KR101865835B1 - Monitoring system for a flying object - Google Patents

Abstract

[0001] The present invention relates to a flight monitoring apparatus, in which a flight monitoring apparatus is distributed so as to partially overlap surveillance regions in a remote high place such as a mountain top, and any one flight monitoring apparatus identifies a flight, And to identify and track flight objects more efficiently by propagating the flight object identification to the flight object monitoring devices around the predicted route.

Description

{Monitoring system for a flying object}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned aerial vehicle monitoring technique, and more particularly, to a flying object monitoring device.

In Korean Patent Laid-Open No. 10-2006-0071646 (2006.06.27), surveillance function for real-time external intrusion is improved by monitoring for wide area, moving object discovery, location, tracking, and sharing surveillance image by wired / And an unmanned surveillance and striking control system that manages and controls a series of processes from initial surveillance to situational action.

In recent years, unmanned aerial vehicles (UAVs) flying at high speed have been used for military intelligence gathering and terrorism. Since these unmanned aerial vehicles are very small in size and have little flying sound, they are not easy to identify. Therefore, there is a need for an advanced aerial vehicle monitoring technology that can more efficiently identify and track air vehicles.

Accordingly, the present inventor has found that the airborne surveillance apparatuses are distributed in such a manner that the surveillance regions are partially overlapped with each other at a spaced high altitude such as the mountain top, and any one airborne monitoring apparatus identifies the airborne objects and predicts the route, We have studied advanced flight surveillance technology that can identify and track flight objects more efficiently by spreading flight object identification with surrounding flight object monitoring devices.

Korean Patent Publication No. 10-2006-0071646 (2006.06.27)

Disclosure of Invention Technical Problem [8] The present invention has been made under the above-mentioned circumstances, and it is an object of the present invention to provide an airborne monitoring system in which a plurality of surveillance apparatuses are distributed in a spaced apart high- The purpose of this study is to provide flight surveillance technology that can identify and track air vehicles more efficiently by predicting and predicting airborne objects by using airborne surveillance devices around the airborne route.

According to an aspect of the present invention, there is provided a flight control apparatus comprising: A camera installed on the support; A communication unit for connecting to the control unit or the other vehicle monitoring apparatus through a network; The air conditioner unit or the other air conditioner monitoring unit may be configured to detect the air conditioner by analyzing the surveillance area image taken by the camera, to identify the air conditioner, to track the identified air conditioner to predict the air conditioner, When the airplane identification information and the route forecast information are received from the control unit or the other airborne monitoring device through the communication unit, the image captured by the camera is analyzed to enter the surveillance area of the own camera And a centralized monitoring performing unit for predicting the route, generating the improved air vehicle identification information and the route prediction information, and transmitting the generated air vehicle identification information and the route prediction information to the control unit or the other air monitoring unit through the communication unit And a control unit.

According to a further aspect of the present invention, the general monitoring performing unit may include an object extracting unit for analyzing a surveillance region image photographed by the camera to identify a flying object and extracting the identified flying object; An object tracking unit for tracking a movement of a flight object by identifying a corresponding flight object from each of a series of image frames after the flight object is identified; An object discrimination unit for discriminating the type of the flying object by the artificial intelligence algorithm from the flight objects identified from each of the series of image frames by the object tracking unit and generating flight object identification information including the flight object type; A route predictor for analyzing a movement of a flying object tracked by the object tracking unit to predict a course of a flying object and generating route prediction information; And an information transmission unit for processing the airplane identification information generated by the object identification unit and the route prediction information generated by the route prediction unit to be transmitted to the control unit or the other air monitoring unit through the communication unit.

According to a further aspect of the present invention, the aircraft type includes a military UAV, a civilian UAV, a civil aircraft, a civilian light aircraft, a fighter, a bomber, a transport aircraft, and a bird.

