KR20220118713A - Scarecrow Drone and Scarecrow Drone Control System - Google Patents

Abstract

The present invention relates to a scarecrow drone and a scarecrow drone control system, and more specifically to the scarecrow drone and the scarecrow drone control system, which is a system that replaces a repellent installed with a drone to reduce damage caused by wild animals in rural areas. By moving beyond a still standing scarecrow or repellent, the scarecrow drone chases animals through tracking, kicking them out in a phased eradication method, and minimizing the damage to crops. The scarecrow drone includes a photographing unit and a micro-processor unit (MPU).

Description

Scarecrow Drone and Scarecrow Drone Control System

The present invention relates to a scarecrow drone and a scarecrow drone control system, and more specifically, to a system in which a repellent installed to reduce damage caused by wild animals in rural areas is replaced with a drone, and an animal moving beyond a stationary scarecrow or repellent It is about a scarecrow drone and a scarecrow drone control system to minimize damage to crops by chasing down through tracking and chasing them out in a step-by-step eradication method.

As a conventional technique for reducing damage caused by wild animals in rural areas, there is a static repellent that detects an animal invasion and outputs a sound. These repellents have a problem in that when an animal invades, it responds the same to any animal and cannot effectively expel it.

In addition, a drone-based repellent is also provided, but the existing drone-based repellant cannot determine what kind of animal it is and respond appropriately to each individual, and has limitations in that it uses sound. In addition, whenever harmful animals invade farmhouses, it is almost impossible for a human to operate a drone, and it is also difficult to operate a drone.

Korean Patent Application No. 10-2017-0184221 (2017.12.29) "APPARATUS AND METHOD FOR PREVENTING TRESPASS OF HARMFUL WILD ANIMAL"

The present invention is to solve the above problems, and by establishing a system that recognizes wild animals and determines the situation by itself and operates autonomously, a scarecrow drone for providing a situation judgment function and an autonomous operation function, and a scarecrow drone control to provide a system.

In addition, the present invention builds a pest control system that operates automatically without direct human intervention, thereby utilizing the drone's active tracking technology and communicating with the control device that controls the drone. Scarecrow Drones, and Scarecrows to provide a system that not only can operate completely unattended and the drones that have been ordered to respond, but also pursue and chase animals beyond stationary reptiles, but do not need to learn how to operate the drone. To provide a drone control system.

In addition, the present invention distinguishes wild animals using object recognition and gives commands to drones to enable flexible responses, and not only speakers but also LEDs and repellent sprayers are mounted to enable more effective responses. It is to provide a scarecrow drone, and a scarecrow drone control system for

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the scarecrow drone according to an embodiment of the present invention includes: a photographing unit 160 for generating photographing information by photographing at least one or more farmland managed by an administrator who operates the administrator terminal 400; And MPU (150) for controlling the drone movement module 170 so as to identify preset harmful animals through the shooting information that is the image taken through the shooting unit 160, and to exterminate the harmful animals outside the designated area; It may be characterized in that it includes.

At this time, the present invention, the communication unit 140 capable of transmitting the photographing information photographed through the photographing unit 160 to the external manager terminal 400 or the drone control server 300 and receiving a control signal; may further include.

In addition, the present invention, a harmful animal repelling unit for generating a stimulus for repelling the harmful animals outside the designated area; It may be characterized in that it further comprises.

In addition, the harmful animal repellent unit, the LED module 110 for providing stimulation of a high-brightness LED light source; a speaker 120 providing a frequency sound output stimulus of a band that each recognized wild animal avoids; and a repellent spraying device 130 that provides spraying of repellents repelled by each recognized wild animal; It may be characterized in that it includes.

In order to achieve the above object, a scarecrow drone control system according to an embodiment of the present invention includes a scarecrow drone 100; drone control server 300; and a manager terminal 400; In the scarecrow drone control system (1) including In the management information corresponding to the manager ID, to move to the area of the GPS coordinate information included in the farmland shooting information for the farmland corresponding to the farmland serial number for the scarecrow drone 100 corresponding to the drone identification number matching the farmland serial number. a drone tracking module 322 for controlling the transceiver 310 to transmit a movement control command to the scarecrow drone 100; and a step-by-step operation module 324 for performing step-by-step application to the harmful animal extermination unit that generates a stimulus for repelling the harmful animal outside the designated area; It may be characterized in that it includes.

