KR102477569B1 - Ai-based integrated boundary system centered on coastal surveillance radar and the method thereof - Google Patents

Abstract

The present invention relates to a coastal surveillance radar-based integrated alert system, and includes a coast guard integration device that provides radar images, automatic ship location, and ship automatic identification information, and a V-Pass, AIS, and a display device that displays received images on a screen. And receiving the signal of the radar to separate and detect the waves and ships, assigning a unique identification number to the detected ship using the V-Pass signal and AIS information, and displaying the ship with the assigned unique identification number. It includes a control device for displaying on the device, and the control device is configured to display on the marking device as an unidentified ship a ship to which a unique identification number is not assigned, so that it can automatically detect a ship in a wave quickly and accurately. It has the effect of distinguishing ships.

Description

Coastal surveillance radar-based integrated alert system and integrated alert method {AI-BASED INTEGRATED BOUNDARY SYSTEM CENTERED ON COASTAL SURVEILLANCE RADAR AND THE METHOD THEREOF}

The present invention relates to a coastal surveillance radar, and more specifically, to a surveillance and reconnaissance weapon system operated by the Coastal Guard Operation Unit, which is a function that supplements the role of a coastal surveillance radar watchman, minimizing confusion between waves and ships that may be missed due to human fatigue. It relates to a coastal surveillance radar-based integrated alert system and integrated alert method for

In general, in order to prevent intruders from occurring near the coast, the navy deploys a sentry at each post, and the sentry uses the naked eye or a telescope to determine whether a rogue ship or spy ship appears near the coast, and transmits the information to the surveillance unit by wire. Coastal Surveillance Radar is installed and is in operation as the main means of surveillance for efficient coastal defense missions by early detection and warning of enemies (suspicious targets) that are operated in the form of reporting or infiltrating through the sea, and by disseminating them to the mobilized operation unit. .

However, coastal monitoring radar is a device installed on the ground to monitor the coast. However, they have weaknesses in the working environment due to the remote location.

In particular, when the coastal waves are high, radio waves are diffusely reflected by the waves and displayed as numerous dots (signals), so it is difficult to identify small vessels similar in size to the waves when they exist in the waves.

Referring to a drawing showing a conventional radar-detected wave in FIG. 1, in the area indicated by the dotted line at the top right, there is a mixed door with a detected wave and a ship identification tag, so that it is difficult to identify the actual wave and ship when visually monitored. .

In other words, unidentified vessels (objects) must be identified among numerous points that are diffusely reflected by waves, but the current situation is that this is only explored based on the experience of sentinels.

Therefore, depending on the fatigue or efficiency of the lookouts, there are cases in which unidentified ships existing in high waves cannot be detected.

KR Registration Patent Publication No. 10-1552095 (2015.09.04)

An object of the present invention to solve these problems is to provide a coast surveillance radar-based integrated alert system and integrated alert method capable of automatically detecting a ship in a wave through radar signal analysis.

In addition, another object of the present invention is to provide an integrated surveillance system and an integrated surveillance method based on coastal monitoring radar capable of identifying unidentified targets.

In addition, another object of the present invention is to provide a coast surveillance radar-based integrated alert system and integrated alert method capable of detecting ships operating on abnormal routes.

In addition, another object of the present invention is to provide a coast surveillance radar-based integrated alert system and integrated alert method capable of detecting a set region of interest.

In addition, another object of the present invention is to provide a coastal surveillance radar-based integrated alert system and integrated alert method that assigns and displays a unique identification number to a ship using a coast surveillance radar signal and AIS / V-Pass information.

In order to solve these problems, the coastal monitoring radar-based integrated alert system of the present invention provides a radar image, automatic ship positioning, and automatic ship identification information to monitor the coast, a coastal boundary integrated device, and fishing vessel location information and emergency rescue signals. V-Pass that transmits, AIS that provides ship type and voyage information, display device that displays images, and radar signals are received to automatically separate and detect waves and ships, and the V-Pass for the detected ships A control device that assigns a unique identification number using signals and AIS information and displays it on the display device together with the assigned unique identification number, wherein the control device identifies a ship to which a unique identification number is not assigned as an unidentified vessel. This can be achieved by making the labeling device visible.