According to a further aspect of the present invention, there is provided an information processing apparatus comprising: an information receiving unit for receiving, through the communication unit, flight identification information and route forecast information transmitted from the central monitoring unit or the other airborne monitoring device; A surveillance area for limiting the camera surveillance area to a specific surveillance surveillance area in the determined surveillance area direction; A limiting portion; An object extraction unit for analyzing the image of the target surveillance region photographed by the camera to precisely identify the air vehicle and extracting the identified air vehicle object with high quality; An object tracking unit for tracking a movement of a flight object by identifying a corresponding flight object from each of a series of image frames after the flight object is identified; An object discrimination unit for discriminating the type of the flying object precisely by artificial intelligence algorithms from the flight objects identified from each of the series of image frames by the object tracking unit and generating improved flight object identification information including the flight object type; An route predictor for analyzing the movement of the flying object tracked by the object tracking unit to predict the route of the flying object and to generate the improved route prediction information; And an information transmission unit for processing the improved flight identification information generated by the object determination unit and the improved route prediction information generated by the route prediction unit to transmit to the control unit or the other vehicle monitoring device through the communication unit .

According to a further aspect of the present invention, the surveillance region limiting section performs pan / tilt control of the camera so that the camera field of view is directed toward the surveillance region into which the vehicle enters, zooms in and controls the camera so that the camera viewing angle is limited to a specific surveillance region Limits camera surveillance area.

According to a further aspect of the present invention, the object extracting unit may increase the resolution or frame rate of the camera to accurately identify the object, and extract the object of the object with high quality.

According to a further aspect of the present invention, the object monitoring apparatus includes a flight shooter for shooting the object; The control unit drives and controls the shooting unit driving unit so that the shooting unit is directed toward the surveillance area predicted to enter the identified flying object.

In the present invention, it is possible to distribute and install a plurality of surveillance devices at a plurality of spaced high altitudes, such as a mountain top, so that surveillance areas are partially overlapped, and one of the airborne surveillance devices identifies the airplane to predict the route, It is effective to identify and track flight objects more efficiently by propagating flight object identification with flight object monitoring devices.

FIG. 1 is a view illustrating a flying object monitoring apparatus according to the present invention installed in a high altitude zone.
2 is a block diagram showing the configuration of a first embodiment of a flight object monitoring apparatus according to the present invention.
3 is a block diagram showing a configuration of a second embodiment of a flight object monitoring apparatus according to the present invention.
FIG. 4 is a block diagram showing the configuration of a third embodiment of a flying object monitoring apparatus according to the present invention.
5 is a block diagram showing the configuration of an embodiment of a general monitoring unit of a flying object monitoring apparatus according to the present invention.
FIG. 6 is a block diagram showing the configuration of an embodiment of a centralized monitoring unit of a flying object monitoring apparatus according to the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

The terms used throughout the specification of the present invention have been defined in consideration of the functions of the embodiments of the present invention and can be sufficiently modified according to the intentions and customs of the user or operator. It should be based on the contents of.

FIG. 1 is a view illustrating a flying object monitoring apparatus according to the present invention installed in a high altitude zone. As shown in FIG. 1, it can be seen that the airborne monitoring apparatuses 100 are installed in a distributed manner such that the surveillance regions are partially overlapped with each other in a spaced high place such as a mountain top.

The vehicle body monitoring apparatus 100 may include a support 110 installed at a high altitude and a camera 120 installed at the support. The struts 110 are installed so as to be dispersed so that a photographing area of the camera 120, that is, a surveillance area, is partially overlapped with a distant high place of the camera 120.

Any one of the airborne monitoring devices identifies the airborne object 10-1 in its surveillance area to predict the airborne object and propagates the airborne object identification to the airborne surveillance devices around the predicted airborne object. The airborne surveillance device around the predicted route can identify the airborne object (10-3) entering its detection area with higher quality, thereby improving the reliability of the airborne object identification.

At this time, each flight monitoring apparatus 100 extracts a flight object from the image frames photographed in its own surveillance region, and transmits the extracted flight object images to other nearby flight monitor apparatuses or control station apparatuses, Images can be collected and synthesized, enabling more reliable identification of flying objects.

On the other hand, the subject integrating the object images of the flight object may be a flight object monitoring device or a control unit device (not shown). Preferably, the flight identification information and the route prediction information transmitted by any one of the airborne monitoring apparatuses can be transmitted to the surrounding airborne monitoring apparatuses through the central control unit, thereby enabling efficient airborne object identification and tracking control.

