Target attack device and swarm control system comprising same

Abstract

The present invention relates to a target attack device and a swarm control system comprising same. The target attack device may comprise: a main body; a mounting unit, which is disposed on one side of the main body and accommodates an explosive member; a memory, which is embedded in the main body and stores at least one instruction; and at least one processor, which is embedded in the main body and executes the at least one instruction.

Description

Target attack device and swarm control system including the same

[0001] The present invention relates to a target attack device and a swarm control system including the same.

[0002]

[0003] The content described in this section merely provides background information regarding the present embodiment and does not constitute prior art.

[0004] In the modern battlefield, unmanned aerial vehicle (UAV) or drone technology is being utilized for various military purposes, including reconnaissance, surveillance, and strikes. In particular, attack drones have established themselves as effective weapon systems capable of precision strikes against enemy facilities, vehicles, and personnel, and their scope of application is gradually expanding.

[0005] Conventional attack drone technology has limitations and problems, such as dependence on human resources, single operation, limited autonomy, and sporadic strikes. In particular, in modern battlefields, situations where GNSS (Global Navigation Satellite System) signals or communications are disrupted by enemy electronic attacks (EA) occur frequently. In such environments, existing drone systems have limitations in that normal operation is impossible.

[0006] Meanwhile, the recent battlefield environment is evolving rapidly due to technological advancements, demanding more efficient and powerful offensive capabilities. In particular, there is an increasing need for swarm drone technology, in which multiple dispersed drones autonomously cooperate to perform missions, as well as for robust communication and navigation technologies that can stably conduct operations even in electronic warfare environments.

[0007]

[0008] The objective of the present invention is to provide a target attack device capable of minimizing human intervention by allowing a swarm of target attack devices to fly autonomously and attack a target, and a swarm control system including the same.

[0009] In addition, the objective of the present invention is to provide a target attack device capable of mounting an explosive member by including a mounting part that opens and closes via a sliding method, and a swarm control system including the same.

[0010] In addition, the objective of the present invention is to provide a target attack device and a cluster control system including the same, which enables rapid deployment even within a limited space and allows for the deployment of a large number of target attack devices by a small number of personnel by managing a plurality of target attack devices in a stacked structure when storing or transporting a plurality of target attack devices.

[0011] In addition, the objective of the present invention is to provide a target attack device and a swarm control system including the same that can maintain robust formation flight not only in normal flight conditions but also in the presence of external electronic attacks (EA) through GNSS (Global Navigation Satellite System) information, communication between the target attack device and a control device (e.g., Ground Control System, GCS), and UVDAR (Ultraviolet Direction and Ranging)-based positioning between a plurality of target attack devices.

[0012] In addition, the objective of the present invention is to provide a target attack device capable of efficiently reconnoitering a wide coordinate area by dividing the responsibility among multiple target attack devices through cooperative swarm reconnaissance, and a swarm control system including the same.

[0013] In addition, the objective of the present invention is to provide a target attack device capable of predicting the location of a target and re-tracking it through a pre-trained artificial intelligence-based tracking algorithm when the target is obscured or temporarily out of sight, and a swarm control system including the same.

[0014] In addition, the objective of the present invention is to provide a target attack device capable of performing Time-On-Target (TOT) simultaneous impact in which a plurality of target attack devices strike a single target at the same, and a swarm control system including the same.

[0015] The objects of the present invention are not limited to those mentioned above, and other unmentioned objects and advantages of the present invention may be understood from the following description and will be more clearly understood by the embodiments of the present invention. Furthermore, it will be readily apparent that the objects and advantages of the present invention can be realized by the means and combinations thereof set forth in the claims.

[0016]

[0017] A target attack device for attacking at least one target according to some embodiments of the present invention may include a main body, a mounting part disposed on one side of the main body and accommodating an explosive member, a memory embedded in the main body and storing at least one instruction, and at least one processor embedded in the main body and executing said at least one instruction.

[0018] In addition, the above-mentioned mounting part may be positioned in front of the target attack device.

[0019] In addition, the mounting portion may include a seating portion on which the explosive member is seated, and a sliding portion that is structurally connected to the seating portion and slides in a predefined direction.

[0020] Additionally, the explosive member is fixed to the seating portion through a predefined method, and the predefined method may include a fixing method using at least one of Velcro and a fixing frame.

[0021] In addition, when the explosive member is accommodated by the seating portion and the sliding portion, the detonator of the explosive member may protrude to the outside of the mounting portion.

[0022] According to some other embodiments of the present invention, at least one target attack device for attacking at least one target comprises a main body, a coupling part disposed on one side of the main body and providing a coupling between a plurality of target attack devices when the target attack device is stored or transported, a memory embedded in the main body and storing at least one instruction, and at least one processor embedded in the main body and executing the at least one instruction, wherein the coupling part can be controlled to vertically combine the plurality of target attack devices in a stacked structure.

[0023] In addition, a control device located outside the target attack device transmits a takeoff command to the plurality of target attack devices, and the plurality of target attack devices can take off sequentially according to the takeoff command of the control device while stored in the stacked structure.

[0024] Additionally, the target attack device further includes a plurality of drone arms disposed on one side of the main body, and the coupling part may include a plurality of coupling parts disposed on each of the plurality of drone arms.

[0025] In addition, the coupling portion may provide a coupling with at least one of the target attack device, an upper device located above the target attack device, and a lower device located below the target attack device when the target attack device is stored or transported.

[0026] Additionally, the coupling member may include at least one of an insertion member inserted into a receiving member of the lower device and a receiving member that receives an insertion member of the upper device.

[0027] A cluster control system for tracking at least one target according to some embodiments of the present invention comprises a plurality of target tracking devices for tracking the target and a control device for controlling the plurality of target tracking devices, wherein the target tracking device comprises a main body, a memory embedded in the main body for storing at least one instruction, and at least one processor embedded in the main body for executing the at least one instruction, and at least one of the plurality of target attack devices may accommodate an explosive member.

[0028] In addition, the control device controls at least one of the plurality of target attack devices to perform formation flight in which the plurality of target attack devices maintain a predefined formation while flying, and the plurality of target tracking devices can perform the formation flight according to the control of the control device.

[0029] In addition, each of the plurality of target attack devices can receive its own individual flight command for the formation flight through communication with the control device.

[0030] Additionally, the plurality of target attack devices may include a reader device that communicates with the control device, and at least one follower device that does not communicate with the control device but performs the formation flight by communicating with the reader device.

[0031] In addition, the reader device can receive an integrated flight command related to the formation flight of the plurality of target attack devices through communication with the control device, and control the flight operation of each of the plurality of follower devices based on the integrated flight command.

[0032] In addition, at least one of the plurality of target attack devices can perform the formation flight in a manner that does not use GNSS (Global Navigation Satellite System) information.

[0033] In addition, the plurality of target attack devices includes a reader device communicating with the control device and at least one follower device, and the at least one follower device can perform the formation flight by calculating a relative distance with the reader device by determining the distance with the reader device and the direction of the reader device, and maintaining the calculated relative distance.

[0034] Additionally, the reader device includes a light source that emits light in a predefined wavelength range, the follower device includes a camera that detects the light emitted from the light source, and the processor of the follower device can calculate the relative distance based on the detected light.

[0035] Additionally, the reader device further includes a lidar sensor for recognizing the follower device, and the follower device further includes a lidar sensor for recognizing the reader device, and the processor of the follower device can calculate the relative distance based on the detected light and the recognition result of the lidar sensor.

[0036] Additionally, the reader device may fly at a higher altitude than the follower device, the lidar sensor of the reader device may be positioned at the lower part of the main body of the reader device, and the lidar sensor of the follower device may be positioned at the upper part of the main body of the follower device.

[0037] In addition, the plurality of target attack devices can predict the location of the target using an artificial intelligence-based tracking algorithm when the target is obscured or out of sight.

[0038]

[0039] A target attack device and a swarm control system including the same according to some embodiments of the present invention can minimize human intervention by allowing the target attack device of the swarm to fly autonomously and attack a target, thereby significantly reducing the operating personnel of the swarm control system.

