KR101978491B1 - Apparatus and method for controling strike command using ir sensor and lrf sensor - Google Patents

Abstract

The present invention relates to an apparatus and a method for controlling a strike command using a composite sensor, which comprises: a heat source detection unit detecting a target present in the ground or the air by using a first sensor after a warhead is launched, and detecting a heat source generated from the detected target; a distance information collection unit detecting a target present in the ground or the air by using a second sensor after the warhead is launched, and collecting current distance information with the detected target at a current position; and a strike command control unit controlling a strike command with respect to the warhead based on the collected distance information.

Description

Blow command control device using compound sensor and its method {APPARATUS AND METHOD FOR CONTROLING STRIKE COMMAND USING IR SENSOR AND LRF SENSOR}

The present invention relates to a striking command control device and a method using a composite sensor, and more particularly to the detection of the target by applying an infrared (IR) sensor and a three-dimensional laser space recognition (LRF) sensor to the warhead assembly, The present invention relates to a blow command control device and a method using a complex sensor to control the blow command by collecting the distance information.

In general, infrared (IR) sensors are mainly used to detect and track targets with heat sources. Recent infrared sensors are divided into SW (short wave), MW (medium wave), and LW (long wave) to enable detailed identification of target weapon systems with heat sources, so they can distinguish false signals due to heat expiration or reflected light emitted from an aircraft. It became possible.

However, MW and LW infrared sensors need time to cool down. Especially, LW infrared sensors are not suitable for use in weapon systems that need to be fired within a short time, and SW infrared sensors are difficult to identify detailed targets. Therefore, the weapon system that fires within a short time is mainly using MW infrared sensor. However, the MW infrared sensor alone has a problem that it is difficult to distinguish the heat source due to the heat expiration of the aircraft or the surrounding flames, so that the target cannot be accurately recognized.

In this regard, Korean Patent Laid-Open Publication No. 1997-0022368 discloses a "detection / tracking circuit and target search method of an infrared searcher".

The present invention has been invented to solve the above problems, and relates to a blow command control device and method using a complex sensor applying an infrared (IR) sensor and a three-dimensional laser space recognition (LRF) sensor to the warhead assembly. .

The present invention relates to a blow command control device and method using a complex sensor for detecting a heat source generated from a target by using an infrared (IR) sensor, and collecting distance information about the target from a three-dimensional laser spatial recognition (LRF) sensor It is about.

The present invention relates to a blow command control device and a method using a composite sensor for controlling the blow command of the warhead based on the collected distance information.

Strike command control device using a composite sensor according to the present invention for achieving the above object, after the warhead firing, using a first sensor to detect a target present in the ground or air, and detects a heat source generated from the detected target A heat source detector; A distance information collection unit for detecting a target present on the ground or in the air by using a second sensor after collecting the warhead and collecting current distance information with the target detected at the current location; And a hit command controller configured to control a hit command for the warhead based on the collected distance information.

In addition, the first sensor is an infrared (IR) sensor for detecting the infrared information of the target, the second sensor is a transmitter for emitting a laser beam to the target and a receiver for receiving the laser beam reflected back from the target It is characterized in that the three-dimensional laser space recognition (LRF) sensor consisting of a combination.

The distance information collection unit may include: an information collection determiner configured to determine whether to collect distance information with the detected target when a heat source generated from the detected target is detected; And a detection area determiner configured to determine whether the collected distance information is information with a target detected on the ground or information with a target detected in the air.

In addition, when it is determined by the information collection determiner that the distance information with respect to the detected target is not collected, the striking command control for the warhead is entered into the standby mode.

The hit command controller may further include: a ground hit command unit configured to control a hit command to the warhead when the collected distance information is information about a target detected on the ground; And an air strike command unit for controlling a strike command for the warhead when the collected distance information is information with a target detected in the air.

The ground hitting command unit may further include: a first distance information comparison unit configured to compare previous distance information of the target collected before the target detection and current distance information of the target collected after the target detection; And a first command execution unit that generates and executes a hit command for the warhead when the difference between the previous distance information and the current distance information is within a preset setting range.