Therefore, it is necessary to distribute the surveillance devices at a spaced high altitude, such as mountain tops, so that the surveillance area is partially overlapped, and one of the aerial surveillance devices identifies the airplane to predict the route, Propagation of flight identification with flight monitoring devices allows for more efficient identification and tracking of flight objects.

2 is a block diagram showing the configuration of a first embodiment of a flight object monitoring apparatus according to the present invention. The air vehicle monitoring apparatus according to this embodiment includes a support 110, a camera 120, a communication unit 130, a control unit 140, and a power supply unit 150.

As shown in FIG. 1, the pillars 110 are installed so as to be dispersed so that a photographing area of the camera 120, that is, a surveillance area is partially overlapped with a high altitude area, as shown in FIG.

The cameras 120 are installed in the pillars 110 and installed in the pillars 110 installed at a plurality of spaced apart high places. For example, the camera 120 may include a visible light camera 121 for capturing light in a visible light region and / or an invisible light camera 122 for capturing light in an invisible light region such as infrared light.

The communication unit 130 is connected to a control unit (not shown) or another vehicle monitoring apparatus through a network. For example, the communication unit may be connected to a central control unit or other peripheral monitoring devices in a wired communication method using a wired communication cable or a wireless communication method such as a LoRa (Long Range) or LTE (Long Term Evolution) have.

The control unit 140 includes a general monitoring unit 141 for controlling the entire apparatus and performing a general monitoring mode when the air vehicle identification information and route prediction information are not received from other surrounding air monitoring apparatuses, And a centralized monitoring unit 142 which performs a centralized monitoring mode when the airplane identification information and the airway prediction information are received from the other airborne monitoring apparatuses.

The general monitoring performing unit 141 analyzes the surveillance region image taken by the camera 120 to identify the air vehicle, tracks the identified air vehicle to predict the route, generates air vehicle identification information and route prediction information And transmits it to the control unit or the other monitoring unit through the communication unit 130.

In this case, the airplane identification information may include a flight object image extracted from the surveillance region image frames, and the route prediction information may include three-dimensional position, latitude and longitude of the flight object extracted from the surveillance region image frames And may be a calculated movement direction.

On the other hand, the three-dimensional position, latitude and longitude of a flight object can be calculated in real time by using triangulation method using a flying object monitoring apparatus installed in a remote place where the location is known.

The centralized monitoring performing unit 142 analyzes the image photographed by the camera 120 when the airplane identification information and the route forecasting information are received from the control unit or the other airplane monitoring device through the communication unit 130 The control unit 130 identifies a flying object that enters into the surveillance region of the own vehicle, tracks the identified flying object to predict the route, generates the improved flying object identification information and the route prediction information, Lt; / RTI >

In this case, the improved identification information of the flying object is higher resolution or frame rate than that of the flight object image extracted from the other flight monitoring device which transmits the high quality flight object image extracted from the surveillance region image frames, And the improved route prediction information refers to the route prediction information calculated in the current monitoring area in which the route prediction information calculated in the previous monitoring area is corrected.

The power supply unit 150 includes a solar battery 151, a charge control circuit 152, a battery 153, and a DC / DC converter 152. The solar battery 151 is connected to the power supply unit 150, (154).

A current is obtained from the solar cell by the solar cell 151 and the current obtained by the solar cell is charged into the battery 153 by the charge control circuit 152 and the DC / DC converter 154 is charged DC-converted to a rated current of the flying object monitoring apparatus 100, and supplies the DC / DC converted current to the flying object monitoring apparatus 100.

According to the present invention, the object of the present invention is to disperse and install the object monitoring devices in a spaced apart high-level area such as a mountain top so that the surveillance area is partially overlapped with each other, and any one object monitoring device identifies the object, , It is possible to more efficiently identify and track flight objects by propagating flight identification information and route prediction information to the flight control devices around the predicted route.

At this time, as the flight object identification information and the route predictive information are propagated to peripheral object monitoring devices, higher quality improved object identification information and improved route predictive information are generated and propagated by peripheral object observation devices, The identification reliability can be improved.