[0040] In addition, a target attack device and a swarm control system including the same according to some embodiments of the present invention can accommodate an explosive member by including a mounting part that opens and closes via a sliding method. This method, in particular, allows for the utilization of existing ammunition held by military facilities, thereby enabling the efficient use of existing resources without the need for developing a new weapon system.

[0041] In addition, the target attack device and the swarm control system including the same according to some embodiments of the present invention can increase storage and transport efficiency by managing a plurality of target attack devices in a stacked structure, and the rapid deployment capability, which allows for rapid sequential takeoff, enables the rapid deployment of a large number of target attack devices into operations with minimal space and personnel. This can serve as a significant advantage, particularly in time-sensitive emergency operations or special operations requiring mobility.

[0042] In addition, a target attack device and a swarm control system including the same according to some embodiments of the present invention can maintain robust formation flight not only in normal conditions but also in the presence of external electronic attacks through GNSS information, communication between the target attack device and a control device (e.g., Ground Control System, GCS), and UVDAR-based positioning between a plurality of target attack devices.

[0043] In addition, the target attack device and the swarm control system including the same according to some embodiments of the present invention can efficiently reconnoiter a wide coordinate area by having multiple target attack devices share the responsibility through cooperative swarm reconnaissance. This advantage is an essential element for understanding the battlefield situation and detecting targets, and can contribute to improving the success rate of operations through information superiority.

[0044] In addition, the target attack device and the swarm control system including the same according to some embodiments of the present invention can predict the location of a target through a tracking algorithm and re-track it when a situation occurs where the target is obscured or temporarily out of sight. This advantage overcomes the limitation of conventional technology, which was restricted to striking fixed targets, and can significantly improve the precision striking capability against high-value moving targets.

[0045] In addition, a target attack device and a swarm control system including the same according to some embodiments of the present invention can perform simultaneous impact strikes in which a plurality of target attack devices strike a single target simultaneously. Through this, the target attack device and the swarm control system including the same according to some embodiments of the present invention can minimize the enemy's response time by striking the target from multiple directions simultaneously, maximize the success rate of the strike by saturating the defense system, overcome the limitations of conventional single-aircraft attacks, and provide an effective means of striking high-value targets or robust defense facilities.

[0046] In addition to the above, specific effects according to some embodiments of the present invention are described together with the following explanation of specific details for implementing the invention.

[0047]

[0048] FIG. 1 is a block diagram of a cluster control system according to some embodiments of the present invention.

[0049] FIG. 2 is a drawing for explaining a mounting part included in a target attack device according to some embodiment of the present invention and an explosive member accommodated therein.

[0050] FIG. 3 is a block diagram of a target attack device according to some embodiments of the present invention.

[0051] FIG. 4 is a conceptual diagram illustrating the operation of a cluster control system according to some embodiments of the present invention.

[0052] FIGS. 5 and 6 are drawings for explaining a coupling part included in a target attack device according to some embodiment of the present invention and a stacked structure achieved therethrough.

[0053] FIG. 7 illustrates the formation flight of a plurality of target attack devices according to some embodiments of the present invention.

[0054] FIG. 8 is a diagram illustrating individual flight commands generated by a control device according to some embodiments of the present invention.

[0055] FIGS. 9 to 11 are drawings for illustrating integrated flight commands generated by a control device according to some embodiments of the present invention.

[0056] FIG. 12 is a diagram illustrating a formation flight method of a plurality of target attack devices in the presence of an external electronic attack according to some embodiments of the present invention.

[0057] FIG. 13 is a diagram illustrating swarm reconnaissance of a plurality of target attack devices according to some embodiments of the present invention.

[0058] FIG. 14 is a diagram illustrating the process of a target attack device according to some embodiment of the present invention predicting and tracking the location of a target when the target is obscured.

[0059]

[0060] Terms and words used in this specification and claims shall not be interpreted as being limited to their general or dictionary meanings. In accordance with the principle that an inventor may define the concept of a term or word to best describe their invention, they shall be interpreted in a meaning and concept consistent with the technical spirit of the invention. Furthermore, since the embodiments described in this specification and the configurations illustrated in the drawings are merely one embodiment of the invention and do not represent the entire technical spirit of the invention, it should be understood that various equivalents, modifications, and applicable examples capable of replacing them may exist at the time of filing this application.

[0061] The terms first, second, A, B, etc., as used in this specification and claims may be used to describe various components, but said components should not be limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0062] The terms used in this specification and claims are used merely to describe specific embodiments and are not intended to limit the invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as "comprising" or "having" should be understood as not precluding the existence or addition of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification.

[0063] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which this invention pertains.

[0064] Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application.

[0065] In addition, each component, process, procedure, or method included in each embodiment of the present invention may be shared within a scope that is not technically contradictory to one another.

[0066] Hereinafter, with reference to FIGS. 1 to 14, we will examine a target attack device according to some embodiments of the present invention and a swarm control system including the same.

[0067]

[0068] FIG. 1 is a block diagram of a cluster control system according to some embodiments of the present invention.

[0069] Referring to FIG. 1, a cluster control system (1) according to some embodiments of the present invention is a system for striking and attacking a target (Target, hereinafter referred to as “TG”), and may include a target attack device (10) and a control device (20). However, the embodiments of the present invention are not limited thereto, and in some other embodiments of the present invention, the control device (20) may be omitted.

[0070] The target (TG) may include a moving body that moves according to a predefined speed and a stationary body fixed at a specific location. The moving body may include a flying body flying above a predefined height, a ground body existing on the ground, and an underwater body existing in water, but embodiments of the present invention are not limited thereto. The stationary body may include any object fixed at specific coordinates, such as a building or a structure.

[0071] The target attack device (10) may include an object capable of moving along the ground, sea, air, etc. As an example, the target attack device (10) may include an aircraft. In this case, the aircraft may include any flying body such as a drone, UAV (Unmanned Aerial Vehicle), UAM (Unmanned Aerial Mobility), airplane, or helicopter. For convenience of explanation, the following description will assume that the target attack device (10) is an aircraft.

[0072] The target attack device (10) may fly alone or together with multiple target attack devices capable of collaboration. In other words, the target attack device (10) may include multiple target attack devices, and the swarm control system (1) may perform swarm operation of these multiple target attack devices. Meanwhile, the target attack device (10) may also collaborate with other types of devices, such as vehicles and robots.

[0073] In some examples, the target attack device (10) can be stored in a stacked structure and then launched and take off according to a takeoff command, etc., to attack the target (TG) in a direct collision manner. In other words, multiple target attack devices (10) can take off sequentially while stored in a stacked structure, and then fly in a swarm to perform an attack process of striking the target (TG) in a direct collision manner.

[0074] For example, the target attack device (10) can attack the target (TG) by being manually controlled by a user or manager of the swarm control system (1). In other words, the target attack device (10) can be flown by being manually controlled by a user or manager of the swarm control system (1) to strike and attack the target (TG).

[0075] As another example, the target attack device (10) can attack the target (TG) through autonomous flight. In other words, the target attack device (10) can identify the target (TG), automatically set a flight path that approaches the identified target (TG) to track the target (TG), and strike and attack the target (TG) according to the tracking result.

[0076] As another example, the target attack device (10) can attack a target (TG) while performing a predefined mission. For example, if the target (TG) is discovered while performing a reconnaissance mission, the target attack device (10) can strike and attack the target (TG) through the control of a user or manager of the swarm control system (1) and / or autonomous flight.

[0077] Hereinafter, with reference to FIG. 2, a target attack device (10) according to some embodiments of the present invention will be described in more detail.

[0078]

[0079] FIG. 2 is a drawing for explaining a mounting part included in a target attack device according to some embodiment of the present invention and an explosive member accommodated therein. FIG. 3 is a block diagram of a target attack device according to some embodiment of the present invention.

[0080] Referring to FIGS. 1 and 2, a target attack device (10) according to some embodiments of the present invention may include a main body (hereinafter referred to as “MB”) and a mounting part (hereinafter referred to as “MP”) disposed on one side of the main body (MB) and accommodating an explosion material (hereinafter referred to as “EM”).