The scarecrow drone and the scarecrow drone control system according to an embodiment of the present invention have the effect of providing a situation judgment function and an autonomous operation function by recognizing wild animals and judging the situation by themselves and constructing a system that operates autonomously. .

In addition, the scarecrow drone and the scarecrow drone control system according to another embodiment of the present invention utilize the active tracking technology of the drone by building a pest control system that automatically operates without direct human intervention. Through communication with the control device that controls the drone, the control device determines what kind of response to take, and the drone that receives the command can operate completely unmanned, as well as pursuing and chasing animals beyond the stationary repeller, but how to operate the drone It has the effect of providing a system that does not need to be learned.

In addition, the scarecrow drone and the scarecrow drone control system according to another embodiment of the present invention can determine wild animals using object recognition and give commands to the drone to enable flexible responses, and not only a speaker but also an LED It also has a repellent spraying device, which provides the effect of more effective response.

1 and 2 are views showing a scarecrow drone control system 1 according to an embodiment of the present invention. 3 is a block diagram illustrating components of a drone control server 300 of the scarecrow drone control system 1 according to an embodiment of the present invention. 4 to 6 are diagrams for explaining the operating principle of the scarecrow drone control system 1 according to an embodiment of the present invention. 7 is a view for explaining the components and operation of the scarecrow drone 100 of the scarecrow drone control system 1 according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of a preferred embodiment of the present invention will be described with reference to the accompanying drawings. In the following description of the present invention, if it is determined that a detailed description of a related well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

In the present specification, when any one component 'transmits' data or signal to another component, the component may directly transmit the data or signal to another component, and through at least one other component This means that data or signals can be transmitted to other components.

1 and 2 are views showing a scarecrow drone control system 1 according to an embodiment of the present invention. 1 and 2, the scarecrow drone control system 1 includes a scarecrow drone group 100g consisting of a plurality of scarecrow drones 100, a network 200, a drone control server 300, and an administrator terminal 400 ) may be included.

First, in the scarecrow drone control system 1 according to the first embodiment of FIG. 1 , each scarecrow drone 100 transmits and receives signals and data with the drone control server 300 and the manager terminal 400 directly through the network 200 . can be performed.

On the other hand, in the scarecrow drone control system 1 according to the first embodiment of FIG. 2 , each scarecrow drone 100 transmits signals and data through radio communication with the manager terminal 400 and RF wireless communication (nRF24). can transmit/receive, and the manager terminal 400 may directly transmit/receive signals and data with the drone control server 300 and the manager terminal 400 through the network 200 .

In the following, the present invention will be described with reference to FIG. 1 for convenience of description, but may be extended to FIG. 2 as well.

In addition, the network 200 is a high-speed backbone network of a large-scale communication network capable of large-capacity, long-distance voice and data services, and may be a next-generation wired or wireless network for providing the Internet or high-speed multimedia services. When the network 200 is a mobile communication network, it may be a synchronous mobile communication network or an asynchronous mobile communication network. As an example of the asynchronous mobile communication network, there may be a wideband code division multiple access (WCDMA) type communication network. In this case, although not shown in the drawing, the network 200 may include a Radio Network Controller (RNC). Meanwhile, although the WCDMA network is taken as an example, it may be a 3G LTE network, a 4G network, other next-generation communication networks such as 5G, and other IP-based IP networks. The network 200 serves to mutually transmit signals and data between the scarecrow drone group 100g consisting of the scarecrow drone 100, the drone control server 300, the manager terminal 400, and other systems.

3 is a block diagram illustrating components of a drone control server 300 of the scarecrow drone control system 1 according to an embodiment of the present invention. 4 to 6 are diagrams for explaining the operating principle of the scarecrow drone control system 1 according to an embodiment of the present invention. 7 is a view for explaining the components and operation of the scarecrow drone 100 of the scarecrow drone control system 1 according to an embodiment of the present invention.

