KR20210115398A - Drone-based wild animal combat system - Google Patents

Abstract

The present invention relates to a drone-based wild animal eradicating system comprising: at least three sensors which are distributed and installed outside a sensing area, and output a sensing signal by sensing at least one among sound, movement, and smell generated by an animal; at least one drone which outputs sound, light, and smell for animal eradication while flying through an animal intrusion area after identifying the animal intrusion area by receiving and analyzing each sensing signal; and at least one drone charging device which is installed outside the sensing area, supports docking of the drone, and charges the docked drone. The drone calculates a current flight position by analyzing the sensing signal depending on a triangulation technique, and performs a position control operation to allow the current flight position to correspond to the animal intrusion area. The present invention senses and eradicates intrusion of a wild animal.

Description

Drone-based wild animal combat system

The present invention relates to a drone-based wildlife extermination system capable of more effectively detecting and eradicating wild animals that have invaded a surveillance area such as a farmland using a drone.

In general, in farmhouses cultivating crops, various means are mobilized to combat wild animals as there is a huge loss of yield due to intrusion of harmful wild animals such as roe deer, wild boar, and birds ahead of the harvest season.

The representative conventional means of repelling harmful animals include using nets as fences in rice fields, fields, orchards, etc., or installing sculptures that send high pressure to iron fences and barbed wire, to placing excrement of natural enemies such as tigers to control harmful animals. Animal repelling means that stimulate the sense of smell to prevent invasion and access are being used.

However, according to the conventional harmful animal extermination means as described above, the net for the repelling means is not reliable for its effect on powerful and bulky harmful animals such as wild boars, or it is used as a temporary facility, and iron fences and barbed wire are used. In order to install it, the cost of mobilizing manpower and facility equipment is high, and there are many problems in the method of transferring and using the equipment once installed for reuse. , it is possible only in an area where electricity is easily accessible, requires continuous maintenance, and there are safety problems such as surprise or injury to people or livestock nearby. There were problems such as not being easy to obtain.

Accordingly, in order to solve the above problems, the present invention is to provide a drone-based wild animal extermination system capable of detecting and eradicating the invasion of wild animals using a drone.

The object of the present invention is not limited to the object mentioned above, and other objects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description.

As a means for solving the above problem, according to an embodiment of the present invention, at least three are distributed and installed outside the monitoring area to sense at least one of a sound, a movement, and a smell generated by an animal to output a sensing signal. dog sensors; at least one drone that receives and analyzes each of the sensing signals to identify an animal invasion area, and outputs sound, light, and smell for animal extermination while flying over the animal invasion area; at least one drone charging device installed outside the monitoring area to support the docking of the drone and to charge the docked drone, wherein the drone analyzes the sensing signal according to a triangulation technique and is currently flying A drone-based wildlife extermination system is provided, which calculates a position and performs a position control operation so that the current flight position matches the animal intrusion area.

The drone may include a flight body capable of flying; an animal repelling device that outputs sound, light, and odor for repelling animals; a wireless communication unit for receiving the sensing signals by supporting wireless communication with the sensors; After inferring each sensor distance from the signal strength of each of the sensing signals, the drone position tracking unit for calculating the current flight position by analyzing the sensor distance according to the triangulation technique; an animal invasion area detection unit for receiving and analyzing the sensing signals to identify an animal invasion area; When the animal intrusion area is detected, the flight position of the flight body is controlled in real time so that the current flight position matches the animal intrusion area, but when the animal intrusion area is not detected, the flight body is positioned as the drone charging device a drone control unit that moves; and a power supply unit that charges a battery with power wirelessly transmitted from the drone charging device, and generates and supplies drone driving power using a battery charging voltage.

When the battery charging voltage is less than or equal to a preset value, the drone control unit further comprises a function of moving the flight body to the drone charging device.

The drone is characterized in that it further comprises an obstacle detection sensor for sensing and notifying an obstacle located in front of the flight body.

The drone control unit may additionally perform an obstacle avoidance driving operation according to a sensing result of the obstacle detection sensor.

The obstacle detection sensor is characterized in that it is implemented as a three-dimensional laser scanner having a 360 degree rotation function.

The drone control unit is characterized in that it further includes a function of setting a different driving pattern for each animal type.

The present invention makes it possible to detect and combat the invasion of wild animals using drones.

In addition, without having a separate GPS device, it is possible to determine the current flight position of the drone by utilizing the generated and provided by the sensing device, so that a more accurate position control operation can be performed with a minimum number of devices.

In addition, by using a drone charging device having a docking and charging operation of the drone, the drone is always placed in the monitoring area and can be operated at all times, so that user intervention for driving the drone can be minimized.