[0081] At this time, the mounting unit (MP) may be positioned in front of the target attack device (10) as shown in FIG. 2, but the embodiments of the present invention are not limited thereto. At this time, the front of the target attack device (10) may include an area that collides preferentially with the target (TG) at the moment the target attack device (10) collides with the target (TG) and / or an area facing the target (TG). In other words, the mounting unit (MP) according to some embodiments of the present invention may be positioned in front of the target attack device (10) based on the direction of movement (direction toward the target (TG)) of the target attack device (10) at the point in time immediately before the target attack device (10) collides with the target (TG).

[0082] In some examples, the loading section (MP) can be opened and closed by a sliding mechanism to accommodate the explosive member (EM).

[0083] For example, the mounting portion (MP) may include a fixed element (hereinafter referred to as “FE”) on which an explosive member (EM) is placed, and a sliding element (hereinafter referred to as “SE”) that is structurally connected to the fixed element (FE) and slides in a predefined direction. In this case, the fixed element (FE) may include a groove for receiving the explosive member (EM).

[0084] For example, the mounting portion (FE) and the sliding portion (SE) included in the mounting portion (MP) are of FIG. 2 <a1>inside <a4>The explosive member (EM) can be accommodated according to the sequence of operations shown in [figure].

[0085] First, of Fig. 3 <a1>As illustrated in [Figure], an explosive element (EM) may be provided. In this case, the explosive element (EM) may include a shell that has been produced in advance and is held at a military facility.

[0086] Next, Fig. 3 <a2>As illustrated in [Figure], the mounting portion (MP) can be opened by sliding the sliding portion (SE) in a predefined direction.

[0087] Next, Fig. 3 <a3>As illustrated in [Figure], an explosive member (EM) can be received in a seating portion (FE). At this time, the explosive member (EM) can be fixed to the seating portion (FE). For example, the explosive member (EM) can be fixed to the seating portion (FE) by a fixing method using at least one of Velcro and a fixing frame.

[0088] Next, Fig. 3 <a4>As illustrated in Fig. 3, the mounting portion (MP) can be closed by sliding the sliding portion (SE) in a predefined direction. At this time, the sliding portion (SE) is of Fig. 3 <a2>The mounting section (MP) can be closed by sliding in the opposite direction to the sliding direction. At this time, while the explosive member (EM) is accommodated by the seating section (FE) and the sliding section (SE), the detonator (hereinafter referred to as "D") of the explosive member (EM) may protrude to the outside of the mounting section (MP). At this time, the detonator (D) of FIG. 3 <a4>As shown in the figure, by protruding from the upper front of the target attack device (10), the target attack device (10) can attack the target (TG) in a direct collision manner.

[0089] Referring to FIGS. 1 to 3, a target attack device (10) according to some embodiments of the present invention may further include a sensor (110), a camera (120), a memory (130), a driving device (140), a communication device (150), and a processor (160) in addition to the configurations described above. However, the components of the target attack device (10) are not limited to those shown in FIG. 3. In other words, the target attack device (10) may include at least one additional component in addition to the components shown in FIG. 3, or at least one of the components shown in FIG. 3 may be excluded.

[0090] The sensor (110) can detect various information necessary for the operation of the target attack device (10), such as the target attack device (10) itself, the surrounding environment of the target attack device (10), identification of the target (TG), and verification of the distance between the target attack device (10) and the target (TG), etc. At this time, the sensor (110) may be placed on one side of the main body (MB) of the target attack device (10), but the embodiment of the present invention is not limited thereto.

[0091] For example, the sensor (110) may include a gyro sensor, a GNSS (Global Navigation Satellite System) sensor (e.g., a GPS (Global Positioning System) sensor), an acceleration sensor, a barometer, an ultrasonic sensor, a magnetic sensor, a proximity sensor, a lidar and / or radar, etc., but embodiments of the present invention are not limited thereto. For example, the gyro sensor and / or acceleration sensor may measure the three-axis angular velocity of the target attack device (10). The barometer may measure changes in atmospheric pressure and / or atmospheric pressure around the target attack device (10). The ultrasonic sensor may measure the distance between the target attack device (10) and the ground or the target (TG). The magnetic sensor is a type of terrestrial magnetism sensor (compass sensor) and may detect geomagnetic information. The proximity sensor can measure the proximity of the target (TG) to the target attack device (10) and the distance between the target attack device (10) and the target (TG), and may include an ultrasonic sensor capable of measuring the distance to the target (TG) from a signal reflected from the target (TG) by outputting ultrasound. A GPS sensor, which is an example of a GNSS sensor, can calculate the current coordinates (x, y, z) of the target attack device (10) using GPS signals. Meanwhile, the sensor (110) may include an attitude and heading reference system (AHSR). For example, the attitude and heading reference system may include an inertial sensor or an inertial measurement unit (IMU).For example, the attitude orientation reference device includes a gyroscope sensor, an accelerometer sensor, and a magnetic sensor, and fuses the sensor values ​​to obtain the attitude value (.) of the target attack device (10). It can output , θ, ψ). Here, the attitude value( , θ, ψ) can be an angle based on 3D coordinates (x-axis coordinate, y-axis coordinate, z-axis coordinate) according to GPS coordinates.

[0092] The camera (120) can generate shooting data according to the instructions of the processor (160). At this time, the camera (120) may include an EO (Electro Optical) camera and / or an IR (Infrared) camera. Additionally, the camera (120) may include a wide-angle lens and / or a telephoto lens. At this time, the camera (120) may be embedded on one side of the main body (MB) of the target attack device (10), but embodiments of the present invention are not limited thereto.

[0093] For example, the camera (120) can generate image data for the target (TG) by photographing the target (TG) under the control of the processor (160). For another example, the camera (120) can generate image data for the area requiring reconnaissance by photographing the area under the control of the processor (160).

[0094] Memory (130) may include any non-transient computer-readable recording medium. As an example, memory (130) may include a permanent mass storage device such as random access memory (RAM), read-only memory (ROM), a disk drive, a solid state drive (SSD), or flash memory. As another example, a permanent mass storage device such as ROM, an SSD, flash memory, or a disk drive may be a separate permanent storage device distinct from memory. Additionally, an operating system (OS) and at least one program code may be stored in memory (130). These software components may be loaded from a computer-readable recording medium separate from memory (130). This separate computer-readable recording medium may be a recording medium that can be directly connected to a computer and may include, for example, a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, or a memory card. Alternatively, software components may be loaded into memory (130) via a communication device (150) that is not a computer-readable recording medium. For example, at least one program may be loaded into memory (130) based on a computer program installed by files provided through the communication device (150) by developers or a file distribution system that distributes installation files for applications.

[0095] The memory (130) may store commands, information, and / or data related to the operation of each component included in the target attack device (10). For example, the memory (130) may store instructions that enable the processor (160) to perform various operations described in this document during execution. For another example, the memory (130) may store various algorithms or models that can be used in the process of the target attack device (10) identifying, tracking, striking, and attacking a target (TG). In this case, the memory (130) may be embedded in the main body (MB) of the target attack device (10), but embodiments of the present invention are not limited thereto.

[0096] The driving device (140) may include a motor and a propeller. In this case, the motor and propeller included in the driving device (140) may be driven according to the instructions of the processor (160). For example, the motor may be driven at a speed and direction according to the instructions of the processor (160), and accordingly, the rotational speed and direction of the propeller connected to the motor may be controlled. In this case, the motor may be embedded in the main body (MB) of the target attack device (10), and the propeller may be placed in the drone arm (DA in FIG. 6) of the target attack device (10).

[0097] The communication device (150) performs data communication between the target attack device (10) and an external device. For example, the communication device (150) can communicate with the control device (20), etc., using various communication methods such as infrared communication, RF (Radio Frequency) communication, Wi-Fi communication, ZigBee communication, Bluetooth communication, laser communication, UWB (Ultra-Wideband) communication, LTE, 5G, 6G, and Wireless LAN. However, the communication methods employed by the communication device (150) are not limited to those described above. At this time, the communication device (150) may be embedded in the main body (MB) of the target attack device (10), but the embodiments of the present invention are not limited thereto.

