KR102248888B1 - Environment adaptive target monitoring device - Google Patents

Abstract

The present invention relates to a target monitoring device. The target monitoring device comprises: an electro-optical camera for acquiring an electro-optical (EO) image including a target; an infrared camera for acquiring an infrared (InfraRed: IR) image including a target; a battery for supplying power to the infrared camera and the electro-optical camera; and a control part for controlling power supplied to the electro-optical camera and the infrared camera based on the electro-optical image obtained from the electro-optical camera. It is possible to accurately identify the target.

Description

Environment adaptive target monitoring device and target monitoring method {Environment adaptive target monitoring device}

The present invention relates to a target monitoring device and a target monitoring method, and more particularly, to a target monitoring device and a target monitoring method capable of adaptively varying an operation mode according to the surrounding environment.

In the case of an image sensor operated for the purpose of unmanned surveillance of a specific target outdoors such as a mountain, the acquired image is affected by various environmental changes (eg, day/night, temperature change, etc.).

In the case of an optical (EO) image, an image similar to the human eye can be expressed because an image is acquired and displayed through the three primary colors of light: red, green, and blue. While this has the advantage of easy identification of objects or environments, a difference in the quality of an output image occurs due to a change in the intensity of light depending on the day and night. In particular, in the case of night time, since the intensity of light is weak, it may be difficult to recognize the target.

In the case of InfraRed (IR) images, since the image is expressed by acquiring the intensity of heat emitted from an object, there is an advantage that the existence of a heat source can be confirmed without being affected by the intensity of light. However, in the image expressed by the intensity of heat, not only it is difficult to identify the target, but also the temperature change according to the season affects the quality of the image.

The technical problem to be solved by the present invention is to provide a target monitoring device and a target monitoring method capable of accurately identifying a target by adaptively varying the operation mode of an electro-optical camera and an infrared camera according to changes in the surrounding environment.

The technical problem to be achieved by the embodiments of the present invention is not limited to the above technical problems, and other technical problems may be leaked from the following embodiments.

A target monitoring device according to an embodiment of the present invention for solving the above technical problem is an electro-optical camera that acquires an Electro Optical (EO) image including a target, and an infrared (InfraRed: IR) image including a target. A control unit for controlling power supplied to the electro-optical camera and the infrared camera based on the acquired infrared camera, a battery supplying power to the infrared camera and the electro-optical camera, and an electro-optical image obtained from the electro-optical camera. Includes.

In addition, the controller controls power supplied to the electro-optical camera and the infrared camera based on the average luminance of a plurality of consecutive frames acquired from the electro-optical image.

In addition, the controller continuously supplies power to the electro-optical camera and the infrared camera when the average luminance of the plurality of consecutive frames acquired from the electro-optical image falls within a preset reference range.

In addition, when the average luminance of the plurality of consecutive frames acquired from the electro-optical image is less than the lower limit value of a preset reference range, the control unit continuously supplies power to the infrared camera and periodically supplies power to the electro-optical camera. Supply power.

In addition, the controller controls power supplied to the electro-optical camera and the infrared camera based on an electro-optical image periodically acquired from the electro-optical camera.

In addition, when the average luminance of the plurality of consecutive frames acquired from the electro-optical image is greater than an upper limit value of a preset reference range, the control unit cuts off the power supplied to the infrared camera and continuously transmits to the electro-optical camera. Supply power.

A target monitoring method according to another embodiment of the present invention for solving the above technical problem includes obtaining an electro-optical image including a target through an electro-optical camera, and obtaining an infrared image including a target through an infrared camera. And controlling power supplied to the electro-optical camera and the infrared camera based on the electro-optical image obtained from the electro-optical camera.

The recording medium according to another embodiment of the present invention for solving the above technical problem can be read by a computer recording a program for executing the above method on a computer.

The technical problem of the present invention is not limited to the above-described bar, and other technical problems can be inferred from the following examples.

The apparatus and method for monitoring a target according to an exemplary embodiment of the present invention change the operation modes of the electro-optical camera and the infrared camera according to changes in the surrounding environment, so that the target can be more accurately identified.

