KR101736340B1

KR101736340B1 - underwater target tracking system

Info

Publication number: KR101736340B1
Application number: KR1020150063808A
Authority: KR
Inventors: 박승수
Original assignee: 소나테크 주식회사
Priority date: 2015-05-07
Filing date: 2015-05-07
Publication date: 2017-05-29
Also published as: KR20160150127A

Abstract

The present invention relates to an underwater target tracking system, and more particularly to a system for tracking a desired target using an ultrasonic camera in water,
The transducer of the ultrasonic camera in the underwater search step is a piezoelectric element. The beam width of each transducer is 20 占 vertically and 43.8 占 horizontally, A target recognition step of recognizing the intensity of reflection, the amount of reflection, and the length of the shadow using the selected target signal as a target; And a signal restoring step of restoring a passing signal by correcting a received signal distortion due to noise; And moving the ultrasonic camera when the position is changed or moved.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an underwater target tracking system, and more particularly to a system for tracking a desired target using an ultrasonic camera in water.

In recent years, auto tracking technology has been developed to recognize and select specific objects from images acquired through optical cameras and CCTVs, and has been used in various fields by being combined with Haiti technology.

Recently, an automatic tracking camera device has been widely used to maximize the security effect. As a prior art, Patent Registration No. 10-0871833 entitled " Automatic Tracking Camera Device " By allowing the object to be continuously centered while sensing the movement of the object to determine the vector in a direction different from the background motion, reliable and automatic tracking is possible at low cost.

In the case of the automatic track camera for land use as described above, the object is tracked based on the color, and since the object can not be discriminated by the color different from the land in the water, the reflection amount of the object, the reflection intensity, To detect an object. Specifically, it is a system that determines the object by the reflectance of the intensity of the signal reflected by the object and the length of the shadow of the object in water, and selects the object to be tracked by the user on the monitor.

In addition to the above-mentioned prior art, there are various kinds of models of auto-tracking cameras and systems used on the ground, but there is no development of a device for tracking a specific target in water, and a device for searching underwater for military and structural seabed , It is difficult to continuously search for a specific target by connecting equipment that can be traced and navigated in the water to a ship so that the ship is trailed and the ultrasonic wave is transmitted from the target to search for the underwater.

In order to solve the above-described problems, the present invention provides a transducer for an ultrasonic camera, comprising: an underwater search step for searching underwater; and a transducer for the underwater search step, wherein the transducer has a beam width of 20 占 vertically, And a reception signal recognizing step of recognizing a reception signal from an omnidirectional position, selecting an arbitrary reception signal among the received signals as described above, determining a reflection intensity, a reflection amount, and a shading length A target recognition step of recognizing a target signal and a signal restoring step of restoring a passing signal by correcting a received signal distortion due to noise; When the target position is changed or moved, the ultrasonic camera consists of the target tracking step.

The present invention can detect objects in the water by transmitting and receiving sectoral ultrasonic waves in the water by using an ultrasonic camera equipped with a transducer in the water by applying sonar technology. When a user selects a desired target, Direction and tracking the target, and is a device for tracking the target object continuously, even if the intensity of reflection, the amount of reflection, and the length of the shadow of the signal transmitted and received by the target are transmitted, It can be used for seafloor work, making it possible to work more efficiently.

1 is a flowchart according to the present invention;
2 is a beam pattern diagram of a transducer according to the present invention;
3 is a state diagram of a vertical detection range showing a vertical detection range of a single transducer according to the present invention;
4 is a state diagram of a horizontal detection range showing a horizontal detection range of a single transducer according to the present invention.
FIG. 5 is a state diagram illustrating an example of a search for an ultrasonic camera image and a target tire of an underwater target tracking apparatus according to the present invention. FIG.
FIG. 6 is a state diagram showing a principle that a beam emitted from a target tracking camera according to the present invention is converted into a digital signal according to the intensity of a signal reflected therefrom and is expressed by a monitor.

