KR20040091992A - Cyber pointer system - Google Patents

Abstract

PURPOSE: A cyber pointer system is provided to precisely aim a gun at a target at night by using a camera and a three-dimensional sensor. CONSTITUTION: A cyber pointer system is composed of a camera(10) mounted to the center of a helmet, a sensor unit(20) having two three-dimensional sensors and a transmitter(23), a pocket PC(2), an input unit(30) for controlling the pocket PC, a microphone(62) and an earphone(61) mounted to the helmet, and a Head-Mounted Display(HMD)(60). The three-dimensional sensors are mounted to a gun, and detect three-dimensional coordinates. The transmitter transmits position and direction data to a main controller(100) in the pocket PC. The pocket PC has a communication module(200), and transmits image data and position data to an inner monitor(50) and the HMD. The HMD is controlled by the pocket PC, and displays a target and an aim image.

Description

Cyber pointer system {CYBER POINTER SYSTEM}

The present invention relates to a virtual aiming system using a three-dimensional sensor, in particular, the position information and direction information from the sensor unit mounted on the gun is measured and transmitted to the main controller through the transmitter, shooting from the micro-amplification type camera mounted on the helmet It transmits the image information to the main controller, and by displaying the position information and orientation information of the sensor unit and the image information of the micro-amplification type camera on the HMD, the user can aim the target through the aiming image of the HMD, Not only is it possible to precisely identify the enemy's position at low dark nights, but also aims precisely, even without revealing its position by indirectly aiming through the three-dimensional sensor that makes up the camera and sensor without aiming the gun with the eyes. Possible to record location information received from GPS receiver and storage device The electronic map allows you to clearly identify your current location and the surrounding environment, and allows you to talk to your teammates wirelessly using the microphone and earphones attached to the helmet, enabling efficient operation. It is about (CYBER POINTER SYSTEM).

In order to win unilateral victories in night combat, it is essential to have advanced night vision equipment, which has become commonplace in today's advanced military forces. With no distinction between day and night on the battlefield, it is well known that only troops equipped with sensors that can be used in any kind of bad weather can win the victory.

In general, there are two types of night vision equipment, one of which is infrared imaging equipment (or thermal imaging equipment) and light amplification night vision equipment, a device for amplifying weak light.

First, since infrared imaging equipment emits infrared rays (heat rays) at an object having an absolute temperature of 0 degrees or above, the temperature difference is detected by an infrared camera element, converted into an electric signal, and displayed on the screen. Cars, tanks, ships and aircraft, and humans, horses, and military dogs that have a heat source are more likely to be detected at night due to higher temperature differences than their surroundings.

Secondly, the optical amplification type night vision equipment converts and amplifies the minute light of night light (starlight, moonlight and lightning) and artificial light (lights, cigarettes, etc.) into electrons in a special vacuum tube called an image amplification tube and displays them on the fluorescent screen. To display brightly.

However, the conventional night vision equipment is attached to a tank or a gun, so that the user directly aims the eyes, so in the dark, there is an advantage that only the enemy can be first identified and aimed, but the aiming firing process is carried out every time the aim is aimed at. Because it must go through, not only delayed shooting time, there was a problem that his position is exposed to the enemy during the aiming fire.

The present invention has been made to solve the above problems, attached to the sensor unit consisting of a three-dimensional sensor to the scale and the scale of the gun and a transmitter attached to a predetermined portion of one side of the gun, the direction measured through the sensor unit in the transmitter By transmitting the information to the main controller and at the same time the image information taken from the micro-amplification type camera mounted on the helmet to the main controller, by displaying the position information and direction information of the sensor unit and the image information of the micro-amplification type camera on the HMD The user can aim the target through the aiming image of the HMD, and can clearly identify his current location and surrounding environment through the location information received from the GPS receiver and the electronic map recorded in the storage device. , And use the microphone and earphones attached to your helmet to talk wirelessly with team members nearby To provide a cyber-pointer system to have its purpose.

