WO2020175807A1 - 드론 침입을 탐지하기 위한 멀티 tod 서라운드 카메라 장치 및 이를 이용한 드론 침입 감지 포획 방법 - Google Patents

드론 침입을 탐지하기 위한 멀티 tod 서라운드 카메라 장치 및 이를 이용한 드론 침입 감지 포획 방법 Download PDF

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Publication number
WO2020175807A1
WO2020175807A1 PCT/KR2020/001350 KR2020001350W WO2020175807A1 WO 2020175807 A1 WO2020175807 A1 WO 2020175807A1 KR 2020001350 W KR2020001350 W KR 2020001350W WO 2020175807 A1 WO2020175807 A1 WO 2020175807A1
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WO
WIPO (PCT)
Prior art keywords
drone
information
drones
capture
night
Prior art date
Application number
PCT/KR2020/001350
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English (en)
French (fr)
Inventor
박웅도
Original Assignee
(주)텔미전자
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from KR1020190022895A external-priority patent/KR101989585B1/ko
Priority claimed from KR1020190022896A external-priority patent/KR102029991B1/ko
Application filed by (주)텔미전자 filed Critical (주)텔미전자
Priority to US17/432,963 priority Critical patent/US20220157060A1/en
Publication of WO2020175807A1 publication Critical patent/WO2020175807A1/ko

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0082—Surveillance aids for monitoring traffic from a ground station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • This invention is a drone that invades a no-fly zone
  • the location of the drone photographed in the round method through the Thermal Observation Device is determined through a spatial map.
  • It provides a drone intrusion detection device and a detection method characterized by detecting in real time and immediately detecting a drone invasion.
  • An airplane or helicopter shaped vehicle An airplane or helicopter shaped vehicle.
  • Drones were initially used as targets instead of bandits in the practice of air force aircraft, anti-cannons, and missiles, but with the development of wireless technology gradually, reconnaissance aircraft were developed to penetrate deep into the interior of the enemy and were used for reconnaissance and surveillance purposes. For example, drones are equipped with various weapons such as missiles and are used as attack aircraft.
  • This invention applies to areas where drone flight is prohibited, such as airports and nuclear power plants.
  • the present invention makes it difficult to secure the visibility of the surveillance camera, such as at night or in bad weather.
  • the drone intrusion detection device of the present invention is equipped with 100 camera modules that can shoot drones with high performance without deteriorating performance regardless of changes in weather conditions, day and night.
  • the drone intrusion detection device of the present invention is equipped with an integrated control device capable of quickly detecting and controlling the capture of unmanned drones invading the no-fly zone while simultaneously monitoring the actual image screen and the 30 space map image screen.
  • the present invention captures the invading drone in the fastest time possible and
  • Equipped with a device to induce and destroy Equipped with a device to induce and destroy.
  • the drone intrusion detection and capture system according to the present invention will be able to acquire images by shooting drones with high performance without deteriorating performance even in bad weather at night and when weather conditions are not good.
  • the drone intrusion detection and capture system will be able to quickly control the invading drone by grasping the real drone image and integrated information obtained from the drone displayed on the 30 spatial map in real time.
  • FIG. 1 is a diagram showing a drone flight prohibited area according to the present invention.
  • Figure 2 is a view of a multi-100 surround camera device for drone capture according to the present invention
  • FIG. 3 is a view of a multi 1X)0 surround camera device for drone capture according to the present invention.
  • Figure 4 is a view of the drone capture multi-100 surround camera device according to the present invention.
  • FIG. 5 is a view of a multi-100 surround camera device for drone capture according to the present invention.
  • FIG. 6 is a conceptual diagram showing the entire range of protection by collaboration of a multi-100 surround camera device for drone capture according to the present invention.
  • FIG. 7 is a diagram showing a drone penetration space setting map according to the present invention.
  • FIG. 8 is a diagram for forming a drone penetration space setting map in space according to the present invention.
  • FIG. 9 is a diagram for detecting a drone according to the drone penetration space setting map according to the present invention.
  • Fig. 3 is a flow chart for the process of forming a space setting map according to the present invention.
