KR101720408B1 - Searchlight for ships - Google Patents

Abstract

The present invention relates to an image display apparatus, an image display method, and an image display apparatus, which are capable of setting a mode and a left and right rotation angle of a lamp, a driving unit for driving the lamp up and down and right and left, And a control unit for controlling the driving unit to independently rotate the left rotation range and the right rotation range of the lamp according to the left and right rotation angle values.
According to the present invention, the search range of up, down, left, and right can be independently set according to a search operation, searching through a preset search pattern, processing an image acquired through a camera, The efficiency and reliability of the system can be increased.

Description

{SEARCHLIGHT FOR SHIPS}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a searchlight for a ship, and more particularly to a searchlight for a ship capable of detecting a target by illuminating the sea at night.

In general, ship search lights send parallel rays in a specific direction. They are widely used for port boundaries, patrol and life saving purposes, and range from tens meters (m) to several kilometers (Km). Xenon lamps which are easy to converge and high output have been used for such a ship searchlight, but in recent years, searchlights using LEDs having low power consumption and long service life have been developed.

On the other hand, the search operation using the navigation searchlight is performed by the microcontroller controlling the drive motor in response to the input command of the rotation range through the remote controller in order for the searcher to drive the direction of the lamp vertically and horizontally. The search operation is performed by the power of the navigator or by manually changing the irradiation direction of the lamp through a remote control and observing the presence of an object in the irradiated area.

As a prior art related to the present invention, Korean Utility Model Registration No. 20-0405347, "searchlight ", which is welded to a top plate of a vehicle, is provided with a main shaft having a hole formed therein, a rotary cover and a support arm at an upper portion thereof, The main gear is fixed and a searchlight body provided with a reflector and a lamp is provided on the upper end of the support arm and the pinion of the motor is fitted to the main gear so that the main shaft can be rotated in the direction of 360 °, The upper and lower operating shafts of the upper and lower operating shafts are screwed into a screw shaft which is freely rotatable by a bearing and the guide pin of the screw pipe is fixed to the upper and lower operating shafts Slide the guide rod of the bracket up and down freely and fix the gear fixed to the screw shaft with the gear of the motor so that the gear In that a side-by-side video cameras horizontally on top of the searchlight unit according to one so as to displace the upper and lower angle of the searchlight unit by to moving the shaft up and down characterized.

However, the prior art controls the lamp to rotate 360 degrees, and the searcher can not set a range to search, which reduces the efficiency of the search operation. Also, as the searcher manually manipulates the search direction, the reliability of the search operation is lowered because the user can not concentrate on observing the search area where the light is irradiated.

Therefore, the development of a searchlight for ships that can easily focus on the search for finding an object in the search area without the need for the searcher to manipulate the searchlight by simply setting the search range to be searched and automatically searching the set search range automatically need.

Korean Registered Utility Model No. 20-0405347 (2006.01.10)

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above problems, and it is an object of the present invention to provide an image processing apparatus and method, And to provide a searchlight for a ship capable of focusing on the search for the ship.

In order to solve the above problems, a searchlight for a ship according to an embodiment of the present invention includes an input unit for inputting a left and right rotation angle with respect to a mode setting and a lamp, a left and right driving motor 30, The control arm 70 linked to the main shaft 51 as the spindle housing 50 is driven up and down is rotated by the rotation of the connected gear 31 to rotate the lamp left and right, A driving unit for vertically rotating the lamp about the rotation axis 81 at the end of the main support 80, a storage unit for storing a search range set in advance according to the search terrain, a sensing unit for setting a vertical driving range of the lamp, And a control unit for controlling the driving unit to independently rotate the left rotation range and the right rotation range of the lamp according to the respective left and right rotation angle values inputted from the input unit, A left angle input unit for inputting the left angle of the lamp and a right angle input unit 530 for inputting the right angle of the lamp, When the automatic mode A is set by operating the self selector, the control unit 100 drives the lamp up and down according to a search range set in advance in the storage unit, and drives the lamp in the left and right directions to set a predetermined irradiation pattern (zigzag or wave The sensing unit is provided with two magnetic sensors capable of adjusting the position between the limit switches. The control unit disables the operation of the magnetic sensor in the manual mode (M) or the semi-automatic mode (S) The limit switch is turned on to receive a sensing value outputted from the limit switch, or the operation of the magnetic sensor is activated in the automatic mode, The magnetic proximity receives the sensing value outputted by turning on a magnetic sensor is characterized in that for controlling the vertical drive of the lamp.