1 is a block diagram schematically showing a cyber pointer system according to the present invention;

FIG. 2 is a block diagram schematically illustrating a signal processing process performed in the main controller shown in FIG. 1;

3 is a block diagram schematically illustrating a signal processing process performed at the communication module rate shown in FIG. 1;

Figure 4 is a schematic diagram showing a state wearing a HMD embodied in the cyber pointer system according to the present invention,

5 is a schematic view showing a gun implemented with a cyber pointer system according to the present invention;

6A is a schematic view showing a state in which a gun is aiming at a target while simultaneously photographing a target in the microamplification camera of the present invention;

Figure 6b is a schematic diagram showing a screen aimed at the target on the HMD of the present invention,

7 is a coordinate diagram schematically showing that the 3D sensors A and B and the target are displayed together on the gaze plane in the micro-amplification type camera of the present invention.

<Brief description of symbols for the main parts of the drawings>

1: helmet 2: Pocket PC

3: flexible cable 4: target

5: total 6: scale

7: scale

10: Micro Amplification Camera

20: sensor unit 21: three-dimensional sensor A

22: 3D sensor B 23: transmitter (Tx)

24: Aiming mark A 25: Aiming mark B

30: input device 31: transmitter (Tx)

40: GPS receiver 41: GPS antenna

50: internal monitor 60: HMD

61: earphone 62: microphone

100: main controller 101: receiver (Rx)

103: RAM 104: Storage Device

105: ROM

110: position calculation unit 111: coordinate calculation unit

112: position and coordinate correction 120: map selector

121: map changing unit 122: map expanding unit

130: video signal input unit 131: video signal conversion unit

140: sensor signal input unit 141: sensor signal conversion unit

150: aiming image synthesis unit 160: display control unit

170: video output unit

200: communication module 201: antenna

210: communication frequency setting unit 220: voice signal input unit

230: voice signal output unit 240: encryption processing unit

250: voice signal conversion unit 260: signal transmission unit

270: signal receiver

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram schematically illustrating a cyber pointer system according to the present invention, FIG. 2 is a block diagram schematically illustrating a signal processing process performed by the main controller shown in FIG. 1, and FIG. FIG. 4 is a block diagram schematically illustrating a signal processing process performed in the illustrated communication rate, FIG. 4 is a diagram schematically showing a state of wearing a HMD in which a cyber pointer system according to the present invention is implemented, and FIG. FIG. 6A is a diagram schematically illustrating a gun in which a cyber pointer system is implemented, and FIG. 6A schematically illustrates a state in which a gun is aiming at a target while simultaneously shooting a target in the microamplification camera of the present invention. 6B is a schematic view showing a screen aimed at a target on the HMD of the present invention, and FIG. 7 is a micro-amplified car of the present invention. 3D sensor in LA A, B (21, 22) and is schematically shown that the coordinates are displayed together on the targets to take plane.

The cyber pointer system according to the present invention includes a micro-amplification type camera 10 mounted at the center of the helmet 1 as shown in FIG. Two three-dimensional sensors (21, 22) mounted on the scale (6) and the scale (7) of the gun (5) and having a three-dimensional coordinate value with respect to the reference position, and measured by the three-dimensional sensors (21, 22) A sensor unit 20 composed of a transmitter 23 for transmitting the received position information and direction information to the main controller 100 of the pocket PC 2; After performing a predetermined calculation process according to the position information transmitted from the transmitter 23, the image transmitted from the micro-amplification type camera 10 and the position information transmitted from the sensor unit 20 and the internal monitor 50 and A pocket PC (2) displayed on the HMD (60) and transmitting / receiving a radio signal through the communication module (200); An input device 30 for externally controlling the Pocket PC 2 by having a separate keypad and command buttons (not shown); A microphone (62) and earphone (61) mounted on the helmet (1) and communicating with a team member wirelessly through a communication module built in the pocket PC (2); Made of glasses or goggles and worn by the user, the target 4 and the target image are displayed under the control of the pocket PC 2, and consists of the HMD 60.