  • 11 is an embodiment showing the detection and capture of drone penetration according to the present invention. Modes for the implementation of the invention
  • Fig. 1 is a conceptual diagram showing a general drone flight prohibited area.
  • a no-fly zone is set for the ground and sky within a radius of 1011, and drones invading into the set zone are set. It needs a system that immediately detects, alerts, and controls it, moves it to a safe area, and destroys it.
  • FIG. 2 is a multi-100 surround camera device 200 according to the present invention.
  • the above device consists of a plurality of 100 cameras, a 1 high 0 transmitter and a daytime camera.
  • a plurality of 100 cameras capable of 360-degree photographing of the periphery are installed on a hexagonal fixing plate formed on the base of the device, and a circular support is formed in the center of the fixing plate, and the upper part of the support High-performance 100 cameras, floodlights and daytime cameras are installed.
  • the number of the plurality of 100 cameras, the shape of the hexagonal fixing plate and the circular support are not limited as in the embodiment of FIG. 2, and can be modified to suit the implementation of the following invention.
  • the daytime camera (0) provides color image information on the upper floors of the building during the day
  • the high-performance 1X)0 camera 220 provides spatial image information on the upper floors of the building at night, and has a zoom function.
  • the first and second transmitters 230 have a search light function that illuminates the lights at night, thereby providing lighting so that drones infiltrating the no-fly zone can be captured clearly.
  • the device is equipped with a plurality of ⁇ 0D cameras 240, the plurality of 2020/175807 1»(:1 ⁇ 1 ⁇ 2020/001350
  • the 100 camera provides image information by dividing the space of 360 degrees from the front, back, left and right to equal parts and photographing each area.
  • Figure 3 is a plan view of the multi-100 surround camera device 200, a plurality of
  • a plurality of 100 cameras (240) are arranged in a 360-degree direction, and a high-performance 100 camera (220) is projected upward.
  • FIG. 4 is a side view of the multi-100 surround camera device 200.
  • a plurality of 100 cameras 240 installed in six directions on the side
  • a space of up to 60 degrees is photographed, and the upper space exceeding 60 degrees, which cannot be photographed with a plurality of 100 cameras, is photographed by the high-performance 100 cameras 220 arranged upward.
  • 5 and 6 are conceptual diagrams showing a range monitored by the multi-100 surround camera device 200.
  • the excess top layer will monitor the invading drone by a high-performance 100 camera.
  • FIG. 7 is a diagram showing a drone penetration space setting map according to the present invention.
  • a space setting map is a space consisting of a virtual line designed to identify the exact location of a drone invading a no-fly zone within the drone intrusion detection system. All points in the virtual space are location values, distance values from 100 cameras, It can be specified by the pixel coordinate value of the video screen and the zoom value of the camera.
  • the separation distance can be adjusted from number III to dozens of III, where the distance value can be measured with a laser distance meter (0).
  • the 0-8 position value obtained above is matched with the image information taken by the camera and stored.
  • the image information may include the pixel coordinate value and the camera zoom value on the image screen.
  • the error is corrected for all measured values and stored.
  • FIG. 8 is an embodiment in which a drone penetration space setting map according to the present invention is formed in an upper space.
  • the upper space requires a drone for collecting information, and the drone for collecting information is equipped with a 0-8 receiver to collect 0-8 location information at each point.
  • the distance to the drone for collecting information is measured using a laser distance meter (B1M).
  • the distance of the drone at each point, the photographed image and display pixel, and camera zoom information are stored as a set.
  • FIG. 9 shows an embodiment of detecting a drone penetrated by the image captured by the camera and information stored in the system.
  • the virtual ship is always at a certain distance, and the drone invades from the outside.
  • 11 is an embodiment showing the detection and capture of drone penetration according to the present invention.
  • the multi-100 surround camera device immediately detects when a drone invades even at night or in bad weather, and captures 0 to 8 location information stored as a set of pixels and zoom information of the captured drone image. It will be delivered to the dragon drone.
  • the capture drone in the upper layer tracks the intrusive drone, and the location of the intruding drone can be continuously clearly identified through the search light attached to the multi 1X)0 surround camera device.