1 and 2 are diagrams for explaining a drone-based wild animal extermination system according to an embodiment of the present invention.
3 is a view for explaining a detailed configuration of a sensing device according to an embodiment of the present invention.
4 is a view for explaining the detailed configuration of a drone charging apparatus according to an embodiment of the present invention.
5 is a diagram for explaining a detailed configuration of a drone according to an embodiment of the present invention.
6 is a diagram for explaining a triangulation method for calculating a current flight position of a drone according to an embodiment of the present invention.
7 to 9 are diagrams for explaining a drone-based pest control method according to an embodiment of the present invention.
10 is a view for explaining a drone-based wild animal extermination system according to another embodiment of the present invention.

The following is merely illustrative of the principles of the invention. Therefore, those skilled in the art will be able to devise various devices which, although not explicitly described or shown herein, embody the principles of the present invention and are included within the spirit and scope of the present invention. Moreover, it is to be understood that all conditional terms and examples listed herein are, in principle, expressly intended solely for the purpose of enabling the concept of the present invention to be understood, and not limited to the specifically enumerated embodiments and states as such. should be

Moreover, it is to be understood that all detailed description reciting specific embodiments, as well as principles, aspects, and embodiments of the present invention, are intended to include structural and functional equivalents of such matters. It is also to be understood that such equivalents include not only currently known equivalents, but also equivalents developed in the future, i.e., all devices invented to perform the same function, regardless of structure.

Thus, for example, the block diagrams herein are to be understood as representing conceptual views of illustrative circuitry embodying the principles of the present invention. Similarly, all flowcharts, state transition diagrams, pseudo code, etc. may be tangibly embodied on computer-readable media and be understood to represent various processes performed by a computer or processor, whether or not a computer or processor is explicitly shown. should be

The functions of the various elements shown in the figures including a processor or functional blocks represented by similar concepts may be provided by the use of dedicated hardware as well as hardware having the ability to execute software in association with appropriate software. When provided by a processor, the functionality may be provided by a single dedicated processor, a single shared processor, or a plurality of separate processors, some of which may be shared.

In addition, clear use of terms presented as processor, control, or similar concepts should not be construed as exclusively referring to hardware having the ability to execute software, and without limitation, digital signal processor (DSP) hardware, ROM for storing software. It should be understood to implicitly include (ROM), RAM (RAM) and non-volatile memory. Other common hardware may also be included.

In the claims of the present specification, a component expressed as a means for performing the function described in the detailed description includes, for example, a combination of circuit elements that perform the function or software in any form including firmware/microcode, etc. It is intended to include all methods of performing the functions of the device, coupled with suitable circuitry for executing the software to perform the functions. Since the present invention defined by these claims is combined with the functions provided by the various enumerated means and combined in a manner required by the claims, any means capable of providing the functions are equivalent to those contemplated from the present specification. should be understood as

The above-described objects, features and advantages will become more apparent through the following detailed description in relation to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

1 and 2 are diagrams for explaining a drone-based wild animal extermination system according to an embodiment of the present invention.

1 and 2, the system of the present invention is distributed around the monitoring area, and senses at least one of sounds, motions, and smells generated by animals and outputs a sensing signal. The sensing device 100, the drone 200 that receives and analyzes the sensing signals to identify the animal invasion area, and then flies over the animal invasion area and outputs sound, light, and smell for animal extermination, is located outside the monitoring area. It is installed, supports docking of the drone 200, and consists of a drone charging device 300 that charges the docked drone, and the like.

In particular, the drone 200 infers each distance to the sensing device from the signal strength of each sensing signal, and then analyzes the distance to the sensing device according to the triangulation technique to calculate the current flight position. And by performing a position control operation so that the current flight position matches the animal intrusion area extracted from the sensing signals, the current position of the drone can be identified without a separate GPS device, and the drone position control operation based on this can be performed more precisely. there will be

3 is a view for explaining a detailed configuration of a sensing device according to an embodiment of the present invention.

Referring to FIG. 3 , the sensing device 100 of the present invention is implemented with a sensor support 110 having a predetermined height, a sensing unit 120 and a wireless communication unit 130 installed on the upper side of the sensor support 110 . .

The sensing unit 120 senses at least one of a sound, a movement, and a smell generated by an animal that invades the monitoring area through these, and outputs a sensing signal. This includes at least one of a sound sensor for sensing and notifying the occurrence of a sound belonging to a preset size or frequency band, a motion sensor for sensing and notifying whether a motion occurs, and an odor sensor for sensing and notifying whether a preset chemical component is generated can be implemented.

The wireless communication unit 130 forms and operates a short-range wireless communication channel with the drone 200 , and wirelessly transmits a sensing signal of the sensing unit 120 .