[0098] The processor (160) can process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Here, instructions may be provided from memory (130) and / or a control unit (20). Instructions may also be referred to by the aforementioned designation of 'instruction'. At this time, the processor (160) may be operatively connected to memory (130) to perform the overall functions of the target attack device (10). Additionally, the processor (160) may control the overall operation of other components included in the target attack device (10).

[0099] The functions performed by each module included in the processor (160) may be performed by a single processor or by each separate processor. The processor (160) may perform operations or data processing regarding the control and / or communication of at least one other component of the target attack device (10). Additionally, the processor (160) may be implemented as an array of multiple logic gates, or as a combination of a general-purpose microprocessor and memory storing a program that can be executed on the microprocessor. For example, the processor (160) may include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the processor (160) may include an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. For example, the processor (160) may refer to a combination of processing devices such as a combination of a digital signal processor (DSP) and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a digital signal processor (DSP) core, or any other combination of such configurations.

[0100] In some examples, the processor (160) may control other configurations within the target attack device (10) so that the target attack device (10) strikes and attacks the target (TG). In this case, the processor (160) may perform a striking process, a collision process, and an attack process on the target (TG) according to instructions in the memory (130) based on the control of the control device (20).

[0101] For example, the processor (160) can be manually controlled by a user or manager of the swarm control system (1) to attack the target (TG). In other words, the processor (160) can be flown by a manual control method by a user or manager of the swarm control system (1) to strike and attack the target (TG). At this time, the processor (160) can provide FPV (First Person View) images to the control device (20) through a communication device (150), and the user or manager of the swarm control system (1) can control the processor (160) and the target attack device (10) by verifying, controlling, and controlling these FPV images.

[0102] As another example, the processor (160) can attack the target (TG) through autonomous flight. In other words, the processor (160) can identify the target (TG), automatically set a flight path that approaches the identified target (TG) to track the target (TG), and strike and attack the target (TG) based on the tracking results.

[0103] As another example, the processor (160) can attack a target (TG) while performing a predefined mission. For example, if the processor (160) discovers a target (TG) while performing a reconnaissance mission, it can strike and attack the target (TG) through the control of a user or manager of the swarm control system (1) and / or autonomous flight.

[0104]

[0105] Referring again to FIG. 1, the control device (20) can control the operation of the target attack device (10). The control device (20) may be referred to as a Ground Control System (GCS). At this time, the control device (20) may include a control server for controlling the target attack device (10), a controller that can be operated by an administrator of the cluster control system (1), etc.

[0106] In some examples, the control device (20) can control the target attack device (10) so that the target attack device (10) performs a predefined mission. At this time, as described above, the target attack device (10) may include a plurality of target attack devices, and the control device (20) can control the cluster operation of these plurality of target attack devices (10).

[0107] For example, the control device (20) can transmit a control command to the target attack device (10) so that after the multiple target attack devices (10) take off sequentially, they fly in formation, perform swarm reconnaissance, and then collide with the target (TG) by identifying the target (TG).

[0108] Hereinafter, with reference to FIGS. 4 to 14, the performance of a mission according to the cluster operation of a plurality of target attack devices (10) by the control of a control device (20) according to some embodiments of the present invention will be described.

[0109]

[0110] FIG. 4 is a conceptual diagram illustrating the operation of a cluster control system according to some embodiments of the present invention.

[0111] Referring to FIGS. 1 and FIGS. 4, a target attack device (10) according to some embodiments of the present invention may include a plurality of target attack devices (10), and a control device (20) may control the cluster operation of such plurality of target attack devices (10).

[0112] More specifically, first, a plurality of target attack devices (10) can take off according to a takeoff command (S1).

[0113] In some examples, the target attack device (10) can be stored in a stacked structure and then launched or take off according to a takeoff command, etc. In other words, multiple target attack devices (10) can be stored in a stacked structure and then take off sequentially according to the order in which they are positioned at the top of the stacked structure according to a takeoff command from the control device (20).

[0114] Hereinafter, with reference to FIGS. 5 and 6, it will be described that a plurality of target attack devices (10) according to some embodiments of the present invention take off sequentially while stored in a stacked structure.

[0115]

[0116] FIGS. 5 and 6 are drawings for explaining a coupling part included in a target attack device according to some embodiment of the present invention and a stacked structure achieved therethrough.

[0117] Referring to FIGS. 1, 4 to 6, a plurality of target attack devices (11 to 15) can be stored and transported in a stacked structure, and can take off sequentially while stored in such a stacked structure.

[0118] To this end, a target attack device (10) according to some embodiments of the present invention may include a connecting part (hereinafter referred to as "CP") disposed on one side of the main body to provide a connection between a plurality of target attack devices (11 to 15). At this time, the connecting part (CP) can be controlled to be vertically connected in a stacked structure between a plurality of target attack devices (11 to 15) as shown in FIG. 5.

[0119] In some examples, the coupling portion (CP) may include a plurality of coupling portions formed on a drone arm (hereinafter referred to as "DA") disposed on one side of the main body of each target attack device (11 to 15). In other words, the main body of each target attack device (11 to 15) may include a plurality of drone arms (DA), and the coupling portion (CP) may include a plurality of coupling portions disposed on each of the plurality of drone arms (DA). FIG. 6 is illustrated such that for convenience of explanation, each target attack device (11 to 15) includes four drone arms (DA) and accordingly, each target attack device (11 to 15) includes four coupling portions (CP), but embodiments of the present invention are not limited thereto.

[0120] At this time, the coupling portion (CP) can provide a coupling between any one of the target attack devices (11 to 15) and devices located above or below the target attack device when the multiple target attack devices (11 to 15) are stored or transported. For example, with reference to FIG. 6, the coupling portion (CP) of the second target attack device (12) can provide a coupling with at least one of the first target attack device (11) loaded above the second target attack device (12) and the third target attack device (13) loaded below the second target attack device (12).

[0121] For example, the coupling part (CP) may include an insert part (hereinafter referred to as "IP") that is inserted into a target attack device located at the bottom of the target attack device based on one target attack device, and a receiving part (hereinafter referred to as "RP") that receives the insert part (IP) of the target attack device located at the top of the target attack device. Referring to FIG. 6 as an example, the insert part (IP) included in the coupling part (CP) of the second target attack device (12) may be inserted into the receiving part (RP) of the third target attack device (13) loaded at the bottom of the second target attack device (12), and the receiving part (RP) included in the coupling part (CP) of the second target attack device (12) may receive the insert part (IP) of the first target attack device (11) loaded at the top of the second target attack device (12). At this time, the receiving part (RP) may include a groove for receiving the insert part (IP).

[0122] Subsequently, multiple target attack devices (11 to 15) can take off sequentially according to a takeoff command transmitted from a control device (20) while stored in this stacked structure. During this takeoff process, the coupling between the multiple target attack devices (11 to 15) at each coupling part (CP) can be released. At this time, the leader device located at the top of the stacked structure among the multiple target attack devices (11 to 15) can perform the takeoff procedure first. At this time, the leader device can control the follower devices to perform the takeoff procedure sequentially during the takeoff procedure or after the takeoff procedure is completed. Through this, the multiple target attack devices (11 to 15) can form a swarm formation by taking off sequentially from the stacked structure, starting with the leader device.

[0123] Meanwhile, each target attack device (11 to 15) may include a quadcopter structure for performing vertical take-off and landing (VTOL) in such a stacked structure. Additionally, each target attack device (11 to 15) may be designed with a fixed load design in which the fuselage and landing gear distribute and support the weight.

[0124] Thus, the cluster control system (1) according to some embodiments of the present invention adopts a stacked structure during the storage and transport process of the target attack device (10), so that the target attack device (10) can be launched sequentially at intervals of a few seconds in a stacked state rather than being spread out and deployed individually, and accordingly, it is possible to deploy quickly even in a confined space and to deploy a large number of target attack devices (10) with a small number of personnel.

[0125]

[0126] Referring again to FIGS. 1 and FIGS. 4, a plurality of target attack devices (10) can perform formation flight after such sequential takeoff (S2).

[0127] In some examples, the target attack device (10) can perform formation flight in which a plurality of target attack devices (10) fly while maintaining a predefined formation after taking off and launching according to the takeoff command described above in process (S1).