  • the capture drone launches its net from a location close to the invading drone to capture the invading drone, and then transfers the captured drone to an external safety zone to isolate it from the no-fly zone.
  • the drone intrusion detection and capture system according to the present invention will be able to acquire images by shooting drones with high performance without deteriorating performance even in bad weather at night and when weather conditions are not good.
  • the drone intrusion detection and capture system will be able to quickly control the invading drone by grasping the real drone image and integrated information acquired from the drone displayed on the 30 spatial map in real time.
  • an external drone equipped with explosives intrudes into a national facility, it can be quickly suppressed, guided to a safe zone, and destroyed.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Studio Devices (AREA)
  • Alarm Systems (AREA)

Abstract

본 발명의 일 실시예에 따른 멀티 TOD 서라운드 카메라 장치는 비행 금지 구역에 침입한 드론을 감지하기 위한 장치에 관한 것으로서, 야간에 상층부 공간을 촬영하기 위한 고성능 TOD 카메라와, 주간에 상층부 공간을 촬영하기 위한 주간용 카메라와, 야간에 써치 라이트 조명을 비춰주는 LED 투광기, 및 주변 360도의 공간을 촬영하기 위한 복수개의 TOD 카메라를 구비하여 야간이나 악천후 시에도 비행 금지 구역에 침입한 드론을 신속하게 감지할 수 있는 것을 특징으로 한다.

Description

2020/175807 1»（：1/10公020/001350 명세서
발명의 명칭:드론침입을탐지하기위한멀티 TOD서라운드
카메라장치및이를이용한드론침입감지포획방법 기술분야
[1] 본발명은본발명은비행금지구역에침입하는드론즉,무인비행기를
탐지하는장치및방법에관한것으로서 ,열영상장비 (Thermal Observation Device, TOD)를통해서라운드방식으로촬영한드론의위치를공간맵을통해
실시간으로파악하여드론의침입을즉시탐지하는하는것을특징으로하는 드론침입탐지장치및탐지방법을제공한다.
배경기술
[2] 일반적으로드론은사람이타지않고무선전파의유도에의해비행하는
비행기나헬리콥터모양의비행체를말한다.
[3] 드론은초창기공군기나고사포,미사일의연습사격에적기대신표적구실로 사용되었으나,점차무선기술의발달과함께정찰기가개발되어적의내륙 깊숙히침투하여정찰·감시의용도로도운용되었다.근래에들어드론에미사일 등각종무기를장착하여공격기로도활용되고있다.
[4] 드론의활용목적에따라다양한크기와성능을가진비행체들이다양하게
개발되고있는데대형비행체의군사용뿐만아니라,초소형드론도활발하게 개발연구되고있다.또한개인의취미활동으로개발되어상품화되고있으며, 정글이나오지 ,화산지역 ,자연재해지역및사고지역등인간이접근할수없는 지역에드론을투입하여운용한다.
[5] 그러나드론의활용범위가점차넓어지면서,공항이나원자력발전소와같이 비행금지구역을침입하는드론이점차늘어나고있으며,이로인한혼란과 경제적손실이사회적으로문제가되고있다.
[6] 따라서비행금지구역을침입하는드론을탐지하는시스템을설치하고
운영하는곳이증가하고있으나,현실적으로야간이나악천후와같은때는 드론을검출하기어렵고,또한침입한드론을즉시포획하여안전한곳으로 이동하여파기하는것이어려운문제가있다.
발명의상세한설명
기술적과제
[7] 본발명은공항이나원자력발전소와같이드론비행금지구역에대하여
드론의침입을상시적으로모니터링할수있는공간맵을제공하고자한다.
[8] 본발명은야간이나악천후와같이감시카메라의시야확보가어려운
시기에도정밀하게드론의침입을감시할수있는장치와방법을제공하고자 한다.
[9] 또한드론비행금지구역에침입한드론을신속하고안전하게포획하고 2020/175807 1»（：1^1{2020/001350
2 안전지대로유도하는시스템을제공하고자한다.
과제해결수단
[1이 본발명의드론침입탐지장치는주간및야간,기상여건의변화에도불구하고 성능열화없이드론을고성능으로촬영할수있는 100카메라모듈을 구비한다.