And it is configured to further include a TOD that acquires an image of the coast but acquires an image from the coast closer than the radar, and a coastal composite surveillance camera that acquires an image from the coast closer than the TOD, and the control device is configured to further include The location is a coastal composite surveillance camera, and the farthest distance from the coast can be monitored by the radar, and the middle of the area monitored by the radar and the coastal composite surveillance camera can be monitored by the TOD.

Therefore, according to the coastal surveillance radar-based integrated alert system and integrated alert method of the present invention, since a ship in a wave can be automatically detected through object tracking, there is an effect of quickly and accurately distinguishing a ship from a wave.

In addition, according to the present invention, it is possible to easily identify an unidentified target without a unique identification number, thereby facilitating surveillance.

In addition, according to the present invention, there is an effect of controlling accidents or operation by detecting and warning ships operating on abnormal routes or notifying the control center.

In addition, according to the present invention, since a set region of interest can be specifically detected, there is an effect of efficiently monitoring a dangerous area or a regular surveillance area.

And according to the present invention, since each ship is given a unique identification number and displayed, a ship without a unique identification number can be monitored more carefully as an unidentified object.

1 is a diagram showing a conventional radar detection wave;
2 is a main configuration diagram of the system of the present invention;
3 is a diagram showing an example of a monitoring screen to which an AI automatic detection system is applied;
4 is a screen illustrating the configuration of a tab menu screen of the system of the present invention;
5 is a screen for explaining an object detection tap in the tab menu of the present invention;
6 is a diagram illustrating a screen configuration of the object detection tab of FIG. 5;
7 is a diagram for explaining a screen configuration when an original tab is selected from the tab menu of the present invention;
8 is a screen for explaining a mask area tap in the tab menu of the present invention;
and
9 is a flowchart illustrating an artificial intelligence-based integrated alert method centered on a coastal surveillance radar according to an embodiment of the present invention.

The terms or words used in this specification and claims are not limited to the usual or dictionary meanings, and the inventor can properly define the concept of the term in order to explain his or her invention in the best way. Based on this, it should be interpreted as a meaning and concept consistent with the technical spirit of the present invention.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated. In addition, terms such as “… unit”, “… unit”, “module”, and “device” described in the specification mean a unit that processes at least one function or operation, which is implemented as a combination of hardware and/or software. It can be.

Throughout the specification, the term "and/or" should be understood to include all possible combinations from one or more related items. For example, the meaning of “a first item, a second item and/or a third item” may be presented from two or more of the first, second or third item as well as the first, second or third item. A combination of all possible items.

Throughout the specification, identification codes (e.g., a, b, c, ...) for each step are used for convenience of explanation, and the identification code does not limit the order of each step, and each step Unless the specific order is clearly stated in context, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

2 is a main configuration diagram of the system of the present invention. Referring to the drawing, the integrated alert system according to an embodiment of the present invention receives ship-related information and radar information from the coastal boundary integration device 150 and displays them on the display device 120, and when an event occurs, the control center It is configured to include a control device 110 that transmits related information to 200 and processes it.

In addition, the control device 110 is configured to receive data from the TOD 130 and the coastal complex monitoring camera 140 to monitor in more detail.

Here, the TOD 130 is a Thermal Observation Device, which is a thermal imaging device that detects the heat of an object and shows it as an image. The military uses equipment that uses far-infrared rays for long-distance observation, but requires cryogenic cooling before use. It has a longer observation distance than night vision goggles that amplify light, such as the PVS-5, PVS-7, and PVS-98K, which are commonly seen from the front, and are operated from the front and on the coast. In the case of the coast, TOD and radar are interlocked to closely monitor the dense coastal areas of the west and south coasts.

That is, the TOD (120) is a thermal image detection device, and if the coast surveillance radar (151) is for a long distance, the TOD operates as a mid-range surveillance camera, and the coastal composite surveillance camera (140) is the shortest distance surveillance camera for detecting vulnerable coastal areas. In other words, as a device to eliminate surveillance blind spots, it operates as a system to monitor coastal areas with a wide boundary.

The coastal boundary integration device 150 operates to transmit radar information, automatic fishing vessel location information, and automatic vessel identification information to the control device 110.