In addition, the target monitoring apparatus and method has the advantage of being able to accurately identify a target not only with a change in the amount of light but also with a sudden temperature change.

1 is an internal block diagram of a target monitoring apparatus according to an embodiment of the present invention.
2 is a flow chart for explaining a target monitoring method according to an embodiment of the present invention.
3 is a reference diagram for explaining the method of calculating the average luminance of FIG. 2.
4 is a flowchart illustrating a method of varying an operation mode according to the first embodiment of the present invention.
5 is a flowchart illustrating a method of varying an operation mode according to a second embodiment of the present invention.

The terms used in the embodiments have selected general terms that are currently widely used as possible while considering functions in the present invention, but this may vary according to the intention or precedent of a technician working in the art, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall contents of the present invention, not a simple name of the term.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. In addition, terms such as "... unit" and "... module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

1 is an internal block diagram of a target monitoring apparatus according to an embodiment of the present invention.

Referring to the drawings, a target monitoring device 10 according to an embodiment of the present invention includes an electro-optical camera 110 that acquires an Electro Optical (EO) image including a target, and an infrared ray including a target. (InfraRed: IR) Infrared camera 120 that acquires an image, the display unit 130 that displays the image acquired from the electro-optical camera 110 and the infrared camera 120, the internal components of the target monitoring device 10 A battery 140 for supplying power, a temperature sensor 150 for sensing an ambient temperature in which the target monitoring device 10 is installed, and a controller 160 for controlling internal components of the target monitoring device 10 may be included.

The electro-optical camera 110 may acquire an image by detecting light in a near-infrared ray and/or a visible ray in the detection area. The electro-optical camera 110 may convert the acquired image into an electric signal and transmit it to the controller 160. The control unit 160 may control the display unit 130 to output an electro-optical image.

The electro-optical camera 110 may also mean an electro-optical sensor. For example, the electro-optical sensor may be a charge couple device (CCD) or a complementary metal oxide semiconductor (CMOS), but is not limited thereto.

In the case of an electro-optical image, an image similar to the human eye can be displayed because an image is acquired and displayed through the three primary colors of light: red (RED), green (GREEN), and blue (BLUE). Thus, the observer can observe the actual image of the target in real time.

The infrared camera 120 may acquire an image by detecting infrared rays emitted from the target. The infrared camera 120 may convert the acquired image into an electric signal and transmit it to the controller 160. The control unit 160 may control the display unit 130 to output an infrared image. The infrared camera 120 may also mean an infrared sensor.

In the case of the infrared camera 120, there is an advantage of being able to detect a target even at night when visible light is insufficient, but there is a problem that it is difficult to identify a target in an image expressed by the intensity of heat.

The display unit 130 may include a first display unit 131 and a second display unit 132.

The first display unit 131 may output an electro-optical image under the control of the controller 160. The second display unit 132 may output an infrared image under the control of the controller 160.

The first display unit 131 and the second display unit 132 include a liquid crystal display (LCD), a plasma display panel (PDP), and an organic light emitting diode (OLED). It can be implemented as such.

The temperature sensor 150 may detect the ambient temperature in which the target monitoring device 10 is installed. The temperature sensor 150 may be a contact type or non-contact type temperature sensor. For example, the temperature sensor may be implemented as a thermocouple, a thermistor, an IC temperature sensor, or the like.

The battery 140 may supply power to the internal components of the target monitoring device 10. In an embodiment, the battery 140 may supply power to at least one of the electro-optical camera 110 and the infrared camera 120 under the control of the controller 160.

The battery 140 may be a rechargeable secondary battery. Since the target monitoring device 10 of the present invention includes a rechargeable battery 140, there is an advantage that target detection is possible even in an area where power supply is limited.

The controller 160 may control power supplied to the electro-optical camera 110 and the infrared camera 120 based on the electro-optical image acquired from the electro-optical camera 110.

The controller 160 may calculate the average luminance of a plurality of consecutive frames acquired from the electro-optical image, and control power supplied to the electro-optical camera 110 and the infrared camera 120 based on the calculated average luminance. have.