[0128] At this time, a plurality of target attack devices (10) can perform formation flight according to a flight command from a control device (20). At this time, the flight command generated from the control device (20) may include control information regarding the shape, size, movement speed, etc. of the formation.

[0129] Hereinafter, with reference to FIG. 7, formation flight of a plurality of target attack devices (10) according to some embodiments of the present invention will be described in more detail.

[0130]

[0131] FIG. 7 illustrates the formation flight of a plurality of target attack devices according to some embodiments of the present invention.

[0132] Referring to FIGS. 1, 4, and 7, a plurality of target attack devices (11 to 15) can perform formation flight according to a flight command from a control device (20). At this time, formation flight may include a flight method in which a plurality of target attack devices (11 to 15) fly collectively while maintaining a certain distance and spacing, as shown in FIG. 7. At this time, the shape, size, and movement speed of the formation in formation flight may be determined and controlled by a flight command from the control device (20). However, the present invention is not limited to the form of formation flight.

[0133] In some examples, multiple target attack devices (11 to 15) can perform formation flight according to predefined deployment options.

[0134] For example, a plurality of target attack devices (11 to 15) can perform formation flight according to a high-speed penetration type deployment option, that is, a first deployment option. In this case, the altitude, speed, and spacing between each of the plurality of target attack devices (11 to 15) may be defined in the first deployment option. For example, the first deployment option may include a deployment option in which the altitude of the plurality of target attack devices (11 to 15) is greater than or equal to a first altitude (e.g., AGL (Above Ground Level) 200m) to minimize the probability of detection on the ground, the speed of the plurality of target attack devices (11 to 15) is a predefined first speed (e.g., 80 to 100 km / h), and the spacing between the plurality of target attack devices (11 to 15) is within a predefined first spacing (e.g., 50m).

[0135] As another example, a plurality of target attack devices (11 to 15) can perform formation flight according to a search-parallel deployment option, that is, a second deployment option. In this case, the altitude, speed, and spacing between each of the plurality of target attack devices (11 to 15) may be defined in the second deployment option. For example, the second deployment option may include a deployment option in which the altitude of the plurality of target attack devices (11 to 15) is 2nd altitude (e.g., AGL 150m) or lower, the plurality of target attack devices (11 to 15) is 2nd speed (e.g., 60km / h) or lower, and the spacing between the plurality of target attack devices (11 to 15) is within a 2nd spacing that is 2nd spacing or lower, in order to enable detection of ground objects while moving. In this case, the 2nd spacing is a spacing that maintains a standard for minimizing FOV (Field of View) overlap, and may be a value that varies dynamically with altitude; for example, the 2nd spacing may increase as the flight altitude of the aircraft increases.

[0136] As a few examples, multiple target attack devices (11 to 15) can perform formation flight using their respective GNSS (Global Navigation Satellite System) information. In other words, each of the multiple target attack devices (11 to 15) can perform formation flight based on their respective GNSS information and flight commands from the control device (20). At this time, the flight command transmitted from the control device (20) to each of the multiple target tracking devices (11 to 15) may include information regarding target coordinates to which each target tracking device (11 to 15) must move to form and maintain the formation, and each target tracking device (11 to 15) can fly to these target coordinates through the GNSS information. At this time, the flight command of the control device (20) may include individual flight commands transmitted to each of the multiple target attack devices (11 to 15) and integrated flight commands transmitted to only some of the multiple target attack devices (11 to 15).

[0137] For example, the control device (20) can generate individual flight commands to control each of the plurality of target attack devices (10) for formation flight and transmit them to each target attack device (10). At this time, each of the plurality of target attack devices (10) can perform its own flight operation according to the individual flight commands received individually from the control device (20).

[0138] As another example, the control device (20) may generate an integrated flight command for formation flight and transmit the generated integrated flight command to only some of the multiple target attack devices (10) (e.g., a leader device). At this time, some of the devices that receive the integrated flight command, such as a leader device, may control the flight operations of other target attack devices, such as a follower device, according to the integrated flight command. Subsequently, the follower devices may perform their respective flight operations for formation flight according to the control of the leader device. At this time, the control device (20) may communicate only with the leader device among the multiple target attack devices (11 to 15) and not communicate with the other follower devices.

[0139] Hereinafter, with reference to FIG. 8, it will be described that a control device (20) according to some embodiment of the present invention generates individual flight commands that control each of a plurality of target attack devices (10), and with reference to FIG. 9 to FIG. 11, it will be described that a control device (20) according to some embodiment of the present invention generates integrated flight commands that control only some of the plurality of target attack devices (10).

[0140]

[0141] FIG. 8 is a diagram illustrating individual flight commands generated by a control device according to some embodiments of the present invention.

[0142] Referring to FIGS. 1, 4, 7 and 8, a control device (20) according to some embodiments of the present invention can generate individual flight commands to control each of a plurality of target attack devices (11 to 15) for formation flight and transmit them to each target attack device (10).

[0143] For example, the control device (20) can transmit a first individual flight command to a fifth individual flight command to each of the first target attack device (11) to the fifth target attack device (15) for controlling the flight of each of the first target attack device (11) to the fifth target attack device (15).

[0144] At this time, the individual flight command generated from the control device (20) may include a flight command that defines the location, path, altitude, etc., that each of the plurality of target attack devices (11 to 15) must fly.

[0145] Subsequently, each of the multiple target attack devices (11 to 15) can perform their respective flight operations according to individual flight commands received individually from the control device (20). For example, the multiple target attack devices (11 to 15) can fly to a location and path corresponding to their respective unique individual flight commands using their respective GNSS information (GNSS Information, hereinafter referred to as "GI").

[0146]

[0147] FIGS. 9 to 11 are drawings for illustrating integrated flight commands generated by a control device according to some embodiments of the present invention.

[0148] Referring to FIGS. 1, FIGS. 3, FIGS. 4, FIGS. 7, FIGS. 9 through 11, a target attack device (10) according to some embodiments of the present invention may include a leader device (10_L) and follower devices (10_F1 through 10_F3). In other words, a plurality of target attack devices (10) may be distinguished into a leader device (10_L) and follower devices (10_F1 through 10_F3). At this time, the leader device (10_L) may be arbitrarily selected as any one of the plurality of target attack devices (10) or may be a device selected in advance according to a predefined criterion. The leader device (10_L) does not necessarily have to be the same body as the follower devices (10_F1 through 10_F3), and a separate body may be used as the leader device (10_L). According to the embodiment, the leader device (10_L) may not be equipped with an explosive member (EM).

[0149] A control device (20) according to some embodiments of the present invention may generate an integrated flight command for formation flight and transmit the generated integrated flight command to a portion of a plurality of target attack devices (10), such as a leader device (10_L). In this case, the control device (20) may communicate only with the leader device (10_L) and not with other follower devices (10_F1 to 10_F3). At this time, the leader device (10_L) that receives the integrated flight command may control the flight operation of the follower device (10_F) according to the integrated flight command. Subsequently, the follower device (10_F) may perform its own flight operation for formation flight according to the control of the leader device (10_L).

[0150] At this time, each processor (160) of a plurality of target attack devices (10) may include at least one operation node for performing formation flight according to an integrated flight command. At this time, the operation node may include a first node (N1, Vehicle Node) that directly controls the driving device (140) of each target attack device (10), a second node (N2, Swarm Node) that controls the first node (N1) to control the plurality of target attack devices (10) to maintain formation flight, a third node (N3, Seeker Node) that generates results of searching the surroundings, and a proxy node (N_P, Proxy Node) that relays between the first node (N1) and the second node (N2).