In addition, the first command execution unit is a time when the relative value of the difference between the previous distance information and the current distance information is within a preset range, the distance corresponding to the height information of the target collected before the target detection occurs as the hitting time point Characterized in that to perform a blow command.

The air strike command unit may include: a second distance information comparison unit comparing the collected distance information with the effective strike distance of the warhead; And a second command execution unit that generates and executes a hit command for the warhead when the comparison result falls within the effective strike distance between the collected distance information and the warhead.

Strike command control method using a composite sensor according to the present invention for achieving the above object by the heat source detection unit, after the warhead firing, using a first sensor to detect a target present in the ground or air, the detected target Detecting a heat source generated from the; Detecting, by the distance information collecting unit, a target existing on the ground or in the air using the second sensor after the warhead is launched, and collecting current distance information with the target detected at the current location; And controlling, by the striking command control unit, the striking command for the warhead based on the collected distance information.

In addition, after the warhead launch, detecting a target existing on the ground or in the air by using the second sensor, and collecting current distance information with the target detected at the current location, if a heat source generated from the detected target is detected Determining whether to collect distance information with the detected target; And determining whether the collected distance information is information with a target detected in the ground or information with a target detected in the air.

In addition, in the step of determining whether to collect the distance information with the detected target when the heat source generated from the detected target is detected, if it is determined that the distance information with the detected target is not collected, the batting command standby mode for the warhead Characterized in that enters.

The controlling of the hit command for the warhead based on the collected distance information may include: controlling the hit command for the warhead when the collected distance information is information with a target detected on the ground; And if the collected distance information is information with a target detected in the air, controlling a hit command to the warhead.

In addition, when the collected distance information is information about a target detected on the ground, the controlling of the hit command for the warhead may include controlling the previous distance information with the target collected before the target detection and a current of the target collected after the target detection. Comparing distance information; And generating a hit command for the warhead when the difference between the previous distance information and the current distance information is within a preset setting range.

Also, as a result of the comparison, when the difference between the previous distance information and the current distance information is within a preset setting range, the step of generating and performing a hit command for the warhead may include setting a relative value of a difference between the previous distance information and the current distance information. It is characterized in that the hitting command is performed at a time point within which the distance corresponding to the height information collected before the target detection, which is within the set range, is generated.

Further, when the collected distance information is information with a target detected in the air, controlling the hit command for the warhead may include comparing the collected distance information with the effective hit distance of the warhead; And generating and performing a hit command for the warhead when the comparison result is within the effective hitting distance of the collected distance information and the warhead.

Strike command control device and method using a composite sensor according to the present invention having the configuration as described above by applying an infrared (IR) sensor and a three-dimensional laser space recognition (LRF) sensor to the warhead assembly, from the infrared (IR) sensor By detecting the heat source generated from the target, and collecting distance information about the target from the 3D laser space recognition (LRF) sensor, it is possible to improve the detection accuracy of the target.

In addition, the present invention transmits a strike command to the warhead when the signal size of the three-dimensional laser space recognition (LRF) sensor in the ground detection is within a predetermined set range, and from the three-dimensional laser space recognition (LRF) sensor in the air detection When the distance information is collected, the impact command is transmitted to the warhead, so that precise control and analysis of the timing of the impact command can be performed.

1 is a view for explaining the configuration of a system to which the striking command control apparatus using a composite sensor according to the present invention.
2 is a view for explaining the configuration of a blow command control device using a composite sensor according to the present invention.
3 is a view for explaining the detailed configuration of the blow command control unit employed in the blow command control device using a composite sensor according to the present invention.
4 and 5 are views for explaining a blow command time point controlled by the blow command control device using a composite sensor according to the present invention.
6 is a flowchart illustrating a method of controlling a hit command using a compound sensor when a target is detected on the ground according to the present invention.
7 is a flowchart illustrating a method of controlling a blow command using a compound sensor when a target is detected in the air according to the present invention.

