KR20210148694A - Movable system for intercepting drone and intercept method of drone using the same - Google Patents

Abstract

The present invention relates to a mobile drone intercepting apparatus and a drone intercepting method using the same. According to the present invention, a monitoring vehicle (100) equipped with detection equipment (110) and an intercepting vehicle (200) equipped with firearm equipment (210) are connected to each other so that the monitoring vehicle and the intercepting vehicle can move smoothly to a monitoring site (5) for intercepting a target drone (1). In addition, the target drone (1) is intercepted by using the firearm equipment (210) capable of turning and adjusting an angle (height). Accordingly, a more effective defense system against attack drones can be built. The mobile drone intercepting apparatus of the present invention comprises: a surveillance vehicle; the intercepting vehicle; and connection equipment.

Description

A mobile drone intercepting device and a drone intercepting method using the same

The present invention relates to a mobile drone intercepting device equipped with armed weapons and radar equipment as part of a defense system against an attack drone, and a drone intercepting method using the same.

In general, a drone corresponding to a representative case of an unmanned aerial vehicle is a vehicle that performs a mission while flying through remote control on the ground or autonomously flying along a pre-programmed route.

As a method to defend military and terrorist attack drones, a method of disrupting the radio wave using a jammer, a method of capturing a drone using a bazooka equipped with a capture net, a method of using a laser beam There are ways to intercept.

The method using the jammer cannot be a sure means of countermeasures due to the use of unapproved radio band frequencies, etc., and especially in the case of radio wave interference, the effect is insignificant. The intercept method used has a disadvantage in that it requires high power consumption.

In addition, the equipment used in the above methods are all equipment fixedly installed at a specific location, and there is a disadvantage in that it is not possible to effectively intercept drones having various flight paths.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be accepted as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

Korean Patent Publication No. 10-2018-0019462

An object of the present invention is to enable a more effective defense system against an attack drone by a mobile drone intercepting device equipped with detection equipment and firearms equipment and a drone intercepting method using the same.

The present invention for achieving the object of the mobile drone interceptor mobile drone, a monitoring vehicle equipped with a detection device capable of detecting the location of the target drone; an intercept vehicle equipped with firearms capable of intercepting a target drone using the coordinate values detected by the detection device; and a connection device for connecting and disconnecting the monitoring vehicle and the intercept vehicle.

the intercept vehicle is a driving vehicle capable of moving to a desired location through a driver's driving or remote control; The monitoring vehicle is characterized in that it is a driven vehicle that is moved by being led by the intercept vehicle through a connection with the intercept vehicle.

The detection device is characterized in that it is a device that generates any one of a radar signal or a radio frequency (RF) signal.

a monitoring vehicle horizontal sensor and a monitoring vehicle positioning sensor provided in the monitoring vehicle, and a monitoring vehicle cylinder and monitoring vehicle controller for adjusting the height of the monitoring vehicle; The monitoring vehicle controller is characterized in that it has a function of controlling the driving of the detection equipment and the driving of the monitoring vehicle cylinder, and a function of converting the position of the target drone detected through the detection equipment into a three-dimensional coordinate value.

The three-dimensional coordinate values are azimuth coordinates (X), elevation coordinates (Y), and distance coordinates (Z) of the target drone.

The firearms equipment is characterized in that it is composed of a two-axis drive capable of turning motion and height (height) adjustment for the intercept vehicle.

an intercept vehicle horizontal sensor, an intercept vehicle positioning sensor, and an intercept vehicle cylinder for adjusting the height of the intercept vehicle and an intercept vehicle controller provided in the intercept vehicle; The intercept vehicle controller has a function of controlling the driving of firearms equipment and the driving of the intercept vehicle cylinder, and a function of converting the three-dimensional coordinate value of the target drone received through the monitoring vehicle controller into a two-dimensional coordinate value. do.

The two-dimensional coordinate values are azimuth coordinates (X) and elevation coordinates (Y) of the target drone.

the intercept vehicle controller includes a function of setting a shooting range by forming a fire network (X N, Y N) of a predetermined range including two-dimensional coordinate values (X, Y); The firearms equipment is characterized in that it is fired with a set firenet.

The firearms equipment is characterized in that the shooting proceeds in a state in which the intercept vehicle and the monitoring vehicle are disconnected.