[0151] For example, as illustrated in FIG. 9, the processor (160) of the reader device (10_L) may include a plurality of first nodes (N1) and second nodes (N2). At this time, the plurality of first nodes (N1) included in the processor (160) of the reader device (10_L) may include a first node (N1_L) that directly controls the driving device (140) of the reader device (10_L), and first nodes (N1_F1 to N1_F3) that directly control the driving device (140) of the follower devices (10_F1 to 10_F3). In this case, the second node (N2) can control the leader device (10_L) and the follower devices (10_F1 to 10_F3) to perform formation flight according to an integrated flight command transmitted from the control device (20) by controlling a plurality of nodes (N1_L, N1_F1 to N1_F3) included in the first node (N1). Meanwhile, the processor (160) of each follower device (10_F1 to 10_F3) may include a third node (N3), and the first node (N1) and the second node (N2) included in the leader device (10_L) can adjust and control the detailed flight of each follower device (10_F1 to 10_F3) based on the search results of the third node (N3). In the case of the embodiment illustrated in FIG. 9, there is an advantage that clear separation of responsibility between each node is possible and network usage can be optimized.

[0152] As another example, as illustrated in FIG. 10, the processor (160) of the reader device (10_L) may include a first node (N1_L) that directly controls the driving device (140) of the reader device (10_L) and a second node (N2) that controls the first node (N1_L), and the processor (160) of the follower devices (10_F1 to 10_F3) may include a first node (N1_F1 to N1_F3) that directly controls the driving device (140) of each of the follower devices (10_F1 to 10_F3) and a third node (N3) that generates results of searching the surroundings. In this case, the second node (N2) can control the leader device (10_L) and the follower devices (10_F1 to 10_F3) to perform formation flight according to the integrated flight command transmitted from the control device (20) by controlling each node (N1_L, N1_F1 to N1_F3) included in the first node (N1). Meanwhile, each node (N1_L, N1_F1 to N1_F3) included in the first node (N1) and the second node (N2) can adjust and control the detailed flight of each follower device (10_F1 to 10_F3) based on the search results of the third node (N3) placed in each follower device (10_F1 to 10_F3). In the case of the embodiment illustrated in FIG. 10, even if the reader device (10_L) is disconnected from communication or damaged, temporary individual control of the follower devices (10_F1 to 10_F3) is possible, which has the advantage of increased robustness.

[0153] As another example, as illustrated in FIG. 11, the processor (160) of the reader device (10_L) may include a first node (N1_L) that directly controls the driving device (140) of the reader device (10_L), a second node (N2) that controls the first node (N1_L), and a proxy node (N_P) that relays between a plurality of first nodes (N1_L, N1_F1 to N1_F3) and the second node (N2); and the processor (160) of the follower device (10_F1 to 10_F3) may include a first node (N1_F1 to N1_F3) that directly controls the driving device (140) of each of the follower devices (10_F1 to 10_F3), and a third node (N3) that generates results of searching the surroundings. At this time, the proxy node (N_P) may be configured to provide caching and interface conversion functions by integrating necessary information from a plurality of first nodes (N1_L, N1_F1 to N1_F3). In this case, the second node (N2) can control the leader device (10_L) and follower devices (10_F1 to 10_F3) to perform formation flight according to an integrated flight command transmitted from the control device (20) by controlling a plurality of first nodes (N1_L, N1_F1 to N1_F3) through the proxy node (N_P). Meanwhile, each node (N1_L, N1_F1 to N1_F3) included in the first node (N1) and the second node (N2) can adjust and control the detailed flight of each follower device (10_F1 to 10_F3) based on the search results of the third node (N3) placed in each follower device (10_F1 to 10_F3). In the case of the embodiment illustrated in FIG. 11, even if the reader device (10_L) is disconnected from communication or damaged, temporary individual control of the follower devices (10_F1 to 10_F3) is possible, which has the advantage of increased robustness.

[0154] Afterward, the leader device (10_L) and the follower devices (10_F1 to 10_F3) can perform their respective flight operations according to the control commands of the first node (N1) and the second node (N2). For example, the leader device (10_L) and the follower devices (10_F1 to 10_F3) can fly to a location and path corresponding to their respective unique control commands using their respective GNSS information (GI).

[0155]

[0156] Referring again to FIGS. 1, FIGS. 4 and FIGS. 7, the follower devices (10_F1 to 10_F3) can perform formation flight in a manner that does not utilize their respective GNSS information, unlike the above description. In other words, each of the follower devices (10_F1 to 10_F3) can perform formation flight by maintaining the formation without utilizing GNSS information in situations where they cannot fly according to flight commands received from the control device (10).

[0157] At this time, among the multiple target attack devices (11 to 15), the reader device (10_L) may fly using GNSS information or may fly without using GNSS information. In other words, the reader device (10_L) may fly by receiving a flight command containing information about the target coordinates to be moved to from the control device (20), or it may fly without communication with such control device (20). At this time, when the reader device (10_L) flies through communication with the control device (20), that is, through GNSS information, the communication between the reader device (10_L) and the control device (20) may be performed by using an optical LAN through optical fibers.

[0158] In some examples, multiple target attack devices (11 to 15) can maintain formation flight by autonomously adjusting their flight paths when the flight environment changes during flight according to a flight command by a control device (20).

[0159] For example, a plurality of target attack devices (11 to 15) can perform formation flight through distributed control operations. For instance, the plurality of target attack devices (11 to 15) can perform formation flight through a distributed control method in which each of the plurality of target attack devices (11 to 15) autonomously adjusts its flight path (e.g., maintaining formation, avoiding obstacles, performing individual missions, etc.) by exchanging identification data identified through identification units included in each of them. At this time, the aforementioned identification unit may include a camera (120 in FIG. 3), and the identification data may include captured image data, but the embodiments of the present invention are not limited thereto, and according to some embodiments, the identification unit may include, for example, a lidar, a radar, an acoustic receiver, a wired connection unit, etc. Through this, the plurality of target attack devices (11 to 15) can maintain a robust formation even when a specific target attack device deviates or is interfered with by the outside.

[0160] As another example, a plurality of target attack devices (11 to 15) can perform formation flight through a flight path prediction operation. For instance, the plurality of target attack devices (11 to 15) can predict their respective flight paths in advance, and if there is a collision between the predicted flight paths for each of the plurality of target attack devices (11 to 15), they can perform formation flight by modifying the flight path of at least one of the plurality of target attack devices (11 to 15). At this time, the plurality of target attack devices (11 to 15) can prevent mutual collisions and maintain a robust formation through this flight path prediction operation.

[0161] As another example, a plurality of target attack devices (11 to 15) can perform formation flight through disturbance compensation operations. For instance, the plurality of target attack devices (11 to 15) can perform formation flight by correcting the flight path in real time when a disturbance, such as a weather change (e.g., a gust of wind), occurs. As an example, if the formation is broken by a gust of wind, the plurality of target attack devices (11 to 15) can maintain formation flight by returning to their respective positions within a predetermined time, or avoid the disturbance by correcting the flight direction of the formation when a weather change, such as a gust of wind, is recognized or identified.

[0162]

[0163] Referring again to FIGS. 1 and FIGS. 4, a plurality of target attack devices (10) can perform formation flight even when there is an electronic attack (Electronic Attack, EA) by an external electronic attack device (Electronic Attack Device, hereinafter referred to as "EAD") (S3).

[0164] In the event of an external electronic attack, all target attack devices (10) may be unable to use GNSS information, and communication between the follower device and the control device (20) and communication between the follower device and the reader device may be cut off while communication between the reader device and the control device (20) is maintained. Even in such cases, a plurality of target attack devices (10) according to some embodiments of the present invention can maintain robust formation flight.

[0165] Hereinafter, with reference to FIG. 12, the formation flight of a plurality of target attack devices (10) in a situation where an electronic attack exists according to some embodiments of the present invention will be described in more detail.

[0166]

[0167] FIG. 12 is a diagram illustrating a formation flight method of a plurality of target attack devices in the presence of an external electronic attack according to some embodiments of the present invention.

[0168] Referring to FIGS. 1, FIGS. 3, FIGS. 4 and FIGS. 12, a plurality of target attack devices (10) according to some embodiments of the present invention can maintain formation flight in a manner that does not use GNSS information in a situation where an external electronic attack is present. At this time, the plurality of target attack devices (10) may include a reader device (10_L) and a plurality of follower devices (10_F1 to 10_F4) as described above.