As an example, the cyber pointer system according to the present invention performs communication transmission and GPS reception through the antennas 41 and 201 mounted on the helmet 1 as shown in FIG. 4, and is provided at the center of the helmet 1. The image captured by the camera 10 and the position information transmitted through the transmitter 23 from the sensor unit 20 are synthesized and displayed through the HMD 60 worn on the eye, and the microphone 62 and the earphone ( 61), it is implemented to talk wirelessly with team members.

The three-dimensional sensor (21, 22) refers to a sensor having a three-dimensional coordinate value with respect to the reference position, and the distance and position with respect to the reference position, such as ultrasonic sensor, GPS sensor, optical sensor, magnetic field sensor, mechanical type sensor It is possible to use any sensor that can be identified, and in the present invention, it is preferable to use an ultrasonic sensor or a GPS sensor because the method of transmitting position information using a transmitter.

The micro-amplification type camera 10 is a camera that amplifies and photographs stray light so that the human eye can see light having an intensity and wavelength (Near Infrared of 0.9 μm) that cannot be detected by the human eye. It is installed in the front center of the helmet (1).

The input device 30 is a wireless method using the transmitter 31, which is preferably portable by putting it on a wrist or in a pocket, and having a keypad or command button (not shown) of 1 to 10 so as to provide a pocket. It may be used for instructing the PC 2 to operate the button or for inputting a user password to the Pocket PC 2 if necessary.

The head-mounted display (HMD) 60 is an optical display system that has been recently developed and used for military, medical, or personal displays. The head-mounted display (HMD) 60 is a head mounted display. As it is an image device for viewing the screen in front of the eyes, the user can receive image information while moving.

On the other hand, the pocket PC (2) includes a receiver 101 for receiving a signal transmitted wirelessly from the transmitter unit 31 of the sensor unit 20 and the input device 30, as shown in FIG. The image is synthesized through the image information, the position information, and the control information transmitted from the micro-amplification type camera 10, the sensor unit 20, and the input device 30, and displayed on the HMD 60 and the internal monitor 50. And at the same time the main controller 100 for outputting the map data stored in the storage device 104 according to the user's selection; A RAM 103 for controlling data flow in the main controller 100 through a buffering process; A storage device 104 which stores the electronic map data and outputs map data of the selected area according to a control signal of the main controller 100; A ROM 105 which stores a program in which the main controller 100 is driven; Consists of a communication module 200 for forming a communication channel so as to communicate with an external team member wirelessly.

In addition, the Pocket PC 2 is connected to the antenna, earphone 61, the microphone 62, the HMD 60 by wire by a flexible cable (3) extending freely, a separate internal monitor ( 50) to display the information of the micro-amplification type camera 10 and the three-dimensional sensor (21, 22), it is possible to replace the use of the wireless method by attaching a separate transceiver instead of the wired method.

On the other hand, in the main controller 100 according to the present invention, the coordinate value transmitted from the GPS receiver 40, the map data transmitted from the storage device 104, the input signal transmitted from the input device 30, and the fine amplification The image and the gun 5 of the target 4 currently being aimed by the gun 5 through the video signal transmitted from the camera 10 and the direction information of the gun 5 transmitted from the sensor unit 20. The aiming image and the map image selected by the user are displayed on the user's HMD (60) and the internal monitor (50).

As shown in FIG. 2, the main controller 100 according to the present invention includes position calculation means, map display means, image signal conversion means, sensor signal conversion means, image synthesis and image output means.

The position calculating means includes a position calculating unit 110 that calculates an accurate position of each sensor based on a wireless signal transmitted from each of the three-dimensional sensors constituting the sensor unit 20, the GPS antenna 41 and the GPS. Zero adjustment of the coordinate calculation unit 111 for calculating the coordinates of the current position of the user according to the information received from the receiver 40, the position and coordinates calculated by the position calculation unit 110 and the coordinate calculation unit 111 A position and coordinate correction 112 for calculating the exact direction in which the aiming point of the gun 5 is directed relative to the reference position.