It is characterized in that the firing of the firearms equipment is automatically performed under the control of the intercept vehicle controller or the firearms operator manually proceeds through a remote system.

In addition, the drone intercepting method according to the present invention comprises the steps of moving a monitoring vehicle equipped with detection equipment and an intercepting vehicle equipped with firearms to a monitoring location for monitoring a target drone; aligning the monitoring vehicle and the intercepting vehicle to be level with the sea level after moving to the monitoring location, and matching the true north direction of the detection equipment and the firearms equipment; After converting the three-dimensional coordinate values (X, Y, Z) of the target drone detected through the detection device into two-dimensional coordinate values (X, Y), the image network (X N, forming Y ㅁ N) to set a shooting range; and intercepting the target drone as the shooting proceeds with the set fire net using the firearms equipment.

When moving to the monitoring location, the monitoring vehicle and the intercept vehicle are connected and moved; In the monitoring location, after disconnecting the connection between the monitoring vehicle and the intercepting vehicle, it is characterized in that the horizontal alignment operation and the true north direction are matched.

The mobile drone intercepting device and the drone intercepting method using the same according to the present invention are configured so that a monitoring vehicle equipped with detection equipment and an intercepting vehicle equipped with firearms are connected to each other so that they can smoothly move to a monitoring location for intercepting a target drone, It has the effect of building a more effective defense system against attack drones.

In addition, in the embodiment according to the present invention, it is possible to intercept a target drone regardless of the frequency of the target drone, it is possible to select an interceptable distance according to the firearm used, and a firearm with a turning operation and a height (height) control As it can be operated with low power consumption using equipment, it has the advantage of being able to be mounted on a vehicle and operated, and thus has excellent maneuverability.

1 is a view of a mobile drone intercepting device according to the present invention;
2 to 3 are diagrams for explaining a process of intercepting a target drone using the mobile drone intercepting device according to the present invention;
4 is a flowchart illustrating a method of intercepting a target drone using the mobile drone intercepting device according to the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention are implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention to a specific disclosed form, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terminology used herein is used only to describe specific embodiments, and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to designate that the specified feature, number, step, operation, component, part, or a combination thereof exists, and includes one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

A control unit (controller) according to an exemplary embodiment of the present invention includes a non-volatile memory (not shown) configured to store data regarding an algorithm configured to control the operation of various components of a vehicle or software instructions for reproducing the algorithm; It may be implemented through a processor (not shown) configured to perform operations described below using data stored in the corresponding memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip integrated with each other. A processor may take the form of one or more processors.

Hereinafter, a mobile drone intercepting device according to a preferred embodiment of the present invention will be described with reference to the accompanying drawings.

As shown in FIGS. 1 to 4, the mobile drone intercepting device according to the present invention includes a monitoring vehicle 100 equipped with a detection device 110 capable of detecting the location of the target drone 1; an intercept vehicle 200 equipped with a firearms device 210 capable of intercepting the target drone 1 using the coordinate values detected by the detection device 110; and a connection device 300 for connecting and disconnecting the monitoring vehicle 100 and the intercept vehicle 200 .

The interceptor vehicle 200 is a driving vehicle capable of moving to a desired location through the driver's driving or remote control. It is a vehicle that can

The monitoring vehicle 100 becomes a driven vehicle that is moved by being guided by the intercept vehicle 200 through connection with the intercept vehicle 200 .

The connection device 300 may be any one of a manual operation of an operator or a device that operates automatically through a remote system, and the monitoring vehicle 100 serves to connect or disconnect the intercept vehicle 200 .

The monitoring vehicle 100 is provided with a detection device 110 so as to protrude upward, and the detection device 110 is configured to drive a two-axis motor capable of turning and adjusting the height (Radar) signal or Equipment that generates any one of RF (Radio Frequency) signals may be used.

When the detection device 110 operates, the target drone 1 located within an area that the detection device 110 can detect may be detected.

The monitoring vehicle 100 further includes a monitoring vehicle horizontal sensor 120 , a monitoring vehicle positioning sensor 130 , a monitoring vehicle cylinder 140 for adjusting the height of the monitoring vehicle, and a monitoring vehicle controller 150 .