To this end, the coastal boundary integration device 150 includes a coast surveillance radar 151 that detects long distances, an automatic fishing boat positioning device (V-Pass; 152) that automatically transmits position information and emergency rescue signals of fishing boats, and types of ships. and an AIS (153) that automatically delivers related information such as location and course to nearby navigation aid management offices or navigation aids.

Coastal surveillance radar (151) is deployed in major coastal and island regions to detect ships and aircraft moving in the sea, and shares detection information in the waters around the Korean Peninsula in conjunction with the naval tactical C4I system and port surveillance system. It is a device that plays an important role in defense.

The coast surveillance radar 151 operates to detect a ship within 5 km, which is a relatively long distance from the coast, measures the distance, azimuth, speed, coordinates, etc. of the detected object and outputs the coast surveillance radar signal information to the controller.

In addition, it may have an automatic alarm generating function when an object intrudes within the set boundary area, and the tracks of all detected objects may be displayed.

V-Pass (152) is an automatic fishing vessel positioning device (Vessel-Pass) that secures the safe operation of fishing boats and transmits the location of fishing boats and emergency rescue signals for prompt response in case of marine accidents, and 「Ship Safety Operation Rules」 It is a device that can automatically process a report of departure and arrival of a fishing vessel under Article 15, and refers to a wireless facility using a frequency of 897 MHz band.

AIS (153) is an Automatic Identification System, which is used for the purpose of preventing ships from colliding with each other in the open sea in addition to grasping navigation information through the location of ships. This is because the information of the identification device is shared with each other. In addition, the contents of the information transmitted from this device are recorded together with various information entering the bridge in the Vessel Voyage Recorder (VDR), which can be called the black box of the ship. Since all AIS data received during operation (including other vessels) is recorded in the VDR, it leaves room for cross-verification.

The signal transmitted from the ship is finally transmitted to the control center 200 including the maritime traffic control center (VTS) through the navigational aid management office on land and the nearby unmanned lighthouse.

The V-Pass (152) and AIS (153) operate to output ship type and voyage information to the control device as AIS/V-Pass information.

The control device 110 receives ship-related information from the coast boundary integration device 150 and displays the waves and ships by distinguishing them on the display device 120, and at the same time uniquely identifies the ship using the V-Pass signal and AIS information. A number is given, and the tracking is facilitated by displaying ships with unique identification numbers and unconfirmed ships, and at the same time, when an event occurs, related information is transmitted to the control center 200 so that subsequent processing is performed.

To this end, the control device 110 includes a radar signal analysis module 111, a target tracking module 112, a target situation recording module 113, a target confirmation/identification module 114, a storage unit 115, and a communication unit 116. configured to include

The radar signal analysis module 111 is configured to distinguish between a real image and a virtual image of an object detected by the radar by using coastal monitoring radar signal information input from the coastal boundary integration device 150 and AIS and V-Pass information.

In particular, in the present invention, in order to distinguish between a wave and a ship, a ship may vary according to a set period but may be an object detected at almost the same location, but a wave repeats creation and extinction as well as location movement, so the detection period When adjusted, it is possible to distinguish between waves and ships.

In general, when detecting a ship in a wave, it is regarded as a ship if it is detected at an almost constant position according to the set search period, and it is regarded as a wave if it is not detected at a certain position.

In addition, when detecting a vessel in waves, based on the search result according to the set period, the search result searched with a search period earlier than the set period and the search result searched with a search period later than the set period are compared, and when all match, the ship Alternatively, detection with waves can reduce reading errors.

In addition, in the present invention, a region of interest (ROI) may be manually set or automatically set and monitored.

In the case of manual setting, this is a function that allows the user to set the area of interest marked in a square shape as a certain area of the display device so that the area of interest can be monitored with a focus.

In addition, in the case of automatic setting, it is a function that can automatically set the area where waves occur or set areas where frequent unidentified objects occur and set them as main inspection targets.

Referring to Table 1 below, the ROI may set a region of interest using a point, line, rectangle, slanted rectangle, polygonal line, polygon, curve, curved figure, and donut shape.

The ROI can be used when an area to be observed with interest is set as the main observation area and the area is to be observed intensively.

