EP1772835A1 - Sensor network and method for monitoring a site - Google Patents

Abstract

The network (1) has fixed-position sensors (3, 3`, 3``), which are deployable in a territory for monitoring-relevant parameters, and a programming module. The sensors are equipped with a communication unit for communication with one another and with the module. The module has a position-detection unit and a programming unit (25). The sensors are configured to form a network. The sensors of simple design are utilized. The detection unit determines position of the sensors. The programming unit embosses the sensors by the communication unit. An independent claim is also included for a method for monitoring a territory.

Description

The invention relates to a sensor network and a method for monitoring a terrain. The invention relates to the problem of securing a terrain against the intrusion of unwanted persons or to monitor activities of any kind within the terrain.

For a civilian surveillance of a terrain, it is known to arrange optical sensors, such as cameras or motion detectors, which record activities or movements on or within the terrain or trigger follow-up actions such as turning on a light. In the military sector, for example, a warehouse must be secured and monitored, or a whole area section must be made safe from crossing. For the first case again optical sensors or detectors of any kind are used. For the second case, landmines are still being used illegally, which later have to be removed again in a dangerous and costly way to make use of the site.

The object of the invention is to provide a sensor network, which allows the monitoring and protection of a terrain with the least possible effort and cost. It is another object of the invention to provide a corresponding method for monitoring and securing a terrain with the corresponding advantages.

The first object is achieved according to the invention by a sensor network having a number of stationary sensors which can be deployed in a terrain for monitoring-relevant parameters and at least one programming module, wherein the stationary sensors are each equipped with a communication means for communication with each other and with the programming module, wherein the programming module comprises a position detection means and a programming means, wherein by means of the position detection means, the position of the sensors can be determined and the sensors each by means of the programming means can be imprinted via the communication means, and wherein the sensors are self-crosslinking.

The invention is based in a first step on the knowledge that the exact location or the exact position of an activity, such as the movements of an intruder, must be identified for monitoring a particular large-scale terrain, so follow-up steps for further education or Taking a corresponding countermeasure, as the seizure of the detected person can take place.

In a further step, the invention recognizes that, especially when monitoring a large area, it involves an immense effort to install individual sensors in a location-specific manner. The stationary installed sensors must be complex interconnected and connected to a central unit. About the type of interconnection or other coding can then recognize the central unit, from which place of the terrain which signals are obtained. One such system is, for example, the installation of multiple cameras in different locations of a building. However, such an expensive installation associated with a high expenditure of time can be avoided if at least one programming module is provided for the fixed sensors, with the position detection means of which the position of the sensors can be determined. Once the position has been determined, it is memorized to the respective sensor by programming. The sensor then knows which position it is in. This allows the sensors to be deployed freely; the position is assigned after application.

The provision of such a programming module also offers the possibility of using relatively expensive components, such as the components for determining the position in small numbers, while other cheaper components can be arranged in the high-volume sensors. By a cost-effective mass production of the sensors associated with a reduction of the expensive components to a small number of pieces, a cost-effective overall system is created.

Furthermore, the invention finally recognizes that the complex query of each individual sensor according to the recorded parameters can be significantly simplified if the sensors are equipped with communication means for communication with each other. In this case, namely, in a simple manner, the recorded information can be communicated as signals, for example, to the adjacently located sensors, which forward the information in turn. Such a sensor network avoids in particular parallel communication paths. Also, it is not necessary to set each individual sensor to a central unit a respective cable connection. The networking of the sensors with each other happens automatically, for example, by determining the strongest communication signal or the communication signal with the best signal-to-noise ratio of the signals received from the surrounding sensors and then set up a corresponding communication link. Depending on the type of communication coupling parameters selected, a sensor network with efficient communication paths with each other and towards the central unit is created.

The sensor network described is suitable for both civilian and military applications. The arbitrarily auszubringenden sensors their position is impressed only after application. Via the self-forming communication paths, a favorable, in particular rapid, forwarding of the detected signals to a central unit is established. The sensors are not limited to the detection of invading persons. Equally well as monitoring relevant parameters pollutant concentrations, smoke, fog, vibrations or biological / chemical agents can be detected. In particular, it is not necessary that all sensors are equipped with the same detectors. It is quite conceivable that different monitoring-relevant parameters are monitored within the terrain by means of different sensors.