As the present invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description.

However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements.

When a component is referred to as being "connected" or "connected" to another component, it may be directly connected to or connected to that other component, but it may be understood that other components may be present in between. Should be. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that there is no other component in between.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention. Hereinafter, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

1 is a view for explaining the configuration of a system to which the striking command control apparatus using a composite sensor according to the present invention.

Referring to FIG. 1, the system to which the striking command control apparatus using the complex sensor according to the present invention is applied includes a launch platform 10, a warhead 20, a target T, and the like.

The warhead 20, which is operated separately from the launch platform 10, such as a guided weapon system, is initially powered by the launch platform 10 before being separated from the launch platform 10. When the warhead 20 is ready to launch it is to perform the task of separating from the projectile platform 10 according to the operating procedure.

At this time, the warhead 10 according to the present invention is applied to a complex sensor. More specifically, three-dimensional laser spatial recognition (LRF) consists of a combination of an infrared (IR) sensor for sensing infrared information of a target, a transmitter for emitting a laser beam to the target, and a receiver for receiving a laser beam reflected from the target. The sensor can be applied.

2 is a view for explaining the configuration of a blow command control device using a composite sensor according to the present invention.

Referring to FIG. 2, the striking command control apparatus 100 using the complex sensor according to the present invention includes a heat source detecting unit 110, a distance information collecting unit 120, and a striking command control unit 130.

The heat source detector 110 detects a target present in the ground or the air by using a first sensor after the warhead is launched from the launch platform, and detects a heat source generated from the detected target. In this case, the first sensor is an infrared (IR) sensor for detecting infrared information of the target.

After the warhead is launched from the launch platform, the distance information collecting unit 120 detects a target existing on the ground or in the air by using a second sensor, and collects current distance information with the target detected at the current location. In this case, the second sensor is a three-dimensional laser spatial recognition (LRF) sensor consisting of a combination of a transmitter for emitting a laser beam to the target and a receiver for receiving the laser beam reflected from the target.

To this end, the street government collecting unit 120 includes an information collecting detecting unit 121 and a detection area detecting unit 122.

When the heat source generated from the detected target is detected, the information collection determiner 121 determines whether to collect distance information with the detected target.

The detection area detector 122 determines whether the collected distance information is information with a target detected on the ground or with a target detected in the air.

Here, if it is determined by the information collecting determiner 121 that the distance information with respect to the detected target is not collected, the blow command control for the warhead enters the standby mode, and the distance information with the detected target is collected. If it is determined, the blow command control for the warhead enters the progress mode according to the blow command controller.

The striking command control unit 130 controls the striking command for the warhead based on the collected distance information. The configuration and function according to this will be described in detail later with reference to FIG. 3.

3 is a view for explaining the detailed configuration of the blow command control unit employed in the blow command control device using a composite sensor according to the present invention, Figures 4 and 5 are in the blow command control device using a composite sensor according to the present invention It is a figure for demonstrating the hit command time controlled by it.

Referring to FIG. 3, the hit command controller 130 controls the hit command for the warhead based on the collected distance information.

For this purpose, the blow command controller 130 includes a ground blow command unit 140 and an air strike command unit 150.

When the collected distance information is information with a target detected on the ground, the ground strike command unit 140 controls the strike command for the warhead.

The ground strike command unit 140 may include a first distance information comparison unit 141 and a first command execution unit 142.

The first distance information comparison unit 141 compares previous distance information with the target collected before the target detection and current distance information with the target collected after the target detection.

As a result of the comparison, when the difference between the previous distance information and the current distance information is within a preset setting range, the first command execution unit 142 generates and executes a hit command for the warhead.

As shown in FIG. 4, the first command execution unit 142 has a relative value with respect to a difference between the previous distance information and the current distance information within a preset setting range, and corresponds to a distance corresponding to the height information of the target collected before the target detection. The hit command is performed using the point of time at which is generated.