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According to an aspect of the present invention, there is provided a camera for capturing an image of an area illuminated by a lamp, the camera comprising: a camera for calculating a distance difference between an object center of a current frame and an object center of a previous frame, If the moving speed is equal to or higher than a preset intermission speed after determining the speed, it is determined that the object is a tracking object, and the object is continuously tracked by controlling the camera.

According to the present invention, when operating in the semi-automatic mode (S), the left and right rotation angles can be independently input according to the direction of travel of the ship and the search range to be detected, Can be efficiently performed.

In the automatic mode (A) operation, the searcher repeatedly searches according to the search range (up, down, left and right survey range) and the survey pattern according to the search terrain, thereby enhancing the reliability of the search operation by focusing on the search activity rather than the search operation .

In addition, it is possible to identify and identify an object by processing an image acquired through a camera, and it is possible to improve the efficiency of the search operation by continuously tracking and tracking moving objects.

1 is a block diagram of a navigation searchlight according to an embodiment of the present invention.
2A and 2B are a front view and a side view of a searchlight for a ship according to an embodiment of the present invention.
FIG. 3 illustrates an input unit for setting a mode and left and right degrees according to an embodiment of the present invention.
4 is a flowchart illustrating an operation of a search lamp according to a mode setting according to an embodiment of the present invention.
5 is a flowchart illustrating a process of identifying and tracking a target detected at sea according to an embodiment of the present invention.

The following detailed description is merely an example, and is merely an example of the present invention. Further, the principles and concepts of the present invention are provided for the purpose of being most useful and readily explaining.

Accordingly, it is not intended to provide a more detailed structure than is necessary for a basic understanding of the present invention, but it should be understood by those skilled in the art that various forms that can be practiced in the present invention are illustrated in the drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a navigation searchlight according to an embodiment of the present invention.

As shown in FIG. 1, the navigation search lamp 1000 includes an input unit 500 for inputting a mode setting and a left and right rotation angle to the lamp, a driver 400 for driving the lamp in the up and down directions, A storage unit 300 in which a search range is stored, and a control unit 100 for controlling the driving unit in accordance with the left and right rotational angle values input from the input unit. The control unit 100 may further include a sensing unit 600 for setting a vertical driving range of the lamp. The control unit 100 may control the driving unit according to a sensing value input from the sensing unit 600. Also, the navigator can passively set the upper and lower driving range of the lamp through the remote controller 700, and the control unit can control the upper and lower and left and right driving motors according to the control command inputted through the remote controller.

The control unit 100 may perform an overall operation for controlling the searchlight. The storage unit 300 may store a program for controlling the searchlight according to the set mode. In the automatic mode A, A search range and an irradiation pattern for detecting the search range may be stored.

3, the input unit 500 includes a selector 510 for selecting a manual mode M, a semi-automatic mode S and an automatic mode A of the panel 501, A left angle input unit 520 and a right angle input unit 530 that can input the right angle of the lamp. Here, the selector 510, the left angle input unit 520, and the right angle input unit 530 may be implemented by a rotary method or a touch method. In the rotary method, the rotation angle value according to the rotation amount is input to the control unit, and in the touch method, the rotation angle value according to the touch number can be input to the control unit.

When the searcher operates the selector to set the semi-automatic mode S, the control unit 100 controls the drive unit 400 according to the left rotation angle input from the left angle input unit 520 and the right rotation angle input from the right angle input unit 530, ) Of the left and right driving motors to drive the lamps to the left and right. Here, the left and right rotation angle values can be input independently of each other. The searcher can independently designate the left and right rotation ranges of the lamp within the range of 0 to 180 degrees.

Therefore, the searcher can independently set the left and right angles of the target search range according to the search environment (for example, 30 ° to the left and 60 ° to the right), thereby preventing unnecessary searching The efficiency of the search operation can be increased. If the target is not found within the search range, the searcher can change the left and right rotation angles again through the left angle input unit 520 and the right angle input unit 530, even during the search.

On the other hand, when the searcher operates the selector to set the automatic mode (A), the control unit 100 drives the lamp up and down according to the search range previously set in the storage unit, You can explore the search area with a pattern.