The controller 160 may continuously supply power to the electro-optical camera 110 and the infrared camera 120 when the average luminance of the plurality of consecutive frames is within the reference range.

The reference range may be set experimentally based on whether the target is identifiable from the acquired electro-optical image. In other words, the reference range may be experimentally set based on whether or not there is a possibility of an error when a target is identified only with an electro-optical image. In one embodiment, the reference range may be set ^{to 20 cd/m 2} to 50 cd/m ^2.

The control unit 160 recalculates the average luminance change of the electro-optical image obtained while continuously supplying power to the electro-optical camera 110, and based on the recalculated average luminance change, the electro-optical camera 110 and The operation mode of the infrared camera 120 may be reset.

When the average luminance of the plurality of consecutive frames is less than the lower limit of the reference range, the controller 160 may continuously supply power to the infrared camera 120 and periodically supply power to the electro-optical camera 110. . The lower limit value of the reference range may be experimentally set in consideration of a case in which it is impossible to identify a target using the acquired electro-optical image. In one embodiment, the lower limit of the reference range may be set to ^{20 cd/m 2.}

The meaning of continuously supplying power to the infrared camera 120 may have the same meaning as the meaning that the controller 160 supplies power to the infrared camera 120 until an event such as a change in average luminance occurs. In addition, the meaning of periodically supplying power to the electro-optical camera 110 means that the control unit 160 controls the power supplied to the electro-optical camera 110 at a preset control period until an event such as a change in average luminance occurs. May have the same meaning as the meaning of including a first time for continuously supplying power to the electro-optical camera 110 and a second time for cutting off the power supplied to the electro-optical camera 110.

On the other hand, since it is necessary to detect unexpected events such as an enemy attack, explosion, fire, etc. even at night, the control period may be set in seconds. In an embodiment, the control period may be set to 17 seconds. In addition, in order to maximize the power consumption reduction effect, the second time may be set larger than the first time. In one embodiment, the first time may be set to 5 seconds, and the second time may be set to 12 seconds greater than the first time. In other words, the control unit 160 may supply power to the electro-optical camera 110 for 5 seconds in every control cycle and cut off the power supplied to the electro-optical camera 110 for 12 seconds.

The controller 160 recalculates the average luminance change of the electro-optical image acquired while periodically supplying power to the electro-optical camera 110, and based on the recalculated average luminance change, the electro-optical camera 110 and The operation mode of the infrared camera 120 may be reset.

When the average luminance of the plurality of consecutive frames is greater than the upper limit of the reference range, the controller 160 may cut off power supplied to the infrared camera 120 and continuously supply power to the electro-optical camera 110. . The upper limit value of the reference range may be experimentally set based on whether a target can be accurately identified using only an electro-optical image. In an embodiment, the upper limit value of the reference range may be set to ^{50 cd/m 2.}

The meaning of continuously supplying power to the electro-optical camera 110 may be the same as that of the controller 160 supplying power to the electro-optical camera 110 until an event such as a change in average luminance occurs.

The control unit 160 recalculates the average luminance change of the electro-optical image obtained while continuously supplying power to the electro-optical camera 110, and based on the recalculated average luminance change, the electro-optical camera 110 and The operation mode of the infrared camera 120 may be reset.

The above-described target monitoring device 10 may be installed movably by being covered in shade, grass, and the like.

2 is a flow chart for explaining a target monitoring method according to an embodiment of the present invention.

Referring to the drawings, in step S210, the electro-optical camera 110 may acquire an electro-optical image including a target. The electro-optical image may be displayed on the display unit 130 through three primary colors of light: red (RED), green (GREEN), and blue (BLUE).

In step S220, the infrared camera S220 may acquire an infrared image including a target. The infrared image may be displayed on the display unit 130 through the intensity of infrared rays.

In step S230, the controller 160 may control power supplied to the electro-optical camera 110 and the infrared camera 120 based on the electro-optical image acquired from the electro-optical camera 1110.

Specifically, the controller 160 calculates the average luminance of a plurality of consecutive frames acquired from the electro-optical image, and controls the power supplied to the electro-optical camera 110 and the infrared camera 120 based on the calculated average luminance. can do.