The monitoring vehicle horizontal sensor 120 serves to detect the horizontal state of the monitoring vehicle 100 so that the monitoring vehicle 100 can align the horizontal state with the sea level L1, and the monitoring vehicle positioning sensor 130 is a detection device (110) serves to detect the directionality of the detection device 110 so as to face the true north (True North) direction.

The monitoring vehicle cylinder 140 is composed of a plurality of symmetrically provided on the left and right sides of the vehicle, and may be composed of a hydraulic cylinder, and the operation may be performed manually by a worker or automatically through a remote system.

The monitoring vehicle controller 150 serves to control the operation of the monitoring vehicle cylinder 140 and the driving of the detection equipment 110 using the signals of the monitoring vehicle horizontal sensor 120 and the monitoring vehicle positioning sensor 130, In addition, the bar also serves to convert the position of the target drone 1 detected through the detection device 110 into a three-dimensional coordinate value, and the three-dimensional coordinate value is the azimuth coordinate (X) and the elevation coordinate ( Y) and distance coordinates (Z).

The intercept vehicle 100 is equipped with a firearm equipment 210 capable of intercepting the target drone 1 through shooting, and the firearm equipment 210 has a turning operation (X-axis) and elevation (height) adjustment (Y-axis). This is possible with a two-axis motor drive.

The intercept vehicle 100 further includes an intercept vehicle horizontal sensor 220 , an intercept vehicle positioning sensor 230 , an intercept vehicle cylinder 240 for adjusting the height of the intercept vehicle, and an intercept vehicle controller 250 .

The intercept vehicle horizontal sensor 220 serves to detect the horizontal state of the intercept vehicle 200 so that the intercept vehicle 200 can align the horizontal state with the sea level L1, and the intercept vehicle positioning sensor 230 is a firearms equipment It serves to detect the directionality of the firearm equipment 210 so that the 210 can face the true north direction.

The intercept vehicle cylinder 240 is composed of a plurality of symmetrically provided on the left and right sides of the vehicle, and may be composed of a hydraulic cylinder, and the operation may be performed automatically through a manual operation of an operator or a remote system.

The intercept vehicle controller 250 controls the operation of the intercept vehicle cylinder 240 and the operation of the firearms equipment 210 using the signals of the intercept vehicle horizontal sensor 220 and the intercept vehicle positioning sensor 230, In addition, the bar also serves to convert the three-dimensional coordinate (X, Y, Z) values of the target drone 1 received through the intercept vehicle controller 150 into two-dimensional coordinates (X, Y) values, and the two-dimensional coordinate values are the azimuth coordinates (X) and elevation coordinates (Y) of the target drone 1 .

In addition, the intercept vehicle controller 250 may further perform a function of setting a shooting range by forming a fire network 3, X n, Y n in a predetermined range including the two-dimensional coordinate values (X, Y). .

The N may be an integer.

The firearms equipment 210 provided in the intercept vehicle 200 fires with the firenet 3 set by the intercept vehicle controller 250, and the firearms equipment 210 is controlled by the intercept vehicle controller 250. The firing of the firearms equipment 210 proceeds in a state in which the intercept vehicle 200 and the monitoring vehicle 100 are disconnected.

Hereinafter, a drone intercepting method according to the present invention will be described with reference to FIGS. 1 to 4 .

A monitoring place for monitoring the target drone 1 after connecting the monitoring vehicle 100 equipped with the detection equipment 110 and the intercepting vehicle 200 equipped with the firearms equipment 210 through the connection equipment 300 . Move to (5). (Step S1)

After moving to the monitoring location 5 , the connection of the connection device 300 is disconnected to separate the connection between the monitoring vehicle 100 and the intercept vehicle 200 .

In order to accurately determine the location of the target drone 1 using the detection device 110 , there should be no vibration or impact in the detection device 110 , and the accurate positioning of the target drone 1 even when shooting using the firearm device 210 For interception, vibration or shock should be minimized even in the firearms equipment 210. To this end, after the monitoring vehicle 100 and the intercepting vehicle 200 move to the monitoring location 5, it is recommended to separate the connection from each other. desirable.