3 is a block diagram showing a configuration of a second embodiment of a flight object monitoring apparatus according to the present invention. This embodiment further includes a PTZ driver 160 for controlling Pan / Tilt / Zoom camera 120 in the configuration of FIG. 2 embodiment.

The control unit 140 controls the camera 120 to panning / tilting the camera 120 so that the camera view direction is directed toward the surveillance area where the air vehicle enters, by driving the PTZ driving unit 160, ).

FIG. 4 is a block diagram showing the configuration of a third embodiment of a flying object monitoring apparatus according to the present invention. This embodiment further includes an airplane sharer 170 for shooting the airplane identified in the configuration of the embodiment of FIG. 3, and a sharper driving unit 180 for driving the airplane sharper at least two axes.

The control unit 140 drives and controls the shooting unit driving unit 180 such that the shooting unit 170 is directed toward the surveillance area predicted to enter the identified flying object. For example, the aircraft shooter 170 may be an apparatus that fires an air defense system, a missile, or the like.

5 is a block diagram showing the configuration of an embodiment of a general monitoring unit of a flying object monitoring apparatus according to the present invention. 5, the general monitoring performing unit 141 according to this embodiment includes an object extracting unit 1411, an object tracking unit 1412, an object determining unit 1413, an route predicting unit 1414 And an information transmission unit 1415. [

The object extracting unit 1411 analyzes the surveillance region image photographed by the camera 120 to identify the airplane and extracts the identified airplane object. For example, the object extracting unit 1411 may identify a flight object from the surveillance region image frames photographed in real time by the camera 120 using the contour extraction technique, and extract the identified flight object.

The object tracking unit 1412 tracks the movement of the flight object by identifying the flight object from each of the series of image frames after the flight object is identified. For example, the object tracking unit 1412 identifies a flight object having a feature (pattern) of the flight object extracted by the object extracting unit 1411 from each of the series of surveillance region image frames after the flight object is identified , It is possible to track the movement of the object by comparing the coordinates of the object feature points on the surveillance region image frames.

The object determining unit 1413 determines the type of the flying object from the flight objects identified from each of the series of image frames by the object tracking unit 1412 according to the artificial intelligence algorithm and identifies the flying object identification information including the flying object type .

The artificial intelligence algorithm recognizes the type of the flying object by searching the known flying object type pattern having the characteristic of the flying object identified from the pattern DB storing the learned flying object type pattern and recognizes the type of unknown flying object from which the known flying object type pattern is not retrieved from the pattern DB Learn the patterns and save them.

If the type of the flying object is determined by the artificial intelligence algorithm, the object determination unit 1413 generates flight object identification information including the type of the airplane, the object image of the airplane, and the like. At this time, the type of the aircraft may include a military UAV, a civilian UAV, a civil aircraft, a civilian light aircraft, a fighter, a bomber, a transport aircraft, and a bird.

The route predicting unit 1414 analyzes the movement of the flying object tracked by the object tracking unit 1412, predicts the route of the flying object, and generates route prediction information. For example, the route predicting unit 1414 estimates the traveling direction by comparing the three-dimensional position, latitude and longitude of the flight object extracted from the surveillance region image frames in real time, thereby predicting the route of the flying object. In this case, the three-dimensional position, latitude and longitude of the object can be calculated in real time by triangulation method using the object observation apparatus installed in the remote place where the position is known.

The information transmission unit 1415 transmits the flight identification information generated by the object determination unit 1413 and the route prediction information generated by the route prediction unit 1414 to the control unit through the communication unit 130 To be transmitted to the flight monitor.

For example, the information transmission unit 1415 may be configured to transmit the flight identification information and the route prediction information to another airborne monitoring device in the direction of the air carrier prediction route predicted by the route prediction unit 1414.

FIG. 6 is a block diagram showing the configuration of an embodiment of a centralized monitoring unit of a flying object monitoring apparatus according to the present invention. 6, the centralized monitoring performing unit 142 according to this embodiment includes an information receiving unit 1421, a monitoring area defining unit 1422, an object extracting unit 1423, an object tracking unit 1424 An object predicting unit 1425, an route predicting unit 1426, and an information transmitting unit 1427.