Referring to FIG. 1 again, the ship search lamp 1000 may further include a camera 200 for photographing an area irradiated with a lamp to acquire an image, and the controller 100 may acquire images obtained through the camera 200 The image can be processed to identify and identify objects found in the search area, and control the direction of the lamp's illumination so that it can be tracked continuously. The operation of the control unit for tracking the found object will be described in detail in FIG.

Hereinafter, an operation of controlling the irradiation direction of the lamp by operating the driving unit according to the rotation angle value input through the input unit or the search range set in advance in the storage unit will be described with reference to FIGs. 2A and 2B.

2A and 2B are a front view and a side view of a searchlight for a ship according to an embodiment of the present invention.

As shown in FIGS. 2A and 2B, the searchlight 1000 for a ship has a gear box 20 at a lower portion thereof and a lamp 10 supported by a main support 80 connected to an upper portion of the gear box 20. A gear 31 connected to one end of the main support 80 and an axis of the left and right driving motors 30 for generating a driving force for rotating the lamp 10 in the left and right directions are connected to the inside of the gear box 20, As the left and right driving motor 30 rotates by the control, the lamp 10 is rotated in the left-right direction.

The gear box 20 is connected to a shaft of a motor 40 for up and down driving which generates a driving force for rotating the lamp 10 up and down and a gear 41 connected to one end of the spindle 52. The spindle 52 is inserted into the spindle housing 50 and the contact surfaces of the spindle 52 and the spindle housing 50 are connected in the form of a screw so that the spindle housing 50 is driven up and down as the spindle rotates. The upper portion of the spindle housing 50 is connected to one end of the main shaft 51 and the other end of the main shaft 51 is connected to the control arm 70 through a link 51a. The control arm 70 is connected to the outer surface of the lamp 10 through a fixing pin 71. That is, when the up-down driving motor 40 is rotated by the control of the control unit, the spindle 52 rotates at the same time and the spindle housing 50 is driven up and down. The control arm 70 linked with the main shaft 51 as the spindle housing 50 is driven up and down rotates the lamp 10 up and down around the rotation axis 81 at the end of the main support 80.

On the other hand, the up / down driving range of the lamp 10 can be controlled according to the up / down driving range set in advance in the storage unit, or can be controlled by the sensing of the limit switches 61, 62 or the magnetic sensors 64, Can be controlled according to the sensing value input by the unit. Here, the limit switches 61 and 62 or the magnetic sensors 64 and 65 can be adjusted in installation position according to the search range of the searcher.

The limit switches 61 and 62 are turned on when the protruding bars 63 of the spindle housing 50 come into contact with the limit switches 61 and 62 in the manual mode M or the semi-automatic mode S, . The magnetic sensors 64 and 65 are provided between the limit switches 61 and 62 so that the magnet at the end of the protruding bar 63 approaches the magnetic sensors 64 and 65 And the sensed value is output to the control unit. The control unit receiving the sensed value can control the up-and-down rotation of the lamp within the up-and-down driving range by changing the rotation direction of the motor and moving the spindle housing in the opposite direction. Here, the controller deactivates the operation of the magnetic sensors 64 and 65 in the manual mode M or the semi-automatic mode S, activates the operation of the magnetic sensors 64 and 65 only in the automatic mode A, The control according to the value can be executed.

The navigation search lamp 1000 of the present invention can easily set the upper rotation angle and the lower rotation angle of the lamp in the automatic mode (A) by individually changing the mounting positions of the magnetic sensors 64 and 65, respectively. Therefore, it is possible to perform up / down driving control in case of a malfunction of the limit switch, and in the automatic mode, it is possible to improve the durability of the searchlight by preventing the malfunction by setting the maximum rotation range of the lamp in the automatic mode.

4 is a flowchart illustrating an operation of a search lamp according to a mode setting according to an embodiment of the present invention.

As shown in FIG. 4, the control unit first checks the searcher operation mode set by the selector, and if it is the semi-automatic mode (S41), the left and right drive motors are operated according to the rotation angle values input from the left angle input unit and the right angle input unit The lamp is turned to the left and right (S42). If the object is not found within the left and right search range, the control unit receives the upper or lower lamp rotation command input through the remote controller, and rotates the lamp upward or downward (S43). The control unit may perform the search operation by rotating the lamp leftward or rightward according to the left and right rotation range set by the step S42 at the changed height, which is located in accordance with the lamp movement that is rotated upward or downward (S44).

On the other hand, if the control unit confirms the searcher operation mode set by the selector (S41), the control unit controls the left and right drive motors and the up and down drive motors according to the search range and irradiation pattern set in advance in the storage unit, (S45).