The position of the deployable or detectable sensors can thereby be impressed by an on-site emergency force manually programming each sensor. The imprint by means of radio communication or optical communication from a central programming module, which knows the position of the individual sensors, conceivable. However, if the spatial coordinates of the sensors are initially unknown after they have been applied (for example, after the sensors have been dropped from an aircraft), then it is advantageous if the programming module is mobile. In this case, the programming module can approach the sensors, determine their own position and transmit them to the approached sensor by means of the programming means. The remaining "location blur", which corresponds to the distance between the approximated programming module and the respective sensor, is negligible, but may be taken into account as needed.

Appropriately, for detecting the own position of the programming module, the position detecting means is a navigation element, in particular a GPS or a Galileo detector. In this way, the global position of the programming module and thus the position of the "approached" sensors can be reliably determined. Also, other navigation elements for the position detection means are conceivable, such as in particular radio bearing or the localization of a mobile phone by detecting the dial-in node.

In an alternative embodiment of the invention, the position detection means comprises a triangulation device which determines the position of the sensors by means of reference sensors. In this case, for example, the reference sensors themselves are equipped with a navigation element of the type described, which in turn allows their global position to be determined exactly. By specifying fixed reference points (positions of the reference sensors), it is then possible to determine the "fine-grained" position of the individual sensors in the surface using geometric triangulation methods. For example, a sensor of unknown position on the network sends a detection signal received from three reference modules of known position. In the case of radio communication, it is then possible to deduce the distance of the sensor element on the basis of the field strength information. Especially in open terrain this allows a reliable position determination. The intersection of the distance circles around the reference modules then corresponds to the sought position of the corresponding sensor.

Alternatively, the area occupied by each sensor can also be taken into account when applying the sensors. If the sensors are distributed evenly distributed on the ground, which is quite realistic for a large number of sensors, it can already be given a mean distance between the individual sensors. By networking the sensors with each other To the sensor network, for example, in which each strongest neighbors are in contact with each other, results in a relatively fine geometric network. The sensors deployed at the corners of the terrain can be identified by being able to build significantly fewer communication links to the neighbor sensors than the sensors located inside the terrain. If some of the corner sensors are detected exactly in their position with the aid of the reference sensors, then from there again the position of the individual sensors with the aid of a triangulation method and the known mean distance can be determined penetrating into the interior of the sensor network.

In a mobile programming module, the way in which it approaches the individual sensors is not relevant to the invention per se. However, in particular for a military use of the sensor network, it is advantageous if the mobile programming module is a component of a self-navigating drone. The drone designed, for example, as a land robot or as an unmanned flying object then navigates automatically through or over the terrain with the sensors applied thereon. By communicating with the individual sensors, they can be tracked down, their position determined and impressed on it. The use of an unmanned drone, for example, releases ground forces from dangerous use in unexplored terrain.

Expediently, at least one master module equipped with a communication unit is provided in the sensor network, which is designed as an interface between the sensors and an external central unit. Such master modules are deployed with significantly lower numbers than the sensors as such. A master module is provided for its function as an interface with a device which is able to produce in particular a long-range communication link with a remote base camp or a remote central processing unit.

Advantageously, the sensors have a communication detector for determining a parameter representing the communication strength. This can be, for example, the level of the received signal or the signal / noise ratio. The specification of these parameters, which are used to establish the communication link to the neighboring sensors, effectively defines the "networking" of the sensor network. The communication detector can be realized for example by an electronic evaluation circuit.

Whether the sensor network can be realized in particular in the case of a civil application by means of electrical cable connections, it is expedient to carry out the communication of the sensors wirelessly. For this purpose, the communication means are formed in particular by optical or radio-communicating transmitting and receiving units. The networking of the sensors to the sensor network then takes place, in particular, by selecting those adjacent sensors to which the best reception and transmission conditions prevail on account of the local conditions.

For monitoring and securing a large-scale terrain, it is expedient if the sensors are designed to be ejected. The sensors are then deployed quickly and easily by launching from an aircraft overflying the terrain. The sensors fall, for example, by a parachute braked on the grounds and remain stationary there.

In order to prevent a change in position of the applied sensors, for example, on smooth, rocky or loose ground, the sensors are expediently designed as anchoring stationary itself. This can be realized, for example, by screwing in a ground anchor or by bonding with in particular rocky ground. Likewise, the shape of the sensors can be designed such that they self-dig into the soil by the accumulation of kinetic energy during impact.

The invention has the advantage that a sensor network can be constructed with sensors of simple design, which has a significant cost advantage over directly coupled sensor / actuator active systems, especially in a large-scale use.

Furthermore, a direct tracking of objects, in particular an intruded person, within the sensor network is possible. You get at any time an accurate position information about the object. The moving object leaves a trail along the sensors it passes.