The information receiving unit 1421 receives the flight identification information and the route forecast information transmitted from the control unit or another vehicle monitoring apparatus through the communication unit 130. When the airplane identification information and the route prediction information are transmitted from another airplane monitoring device in the detection area in which the airplane is identified, the airplane monitoring device 100 receives the airplane identification information and the airplane prediction information through the information receiving unit 1421.

The monitoring area defining unit 1422 determines the direction in which the flying object corresponding to the flying object identification information enters the monitoring area from the route prediction information received by the information receiving unit 1421, Limit the camera surveillance area to the surveillance area of interest.

For example, the surveillance area defining unit 1422 controls the camera 120 to pan / tilt so that the camera view is directed toward the surveillance area where the air vehicle enters, So as to limit the camera surveillance region by zooming in on the camera 120. FIG.

The object extracting unit 1423 analyzes the image of the target surveillance region photographed by the camera 120 to precisely identify the air vehicle and extracts the identified air vehicle object with high quality. At this time, the object extracting unit 1423 may increase the resolution or frame rate of the camera to accurately identify the flight object, and extract the identified flight objects with high quality.

For example, the object extracting unit 1423 may identify a flight object from the interest surveillance region image frames photographed by the camera 120 in real time using the outline extraction technique, and extract the identified flight object.

The object tracking unit 1424 tracks the movement of the flight object by identifying the flight object from each of the series of image frames after the flight object is identified. For example, the object tracking unit 1424 identifies the flight object having the feature (pattern) of the flight object extracted by the object extracting unit 1423 from each of the series of surveillance region image frames after the flight object is identified , It is possible to track the movement of the object by comparing the coordinates of the object feature points on the surveillance region image frames.

The object determining unit 1425 determines the type of the flying object precisely by the artificial intelligence algorithm from the flight objects identified from each of the series of image frames by the object tracking unit 1424, And generates flight object identification information.

The artificial intelligence algorithm recognizes the type of the flying object by searching the known flying object type pattern having the characteristic of the flying object identified from the pattern DB storing the learned flying object type pattern and recognizes the type of unknown flying object from which the known flying object type pattern is not retrieved from the pattern DB Learn the patterns and save them.

The route predicting unit 1426 analyzes the movement of the flying object tracked by the object tracking unit 1424, predicts the route of the flying object, and generates improved route prediction information.

For example, the route predicting unit 1426 estimates the traveling direction by comparing the three-dimensional position, latitude and longitude of the flight object extracted from the image frames of the surveillance region of interest, in real time, and predicts the flight route. In this case, the three-dimensional position, latitude and longitude of the object can be calculated in real time by triangulation method using the object observation apparatus installed in the remote place where the position is known.

The information transmission unit 1427 transmits the improved flight identification information generated by the object determination unit 1425 and the improved route prediction information generated by the route prediction unit 1426 through the communication unit 130 Imperial device or other aircraft monitoring device.

For example, the information transmission unit 1427 may be configured to transmit the flight identification information and the route prediction information to another airborne monitoring device in the direction of the airborne predicted route predicted by the route prediction unit 1426. [

As described above, according to the present invention, the airborne surveillance apparatuses are installed in a distributed manner so that the surveillance regions are partially overlapped with each other at distant high places such as mountain tops, and any one airborne monitoring apparatus identifies airborne objects, , It is possible to more efficiently identify and track flight objects by propagating flight identification information and route prediction information to the flight control devices around the predicted route.

At this time, as the flight object identification information and the route predictive information are propagated to peripheral object monitoring devices, higher quality improved object identification information and improved route predictive information are generated and propagated by peripheral object observation devices, The identification reliability can be improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. .

INDUSTRIAL APPLICABILITY The present invention is industrially applicable in the field of unmanned aerial surveillance technology and its application technology.