After disconnecting the connection between the monitoring vehicle 100 and the intercept vehicle 200 at the monitoring location 5, the monitoring vehicle cylinder 140 is operated using the signal from the monitoring vehicle horizontal sensor 120 to operate the monitoring vehicle 100 ) to be level with the sea level (L1), and also use the signal from the intercept vehicle horizontal sensor 220 to operate the intercept vehicle cylinder 240 to adjust the intercept vehicle 200 to be level with the sea level (L1). (Step S2)

Only when the monitoring vehicle 100 and the intercept vehicle 200 are located at the same horizontal orientation and elevation, precise measurement and conversion of the three-dimensional coordinates detected by the detection device 110 and the two-dimensional coordinates of the firearms equipment 210 are possible. , for this purpose, it is preferable to align both the monitoring vehicle 100 and the intercepting vehicle 200 to be level with the sea level L1.

After the monitoring vehicle 100 and the interceptor vehicle 200 are leveled, the detection equipment 110 and the firearms equipment 210 using the signal of the monitoring vehicle positioning sensor 130 and the intercepting vehicle positioning sensor 230 signal ) to match the true north direction (step S3).

When the detection equipment 110 of the monitoring vehicle 100 and the firearm equipment 210 of the intercept vehicle 200 have the same true north reference, the three-dimensional coordinates detected by the detection equipment 110 are converted into two dimensions of the firearm equipment 210. Since it is possible to convert the coordinates into coordinates, it is preferable to match the true north direction of the detection device 110 and the firearm device 210 for this purpose.

After matching the true north directions of the detection equipment 110 and the firearms equipment 210, the detection equipment 110 is used to detect the target drone 1 (step S4), and the target drone 1 is discovered. When this occurs, the monitoring vehicle controller 150 converts the detected position of the target drone 1 into a three-dimensional coordinate value.

The three-dimensional coordinate values of the monitoring vehicle controller 150 are data on the azimuth coordinates (X), the elevation coordinates (Y), and the distance coordinates (Z) of the target drone 1 , and the three-dimensional coordinate values are the intercept vehicle controller 250 . ), and the intercept vehicle controller 250 converts the received three-dimensional coordinate values into two-dimensional coordinate values (X, Y) in real time. (Step S5)

In addition, according to the two-dimensional coordinate value converted by the intercept vehicle controller 250, the intercept vehicle controller 250 controls the operation of the firearm equipment 210 in real time, and thereby the firearm equipment 210 turns X-axis) and elevation (height, Y-axis) are adjusted to track the target drone 1 in real time.

For precise interception of the target drone 1, the intercept vehicle controller 250 forms a fire network 3, X n, Y n in a predetermined range including two-dimensional coordinate values to set the shooting range (step S6). ), the firearm equipment 210 intercepts the target drone 1 as it fires with the set fire net 3 (step S7).

It is difficult to precisely hit the target drone 1 that moves quickly in real time, so the target drone 1 is tracked while the target drone 1 is tracked and the fire network 3 is formed around the drone to set the shooting range and then shoot. It becomes possible to further increase the intercept rate of (1).

In addition, the firing of the firearms equipment 210 may be performed automatically under the control of the intercept vehicle controller 250 or manually through a remote system while the firearms operator visually sees the information of the imaging device.

If the interception of the target drone 1 by the firearms equipment 210 succeeds, the shooting ends.

As described above, in the embodiment according to the present invention, the surveillance vehicle 100 equipped with the detection equipment 110 and the intercept vehicle 200 equipped with the firearms equipment 210 are connected to each other to intercept the target drone 1 . With a configuration that can be moved smoothly to the monitoring place 5 for

In addition, in the embodiment according to the present invention, it is possible to intercept the target drone 1 regardless of the frequency of the target drone 1, and it is possible to select the interceptable distance according to the gun used, and the turning operation and the elevation angle ( Height) adjustable fire equipment 210 is used to enable maneuvering with low power consumption, so it has the advantage of being able to be mounted on a vehicle and operated, and thus excellent maneuverability.