Next is in particular in the detection of pollutants or biological and chemical warfare agents in addition to a statement about the local occurrence a threat of processing multiple sensor data allows the extraction of further information, for example on the propagation behavior of the threat of air currents.

The task directed to a method according to the invention is achieved by a method for monitoring a terrain, wherein a number of sensors are fixedly deployed in the area and at least one programming module is used, the sensors connect themselves by communication to a sensor network, the programming module determines the position of the sensors and imprints them, and wherein the sensor network uses the sensors to monitor monitoring-relevant parameters in a location-assigned manner.

Further advantageous embodiments can be found in the subclaims directed to a method. Related benefits can be found in the sensor network prediction.

By way of example, the invention is suitable for shutting off, monitoring or securing large-area grounds. Such a typical terrain has a size of about 1 km ² , on which about 10,000 sensors are deployed. The mean distance between adjacent sensors is about 10 m. In addition to the 10,000 sensors, about 10 master modules are deployed that are capable of making radio contact to a central unit more than 10 km away.

An embodiment of the invention will be explained in more detail in a drawing. It shows a schematic overview of the only figure
a deployed in a terrain sensor network of ejectable sensors.

The FIGURE schematically shows a self-crosslinking sensor network 1 comprising individual sensors 3, 3 ', 3 "and an associated master module 5. The individual sensors 3, 3', 3" and the master module 5 are on a terrain 6 Dropped from a terrain 6 over-flying helicopter 8 deployed. During the flight phase, as can be seen from the just dropped sensor 10, a parachute unfolds for safe deployment. After landing the sensors 3 anchor to the ground These are fixed by means of an anchoring 13, not shown here.

The terrain to be monitored and secured 6 is relatively visible and has a continuous path 15, a group of trees 16, a grassy vegetation 17, a stand-alone tree 18 and a boulder hill 19. In total, six sensors 3,3 ', 3 "and a master module 5 have already been deployed, the sensor 10 being just in the flight phase.

The sensors 3, 3 ', 3 ", which have arrived at the ground, have already networked with their neighbors, whereby in each case the neighbor with which the strongest communication connection could be achieved was selected for the formation of the respective communication connection 20. All sensors 3, 3', 3 ", 10 and the master module 5 each have as communication means a transmitting and a receiving unit for a radio link with a predetermined radio frequency. The communication links 20 were established by selecting the neighbor whose transmission signal with the highest field strength could be received. Thus, for example, the sensor 3, which is arranged centrally at the front edge of the terrain 6, is shaded by the interposed tree group 16 in relation to the sensor 3 arranged in the left rear corner. Similarly, the centrally located sensor 3 "is covered by the intermediate scree 19 opposite the master module 5. For this reason, these sensors 3 ', 3" have no communication connection 20.

In order to impress the respective position of the deployed sensors 3, an unmanned aerial drone 23 overflows the terrain 6 at low altitude. The drone 23 has a radio-enabled programming means 25 and a GPS detector 26 as position detection means. Programming means 25 and position detection means together form the programming module. When flying over the terrain 6, the drone recognizes 23 by means of the radio-enabled programming means 25 based on the respective communication means the individual sensor 3 '. If the drone 23 has detected a sensor 3 'in the area 6, it determines its own global position by means of the GPS detector 26 and transmits it to the detected sensor 3', where it is impressed. For the determination of the global position, the GPS detector 26 communicates with a satellite 27 in a known manner.

The sensor network 1 formed after establishment of the individual communication links 20 communicates with a central unit 29, which is in the example shown on board the helicopter 8, by means of the master module 5. For this purpose, the master module 5, not shown, a radio communication means for producing a long-range Wireless connection. In this way, the information of the sensor network 1 can be received not only by means of an over-flying helicopter 8 but also by a far-away base station. The communication of the master module 5, which acts as an interface between the sensor network 1 and the central unit 29, is indicated schematically by waves 28.

If the drone 23 fails, for example, as a result of a launch, a number of reference sensors 3 "are deployed in the area 6, which have their own GPS detector 32. In addition, the master module 5 additionally comprises a triangulation device 30. By means of the exposed reference sensors 3 ', 3 ", which form a reference position can be closed by field strength measurements on the location of the other surrounding sensors 3,3 '. With this embodiment, it is possible to put the sensor network 1 to secure the monitoring of the terrain 6 even when the actual, provided in the present case in the drone 23 programming module 25 fails. After the master module 5 has determined the position of the individual sensors 3, 3 'by triangulation using the reference sensors 3, the respective positions can be impressed on the sensors 3', 3 "either by means of the master module 5 or by means of the overflowing central unit 29.