More specifically, the ground target is mainly composed of tanks or armored vehicles, when the predetermined distance information difference is more than a certain level is recognized as a target hitting reputation is made. At this time, the distance between the free-falling warhead and the ground shows a relatively constant pattern, but the distance information of the warhead that is fired during parabolic movement is more irregular than the distance information of the free-falling object. Accordingly, in the present invention, when a distance (within x to ym) similar to the height information of the target is generated by comparing the relative value with the previous distance information instead of the absolute value of the distance information, the hitting point is selected. Here, the reason why the minimum value is set is to recognize the target for periodically moving distance information. The reason for the maximum value is that the ground trajectory may be suddenly displaced through the precession of the warhead, which is mistaken as the wrong hit command point. Because it can be.

If the collected distance information is information with a target detected in the air, the air strike command unit 150 controls a blow command for the warhead.

The air strike command unit 150 may include a second distance information comparison unit 151 and a second command execution unit 152.

The second distance information comparison unit 151 compares the collected distance information with the effective hitting distance of the warhead.

As a result of the comparison, the second command execution unit 152 generates and executes a hit command for the warhead when the distance information falls within the effective hitting distance of the warhead and the collected distance information.

6 is a flowchart illustrating a method of controlling a hit command using a compound sensor when a target is detected on the ground according to the present invention.

Referring to Figure 6, when the target is detected on the ground according to the present invention is a blow command control method using a composite sensor as described above using a blow command control device using a composite sensor will be omitted duplicated below do.

First, after the warhead is launched from the launch platform, using the first sensor and the second sensor to detect a target present in the ground or the air (S100). In this case, the first sensor is an infrared (IR) sensor for detecting infrared information of the target, the second sensor is a combination of a transmitter for emitting a laser beam to the target and a receiver for receiving the laser beam reflected back from the target. It is a three-dimensional laser space recognition (LRF) sensor.

Next, determine whether the heat source generated from the target detected through the first sensor is detected (S110).

In step S110, when a heat source generated from the detected target is detected, current distance information with the detected target at the current position collected through the second sensor is compared (S120).

On the other hand, if the heat source generated from the target detected in step S110 is not detected, the process returns to step S100.

Next, in operation S120, when the difference between the previous distance information and the current distance information is within a preset setting range, a blow command for the warhead is generated and performed (S130).

In operation S120, when the difference between the previous distance information and the current distance information does not fall within the preset setting range, the process returns to step S100.

7 is a flowchart illustrating a method of controlling a blow command using a compound sensor when a target is detected in the air according to the present invention.

Referring to FIG. 7, in the case where a target is detected in the air according to the present invention, the blow command control method using the compound sensor uses the blow command control device using the compound sensor described above. do.

First, after the warhead is launched from the launch platform, using the first sensor and the second sensor to detect a target present in the ground or air (S200). In this case, the first sensor is an infrared (IR) sensor for detecting infrared information of the target, the second sensor is a combination of a transmitter for emitting a laser beam to the target and a receiver for receiving the laser beam reflected back from the target. It is a three-dimensional laser space recognition (LRF) sensor.

Next, determine whether the heat source generated from the target detected through the first sensor is detected (S210).

Next, when the heat source generated from the detected target is detected, it is determined whether the distance information with the detected target is collected through the second sensor (S220).

On the other hand, if the heat source generated from the target detected in step S210 is not detected, the process returns to step S200.

Next, when the heat source generated from the target detected in step S220 is detected, and the collection of the distance information with the detected target is detected, the effective hitting distance of the warhead is compared with the collected distance information (S230).

On the other hand, the heat source generated from the target detected in step S220 is detected, but if the collection of distance information with the detected target is not detected, the process returns to step S200.

Next, when the comparison result in the step S230, and falls within the effective distance of the warhead and the collected distance information, and generates a blow command for the warhead (S240).

On the other hand, in step S230, as a result of the comparison, if it does not fall within the effective distance of the collected distance information and warheads, and returns to step S200.