Therefore, of course, if the region of interest is not set, the entire image is analyzed.

The target tracking module 112 operates to classify an object as a ship into a confirmed confirmed target and an unconfirmed unconfirmed target using AIS, V-PAss, and 'AIS+V-Pass'.

In addition, the target tracking module 112 assigns a unique identification number to the ship in the case of a confirmed ship.

In addition, it goes without saying that the unidentified target can be displayed by distinguishing it into a simple target, a target of interest, a target of doubt, and the like.

A simple target may refer to an unidentified target that has not been initially identified, a target of interest may refer to an unidentified target that has not been identified for a certain period of time, and a suspicious target may refer to an unidentified ship similar to a spy ship.

The target situation recording module 113 accumulates all information of the target tracking module 112 and the radar signal analysis module 111 for the target object as a DB so that it can be tracked, and automatically stores it in the storage unit 115.

The target confirmation/identification module 114 operates to identify and track a set target in conjunction with managing information on equipment such as the coastal surveillance camera 140 and the TOD 130 and cooperative organizations including related organizations. do.

For example, it is possible to monitor an object set in the coastal monitoring radar 151 in more detail and detail using the TOD 130 and the coastal surveillance camera 140.

The storage unit 115 may be a device that stores all the data analyzed and tracked by the control device as a DB, and the tracking contents by unique identification number, the monitoring screen of the radar 151, the TOD 130, and the coastal complex surveillance camera ( 140) to save the monitoring screen, etc., so that the history can be managed.

The communication unit 116 enables the control device 110 to transmit/receive data with the coastal boundary integrated system 150, the coastal complex surveillance camera 140, the TOD 130, and the display device 120, and the control center 200 means a communication device that transmits monitoring data to

Also, the display device 120 may be a display device connected to the control device by wire or wireless, or may be a terminal having an application owned by a manager installed thereon.

Hereinafter, an example in which the controller 110 displays the automatic radar detection image of the present invention on the display device 120 will be described with reference to the drawings.

Referring to the drawing showing an example of the monitoring screen to which the AI automatic detection system of FIG. 3 is applied and the screen illustrating the configuration of the tab menu screen of the system of the present invention in FIG. ) while displaying the screen, a 'tab menu' related to the present invention is displayed on the right side.

This 'tab menu' may display 'Detected Object tab', 'Original tab', 'Setup tab' and 'Mask Area tab'.

First of all, the 'Detected Object tab' is a tab menu that allows you to check detected objects, and consists of screen manipulation (enlargement, reduction) and functions to set ROI.

The 'Original tab' is a tab menu that allows you to check the original image, which is a conventional radar image, and allows screen manipulation (enlargement or reduction).

The 'Setup tab' is a tab where various functions can be set, and since it is often set by default during product production, user operations are generally prohibited.

The 'Mask Area tab' is a tab menu where you can set the analysis exclusion area (area that you do not want to analyze).

Referring to the drawings, it can be seen that ships and waves are mixed without identification codes on the existing screen, and in particular, when ships exist in waves, it is often difficult to identify them depending on their size.

In order to differentiate between waves and ships, a unique identification number can be displayed on each ship using the received information of V-Pass (152) and AIS (153). In the case of repeating generation and extinction by observing radar signals, those that always exist regardless of the wave cycle can be recognized as ships and assigned a unique identification number.

Referring to the top right screen of the radar image of FIG. 4, when the 'Detected Object tab' is selected in a state where waves and ships marked with dots are mixed, a screen with a final unique identification number assigned to each ship is displayed.

Referring to the screen for explaining the object detection tab in the tab menu of the present invention of FIG. 5 , it can be seen that a unique identification number is marked in red on each ship other than waves.

Referring to FIG. 5 , an icon related to screen manipulation and tools capable of manipulating the region of interest (ROI) may be displayed in an area indicated by ① at the top left of the screen.

Table 1 shows related icons.

In addition, when the user presses the icon on the left, how to use the icon can be displayed in a pop-up window.

'을 클릭하면 다음과 같은 추가설명이 표시되게 하는 것이다.For example, the icon displayed as a zoom tool '

If you click ', the following additional explanation will be displayed.