Although the present invention has been shown and described with reference to specific embodiments, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

1 - Target Drone 3 - Fire Net
5 - Monitoring site 100 - Monitoring vehicle
110 - detection equipment 120 - monitoring vehicle level sensor
130 - Monitoring vehicle positioning sensor 140 - Monitoring vehicle cylinder
150 - Surveillance vehicle controller 200 - Intercept vehicle
210 - Firearms equipment 220 - Intercept vehicle level sensor
220 - Intercept vehicle positioning sensor 240 - Intercept vehicle cylinder
250 - Interceptor vehicle controller 300 - Connecting equipment
L1 - sea level

Claims (13)

a surveillance vehicle equipped with a detection device capable of detecting the location of the target drone;
an intercept vehicle equipped with firearms capable of intercepting a target drone using the coordinate values detected by the detection device; and
A mobile drone intercepting device comprising a; connection equipment for connecting and disconnecting the monitoring vehicle and the intercepting vehicle. The method according to claim 1,
the intercept vehicle is a driving vehicle capable of moving to a desired location through a driver's driving or remote control;
The monitoring vehicle is a mobile drone interceptor, characterized in that it is a driven vehicle that is moved by being led by the intercept vehicle through connection with the intercept vehicle. The method according to claim 1,
The detection equipment is a mobile drone interceptor, characterized in that the equipment that generates any one of a radar signal or a radio frequency (RF) signal. The method according to claim 1,
a monitoring vehicle horizontal sensor and a monitoring vehicle positioning sensor provided in the monitoring vehicle, and a monitoring vehicle cylinder and monitoring vehicle controller for adjusting the height of the monitoring vehicle;
The surveillance vehicle controller intercepts a mobile drone, characterized in that it has a function of controlling the driving of the detection equipment and the driving of the monitoring vehicle cylinder, and a function of converting the position of the target drone detected through the detection equipment into a three-dimensional coordinate value Device. 5. The method according to claim 4,
The three-dimensional coordinate value is a mobile drone interceptor, characterized in that the azimuth coordinates (X), the elevation coordinates (Y), and the distance coordinates (Z) of the target drone. The method according to claim 1,
The firearms equipment is a mobile drone interceptor, characterized in that it is configured with a two-axis drive capable of turning and adjusting the height (height) of the intercepting vehicle. 5. The method according to claim 4,
an intercept vehicle horizontal sensor, an intercept vehicle positioning sensor, and an intercept vehicle cylinder and an intercept vehicle controller for controlling the height of the intercept vehicle provided in the intercept vehicle;
The intercept vehicle controller has a function of controlling the driving of firearms equipment and the driving of the intercept vehicle cylinder, and a function of converting the three-dimensional coordinate value of the target drone received through the monitoring vehicle controller into a two-dimensional coordinate value. A mobile drone interceptor. 8. The method of claim 7,
The two-dimensional coordinate value is a mobile drone interceptor, characterized in that the azimuth coordinates (X) and the elevation coordinates (Y) of the target drone. 8. The method of claim 7,
the intercept vehicle controller includes a function of setting a shooting range by forming a fire network (X n, Y n) of a predetermined range including two-dimensional coordinate values (X, Y);
The firearms equipment is a mobile drone interceptor, characterized in that shooting with a set firenet. 10. The method of claim 9,
The firearms equipment is a mobile drone interceptor, characterized in that the shooting proceeds in a state in which the intercept vehicle and the monitoring vehicle are disconnected. 10. The method of claim 9,
A mobile drone interceptor, characterized in that the firing of the firearms equipment is performed automatically under the control of the intercept vehicle controller or manually through a remote system by a firearms operator. A method of intercepting a drone using the device of any one of claims 1 to 10,
moving a surveillance vehicle equipped with detection equipment and an intercept vehicle equipped with firearms to a monitoring location for monitoring the target drone;
aligning the monitoring vehicle and the intercepting vehicle to be level with the sea level after moving to the monitoring location, and matching the true north direction of the detection equipment and the firearms equipment;
After converting the three-dimensional coordinate values (X, Y, Z) of the target drone detected through the detection device into two-dimensional coordinate values (X, Y), the image network (XㅁN, forming Y ㅁ N) to set a shooting range; and
and intercepting the target drone as the shooting proceeds with the set fire net using the firearms equipment. 13. The method of claim 12,
When moving to the monitoring location, the monitoring vehicle and the intercept vehicle are connected and moved;
In the monitoring place, after disconnecting the connection between the monitoring vehicle and the intercepting vehicle, a drone intercepting method using a mobile drone intercepting device, characterized in that the horizontal alignment operation and the true north direction are matched.

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