100: Vehicle monitoring system
110: holding
120: camera
121: Visible light camera
122: Non-visible light camera
130:
140:
141: General monitoring performing unit
1411:
1412:
1413:
1414:
1415:
142:
1421:
1422: Monitoring area limitation unit
1423: object extracting unit
1424:
1425:
1426:
1427:
150:
151: Solar cell
152: Charge control circuit
153: Battery
154: DC / DC converter
160: PTZ driver
170:
180:

Claims (7)

A post which is installed in a highland;
A camera installed on the support;
A communication unit for connecting to the control unit or the other vehicle monitoring apparatus through a network;
The air conditioner unit or the air conditioner monitoring unit may be configured to detect the air conditioner by analyzing the surveillance zone image captured by the camera, to identify the air conditioner, to track the identified air conditioner to predict the air conditioner, When the airplane identification information and the route forecast information are received from the control unit or the other airborne monitoring device through the communication unit, the image captured by the camera is analyzed to enter the surveillance area of the own camera And a centralized monitoring performing unit for predicting the route, generating the improved air vehicle identification information and the route prediction information, and transmitting the generated air vehicle identification information and the route prediction information to the control unit or the other air monitoring unit through the communication unit A control unit;
1. A flying object monitoring apparatus comprising:
Wherein the general monitoring performing unit:
An object extraction unit for analyzing a surveillance region image photographed by the camera to identify a flying object and extracting the identified flying object;
An object tracking unit for tracking a movement of a flight object by identifying a corresponding flight object from each of a series of image frames after the flight object is identified;
An object discrimination unit for discriminating the type of the flying object by the artificial intelligence algorithm from the flight objects identified from each of the series of image frames by the object tracking unit and generating flight object identification information including the flight object type;
A route predictor for analyzing a movement of a flying object tracked by the object tracking unit to predict a course of a flying object and generating route prediction information;
An information transmission unit for processing the flight identification information generated by the object determination unit and the route prediction information generated by the route prediction unit to transmit to the control unit or the other vehicle monitoring device through the communication unit;
Included flight monitor. delete The method according to claim 1,
The flying object type is:
Airborne surveillance including military UAV, civilian UAV, civil aircraft, civilian light aircraft, fighter, bomber, transport aircraft, and algae. The method according to claim 1,
Wherein the centralized monitoring performing unit comprises:
An information receiving unit for receiving, through the communication unit, flight identification information and route prediction information transmitted from a control unit or another vehicle monitoring unit;
A surveillance area for limiting the camera surveillance area to a specific surveillance surveillance area in the determined surveillance area direction; A limiting portion;
An object extraction unit for analyzing the image of the target surveillance region photographed by the camera to accurately identify the air vehicle and extracting the identified air vehicle object with high quality;
An object tracking unit for tracking a movement of a flight object by identifying a corresponding flight object from each of a series of image frames after the flight object is identified;
An object discrimination unit for discriminating the type of the flying object precisely by artificial intelligence algorithms from the flight objects identified from each of the series of image frames by the object tracking unit and generating improved flight object identification information including the flight object type;
An route predictor for analyzing the movement of the flying object tracked by the object tracking unit to predict the route of the flying object and to generate the improved route prediction information;
An information transmission unit for processing the advanced air vehicle identification information generated by the object determination unit and the improved route prediction information generated by the route prediction unit to transmit the advanced route prediction information to the control unit or the other vehicle monitoring device through the communication unit;
Included flight monitor. 5. The method of claim 4,
The surveillance area defining unit includes:
The camera monitor is controlled by the pan / tilt control of the camera so that the camera view is directed toward the direction of the surveillance area where the aircraft enters, and the camera surveillance area is limited by zooming the camera so that the camera viewing angle is limited to a specific surveillance area. 5. The method of claim 4,
Wherein the object extracting unit:
A flying object monitoring device that accurately identifies a flying object by raising the resolution or frame rate of the camera and extracts the identified flying object with high quality. 7. The method according to any one of claims 1 to 6,
Wherein the aircraft monitoring apparatus comprises:
A flight shooter for shooting the identified flying object;
A shunt driving unit for driving at least two axes of the airplane collision part;
Further included,
Wherein the control unit comprises:
The flying body monitoring device drives and controls the shooting unit driving unit so that the flying object is directed toward the surveillance area of the identified flying object.

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