[11] 본발명의드론침입탐지장치는실제영상화면과 30공간맵영상화면을 동시에모니터링하면서비행금지구역에침입한무인가드론을빠른시간에 탐지하고포획을제어할수있는통합제어장치를구비한다.
[12] 또한본발명은최대한빠른시간에침입한드론을포획하고안전지대로
유도하여파기하는장치를구비한다.
발명의효과
[13] 본발명에의한드론침입탐지및포획시스템은야간및기상여건이좋지 않은악천후시기에도성능의열화없이드론을고성능으로촬영하여영상을 획득할수있게된다.
[14] 본발명에의한드론침입탐지및포획시스템은실제드론영상과 30공간맵 상에서표시된드론으로부터획득한통합정보를실시간으로파악하여침입한 드론을빠른시간에제어할수있게된다.
[15] 본발명은폭발물을장착한외부드론이국가시설로침입할경우에신속하여 제압하고안전지대로유도하여파기할수있게한다.
도면의간단한설명
[16] 도 1은본발명에따른드론비행금지구역을보여주는도면이다.
[17] 도 2는본발명에따른드론포획용멀티 100서라운드카메라장치의
사시도이다.
[18] 도 3은본발명에따른드론포획용멀티 1X)0서라운드카메라장치의
평면도이다.
[19] 도 4는본발명에따른드론포획용멀티 100서라운드카메라장치의
측면도이다.
[2이 도 5는본발명에따른드론포획용멀티 100서라운드카메라장치의
실시예이다.
[21] 도 6은본발명에따른드론포획용멀티 100서라운드카메라장치의협업에 의한전체보호범위를보여주는개념도이다.
[22] 도 7은본발명에따른드론침투공간설정맵을평면상에서형성하는
실시예이다.
[23] 도 8은본발명에따른드론침투공간설정맵을공간상에서형성하는
실시예이다.
[24] 도 9는본발명에따른드론침투공간설정맵에의해드론을감지하는
실시예이다. 2020/175807 1»（：1/10公020/001350
3 도 은본발명에 따른공간설정맵형성과정에 대한순서도이다. 도 11은본발명에 따른드론침투탐지 및포획을보여주는일실시예이다. 발명의실시를위한형태
[27] 본발명은다양한변경을가할수있고여러 가지실시예를가질수있는바, 특정실시예들을도면에 예시하고상세하게설명하고자한다.
[28] 그러나,이는본발명을특정한실시 형태에 대해한정하려는것이아니며,본 발명의사상및기술범위에포함되는모든변경,균등물내지 대체물을 포함하는것으로이해되어야한다.각도면을설명하면서유사한참조부호를 유사한구성요소에 대해사용하였다.
본출원에서사용한용어는단지특정한실시예를설명하기 위해사용된 것으로,본발명을한정하려는의도가아니다.단수의표현은문맥상명백하게 다르게뜻하지 않는한,복수의표현을포함한다.본출원에서, "포함하다”또는 "가지다”등의용어는명세서상에기재된특징,숫자,단계,동작,구성요소,부품 또는이들을조합한것이존재함을지정하려는것이지 ,하나또는그이상의 다른특징들이나숫자,단계,동작,구성요소,부품또는이들을조합한것들의 존재또는부가가능성을미리 배제하지 않는것으로이해되어야한다.
30] 도 1은일반적인드론비행금지구역을보여주는개념도이다.
상기도 1의원자력 발전소와같은국가주요시설은드론의침입에 의한폭발물 투척등으로피해를볼수있기 때문에 반경수 1011내의지상및상공에 대하여 비행금지구역을설정하고,이설정된구역 안으로침입하는드론을즉시감지, 경보및제어하여 안전한지역으로이동한후파기하는시스템을필요로한다.
[32] 도 2는본발명에 따른멀티 100서라운드카메라장치 (200)이다.
[33] 상기장치는복수개의 100카메라와 1고0투광기 및주간용카메라로
구성되어 있다.
7 58
[2 2 2 3 33339456] 주변부를 360도촬영할수있는복수개의 100카메라는상기장치의기단 상부에 형성된 6각형의고정판위에 설치되며,상기고정판의중앙부에원형의 지지대가형성되고,상기지지대의상부에고성능 100카메라와 투광기 및 주간용카메라가설치된다.
