computer for controlling the flight of the drone (100).
A step (S100) of collecting the mine buried data in the mine removal management server and storing after classification;
Collecting and managing information on a device for mine removal in the mine removal management server (S110);
Operating a drone for detecting mines (S120);
If the drone detects a landmine, the drone controller emits a mine detection lamp (S140), and transmits the data to the mine removal management server (S150);
Controlling the mine position detected by the drone according to the function of the drone to be displayed (sprayed) with respect to the mine detected by the drone according to the control of the drone controller or indicated by the laser of the drone (S160);
A step of removing landmines through a robot arm provided in the drone according to the control of the drone controller (S170); And
A method for managing a mine removal using a mine removal management system using a drone, comprising: the step of returning the drone when the drone has an abnormality or a return command (S180).

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