As such, the blow command control device and method using the composite sensor according to the present invention is applied to the warhead assembly by applying an infrared (IR) sensor and a three-dimensional laser space recognition (LRF) sensor, which is generated from the target from the infrared (IR) sensor By detecting the heat source and collecting distance information about the target from the 3D laser spatial recognition (LRF) sensor, the detection accuracy of the target can be improved.

In addition, the present invention transmits a strike command to the warhead when the signal size of the three-dimensional laser space recognition (LRF) sensor in the ground detection is within a predetermined set range, and from the three-dimensional laser space recognition (LRF) sensor in the air detection Once the distance information is collected, the command is sent to the warhead, enabling precise control and analysis of the time of the command.

The functional operations described herein and the embodiments relating to the subject matter are implemented in digital electronic circuitry or computer software, firmware or hardware, including the structures disclosed herein and their structural equivalents, or in combination with one or more of them. It is possible.

Embodiments of the subject matter described herein include one or more computer program instructions, one or more computer program instructions that are encoded on a tangible program medium for execution by a data processing apparatus or to control its operation. It can be implemented as a module. The tangible program medium may be a propagated signal or a computer readable medium. A propagated signal is an artificially generated signal such as a machine generated electrical, optical or electromagnetic signal that is generated to encode information for transmission to a suitable receiver device for execution by a computer. The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, a combination of materials affecting a machine readable propagated signal, or a combination of one or more of them.

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, or a priori or procedural languages. It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment.

The computer program does not necessarily correspond to a file of the file device. A program may be in a single file provided to the requested program, or in multiple interactive files (eg, one or more files that store modules, subprograms, or parts of code), or other files that hold data or other programs. Some (eg, one or more stored in a markup language document) may be stored within.

The computer program may be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

In addition, the logic flows and structural block diagrams described in this patent document describe corresponding acts and / or specific methods supported by the corresponding functions and steps supported by the disclosed structural means, corresponding It can also be used to build software structures and algorithms and their equivalents.

The processes and logic flows described herein are capable of being executed by one or more programmable processors that execute one or more computer programs to perform functions by operating on input data and generating output.

Processors suitable for the execution of computer programs include, for example, both general and special purpose microprocessors and any one or more of any kind of digital computer. In general, a processor will receive instructions and data from a read only memory or a random access memory or both.

At the heart of a computer is one or more memory devices for storing instructions and data and a processor for performing instructions. In addition, computers are generally such that one or more for storing data such as, for example, magnetic, magneto-optical disks or optical disks are operable to receive data from, transfer data to, or perform both of these operations. Combined or will include it. However, the computer does not need to have such a device.

The foregoing description presents the best mode of the invention, and provides examples to illustrate the invention and to enable those skilled in the art to make and use the invention. The specification thus produced is not intended to limit the invention to the specific terms presented.

Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art can make modifications, changes, and variations to the examples without departing from the scope of the invention. In short, in order to achieve the intended effect of the present invention, it is not necessary to separately include all the functional blocks shown in the drawings or to follow all the orders shown in the drawings in the order shown; Note that it may fall within the scope.

100: blow command control device using a compound sensor
110: heat source detection unit
120: distance information collector
130: blow command control unit
140: ground blow command
150: air blow command

Claims (15)