First, referring to FIG. 7 , the scarecrow drone 100 includes an LED module 110 , a speaker 120 , a repellent spraying device 130 , a communication unit 140 , a Micro-Processor Unit (MPU) 150 , a photographing unit (160), it may include a drone movement module 170 that can be formed by a plurality of propellers.

Next, referring to FIG. 3 , the drone control server 300 may include a transceiver 310 , a controller 320 , and a database 330 . In addition, the control unit 320 may include an information receiving module 321 , a drone tracking module 322 , a recognition module 323 , a step-by-step operation module 324 , and a route providing module 325 . Hereinafter, the scarecrow drone control system 1 will be described in detail focusing on each component of the control unit 320 .

The information receiving module 321 controls the transceiver 310 to receive the drone identification number, manager ID, and password of at least one or more scarecrow drones 100 operated by the manager from the manager terminal 400 through the network 200 . After that, it is possible to store the drone identification number and password as management information in the database 330 using the manager ID as metadata.

In addition, the information receiving module 321 is the one scarecrow drone 100 for at least one farmland managed by the manager who operates the manager terminal 400, the shooting information taken by the shooting unit 160, the manager terminal After controlling the transceiver 310 to receive from 400 through the network 200, and then assigning a farmland serial number to the farmland photographing information, the farmland photographing information to which the farmland serial number is assigned is the same manager ID as metadata. It can be stored together with the management information of And, the information receiving module 321 includes the GPS coordinate information for each image frame corresponding to the farmland shooting information when shooting the farmland by the scarecrow drone 100 and receives it from each scarecrow drone 100 and receives each image of the farmland shooting information. GPS coordinate information may be stored together as metadata corresponding to the frame.

Thereafter, the information receiving module 321 controls the transceiver 310 to receive the designation information of the drone identification number of the at least one observation target scarecrow drone 100 for each farmland serial number from the manager terminal 400 After controlling the , by matching the farmland serial number and the drone identification number as a pair, the manager ID may be stored together as management information on the database 330 as metadata.

The drone tracking module 322 matches the farmland serial number in the management information corresponding to the manager ID according to the wild animal protection request for the scarecrow drone 100 for the farmland corresponding to the farmland serial number by the manager terminal 400. Transmit/receive a movement control command to move to the area of GPS coordinate information included in the farmland shooting information for the farmland corresponding to the farmland serial number for the scarecrow drone 100 corresponding to the drone identification number to the scarecrow drone 100 The unit 310 can be controlled.

Here, the drone tracking module 322 is a movement control that allows the scarecrow drone 100 to move with one GPS coordinate information corresponding to the central area of the area of the GPS coordinate information for the assigned farmland when there is only one scarecrow drone 100. A command is provided to the scarecrow drone 100, and when there are a plurality of scarecrow drones 100, the area of the GPS coordinate information for the assigned farmland is divided by area. In the center area of the GPS coordinate information area for each divided farmland A movement control command for causing the scarecrow drone 100 to move may be provided to the scarecrow drone 100 with corresponding one piece of GPS coordinate information.

The drone tracking module 322 monitors the appearance of wild animals on farmland while moving within the GPS coordinate information range included in the farmland shooting information for the farmland assigned from the GPS coordinate information moved by each scarecrow drone 100. Monitoring control The number of transmission and reception 310 can be controlled to transmit a command to each scarecrow drone 100 through the network 200 .

The recognition module 323 controls the transceiver 310 to receive real-time shooting information by each scarecrow drone 100 through the network 200, and then performs big data-based image analysis for the real-time shooting information. can be recognized

That is, the recognition module 323 collects learning photo information for each animal on the big data-based database 330 as shown in FIG. Through this, it is possible to extract harmful animals on real-time shooting information.

To this end, the recognition module 323 is the animal learning photo information, which includes various animal pattern information itself, and inclined animal pattern information inclined at a preset axis and angle in three dimensions of each animal pattern information itself, and each animal pattern information itself. It is possible to extract the number of harmful animals and harmful animals from the real-time captured image information by using the reverse animal pattern information reversed on a pre-set axis in dimensionality.