[0169] At this time, the situation in which an external electronic attack exists may be one in which communication between the follower devices (10_F1 to 10_F4) and the control device (20) is maintained while communication between the follower devices (10_F1 to 10_F4) and the leader device (10_L) is completely cut off, and the GNSS information of the follower devices (10_F1 to 10_F4) is rejected, interfered with, or degraded. At this time, the leader device (10_L) may fly using GNSS information or may fly without using GNSS information. In other words, the leader device (10_L) may receive a flight command containing information about the target coordinates to be moved to from the control device (20) and fly accordingly, or it may fly without such communication with the control device (20).

[0170] In this case, the communication method between the reader device (10_L) and the control device (20) in a situation where an external electronic attack is present may include an FPV method or a method using an optical network through optical fiber. At this time, when the reader device (10_L) is flying using GNSS information in a situation where an external electronic attack is present, communication between the reader device (10_L) and the control device (20) may be performed using an optical network through optical fiber. However, the embodiments of the present invention are not limited thereto, and the communication method between the reader device (10_L) and the control device (20) may include various methods in which the reader device (10_L) is controlled through non-GNSS navigation, a method in which the reader device (10_L) nulls the external electronic attack, a method in which the control signal transmitted from the control device (20) is beamformed, etc.

[0171] In some examples, the processor (160) of the follower device (10_F1 to 10_F4) can calculate the relative distance to the leader device (10_L) by determining the distance to the leader device (10_L) and the direction of the leader device (10_L), and can perform formation flight by maintaining the calculated relative distance.

[0172] For example, the processor (160) of the follower device (10_F1 to 10_F4) can calculate the relative distance to the reader device (10_L) through UVDAR (Ultraviolet Direction and Ranging) based positioning.

[0173] For example, a reader device (10_L) may include a light source (hereinafter referred to as "LS") that emits light in a predefined wavelength range, and a follower device (10_F1 to 10_F4) may detect light emitted from the light source (LS) through a camera (120) and calculate a relative distance by analyzing the detected light through a processor (160). At this time, the light source (LS) of the reader device (10_L) may include a UV LED, and the camera (120) of the follower device (10_F1 to 10_F4) may include a UV camera.

[0174] For example, the follower devices (10_F1 to 10_F4) can determine the distance between each follower device (10_F1 to 10_F4) and the reader device (10_L) and the direction of the reader device (10_L) relative to each follower device (10_F1 to 10_F4) by analyzing the light detected through the camera (120) through the processor (160), and determine the relative position of the reader device (10_L) relative to each follower device (10_F1 to 10_F4) according to the determined distance and direction.

[0175] Generally, UV wavelengths are relatively less affected by electronic attacks compared to general RF signals (wireless communication) and have less interference with sunlight or light emitted from the surrounding environment, so they are highly reliable even in nighttime and adverse weather conditions. In a swarm control system (1) according to some embodiments of the present invention, formation flight in an electronic attack situation can be maintained by calculating relative distances using these UV wavelengths. Through this, the swarm control system (1) according to some embodiments of the present invention can maintain robust navigation even in an electronic attack situation (maintaining a swarm formation by continuously identifying the relative positions between multiple target attack devices (10) even if GNSS information is jammed or communication is cut off), and can perform low-observability (LO) operations using UV communication (maintaining stealth capabilities as the probability of detection is lower than IR and RF-based communication), and can also ensure accurate formation maintenance and collision avoidance (preemptive avoidance and path optimization are possible by utilizing high-speed position recognition technology based on UV signals).

[0176] As another example, the processor (160) of the follower device (10_F1 to 10_F4) can calculate the relative distance to the reader device (10_L) based on the recognition result of the lidar sensor in addition to UVDAR-based positioning.

[0177] To this end, the reader device (10_L) includes a lidar sensor for recognizing the follower devices (10_F1 to 10_F4), and the follower devices (10_F1 to 10_F4) may include a lidar sensor for recognizing the reader device (10_L). At this time, the reader device (10_L) may fly at a higher altitude than the follower devices (10_F1 to 10_F4), and accordingly, the lidar sensor of the reader device (10_L) may be positioned at the lower part of the main body of the reader device (10_L), and the lidar sensor of the follower devices (10_F1 to 10_F4) may be positioned at the upper part of the main body of the follower devices (10_F1 to 10_F4). However, embodiments of the present invention are not limited thereto.

[0178] For example, the follower devices (10_F1 to 10_F4) can determine the direction of the reader device (10_L) relative to each follower device (10_F1 to 10_F4) by analyzing the light detected through the camera (120) through the processor (160), and then determine the distance between each follower device (10_F1 to 10_F4) and the reader device (10_L) according to the recognition result of the lidar sensor, and then determine the relative position of the reader device (10_L) relative to each follower device (10_F1 to 10_F4) according to the determined direction and distance.

[0179] In the examples described above, only the process of determining relative position through UVDAR and LiDAR sensors was described, but the embodiments of the present invention are not limited thereto. For example, the signal used for determining relative position in the present invention may include any signal that is output from a reader device (10_L), received by a follower device (10_F1 to 10_F4), and subsequently allows the follower device (10_F1 to 10_F4) to determine the position of the reader device (10_L) according to the signal. For another example, the method by which the follower device (10_F1 to 10_F4) determines the relative position of the reader device (10_L) in the present invention may include any method by which the follower device (10_F1 to 10_F4) can detect the position and direction of the reader device (10_L) even if the reader device (10_L) does not output a specific signal.

[0180]

[0181] Referring again to FIGS. 1 and FIGS. 4, a plurality of target attack devices (10) can perform cooperative cluster reconnaissance (S4).

[0182] In some examples, multiple target attack devices (10) can scout by sharing a predefined coordinate area.

[0183] Hereinafter, with reference to FIG. 13, cooperative swarm reconnaissance of a plurality of target attack devices (10) according to some embodiments of the present invention will be described in more detail.

[0184]

[0185] FIG. 13 is a diagram illustrating swarm reconnaissance of a plurality of target attack devices according to some embodiments of the present invention.

[0186] Referring to FIGS. 1, FIGS. 4 and FIGS. 13, a plurality of target attack devices (11 to 15) according to some embodiments of the present invention can perform cooperative cluster reconnaissance by sharing a predefined coordinate area (Area, hereinafter referred to as "A").

[0187] At this time, for convenience of explanation, FIG. 13 shows that the first target attack device (11) scouts the first area (A1), the second target attack device (12) scouts the second area (A2), the third target attack device (13) scouts the third area (A3), the fourth target attack device (14) scouts the fourth area (A4), and the fifth target attack device (15) scouts the fifth area (A5), but this is merely illustrative.

[0188] For example, multiple target attack devices (11 to 15) can perform cluster reconnaissance according to Cooperative Path Planning for Multi-Agent Systems. In this case, the multiple target attack devices (11 to 15) can search coordinate areas without overlap by sharing predefined reconnaissance missions and adjust paths in real time to enable efficient reconnaissance.

[0189] As another example, multiple target attack devices (11 to 15) can perform swarm reconnaissance through reinforcement learning-based task allocation. In this case, the multiple target attack devices (11 to 15) can maximize reconnaissance efficiency by analyzing the status and environmental information of each target attack device (11 to 15) and dynamically allocating the optimal task.

[0190]

[0191] Referring again to FIGS. 1 and FIGS. 4, the target attack device (10) can identify a target (TG) and track and strike the identified target (TG) (S5).

[0192] In some examples, when the target (TG) is a moving object, the target attack device (10) can continuously track the location of the target (TG) and strike the target (TG) at an optimal location and time to neutralize it. In this case, the target attack device (10) according to some embodiments of the present invention can improve the target hit rate against the target (TG) through precise and robust terminal guidance flight control.

[0193] Meanwhile, the target attack device (10) can predict the location of the target (TG) and strike it when the target (TG) is obscured or out of sight.

[0194] Hereinafter, with reference to FIG. 14, it will be explained that a target attack device (10) according to some embodiments of the present invention predicts the location of a target (TG).

[0195]

[0196] FIG. 14 is a diagram illustrating the process of a target attack device according to some embodiment of the present invention predicting and tracking the location of a target when the target is obscured.