A method of calculating the average luminance of the control unit 160 will be described in more detail with reference to FIG. 3.

3 is a reference diagram for explaining the method of calculating the average luminance of FIG. 2.

Referring to the drawing, the controller 160 may calculate an average luminance of consecutive frames by Equation 1 below.

In Equation 1, Y _me denotes an average luminance of consecutive frames, and Y _k denotes an average luminance of the k-th frame. Also, n may mean the number of a plurality of frames.

In more detail, the controller 160 may acquire an electro-optical image during a preset collection time. In one embodiment, the collection time is 5 seconds and the frame rate may be set to 60 FPS (Frame Per Second). Accordingly, the controller 160 may acquire an electro-optical image of 300 frames during a preset collection time.

The controller 160 may obtain respective luminance values for red, green, and blue sub-pixels in the first frame f1. Also, the controller 160 may calculate the average luminance Y1 of the first frame by dividing the sum of the luminance values by the number of all pixels included in the first frame f1. The controller 160 may calculate the average luminance (Y2, Y3, Y4, ... Yn) of each of the remaining frames f2, f3, f4, ..., fn in this manner.

_{The controller 160 may calculate the average luminance (Y me} ) of a plurality of consecutive frames by dividing the average luminance per frame (Y1, Y2, Y3, Y4… Yn) by the total number of frames acquired during the collection time.

The controller 160 may control the operation modes of the electro-optical camera 110 and the infrared camera 120 based on _{the average luminance Y me} of a plurality of consecutive frames.

4 is a flowchart illustrating a method of varying an operation mode according to the first embodiment of the present invention.

Referring to the drawings, in step S411, the controller 160 may calculate an average luminance of a plurality of consecutive frames acquired from an electro-optical image. The average luminance of a plurality of consecutive frames may be derived by Equation 1 described above.

In step S412, the controller 160 may compare the average luminance of a plurality of consecutive frames with an upper limit value of a reference range.

The upper limit value of the reference range may be experimentally set based on whether a target can be accurately identified using only an electro-optical image. In an embodiment, the upper limit value of the reference range may be set to ^{50 cd/m 2.}

In step S413, when the average luminance of the plurality of consecutive frames is greater than the upper limit of the reference range, the control unit 160 cuts off the power supplied to the infrared camera 120 and continuously supplies power to the electro-optical camera 110. Can supply.

The meaning of continuously supplying power to the electro-optical camera 110 may be the same as that of the controller 160 supplying power to the electro-optical camera 110 until an event such as a change in average luminance occurs.

The control unit 160 recalculates the average luminance change of the electro-optical image obtained while continuously supplying power to the electro-optical camera 110, and based on the recalculated average luminance change, the electro-optical camera 110 and The operation mode of the infrared camera 120 may be reset. For example, when the recalculated average luminance falls within the reference range, the controller 160 may start supplying power to the infrared camera 120.

In step S414, the control unit 160 may output an electro-optical image through the first display unit 131 included in the display unit 130.

The target monitoring device 10 of the present invention cuts off the power supplied to the infrared camera 120 when the luminance of the electro-optical image is sufficiently large and the target can be accurately identified with only the electro-optical image, thereby cutting off the power supplied to the infrared camera 120, thereby preventing the mobile target monitoring device ( There is an advantage of remarkably reducing the power consumption of 10).

Meanwhile, in step S415, when the average luminance of the plurality of consecutive frames is less than the upper limit of the reference range, the controller 160 may compare the average luminance of the plurality of consecutive frames with the lower limit of the reference range.

The lower limit value of the reference range may be experimentally set in consideration of a case in which it is impossible to identify a target using the acquired electro-optical image. In an embodiment, the lower limit of the reference range may be set to ^{20 cd/m 2.}

In step S416, when the average luminance of the plurality of consecutive frames is less than the lower limit of the reference range, the controller 160 continuously supplies power to the infrared camera 120 and periodically powers the electro-optical camera 110. Can supply.

The meaning of continuously supplying power to the infrared camera 120 may have the same meaning as the meaning that the controller 160 supplies power to the infrared camera 120 until an event such as a change in average luminance occurs.