More specifically, the recognition module 323 analyzes the animal pattern information for each animal, which is the collected data distributed and stored in the DCS DB by the distributed file program on the database 330, through a machine learning algorithm, and can give a command to classify the learning information. . More specifically, the machine learning algorithm used in the analysis/control program may be one of a decision tree (DT) classification algorithm, a random forest classification algorithm, and a support vector machine (SVM) classification algorithm.

On the other hand, in another embodiment of the present invention, the recognition module 323 collects additional information including information on the amount of damage for each image labeling harmful animal as shown in FIG. 6 through image labeling for each animal as shown in FIG. It may be stored on the 330 and provided to the manager terminal 400 .

The recognition module 323 analyzes the collected data distributed and stored in the DCS DB by the distributed file program, extracts a plurality of feature information as a result of the analysis, and uses at least one of a plurality of machine learning algorithms for the extracted feature information It is possible to generate a learning information classification command as a result of learning and learning.

That is, the recognition module 323 may apply an ensemble structure composed of a plurality of complementary machine learning algorithms to improve the accuracy of the state learning information classification result.

The decision tree classification algorithm is a method of deriving results by learning in a tree structure, making it easy to interpret and understand the results, fast data processing speed, and may be able to derive rules based on a search tree. RF can be applied as a method to improve the low classification accuracy of DT. The random forest classification algorithm is a method of slaughtering the results of learning multiple DTs as an ensemble. SVM can be applied as a way to improve overfitting that can occur through DT or RF learning. The SVM classification algorithm classifies data belonging to different classifications on a plane-based basis, and generally has high accuracy and may have low sensitivity to structural overfitting.

The step-by-step operation module 324 sends a request for a scarecrow operation command to expel through tracking for the scarecrow drone 100 that has taken a picture when there is only one harmful animal recognized by the recognition module 323 network 200 ) may control the transceiver 310 to transmit through.

The step-by-step operation module 324 extracts the corresponding wild animal with the shortest escape route information provided from the route providing module 325, thereby minimizing the damage to the farmland caused by the wild animal while minimizing the damage to the farmland by the wild animal. ) can control the transceiver 310 to provide the shortest escape route information for the scarecrow drone 100 through

On the other hand, the step-by-step operation module 324 may perform the scarecrow operation command request in first to third steps.

As a first step, the step-by-step operation module 324 allows wild animals to escape from farmland through stimulation of the high-brightness LED light source through the LED module 110 attached to the scarecrow drone 100 and guidance with the shortest escape route information. The transceiver 310 may be controlled to transmit the first step scarecrow operation command request to the scarecrow drone 100 through the network 200 to perform the request for a first preset time.

In the second step, when the harmful animals stay in the farmland even with the operation by the light source of the first step, the step-by-step operation module 324 avoids each recognized wild animal through the speaker 120 attached to the scarecrow drone 100 . The scarecrow drone 100 through the network 200 to perform the second stage scarecrow operation command request for escaping wild animals from farmland through induction with frequency sound output stimulation and shortest escape route information in the band of ) may control the transceiver 310 to transmit.

In the third step, when the harmful animal stays on the farmland even with the operation by the light source of the first step, the step-by-step operation module 324 is a repellent spraying device 130 having a divided chamber structure attached to the scarecrow drone 100. The network 200 to perform the 3rd step scarecrow operation command request to allow wild animals to escape from farmland through the spraying of repellents that each recognized wild animal avoids and induction with the shortest escape route information for a preset third time. Through this, the transceiver 310 may be controlled to transmit to the scarecrow drone 100 .

Here, the split repellent spraying device 130 is a repellent spraying device 130 that avoids by types of wild animals that frequently appear in each farmland manages the repellent components of different components in separate chambers, so that they are matched from each separately managed chamber. The third stage scarecrow operation command request for the wild animal received through the communication unit 140 according to the recognized wild animal included in the third stage scarecrow operation command request by the MPU 150 of the scarecrow drone 100 The split repellent spraying device 130 may perform a spraying operation.

That is, the step-by-step operation module 324 is operated in the order of the first step to the third step, and may be sequentially applied by determining whether the wild animal has exterminated a predetermined area.

The path providing module 325 analyzes the location of each structure and the spatial information between the structures through farmland shooting information for one farmland, and compares the analyzed spatial information and the area of each recognized wild animal body from the location. It is possible to extract spatial information that can pass through and generate escape route information that can go from the current location of wild animals to the edge of one farmland based on each extracted spatial information.