Once the sensor network 1 has been established, the movement of an intruded person 36 can be tracked by means of infrared radiation 34 with motion detectors which are arranged on the individual sensors 3, 3 ', 3 ". 3 ", the track of the person 36 inside the terrain 6 can be traced in this way. Accordingly, countermeasures, such as taking the person 36 can be made.

Moreover, the deployed sensors 3, 3 ', 3 "contain, in addition to motion detectors, further detectors for detecting shocks with the aid of which intruding vehicles can be identified and Detectors for the detection of biological warfare agents. In this case, in particular bio-chips can be used.

reference numeral

1

Sensor network

3,3 '

sensors

3 '

reference sensor

5

master module

6

terrain

8th

helicopter

10

Sensor (discarded)

13

anchoring

15

path

16

Tree Group

17

grass cover

18

tree

19

scree hill

20

communication link

23

drone

25

programming means

26

The GPS detector

27

satellite

28

waves

29

central processing unit

30

Triangulation

32

The GPS detector

34

Infrared radiation

36

person

Claims (14)

Sensor network (1) with a number of stationary sensors (3, 3 ', 3' ') which can be deployed in a terrain (6) for monitoring-relevant parameters and at least one preferably mobile programming module, wherein the stationary sensors (3, 3', 3 ") are each equipped with a communication means for communication with each other and with the programming module, wherein the programming module comprises a position detecting means and a programming means (25), wherein by means of the position detecting means, the position of the sensors (3,3 ', 3") can be determined and the sensors (3,3,3 "') in each case by means of the programming means (25) can be imprinted via the communication means, and wherein the sensors (3,3', 3") are formed self-crosslinking. Sensor network (1) according to claim 1,
characterized,
in that the position detection means is a navigation element, in particular a GPS or a Galileo detector (26, 32), and / or that the position detection means comprises a triangulation device (30) and some sensors (3, 3 ', 3 ") as reference sensors ( 3 ") are designed to define a position, wherein the reference sensors (3") preferably have a navigation element, in particular a GPS or a Galileo detector (26, 32). Sensor network (1) according to claim 1 or 2,
characterized,
that the mobile programming unit (25) is a component of a selbstnavigierenden drone (23). Sensor network (1) according to one of the preceding claims,
characterized,
at least one equipped with a communication unit master module (5) is provided, which is configured as an interface between the sensors (3,3 ', 3 ") and an external central unit (29). Sensor network (1) according to one of the preceding claims,
characterized,
that the sensors (3,3 ', 3 ") have a communication detector for determining a communication strength parameter representing. Sensor network (1) according to one of the preceding claims,
characterized,
that the communication means are formed by optically or radio-communicating transmitting and receiving units. Sensor network (1) according to one of the preceding claims,
characterized,
that the sensors (3,3 ', 3 ") are formed jettison and / or that the sensors (3,3', 3") itself are formed fixed-anchoring. A method for monitoring a terrain (6), wherein a number of sensors (3,3 ', 3 ") fixed in the area (6) deployed and at least one programming module is used, wherein the sensors (3,3', 3" ) network by communication itself to a sensor network (1), wherein the programming module detects the position of the sensors (3,3 ') and impresses it, and wherein the sensor network (1) by means of the sensors (3,3', 3 ") monitors location-related monitoring-relevant parameters. Method according to claim 8,
characterized,
that the programming module navigates to the sensors (3, 3 ', 3 "), in particular automatically, and thereby determines and imposes their position. Method according to claim 8 or 9,
characterized,
in that the position detection means determines its respective position and / or the position of the sensors (3, 3 ', 3 ") by means of a navigation element, in particular by means of a GPS or Galileo detector (26, 32), and / or in that the position detection means determines the position the sensors (3, 3 ', 3 ") are determined by means of triangulation based on reference sensors (3"), the reference sensors (3 ") preferably determining their position by means of a navigation element, in particular by means of a GPS or Galileo detector (26, 32) ), determine. Method according to one of claims 8 to 10,
characterized,
in that, in addition to the sensors (3, 3 ', 3 "), at least one master module (5) is applied, via which the sensors (3, 3', 3") communicate with an external central unit (29). Method according to one of claims 8 to 11,
characterized,
that the sensors (3,3 ', 3 ") detect a communication strength of representing parameters and to network based on the detected parameters. Method according to one of claims 8 to 12,
characterized,
that the communication takes place by means of radio or by means of optical signals. Method according to one of claims 8 to 13,
characterized,
that the sensors (3, 3 ', 3'') are dropped off and / or that the sensors (3, 3', 3 '') anchor themselves in the terrain (6) after deployment.

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