In addition, the map display means includes a map selection unit 120 for selecting a desired region according to a user's selection from among map data previously stored in the storage device 104, and a map change for selecting a map of another region as needed. A unit 121 and a map expanding unit 122 for enlarging the finally selected map so that the user can visually recognize.

The image signal converting means includes an image signal input unit 130 receiving the image signal transmitted from the micro-amplification type camera 10, and removing and amplifying the noise from the image signal and converting the image signal into a digital signal for easy image synthesis. An image signal converter 131 performs a series of signal processing.

The sensor signal converting means includes a sensor signal input unit 140 for wirelessly receiving the position information transmitted from the 3D sensors 21 and 22 and a sensor signal converting unit 141 for converting the position information into a digital signal. do.

In addition, the image synthesis and output means is a target image synthesis unit 150 for synthesizing the image input from the image signal conversion unit 130 and the sensor signal conversion unit 140 to form the aiming display for the target (4) And a signal for simultaneously or selectively outputting the control signal transmitted from the position and coordinate correction unit 112 and the map data transmitted from the map expanding unit 122 and the image signal transmitted from the aiming image synthesis unit 150. The display controller 160 performs control, and the image output unit 170 outputs an image signal to the HMD 60 and the internal monitor 50 according to the control signal of the display controller 160.

On the other hand, the position information of the three-dimensional sensor (21, 22) is converted into the aiming signal in the sensor signal conversion unit 141, as an embodiment of the present invention, the three-dimensional sensor A (21) attached to the scale (6) ) Is indicated by the aiming indicator A (24) "○ &quot;, and the three-dimensional sensor B (22) attached to the bracket (7) is indicated by the aiming indicator (B 25) " + " 21, 22) are synthesized Is indicated by the composite aiming display, and the case where the synthetic aiming display and the target 4 coincide with each other is in a state where the aiming is completed.

That is, the main controller 100 calculates the position information and the vector component (direction component) of the three-dimensional sensors 21 and 22 attached to the scale 6 and the scale 7, and the current gun 5 is directed. Calculate the direction, and correct the position coordinates of the gun (5) and the micro-amplification type camera 10 in real time to synthesize the direction the current gun (5) is directed to the image taken by the micro-amplification type camera (10) do.

Meanwhile, as shown in FIG. 3, in the communication module 200, a voice signal receiving a voice signal through a communication frequency setting unit 210 and a microphone 62 for adjusting a communication frequency designated through the pocket PC 2. An input unit 220, a voice signal converter 250 for converting the input voice signal to be transmitted, an encryption processor 240 for encrypting the converted voice signal, and the encrypted voice signal to the outside The signal transmitter 260 to transmit, the signal receiver 270 to receive an externally transmitted wireless signal, and the received voice signal through the encryption processing unit 240 and the voice signal conversion unit 250 after decrypting the voice. It is composed of a voice signal output unit 230 to convert the signal to output through the earphone (61).

It is possible to perform a wireless call freely between team members using the same frequency through the communication module 200. Since the basic configuration of the communication module 200 is a known technology, a detailed description thereof will be omitted below.

Meanwhile, in the present invention, as shown in FIG. 5, three-dimensional sensors 21 and 22 are mounted on the scale 6 and the scale 7 of the gun 5, respectively, and the lower part of the gun 5 is shown. Although the transmitter 23 is mounted on a predetermined portion, since the initial zero adjustment is performed in advance according to the positions of the three-dimensional sensors 21 and 22, the positions of the three-dimensional sensors 21 and 22 and the transmitter 23 are installed. Freely adjustable in stages.

Accordingly, as shown in FIG. 6A, the image of the target 4 is photographed by the micro-amplification type camera 10, and the direction of the target 4 is adjusted by the three-dimensional sensors 21 and 22 of the gun 5. When the zero adjustment is performed so that the aimed image appears in the center of the target 4 as shown in FIG. 6B, the coordinates are corrected in real time in the main controller 100 according to the zeroed reference position thereafter. As a result, the correct aiming image is always obtained.