"One. Image magnification: Click the magnification tool and then click the area you want to magnify

2. Image reduction: After clicking the enlargement tool, Shift+click\

3. Adjust video size: Right-click and click Zoom to fit in the menu box』

As described above, for all icons, the usage method for the corresponding icon can be displayed in a pop-up window.

'을 클릭하면 도 6의 (a)도면과 같이 화면이 표시됨과 동시에 팝업창으로 사용 방법이 표시되는 것이다.In addition, if you want to set a region of interest (ROI), select 'Region of interest'

If you click ', the screen is displayed as shown in (a) of FIG. 6, and the usage method is displayed in a pop-up window.

You can set the area of interest by using 『Click and drag on the desired area』.

'를 클릭하면 표시되는 화면으로 화면의 일측에 역시 아래와 같은 사용방법에 대한 팝업창이 표시된다. In addition, (b) of Figure 6 is the 'ROI manipulation tool'

This screen is displayed when you click ', and a pop-up window for how to use is displayed on one side of the screen as shown below.

"One. click on the desired area

2. After clicking all the desired points, double-click to display a pop-up window that reads “Polygon is completed”.

'아이콘을 클릭함으로써 ROI가 갑작스럽게 제거되는 것을 방지할 수 있다.These ROIs create two or more ROIs to enable multiple creation, and the created ROI is removed by clicking elsewhere on the image after creating the ROI, so after creating the ROI, always '

By clicking on the 'icon, you can prevent the ROI from being removed abruptly.

In addition, a pop-up window capable of monitoring the radar screen may be prepared in the 'area of ②' of the screen.

Referring to the screen (c) of FIG. 6, the detected objects are displayed together with the radar image so that they can be monitored.

In the '0-step object detection' screen, the detected object is displayed in gray, in the '1-step object detection' screen, the detected object is displayed in green, and in the '2-step object detection' screen, the detected object is displayed in yellow. , In the '3-step object detection' screen, the detected object is displayed in red, and the detected object is displayed in different colors for each detection level and time to facilitate identification.

This detection level setting by time is explained in (d) screen.

In the area of ③, the coordinates of the mouse cursor are displayed so that the coordinates of the mouse cursor in the image can be checked, and in the area of ④, a tab menu is displayed. The display menu is displayed so that the coordinates and size of the detected object in the image and the detected time can be checked. If one of the detected objects is double-clicked, the coordinates of the double-clicked object in the image and the detected time can be checked.

In the area of ⑥, a detection level time setting screen can be displayed for setting how long the detection object is to be detected when it is in the same place.

Referring to the screen (d) of FIG. 6, the detection level time setting is classified into levels 0 to 4, so that 'Level 0' identifies objects in the same location from 5 seconds to 10 seconds, and 'Level 1' identifies objects in the same location from 11 seconds to 20 seconds. 'Level 3' is for object identification at the same position for 21 seconds to 30 seconds, and 'Level 4' is for object identification at the same position for more than 31 seconds. A screen for setting a detection color may be located in the area.

The setting is '0~255', and the closer to 0 is black, the closer to 255 is white.

On the other hand, if you select the 'Original tab' on the screen of FIG. 4, you can check the screen of the original radar image.

This is a diagram for explaining the screen configuration when the original tab is selected from the tab menu of the present invention in FIG. It provides reduction function and ROI area addition function, but does not provide analysis function.

By selecting the 'Mask Area tab' on the screen of FIG. 4 again, an area not to be analyzed can be set.

As a drawing for explaining the mask area tab in the tab menu of the present invention of FIG. 8, the screen magnification and reduction function and the ROI area addition method through the screen manipulation and ROI (region of interest) manipulation tool are displayed in the same way as the Detected Object tab function. it can be seen that there is

Hereinafter, a coastal surveillance radar-based integrated alert method will be described.

Referring to the flow chart for explaining the coastal monitoring radar-based integrated alert method according to an embodiment of the present invention of FIG. 9, radar images, automatic vessel location, automatic vessel identification information, V-Pass and AIS to monitor the coast A coastal surveillance radar-based integrated boundary method that receives a radar image using a radar image, reads a ship from the received image, assigns a unique identification number to the ship, and displays it on a display device. First, the object is detected in the radar image. (S120).