바람직하게는상기복수개의 100카메라의수량, 6각형고정판과원형 지지대의 형상은상기도 2의실시 예와같이 한정되지 않고,이하발명의실시에 적합하게 변형이가능하다.
[36] 주간용카메라 ( 0)는주간에 건물상층부의 칼라영상정보를제공하며 , 고성능 1X)0카메라 (220)는야간에건물상층부의공간영상정보를제공하기 위한것으로서줌기능을보유하고있다.
1고0투광기 (230)는야간에조명을비춰주는써치 라이트기능을보유함으로써 비행금지구역에 침투한드론을선명하게촬영할수있도록조명을제공한다. 상기장치에는복수개의 ^0D카메라 (240)를구비하고있으며,상기복수개의 2020/175807 1»（：1^1{2020/001350
4
100카메라는전후좌우 360도의공간을복수등분하여각각의구역을촬영하여 영상정보를제공한다.
[39] 도 3은상기멀티 100서라운드카메라장치 (200)의평면도로서복수개의
100카메라 (240)가 360도방향으로복수개배치되어있으며 ,상방향으로는 고성능 100카메라 (220)가비추고있는것을알수있다.
[4이 도 4는상기멀티 100서라운드카메라장치(200)의측면도이다.
[41] 측면에 6방향으로설치된복수개의 100카메라 (240)는지상으로부터약
60도까지의공간을촬영하게되며,복수개의 100카메라로촬영할수없는 60도를초과하는상부공간은상방향으로배치된고성능 100카메라 (220)에 의해촬영을하게된다.
[42] 도 5및도 6은상기멀티 100서라운드카메라장치 (200)에의해감시하는 범위를보여주는개념도이다.
[43] 지상으로부터약 60도까지의주변부는복수개의 100카메라, 60도를
초과하는최상층부는고성능 100카메라에의해침투하는드론을감시하게 된다.
[44] 도 7은본발명에따른드론침투공간설정맵을평면상에서형성하는
실시예이다.
[45] 공간설정맵이란비행금지구역에침입한드론의정확한위치를드론침입 감지시스템내에서파악할수있도록제작된가상선으로이루어진공간으로서, 가상공간내의모든점은 위치값, 100카메라로부터의거리값,영상화면 픽셀좌표값및카메라의줌값으로특정될수있다.
[46] 즉,상기비행금지구역에대한가상공간에대한 4가지의값을미리시스템에 저장시켜두면,영상화면의픽셀좌표값과카메라의줌값으로부터침입한 드론의실제 0?8위치값과거리값을파악할수있게된다.
[47] 평면상의공간설정맵을형성하는과정은다음과같다.
[48] 우선 100카메라에최대한근접한범위에서부터점차주변부로확대해
나가면서 0?8위치값과거리값을측정하게된다.
[49] 100카메라장치로부터최소거리에해당하는원형상에서좌측또는
우측으로이동하면서카메라영상화면에보이는각지점에대한모든 0?8 위치값을수신하여저장한다.
[5이 모든 0?8위치값을저장하고난이후에는,기존에보유하고있는실측값과 상기수신한 0?8위치값과의오차를보정한다.
[51] 최소거리에대한 0?8위치값저장과오차보정이종료되면,주변부로기본 이격거리만큼이동하여이전의과정을반복하여진행한다.
[52] 이격거리는수 III에서수십 III까지조정될수있다.이때거리값은레이저거리 측정기 (0 )로측정될수있다.
[53] 상기에서확보한 0?8위치값을카메라촬영영상정보와매칭시켜저장한다. 영상정보에는영상화면에서의픽셀좌표값과카메라줌값을포함할수있다. 2020/175807 1»（：1^1{2020/001350
5 앞서 최소거리에 대하여측정한 0?8위치값의오차를보정하였던보정값을 이용하여모든측정값에 대하여오차를보정하여 저장한다.
[54] 비행금지구역의최외곽지점까지상기과정이완성되면,지상부에 대한정보 수집을종료하고상층부공간으로이동한다.