Thereafter, the route providing module 325 determines the heating rate in the step-by-step operation of the first to third steps for wild animals that are actually matched by each step-by-step operation module 324 for the escape route information, that is, whether or not to eradicate during operation. After generating the feedback information for each step, it is possible to provide the shortest escape route information updated with the escape route information for each step having a high hit rate to each scarecrow drone 100 through the network 200 .

On the other hand, in another embodiment of the present invention, the step-by-step operation module 324 performs shooting in other areas as well as the scarecrow drone 100 that has taken a picture when there are a plurality of harmful animals recognized by the recognition module 323 . The transceiver 310 may be controlled to transmit a set command for step-by-step operation of the first to third steps to the scarecrow drone 100 through the network 200 . On the other hand, the step-by-step operation module 324 performs the step-by-step operation of the first to third steps for one farmland for which the number of harmful animals recognized by the recognition module 323 is small when the number of scarecrow drones 100 is small. A set for the step-by-step operation of the first to third steps for the scarecrow drone 100 or the extra scarecrow drone 100 that is not performing the step-by-step operation of the first to third steps in the neighboring farmland through the network 200 The transceiver 310 may be controlled to transmit a command through the network 200 .

The scarecrow drone 100 and the scarecrow drone system 1 according to the present invention can be applied to recognize and combat wild animals occurring not only in rural areas but also in forests by controlling operation using object recognition technology.

In addition, the scarecrow drone 100 can additionally be utilized for monitoring by using an infrared sensor at night, as well as to prevent damage to a designated spot. In addition to the field of extermination of wild animals that can be used in smart farms, it is possible to respond and utilize appropriate responses through object recognition in the blast furnace of the steel mill, which is a space that is difficult for humans to access in the smart factory field. It can be used in the field of surveillance and in the field of tampering.

The present invention can also be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. also includes

In addition, the computer-readable recording medium is distributed in a computer system connected through a network, 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 present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1: Scarecrow drone control system 100 : Scarecrow Drone 110: LED module 120: speaker 130: repellent spraying device 140: communication department 150: MPU 160: shooting department 170: drone moving device unit 100g: Scarecrow Drone Group 200: network 300: drone control server 310: transceiver 320: control unit 321: information receiving module 322: drone tracking module 323: recognition module 324: step-by-step operation module 325: route providing module 330: database 400: administrator terminal

Claims (5)

a photographing unit 160 for generating photographing information by photographing at least one or more farmland managed by a manager who operates the manager terminal 400; And MPU (150) for controlling the drone movement module 170 so as to identify preset harmful animals through the shooting information that is the image taken through the shooting unit 160, and to exterminate the harmful animals outside the designated area; Scarecrow drone comprising a. The method according to claim 1, wherein the communication unit 140 capable of transmitting the photographing information photographed through the photographing unit 160 to the external manager terminal 400 or the drone control server 300 and receiving a control signal; Scarecrow drone, characterized in that it further comprises. The method according to claim 1, wherein the harmful animal repelling unit for generating a stimulus for repelling the harmful animals outside the designated area; Scarecrow drone, characterized in that it further comprises. The method according to claim 3, The pest repelling unit, LED module 110 for providing stimulation of a high-brightness LED light source; Speaker 120 for providing a frequency sound output stimulation of a band that each recognized wild animal avoids; and a repellent spraying device 130 that provides spraying of repellents repelled by each recognized wild animal; Scarecrow drone comprising a. scarecrow drone 100; drone control server 300; and a manager terminal 400; In the scarecrow drone control system 1 including In the management information corresponding to the manager ID, to move to the area of the GPS coordinate information included in the farmland shooting information for the farmland corresponding to the farmland serial number for the scarecrow drone 100 corresponding to the drone identification number matching the farmland serial number. a drone tracking module 322 for controlling the transceiver 310 to transmit a movement control command to the scarecrow drone 100; and a step-by-step operation module 324 for performing step-by-step application to the harmful animal extermination unit that generates a stimulus for repelling the harmful animal outside the designated area; A scarecrow drone control system comprising a.

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