That is, the process of calculating the direction of the gun 5 by using the position information and the vector components of the three-dimensional sensor (21, 22) is possible by several mathematical conversion process, in the present invention, as an embodiment, Use the illustrated vector projection.

The Vector Projection is a method in which the azimuthal projection is applied to map reference so that the azimuth (direction) of the gun 5 is the same with respect to the reference position.

The azimuth projection method is a method in which the azimuth angle (direction) from the origin is the same, and the coordinates of the three-dimensional sensors 21 and 22 are directly projected on the gaze plane S.

That is, the coordinate values measured by the 3D sensors 21 and 22 are projected onto the gaze plane S photographed by the micro-amplification type camera 10 to express the position of the 3D sensor two-dimensionally.

Of course, if it is set through the zero point adjustment according to the reference value that matched the center of the target 4 and the three-dimensional sensor (21, 22) first appearing in the gaze plane S, the three-dimensional sensor (21, 22) The position is corrected in real time through coordinate correction.

In FIG. 7, a three-dimensional sensor A 21 positioned on the scale 6 and a three-dimensional sensor B 22 positioned on the scale 7 are shown.

Here, all positional coordinates or positional vectors used for the development of the equations are expanded with respect to the three-dimensional reference coordinate system (X, Y, Z) for the convenience of explanation. When set to, 0), T (X _T , Y _T , Z _T ) is the coordinate of the target (4), and A (X ₁ , Y ₁ , Z ₁ ) is the three-dimensional sensor A located on the scale (6). Coordinate of (21), B (X ₂ , Y ₂ , Z ₂ ) is the coordinate of the three-dimensional sensor B (22) located on the scale (7).

Also, the gaze plane S connects the micro-amplification type camera 10 and the target 4. W, the three-dimensional sensor A (21) located on the scale (6) in Projected vertically 3D sensor A (21) located on the scale (6) is indicated by "○" on the gaze plane, the three-dimensional sensor B (22) located on the gaze (7) is "+" on the gaze plane Is displayed.

At this time, the vector connecting the three-dimensional sensor A (21) and the three-dimensional sensor B (22) by adjusting the zero point When the direction of is directed toward the center of the target 4, in the gaze plane S the center of the target 4 " Will be displayed.

When the position of the target 4 is moved, or when the positions of the 3D sensors A, B (21, 22) are moved, a coordinate correction process is performed around the zero coordinate reference coordinate, and the corrected coordinates According to the gaze plane, the aiming display A (24) by the three-dimensional sensor A, B (21, 22) is displayed as "○", the aiming display B (25) is displayed as "+", and the user The target 4 is aimed again as it moves in the direction of.

The coordinate correction process is carried out through the angle change of the three-dimensional sensor with respect to the zero-adjusted position, the mathematical calculation method for this is a well-known technique, detailed description thereof will be omitted.

That is, the gaze plane S is a screen appearing on the HMD 60 and the internal monitor 50 when the target 4 is photographed by the micro-amplification type camera 10, and the target 4 appears on the gaze plane. Since the aiming display is displayed in real time on the user's HMD 60 and the internal monitor 50, accurate aiming is possible even if the user uses only the HMD 60 or the internal monitor 50 without directly aiming the gun. .

The cyber pointer system according to the present invention attaches the sensor unit 20 consisting of the three-dimensional sensors 21 and 22 to the scale 6 and the scale 7 of the gun 5 and to a predetermined portion of one side of the gun 5. Attached to the transmitter 23, the micro-amplification type camera mounted on the helmet (1) while transmitting the position information and direction information measured by the sensor unit 20 from the transmitter 23 to the main controller (100) By transmitting the image information taken from the (10) to the main controller 100, by displaying the position information and direction information of the sensor unit 20 and the image information of the micro-amplification type camera 10 on the HMD (60), Since the user can aim the target through the aiming image of the HMD 60, the target position can be precisely identified by accurately identifying the enemy's position even at night when the field of view is dark, and the camera 5 is not aimed at the gun without eye. 10) and indirect aiming through the three-dimensional sensor (21, 22) Accurate aiming is effective even without exposing your position.