In particular, the sensing device 100 of the present invention performs an animal sensing operation at a predetermined height or higher through the sensor support 110 , thereby preventing the occurrence of a sensing error due to various obstacles existing on the ground in advance.

4 is a view for explaining the detailed configuration of a drone charging apparatus according to an embodiment of the present invention.

Referring to FIG. 4 , the drone 200 of the present invention is implemented with a drone support 310 having a predetermined height, and a docking unit 320 and a charging unit 330 installed on the upper side of the drone support 310 .

The docking unit 320 supports docking of the drone 200 . That is, it supports take-off/landing of the drone 200 and fixes the position of the drone 200 that has landed.

The charging unit 330 receives and uses commercial power to generate and supply drone charging power. At this time, the charging unit 330 may supply charging power to the drone 200 in a wired manner, but, if necessary, a drone charging operation in a wireless manner. to be able to perform

In addition, when a new and renewable energy generation system such as a solar power generation system and a wind power generation system is provided, it is possible to generate and supply drone charging power by additionally using new and renewable energy in addition to the used power.

5 is a diagram for explaining a detailed configuration of a drone according to an embodiment of the present invention.

Referring to FIG. 5 , the drone 200 of the present invention includes a flightable body 210 , an animal repelling device 220 built into the flight body 210 , a wireless communication unit 230 , and a drone location tracking unit 240 . , an animal intrusion area detection unit 250 , an obstacle sensing device 260 , a drone control unit 270 , a power supply unit 280 , and the like.

The flight body 210 may have a structure and configuration capable of flying. For example, it includes a plurality of driving motors and a plurality of propellers, and controls the moving speed, direction, altitude, etc. of the drone by adjusting the rotation speed and direction of each of the propellers through each of the plurality of driving motors.

The animal repelling device 220 includes at least one of a speaker, a lighting, and a smell spraying device, and outputs at least one of a sound, light, and smell for repelling animals through this. In this case, it goes without saying that the generation pattern of sound, light, and smell may be adjusted according to the type of animal.

The wireless communication unit 230 forms and operates a short-range wireless communication channel with each of the sensing devices 100 , and wirelessly receives a sensing signal transmitted from each of the sensing devices 100 .

The drone position tracking unit 240 infers each distance from the sensing device from the signal strength of each sensing signal, and then analyzes these distances according to the triangulation technique to calculate the current flight position.

The triangulation technique is a method of finding out the coordinates and distance of a point using the properties of a triangle, and in particular, the present invention provides a fixed position value of each of the sensing devices 100 as shown in FIG. 6 (x1, y1), ( x2, y2), (x3, y3) are defined, and distances from the sensing device are set to d1, d2, d3, respectively, three spheres corresponding to each of the sensing devices 100 are generated, and the Acquire the contact point as the drone's current flight position (x,y).

The animal intrusion area detection unit 250 detects each of the sensing devices 100 that have detected an animal intrusion through sensing signals, and traces back the animal intrusion area based on the location of the corresponding sensing devices.

The obstacle sensing device 260 senses and notifies an obstacle located in front of the flight body 210 (ie, located on the flight path).

The drone control unit 270 checks whether an animal chip is an animal chip, and when an animal invasion is detected, takes off the drone 200, and then adjusts the position of the flight body 210 so that the current flight position of the drone 200 matches the animal intrusion area. Real-time control. On the other hand, when the animal intrusion is not detected, the flight body 210 is moved to the drone charging device 300 . In addition, an obstacle avoidance driving operation is additionally performed according to the sensing result of the obstacle sensing device 260 .

In addition, the battery charging voltage is checked, and when it is less than a preset value, the flight body 210 is preferentially moved to the drone charging device 300 regardless of whether an animal has invaded or not.

The power supply unit 280 charges the battery with power transmitted from the drone charging device 300 , and generates and supplies drone driving power using the battery charging voltage.

7 to 9 are diagrams for explaining a drone-based pest control method according to an embodiment of the present invention.

First, the drone control unit 270 subdivides the entire monitoring area into a plurality of areas Areas 1 to 4 based on the installation position and sensing range of each of the sensing devices 100 .

It is sensed whether an animal has invaded through each of the sensing devices 100 .

If the sensing device 100 corresponding to the area 1 senses and notifies an animal invasion, the area 1 is set as an animal invasion area, and the sensing device 100 corresponding to the areas 1 and 2 senses and notifies the animal invasion. Then, the areas 1 and 2 are set as animal invasion areas, and when the sensing device 100 corresponding to the areas 1 to 3 senses and notifies the animal invasion, the areas 1 to 3 are set as the animal invasion areas, and the areas 1 to 3 are set as the animal invasion areas. When all of the sensing devices 100 corresponding to 4 sense and notify the intrusion of an animal, all of the areas 1 to 4 are set as the animal intrusion area. That is, the animal intrusion area is traced back based on the location of the corresponding sensing devices.