An underwater search step (S1) for searching underwater by an ultrasonic camera;

The transducer of the above-mentioned underwater search step is constituted by a piezoelectric element. The beam width per one transducer 10 is 20 占 vertically and 43.8 占 horizontally,

A received signal recognizing step (S2) of recognizing a received signal from all directions;
Selecting (S3) any received signal among the received signals;

A target recognizing step (S4) of recognizing a reflection intensity, a reflection amount, and a shadow length by using the selected received signal as a target;

A signal restoring step (S5) of restoring a signal through a correction algorithm of a received signal distortion due to noise;

When the target position is changed or moved, the ultrasonic camera performs the target tracking step (S6).

(S6), the received signal recognition step (S2), the received signal selection step (S3), the target received signal recognition step (S4), the signal restoration step (S5), and the target tracking step (S6) In addition,

In the underwater search step S1, the target tracking device includes a trend ducer mounted on the ultrasonic camera while the rotary fan rotates at a constant speed,

The transducer is composed of a piezoelectric element. The transducer has a beam width of 20 占 vertically and 43.8 占 horizontally, as shown in FIGS. 3 and 4.

The outgoing signal (ultrasound) emitted in the underwater search step S1 passes through a reception signal recognition step S2 for recognizing a reception signal reflected from an object by radiating to an object,
In the arbitrary reception signal selection step S3 of the received signal,

In the step of selecting an arbitrary reception signal as described above, although not shown in the drawing, a user can manually select a target among arbitrary reception signals as a monitoring device.

As described above, after a certain received signal is selected, the target is recognized by recognizing the intensity of reflection, the amount of reflection, and the length of the shade using the target signal selected in the target recognition step S4 as a target.

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If the target is selected by the user as described above, the signal received at the target is very weak, so that the noise is removed through the amplifier, and the digital signal processing device through the A / D converter removes noise And an algorithm for correcting the signal is built in.

When the target position is changed or moved based on the noise-canceled signal as described above, the ultrasonic camera performs the target tracking step S6.

In the target tracking step S6, as shown in FIG. 5, the user tracks the target through the intrinsic reflection intensity, reflection amount, and shadow length 30 of the selected tire 20.

Through the above process, the target is recognized through the signal reflection intensity, the reflection amount and the shadow length of the target in the user's desire in the water, and the distorted signal is corrected by the self noise and the surrounding noise so that the selected target can be tracked will be.

Also, as shown in FIG. 6, the signal transmitted from the ultrasonic camera detects an object through the intensity of the signal reflected from the object and the length of the shadow of the object, and the received signal reflected by the object, Is detected as an image on the monitor. By detecting the object through the height of the underwater floor of the ultrasonic camera, the height of the object, the inclination distance to the object, and the length of the shadow of the object, Detect and track objects.

Although the embodiments most suitable for the present invention have been disclosed as described above so that it may be understood that those skilled in the art understand the present invention, they are not limited to the present invention. And various changes and modifications may be made without departing from the spirit and scope of the present invention. Accordingly, the scope of the appended claims should be accorded the broadest interpretation so as to encompass such changes and modifications.

S1 Underwater search phase
S2 Receive Signal Recognition Step
S3 receive signal selection step
S4 target recognition step
S5 signal restoration step
S6 Target Trekking Step
10 transducer

Claims

An underwater search step of performing an underwater search of an ultrasonic camera using a transducer;
A reception signal recognition step of recognizing a reception signal from all directions in a signal emitted from the transducer; Selecting any of the received signals; A target recognition step of recognizing any selected received signal; A signal restoring step of restoring a signal through an algorithm that corrects received signal distortion in a target recognition step; And the target position is changed or moved according to the restored signal of the target, the ultrasonic camera performing target tracking.
In the underwater search step, the transducer of the ultrasonic camera is constituted by a piezoelectric element, and the beam width per transducer is 20 degrees horizontally and 43.8 degrees horizontally,
Wherein the target recognition step recognizes the reflection intensity, the reflection amount, and the shading length of the target in any received signal.