A heat source detector for detecting a target present on the ground or in the air by using a first sensor after the warhead is fired, and detecting a heat source generated from the detected target;
A distance information collection unit for detecting a target present on the ground or in the air by using a second sensor after collecting the warhead and collecting current distance information with the target detected at the current location; And
And a blow command controller configured to control a blow command for the warhead based on the collected distance information.
The hit command control unit,
A ground strike command unit for controlling a strike command for a warhead when the collected distance information is information with a target detected on the ground; And an air strike command unit for controlling a strike command for the warhead when the collected distance information is information with a target detected in the air.
The ground blow command unit,
A first distance information comparison unit for comparing previous distance information with the target collected before the target detection and current distance information with the target collected after the target detection; And a first command execution unit generating and executing a hit command for the warhead when a difference between the previous distance information and the current distance information is within a preset setting range.
Strike command control device using a composite sensor comprising a. The method of claim 1,
The first sensor is an infrared (IR) sensor for sensing the infrared information of the target, the second sensor is a combination of a transmitter for emitting a laser beam to the target and a receiver for receiving the laser beam reflected from the target back Strike command control device using a composite sensor, characterized in that the three-dimensional laser space recognition (LRF) sensor made. The method of claim 1,
The distance information collecting unit,
An information collection determiner configured to determine whether to collect distance information with the detected target when a heat source generated from the detected target is detected; And
A detection area determining unit for determining whether the collected distance information is information with a target detected on the ground or information with a target detected in the air;
Strike command control device using a composite sensor comprising a. The method of claim 3,
If it is determined by the information collection determiner that the distance information with respect to the detected target is not collected, the blow command control for the warhead enters the standby mode, characterized in that the blow command control device using a complex sensor. delete delete The method of claim 1,
The first command execution unit hits a time when a relative value of a difference between the previous distance information and the current distance information is within a preset range and a distance corresponding to the height information of the target collected before the target detection occurs. Strike command control device using a compound sensor, characterized in that for performing a command. The method of claim 1,
The air blow command unit,
A second distance information comparison unit comparing the collected distance information with the effective hitting distance of the warhead; And
As a result of comparison, when the collected distance information falls within the effective strike distance of the warhead, a second command execution unit generating and executing a hit command for the warhead;
Strike command control device using a composite sensor comprising a. Detecting, by the heat source detecting unit, a target existing on the ground or in the air after the warhead is fired, and detecting a heat source generated from the detected target;
Detecting, by the distance information collecting unit, a target existing on the ground or in the air using the second sensor after the warhead is launched, and collecting current distance information with the target detected at the current location; And
And controlling, by the striking command control unit, the striking command for the warhead based on the collected distance information.
Based on the collected distance information, controlling the hit command for the warhead,
If the collected distance information is information with a target detected on the ground, controlling a hit command to the warhead; And when the collected distance information is information with a target detected in the air, controlling a hit command to the warhead.
If the collected distance information is information with a target detected on the ground, controlling the hit command for the warhead,
Comparing previous distance information with the target collected before the target detection and current distance information with the target collected after the target detection; And generating a hit command for the warhead when the difference between the previous distance information and the current distance information is within a preset setting range.
Strike command control method using a composite sensor comprising a. The method of claim 9,
After launching the warhead, detecting a target existing on the ground or in the air by using a second sensor, and collecting current distance information with the detected target at the current location,
Determining whether to collect distance information with the detected target when a heat source generated from the detected target is detected; And
Determining whether the collected distance information is information with a target detected on the ground or information with a target detected in the air;
Strike command control method using a composite sensor comprising a. The method of claim 10,
In the step of determining whether to collect the distance information with the detected target when a heat source generated from the detected target is detected,
If it is determined that the distance information with respect to the detected target is not collected, the blow command control method using a complex sensor, characterized in that entering the blow command standby mode for the warhead. delete delete The method of claim 9,
As a result of the comparison, when the difference between the previous distance information and the current distance information is within a preset setting range, the step of generating and performing a hit command for the warhead may be performed.
It is characterized in that the hitting command is performed when the relative value of the difference between the previous distance information and the current distance information is within the preset setting range, and the time when the distance corresponding to the height information collected before the target detection is generated as the hitting point. Blow command control method using a composite sensor. The method of claim 9,
If the collected distance information is information with a target detected in the air, controlling the hit command to the warhead,
Comparing the collected distance information with the effective hitting distance of the warhead; And
As a result of the comparison, when the collected distance information falls within an effective hitting distance of the warhead, generating and performing a hitting command for the warhead;
Strike command control method using a composite sensor comprising a.

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