Then, after taking off from the drone charging device 300 , the drone 200 moves to an animal intrusion area, and then starts to generate a stimulus for repelling the animal.

The present invention allows a different driving pattern to be set for each animal type in consideration of the fact that an animal's movement pattern may vary for each animal type. For example, as shown in FIG. 8, the vehicle travels in a fixed position at a point in the animal invasion area, or moves in a zigzag pattern above the animal invasion area, or moves along the periphery of the animal invasion area. It can be driven in the form of moving in the form of moving in a position while rotating circularly over the animal invasion area.

In addition, the drone control operation that has priority over the driving pattern of FIG. 8 is performed, but when an obstacle is detected in front of the drone, the path bypass operation is automatically performed as in FIG. 9 to prevent a collision with the obstacle in advance. .

In addition, although only one drone is used in the above description, it is of course natural that in some cases, a plurality of drones may be provided as shown in FIG.

In this case, after setting one of the plurality of drones as the master drone and the remaining drones as slave drones, the master drone can control the operation of the slave drones in general.

For example, only the drones adjacent to the location of the animal invasion area are selected and driven. In addition, the number of drones can be adjusted according to the size of the animal invasion area. That is, when the size of the animal chip area is smaller than the preset value, only one drone is driven, but a plurality of drones can be simultaneously driven only when the animal invasion area becomes larger than the preset value.

Alternatively, the number of drones used can be adjusted according to the type of animal. That is, when the animal is sensitive to external stimuli, only one drone is driven, and only when the animal is insensitive to external stimuli, multiple drones are simultaneously driven to provide a stronger stimulus to the target animal.

The method according to the present invention described above may be produced as a program to be executed by a computer and stored in a computer-readable recording medium. Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape. , a floppy disk, an optical data storage device, and the like, and also includes those implemented in the form of a carrier wave (eg, transmission through the Internet).

The computer-readable recording medium is distributed in a network-connected computer system, so that the computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the art to which the present invention pertains.

In the above, preferred embodiments of the present invention have been illustrated and described, but the present invention is not limited to the specific embodiments described above, and it is common in the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims. Various modifications may be made by those having the knowledge of, of course, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims (7)

at least three sensors dispersedly installed outside the monitoring area and configured to sense at least one of a sound, movement, and smell generated by an animal and output a sensing signal;
at least one drone that receives and analyzes each of the sensing signals to identify an animal invasion area, and outputs sound, light, and smell for animal extermination while flying over the animal invasion area;
At least one drone charging device installed outside the monitoring area to support docking of the drone and to charge the docked drone,
the drone is
A drone-based wildlife extermination system, characterized in that by analyzing the sensing signal according to a triangulation technique, a current flight position is calculated, and a position control operation is performed so that the current flight position matches the animal invasion area. According to claim 1, wherein the drone
Flyable flying body;
an animal repelling device that outputs sound, light, and odor for repelling animals;
a wireless communication unit for receiving the sensing signals by supporting wireless communication with the sensors;
After inferring each sensor distance from the signal strength of each of the sensing signals, the drone position tracking unit for calculating the current flight position by analyzing the sensor distance according to the triangulation technique;
an animal invasion area detection unit for receiving and analyzing the sensing signals to identify an animal invasion area;
When the animal intrusion area is detected, the flight position of the flight body is controlled in real time so that the current flight position matches the animal intrusion area, but when the animal intrusion area is not detected, the flight body is positioned as the drone charging device a drone control unit that moves; and
and a power supply unit for charging a battery with power wirelessly transmitted from the drone charging device, and generating and supplying power to drive the drone using the battery charging voltage. According to claim 2, wherein the drone control unit
When the battery charging voltage is less than or equal to a preset value, the drone-based wildlife extermination system further comprising a function of moving the flight body to the drone charging device. The method of claim 2, wherein the drone
Drone-based wildlife extermination system, characterized in that it further comprises an obstacle detection sensor for sensing and notifying an obstacle located in front of the flight body. According to claim 4, wherein the drone control unit
Drone-based wildlife extermination system, characterized in that additionally performing an obstacle avoidance driving operation according to the sensing result of the obstacle detection sensor. The method of claim 5, wherein the obstacle detection sensor is
A drone-based wildlife extermination system, characterized in that it is implemented as a 3D laser scanner with a 360 degree rotation function. According to claim 2, wherein the drone control unit
Drone-based wildlife extermination system, characterized in that it further comprises a function of setting different driving patterns for each animal type.

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