[55] 도 8은본발명에 따른드론침투공간설정맵을상층부공간에서 형성하는 실시예이다.
[56] 상층부공간은정보수집용드론이필요하며 ,상기 정보수집용드론에는 0?8 수신기가장착되어각지점에서의 0?8위치 정보를수집한다.
[57] 또한정보수집용드론까지의 거리는레이저 거리측정기（나1므）를사용하여 측정한다.
[58] 이와같은정보수집용드론은복수개를활용하여 최근접거리에서부터 비행 금지구역의최외곽범위까지 점차확대하여진행하게된다.
[59] 이와동시에 각지점의드론에 대한거리 ,촬영 영상과디스플레이픽셀및 카메라줌정보를세트로저장하게된다.
[6이 도 9는상기카메라에 의해촬영된영상과시스템에 저장된정보에 의하여 침투한드론을감지하는실시예를보여주고있다.
[61] 보정된 0?8좌표를기반으로환경 설정시수집한최대거리까지가상선을 설정할수있으며,출력되는영상으로부터교차하는가상선의픽셀정보와 카메라줌정보를포함하여 ,레이저거리측정기（나 ）에의한거리값과 0?8 위치값이모두매칭되어표시되고,긴급상황이 경보된다.
[62] 바람직하게는가상선의특정 항상띄워져 있으며 , 외부에서드론이침입하게되
Figure imgf000006_0001
관련좌표정보가
시스템으로부터포획드론으로실시간으로전송된다.
[63] 도 은상기도 7내지도 9에서 개시된본발명에따른공간설정맵 형성
과정을정리한순서도이다.
[64] 도 11은본발명에 따른드론침투탐지 및포획을보여주는일실시예이다.
[65] 본발명에 따른멀티 100서라운드카메라장치는야간이나악천후시에도 드론이 침입하는경우즉시감지를하게되고,촬영된드론영상의픽셀및줌 정보세트로저장되어 있는 0?8위치정보를포획용드론에게 전달하여주게 된다.
[66] 이 때상층부의포획용드론은침입드론을추적하게되며,멀티 1X）0서라운드 카메라장치에부착된써치 라이트를통해서침입한드론의위치를계속하여 선명하게식별할수있게된다.
[67] 이후포획용드론은침투한드론과근접한위치에서그물을발사하여침투한 드론을포획하게되며,이후포획된드론을외부안전지대로이송하여비행금지 구역과격리시킨다.
[68] 이후격리된드론에 대하여폭발물설치 여부를탐지하고,폭발물이 설치된 경우에는해체작업을실시한후파기시킨다. 2020/175807 1»（：1/10公020/001350
6
산업상이용가능성
[69] 본발명에의한드론침입탐지및포획시스템은야간및기상여건이좋지 않은악천후시기에도성능의열화없이드론을고성능으로촬영하여영상을 획득할수있게된다.
이 본발명에의한드론침입탐지및포획시스템은실제드론영상과 30공간맵 상에서표시된드론으로부터획득한통합정보를실시간으로파악하여침입한 드론을빠른시간에제어할수있게된다.
1] 본발명은폭발물을장착한외부드론이국가시설로침입할경우에신속하여 제압하고안전지대로유도하여파기할수있게한다.

Claims

2020/175807 1»（：1^1{2020/001350 7 청구범위
[청구항 1] 비행금지구역에침입한드론을감지하기 위한장치에 관한 것으로서,
야간에상층부공간을촬영하기 위한고성능 100카메라;
주간에상층부공간을촬영하기 위한주간용카메라;
Figure imgf000008_0001
투광기 ;및
주변 360도의 공간을촬영하기 위한복수개의 100카메라를 구비하여 야간이나악천후시에도비행금지구역에침입한 드론을신속하게감지할수있는것을특징으로하는멀티 100 서라운드카메라장치 .
[청구항 2] 제 1항에 있어서,
상기복수개의 1X)0카메라는상기장치의기단상부에 형성된 고정판위에 설치되는것을특징으로하는멀티 1X)0서라운드 카메라장치 .