5 is a flowchart illustrating a process of identifying and tracking a target detected at sea according to an embodiment of the present invention.

As shown in FIG. 5, the searchlight for ship can process the image obtained from the camera to identify the target and continuously track the target. First, the control unit drives the camera at the same time as the searchlight operates to acquire images of the search area continuously (S51).

The control unit can extract the minutiae of the object from the acquired image, and compare the object data with the previously stored object data to identify the object. An object recognition algorithm such as Scale Invariant Feature Transform (SIFT) or FAST (Features from Accelerated Segment) can be used as a method of extracting and confirming the object.

The control unit may use a background modeling technique to extract an object, and the control unit may divide the input image into frames to identify objects moving in the input image, and then compare the frames to identify the moving object. That is, the control unit divides the input image into frames to acquire the gray image to identify (extract) the object. The gray image can be obtained using the Y (brightness) value in the image obtained in the YUV format. Then, the difference between the gray image X1 obtained for one frame and the gray image X1 of the previous frame is calculated to perform a difference image. This allows fast and accurate identification of moving objects by comparing differences between images with moving objects on the same background. This difference image can be obtained by calculating a difference value for every pair of mutually corresponding pixels between two frames. Accordingly, when the moving object is found in the acquired image, the control unit can recognize (recognize) the object as a target to be tracked (S52, S53).

Next, when it is determined that the object to be tracked is an object to be tracked, the controller controls the camera and fixes the object to be tracked. If the moving speed is greater than or equal to a predetermined speed limit, the control unit determines that the object is a tracking object. So that the object can be continuously tracked (S54).

Therefore, it is possible to independently set the search range of the navigation lights for the ship, and it can search through the pre-set search pattern and process the acquired image through the camera, Efficiency and reliability can be improved. Here, the searcher can be understood as an operator as a subject performing search operations on operation, operation and object detection of the searchlight for ships.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, I will understand.

Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by equivalents to the appended claims, as well as the appended claims.

10: Lamp
20: gear box 30: motor for left and right driving
31: gear 40: motor for up and down driving
41: gear 50: spindle housing
51: main shaft 52: spindle
61, 62: Limit switch
63: protruding bar 64,65: magnetic sensor
51a: Link 70: control arm
71: Fixing pin 80: Main support
81: rotating shaft 100:
200: camera 300: storage unit
400: driving part 500: input part
510: mode input unit 520: left input unit
530: right angle input unit 600: sensing unit
700: Remote control 1000: Searchlight

Claims (3)

An input unit for inputting a mode setting and a left / right rotation angle for the lamp,
The motor 30 for the left and right rotates to rotate the gear 31 connected to one end of the main support 80 to rotate the lamp right and left and the motor 40 for up and down rotation rotates to rotate the spindle housing 50 up and down The control arm 70 linked with the main shaft 51 is driven by a driving unit that rotates the lamp up and down around the rotation axis 81 at the end of the main support 80,
A storage unit in which a predetermined search range is stored according to the search terrain,
A sensing unit for setting a vertical driving range of the lamp,
And a control unit for controlling the driving unit to independently rotate the left rotation range and the right rotation range of the lamp according to the respective left and right rotation angle values inputted from the input unit,
The input unit includes a selector for selecting a manual mode M, a semi-automatic mode S and an automatic mode A, a left angle input unit for inputting a left angle of the lamp, and a right angle An input unit 530,
When the searcher operates the selector to set the automatic mode A, the control unit 100 drives the lamp up and down according to a search range previously set in the storage unit, Wave) to search the search area,
Wherein the sensing unit includes two magnetic sensors capable of adjusting positions between the limit switches,
The control unit deactivates the operation of the magnetic sensor in the manual mode (M) or the semi-automatic mode (S), receives the sensing value output by turning on the limit switch in contact with the protruding bar, or activates the operation of the magnetic sensor And a magnetic sensor at the end of the protruding bar is brought close to the magnetic sensor so as to turn on the magnetic sensor to receive the sensed value to control the up and down driving of the lamp.
delete The method according to claim 1,
Further comprising a camera for photographing an area irradiated with the lamp to acquire an image,
Wherein the control unit determines a moving speed by calculating a distance difference between an object center of a current frame and an object center of a previous frame and then determines that the moving object is an object to be traced if the moving speed is equal to or higher than a preset intermission speed, And the object is traced.

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