[0197] Referring to FIGS. 1, FIGS. 4 and FIGS. 14, a target attack device (10) according to some embodiments of the present invention can predict the location of a target (TG) and strike it when the target (TG) is obscured or out of sight.

[0198] Figure 14 <b1>This illustrates that the target attack device (10) has identified the target (TG), and FIG. 14 <b2>This illustrates that the target (TG) cannot be identified because the field of view of the target attack device (10) is obstructed by an obstacle (Obstacle, hereinafter referred to as "OBS"), and FIG. 14 <b3>This illustrates that the target attack device (10) generates a forecasted location (hereinafter referred to as "FL_TG") for the target (TG) by predicting the location of the target (TG) based on the original location (hereinafter referred to as "OL_TG") of the target (TG).

[0199] For example, the target attack device (10) can derive a predicted position (FL_TG) from an existing position (OL_TG) by predicting the trajectory of the target (TG) through an artificial intelligence (AI)-based tracking algorithm.

[0200] At this time, the artificial intelligence-based tracking algorithm in the present invention can be pre-trained to enable accurate re-tracking even after occlusion by integrating temporal movement information from the existing location (OL_TG) to predict the location of the target (TG).

[0201] For example, the tracking algorithm is implemented through a motion-aware memory selection mechanism to determine the predicted position (FL_TG) based on the movement of the target (TG) from its existing position (OL_TG).

[0202] As another example, the tracking algorithm is implemented through an Adaptive Occlusion Judgment and Model Updating Strategy, which utilizes the strategy to predict and respond to occlusion situations, thereby ensuring the robustness of tracking.

[0203]

[0204] Referring again to FIGS. 1 and FIGS. 4, the target attack device (10) can perform a simultaneous Time-On-Target (TOT) strike on the target (TG) (S6).

[0205] In some examples, a target attack device (10) according to some embodiments of the present invention can simultaneously strike a target (TG) by performing simultaneous impact strikes, thereby allowing multiple target attack devices (10) that originally started at different points in time and locations to strike the target (TG) at the same time. Through this, the swarm control system (1) of the present invention can synchronize the attacks of multiple target attack devices (10) to carry out simultaneous impact strikes on a high-value target, thereby minimizing the enemy's response time and maximizing the mission success rate. Subsequently, operational utility can be expanded by linking with other artillery and / or air strike assets and C2 (Command and Control).

[0206] For example, multiple target attack devices (10) can perform simultaneous impact strikes by being controlled through a Synchronized Target Allocation Algorithm. In this case, in order for multiple target attack devices (10) departing from different locations to strike the same target (TG) simultaneously, the flight path and speed of each of the multiple target attack devices (10) can be controlled by a control device (20).

[0207] As another example, multiple target attack devices (10) can perform simultaneous impact strikes through pre-planned flight path optimization. In this case, the multiple target attack devices (10) can optimize the flight path of each target attack device (10) before the mission begins, thereby preventing collisions between the multiple target attack devices (10) and ensuring accurate flight for simultaneous arrival.

[0208] The above description is merely an illustrative explanation of the technical concept of the present embodiment, and a person skilled in the art to which the present embodiment belongs would be able to make various modifications and variations within the scope of the essential characteristics of the present embodiment. Accordingly, the present embodiments are intended to explain, not limit, the technical concept of the present embodiment, and the scope of the technical concept of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present embodiment.

Claims

1. At least one target attack device that attacks at least one target, entity; A mounting portion disposed on one side of the above main body and accommodating an explosive member; A memory embedded in the above main body and storing at least one instruction; and A device comprising at least one processor embedded in the above-mentioned main body and executing at least one instruction. Target attack device.

2. In Paragraph 1, The above-mentioned mounting unit is positioned in front of the target attack device. Target attack device.

3. In Paragraph 1, The above-mentioned mounting part is, A seating portion on which the above-mentioned explosive member is seated, and A sliding part that is structurally connected to the above-mentioned seating part and slides in a predefined direction Target attack device.

4. In Paragraph 3, The above explosive member is fixed to the above seating portion through a predefined method, and The above-defined method includes a fixing method using at least one of Velcro and a fixing frame. Target attack device.

5. In Paragraph 3, When the explosive member is accommodated by the seating portion and the sliding portion, the detonator of the explosive member protrudes to the outside of the mounting portion. Target attack device.

6. At least one target attack device for attacking at least one target, entity; A coupling part disposed on one side of the above main body and providing a coupling between a plurality of the target attack devices in a situation where the target attack device is stored or transported; A memory embedded in the above main body and storing at least one instruction; and It includes at least one processor embedded in the above main body and executing at least one instruction, The above coupling part controls vertical coupling in a stacked structure between a plurality of the above target attack devices. Target attack device.

7. In Paragraph 6, A control device located outside the target attack device transmits a takeoff command to the plurality of target attack devices, and The plurality of target attack devices above take off sequentially according to the takeoff command of the control device while stored in the stacked structure. Target attack device.

8. In Paragraph 6, The above target attack device further includes a plurality of drone arms disposed on one side of the main body, and The above coupling member includes a plurality of coupling members disposed on each of the plurality of drone arms. Target attack device.

9. In Paragraph 6, The above-mentioned connecting part is, In a situation where the target attack device is stored or transported, a combination is provided between at least one of the target attack device, an upper device located above the target attack device, and a lower device located below the target attack device. Target attack device.

10. In Paragraph 9, The above-mentioned connecting part is, An insertion member inserted into a receiving member of the lower device, and, at least one of the receiving members that accommodates the insertion member of the upper device Target attack device.

11. In a cluster control system that tracks at least one target, A plurality of target tracking devices for tracking the above target; and A control device for controlling the plurality of target tracking devices, wherein The above target tracking device is, The main body and, A memory embedded in the above main body and storing at least one instruction, and It includes at least one processor embedded in the above main body and executing at least one instruction, At least one of the plurality of target attack devices above accommodates an explosive member. Cluster control system.

12. In Paragraph 11, The control device controls at least one of the plurality of target attack devices so that the plurality of target attack devices perform formation flight by maintaining a predefined formation while flying, and The plurality of target tracking devices perform the formation flight according to the control of the control device. Cluster control system.

13. In Paragraph 12, Each of the above plurality of target attack devices is, Receiving individual flight commands for the formation flight through communication with the control device Cluster control system.

14. In Paragraph 12, The above plurality of target attack devices are, A reader device communicating with the above-mentioned control device, and at least one follower device that performs the formation flight by communicating with the leader device but not communicating with the control device. Cluster control system.

15. In Paragraph 14, The above reader device is, Receives an integrated flight command related to the formation flight of the plurality of target attack devices through communication with the control device, and Controlling the flight operation of each of the plurality of follower devices based on the above integrated flight command Cluster control system.

16. In Paragraph 12, At least one of the plurality of target attack devices performs the formation flight in a manner that does not use GNSS (Global Navigation Satellite System) information. Cluster control system.

17. In Paragraph 16, The above plurality of target attack devices are, A reader device communicating with the above-mentioned control device, and It includes at least one follower device, The above-mentioned at least one follower device is, Calculate the relative distance to the reader device by determining the distance to the reader device and the direction of the reader device, and Performing the formation flight in a manner that maintains the relative distance calculated above Cluster control system.

18. In Paragraph 17, The above reader device includes a light source that emits light in a predefined wavelength range, and The above follower device includes a camera that detects the light emitted from the light source, and The processor of the follower device calculates the relative distance based on the detected light. Cluster control system.

19. In Paragraph 18, The above reader device further includes a LiDAR sensor for recognizing the above follower device, and The follower device further includes a lidar sensor for recognizing the reader device, and The processor of the follower device calculates the relative distance based on the detected light and the recognition result of the lidar sensor. Cluster control system.

20. In Paragraph 19, The above leader device flies at a higher altitude than the above follower device, and The lidar sensor of the above-mentioned reader device is positioned at the lower part of the main body of the above-mentioned reader device, and The lidar sensor of the above follower device is positioned on the upper part of the main body of the above follower device. Cluster control system.

21. In Paragraph 11, The above plurality of target attack devices are, When the above target is obscured or out of sight, an artificial intelligence-based tracking algorithm is used to predict the location of the above target. Cluster control system.

Images