In addition, the cyber pointer system according to the present invention can clearly identify its current location and the surrounding environment through the location information received from the GPS receiver 40 and the electronic map recorded in the storage device 104, the helmet By using the microphone 62 and the earphone 61 attached to (1), it is possible to perform efficient operation by enabling wireless communication with nearby team members.

Claims (3)

In the virtual aiming system, A micro-amplification type camera mounted on the front center of the helmet and capable of shooting even at low light levels; Sensor consisting of two three-dimensional sensors mounted on the scale and the scale of the gun and having a three-dimensional coordinate value for the reference position, and a transmitter for transmitting the position information and direction information measured by the three-dimensional sensor to the main controller of the Pocket PC. Wealth; Built-in communication module to perform wireless communication with external team members, and after performing a predetermined calculation process according to the position information and direction information transmitted from the transmitter, the image and sensor unit transmitted from the micro-amplification type camera Pocket PC for displaying the location information transmitted from the internal monitor and the HMD; An input device to externally control the Pocket PC by providing at least one of a separate keypad or command button; A microphone and earphone mounted on the helmet and communicating wirelessly with a team member through a communication module built in the pocket PC; Cyber pointer system, characterized in that made of a form of glasses or goggles, the user is worn by the user HMD that displays the target (4) and the aimed image under the control of the Pocket PC. The method of claim 1, The Pocket PC includes a receiver for receiving a signal transmitted wirelessly from the transmitter of the sensor unit and the input device; Display the image on the HMD and the internal monitor by synthesizing the image through the image information, the position information and the control information transmitted from the micro-amplification type camera, the sensor unit, and the input device, and output the map data recorded in the storage device according to the user's selection A main controller; RAM for controlling data flow in the main controller through a data buffering process; A storage device which stores the electronic map data and outputs map data of the selected area according to a control signal of the main controller; A ROM in which a program for driving the main controller is stored; Cyber pointer system, characterized in that consisting of a communication module for forming a communication channel to communicate with the outside team members wirelessly. In the main controller constituting the cyber pointer system, The main controller calculates the exact position of each sensor based on a wireless signal transmitted from each 3D sensor constituting the sensor unit, and coordinates with respect to the current position of the user according to the information received from the GPS receiver. Position calculation means including a coordinate calculation unit for calculating, and a position and coordinate correction unit for comparing the position and coordinates calculated by the position calculation unit and the coordinate calculation unit with a zero-adjusted reference position to calculate the exact direction of the aiming point of the gun and; A map selector for selecting a desired region from the map data previously stored in the storage device according to a user's selection, a map changer for selecting a map of another region as needed, and a user visually selects the finally selected map. Map display means including a map enlargement unit for enlarging the image to be recognized; An image signal input unit for receiving an image signal transmitted from a micro-amplification type camera and an image signal conversion unit for performing a series of signal processing processes for removing noise from the image signal, amplifying the signal, and converting the image signal into a digital signal for easy image synthesis A video signal converting means comprising a portion; Sensor signal converting means including a sensor signal input unit for wirelessly receiving the position information transmitted from the 3D sensor and a sensor signal converting unit converting the position information into a digital signal; Aiming image synthesis unit for synthesizing the image input from the image signal conversion unit and the sensor signal conversion unit to form an aiming display for the target, the control signal transmitted from the position and coordinate correction and the map transmitted from the map expansion A display control unit which performs signal control to simultaneously or selectively output the image signal transmitted from the data and the aiming image synthesis unit; and an image output unit which outputs the image signal to the HMD and the internal monitor according to the control signal of the display control unit. Cyber pointer system comprising a video synthesis and output means comprising.