[청구항 3] 제 2항에 있어서,
상기고정판의중앙부에원형의지지대가형성되고,
상기지지대의상부에상기고성능 100카
투광기와상기주간용카메라가설치되는
Figure imgf000008_0002
멀티 100서라운드카메라장치 .
[청구항 4] 제 2항에 있어서,
상기복수개의 ^0D카메라는수평방향 360도의공간을나누어 촬영하며,
수직방향으로는지상으로부터 60도까지의공간을촬영하여 감지하는것을특징으로하는멀티 100서라운드카메라장치 .
[청구항 5] 제 4항에 있어서,
상기고성능 100카메라는상기복수개의 100카메라로촬영할 수없는 60도를초과하는상층부공간을촬영하여감지하는것을 특징으로하는멀티 100서라운드카메라장치 .
[청구항 6] 비행금지구역에침입한드론을감지포획하기위한방법에관한 것으로서,
비행금지구역내의지상최대근접범위에서주변부로 이동하면서공간설정맵형성에 필요한지상부정보를수집 저장하는단계 ;
비행금지구역내에서 0?8수신기가장착된정보수집용드론을 이용하여공간설정맵형성에 필요한상층부공간정보를수집 저장하는단계 ;
멀티 100서라운드카메라장치에 의해외부에서 침입하는 2020/175807 1»（：1^1{2020/001350
8 드론을실시간으로감지하는드론감지단계 ;
정보를포획용드론에게전달하는
Figure imgf000009_0001
포획용드론이 침투한드론을포획하여 안전지대로이송및 파기하는단계를구비하여 야간이나악천후시에도금지구역에 침입한드론을신속하게감지하여포획할수있는것을특징으로 하는멀티 100서라운드카메라장치를이용한드론침입감지 포획방법.
[청구항 7] 제 6항에 있어서,
상기멀티 100서라운드카메라장치는
야간에상층부공간을촬영하기 위한고성능 100카메라;
주간에상층부공간을촬영하기 위한주간용카메라;
Figure imgf000009_0002
투광기 ;및
주변 360도의 공간을촬영하기 위한복수개의 100카메라를 구비하여 야간이나악천후시에도금지구역에침입한드론을 신속하게감지하여포획할수있는것을특징으로하는멀티 100 서라운드카메라장치를이용한드론침입감지포획 방법 .
[청구항 8] 제 6항에 있어서,
상기지상부정보를수집 저장하는단계는
복수개의 0?8수신기를위치시킨
Figure imgf000009_0003
정보와 레이저거리측정기（나 ）로측정한거리정보를저장하며 , 수 III에서수십 111까지 이격 단위를가지며 정보를수집함으로써 야간이나악천후시에도금지구역에 침입한드론을신속하게 감지하여포획할수있는것을특징으로하는멀티 100서라운드 카메라장치를이용한드론침입감지포획방법 .
[청구항 9] 제 6항에 있어서,
상기상층부공간정보를수집 저장하는단계는
상기복수개의 정보수집용드론이최근접 거리에서부터최외곽 범위까지 이동하면서 0?8위치정보와레이저 거리
측정기（0 ）로측정한거리 정보를저장함으로써 야간이나 악천후시에도금지구역에침입한드론을신속하게감지하여 포획할수있는것을특징으로하는멀티 100서라운드카메라 장치를이용한드론침입감지포획 방법 .
[청구항 ] 제 8항또는제 9항중어느한항에 있어서,
상기 저장되는 0?8위치정보와거리정보는촬영 영상에 대한 디스플레이픽셀정보및카메라줌정보와세트로저장되며 , 외부침입드론에 대하여 촬영된영상의픽셀및줌정보와세트로 저장되어 있는 0?8위치정보를포획용드론에게전달함으로써 2020/175807 1»（：1/10公020/001350
9 야간이나악천후시에도금지구역에침입한드론을신속하게 감지하여포획할수있는것을특징으로하는멀티 100서라운드 카메라장치를이용한드론침입감지포획방법.
PCT/KR2020/001350 2019-02-27 2020-01-29 드론 침입을 탐지하기 위한 멀티 tod 서라운드 카메라 장치 및 이를 이용한 드론 침입 감지 포획 방법 WO2020175807A1 (ko)

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