The control device 110 detects an object such as a ship in the received image. Since this detection method can be used as a general detection method, a detailed description thereof will be omitted.

In step S120, the control device 110 separates the detected object into waves and ships and detects them.

That is, it is determined whether the searched object repeats creation and disappearance at the same location (S130), and when it is detected by repeated creation and disappearance at the same location, it is determined as a wave (S140).

If it is determined that it is repeatedly detected at the same location without repeating creation and extinction in step S130 (S210), the control device 110 determines that it is a ship (S220), and assigns a unique identification number to the determined ship. It is performed (S230).

In step S230, if the ship can be given a unique identification number, the unique identification number is given to the ship and displayed on the display device (S240, S260).

In step S230, a ship to which a unique identification number cannot be assigned is determined as an unidentified ship (S250), and may be displayed on the display device 120 as an unidentified ship (S260).

As for the method of assigning a unique identification number to a ship, an existing general method can be used, so redundant description will be avoided.

As a result, the control device 110 distinguishes the objects displayed on the display device 120 into waves and ships, and at the same time distinguishes them into ships with unique identification numbers and unidentified ships and displays them on the display device.

Therefore, according to the coastal surveillance radar-based integrated alert system and integrated alert method of the present invention, since a ship in a wave can be automatically detected through object tracking, there is an effect of quickly and accurately distinguishing a ship from a wave.

In addition, in the case where waves and ships are mixed, the present invention collects the region where the object detected as a wave exists and the region of the ship mixed with the wave region (S270), and sets the corresponding region as a region of interest (ROI). It is set automatically to make it easy to determine the judgment of the ship within the wave area, and to set it as the surveillance target area so that unidentified ships in the wave can be easily distinguished, so that it can be observed more carefully (S280).

Through this screen, the present invention can identify unidentified targets and confirmed targets by detecting ships in waves and assigning and displaying unique identification numbers to ships using coastal monitoring radar signals and AIS / V-Pass information, Through route tracking and interest area tracking, there is an effect of detecting ships operating on abnormal routes.

Although the present invention has been described in detail with respect to the specific embodiments described above, it is obvious to those skilled in the art that various changes and modifications are possible within the scope of the technical idea of the present invention, and it is natural that these changes and modifications fall within the scope of the appended claims.

110: control device 120: display device
130: TOD 140: Coastal Complex Surveillance Camera
150: coastal boundary integration device 151: radar
152: V-Pass 153: AIS
200: control device

Claims (5)

Coastal boundary integration device that provides radar images, automatic vessel location and automatic vessel identification information to monitor the coast;
V-Pass that transmits location information of fishing boats and emergency rescue signals;
AIS providing vessel type and voyage information;
A display device for displaying an image; and
By receiving the signal of the radar, the wave and the vessel are separated and detected, and a unique identification number is assigned to the detected vessel using the V-Pass signal and AIS information, and the detected vessel is identified with the assigned unique identification number. Control device displaying on the display device;
and include
The control device
A vessel to which a unique identification number is not assigned is marked on the display device as an unidentified vessel, and if it repeats creation and extinction at the same location for a certain period, it is determined as a wave, and if it is read at the same location for a certain period, it is a vessel Coastal surveillance radar-based integrated alert system that identifies the ship as a unique identification number using the V-Pass signal and AIS information and displays it on the display device.
According to claim 1,
The control device
When detecting a vessel in a wave, the search result according to the set period, the search result searched with a search period earlier than the set period, and the search result searched with a search period later than the set period are compared, and when all match, a vessel or wave is detected. Coastal surveillance radar-based integrated alert system, characterized in that.
According to claim 1,
Coastal monitoring radar that acquires long-distance images;
A TOD that acquires an image of the coast but acquires an image closer than the coast surveillance radar from the coast; And
Coastal composite surveillance camera for obtaining an image from the coast closer than the TOD;
Including more,
The control device
A coastal surveillance radar-based integrated alert system that monitors a place close to the coast with a coastal composite surveillance camera, and monitors the farthest distance from the coast with the radar, and monitors the middle of the area monitored by the radar and the coastal composite surveillance camera with TOD.

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