In addition, the meaning of periodically supplying power to the electro-optical camera 110 means that the control unit 160 controls the power supplied to the electro-optical camera 110 at a preset control period until an event such as a change in average luminance occurs. May have the same meaning as the meaning of including a first time for continuously supplying power to the electro-optical camera 110 and a second time for cutting off the power supplied to the electro-optical camera 110.

The controller 160 recalculates the average luminance change of the electro-optical image from the plurality of frames acquired during the second time, and based on the recalculated average luminance change, the electro-optical camera 110 and the infrared camera 120 The operating mode can be reset. For example, when the recalculated average luminance is greater than the upper limit of the reference range, the controller 160 may continuously supply power to the electro-optical camera 110 and cut off the power supplied to the infrared camera 120. have.

In step S417, the control unit 160 continuously outputs an infrared image through the second display unit 132 included in the display unit 130, and periodically outputs an electro-optical image through the first display unit 131. I can.

The target monitoring apparatus 10 of the present invention has the advantage of being able to continuously identify a target through the infrared camera 120 when the luminance of the electro-optical image is small and the target cannot be identified by the electro-optical image. In addition, when the target monitoring device 10 of the present invention identifies a target with only the infrared camera 120, power consumption of the mobile target monitoring device 10 is reduced by not continuously supplying power to the electro-optical camera 110. There is an effect of remarkably reducing. In addition, the target monitoring device 10 of the present invention quickly changes the operation mode of the electro-optical camera 110 in response to a change in average luminance, even when the target is identified only by the infrared camera 120, thereby preventing an unexpected event situation. There is an advantage of being able to accurately identify the target in

Meanwhile, in step S418, when the average luminance of the plurality of consecutive frames is greater than the lower limit of the reference range, the controller 160 may determine that the average luminance of the plurality of consecutive frames is within the reference range.

The reference range may be set experimentally based on whether the target is identifiable from the acquired electro-optical image. In other words, the reference range may be experimentally set based on whether or not there is a possibility of an error when the target is identified only with an infrared image. In one embodiment, the reference range may be set ^{to 20 cd/m 2} to 50 cd/m ^2.

The controller 160 may continuously supply power to the electro-optical camera 110 and the infrared camera 120 when the average luminance of the plurality of consecutive frames is within the reference range.

The control unit 160 recalculates the average luminance change of the electro-optical image obtained while continuously supplying power to the plurality of electro-optical cameras 110, and based on the recalculated average luminance change, the electro-optical camera 110 ) And the operation mode of the infrared camera 120 may be reset. For example, when the recalculated average luminance is greater than the upper limit of the reference range, the controller 160 may cut off the power supplied to the infrared camera 120. As another example, when the recalculated average luminance is less than the lower limit of the reference range, the controller 160 may periodically supply power to the electro-optical camera 110.

In step S419, the controller 160 may output an electro-optical image through the first display unit 131 included in the display unit 130 and output an infrared image through the second display unit 132.

In the target monitoring apparatus 10 of the present invention, since the luminance of the electro-optical image is not sufficient, if there is a concern that a target identification error has occurred when the target is identified with only the electro-optical image, the target is additionally identified through an infrared image, It has the effect of maximizing the accuracy of target identification.

5 is a flowchart illustrating a method of varying an operation mode according to a second embodiment of the present invention.

The difference from FIG. 4 is that the target monitoring device 10 controls the operation modes of the electro-optical camera 110 and the infrared camera 120 in consideration of not only the average luminance but also the temperature. Steps S511, S512, S513, S514, S515, S521, and S522 of FIG. 5 may correspond to steps S411, S412, S413, S414, S415, S418, and S419 of FIG. 4, respectively. Hereinafter, descriptions overlapping with FIG. 4 will be omitted.

Referring to the drawings, in step S515, the controller 160 may compare the average luminance of a plurality of consecutive frames with a lower limit value of a reference range.

In step S516, when the average luminance of the plurality of consecutive frames is less than the lower limit of the reference range, the controller 160 may compare the ambient temperature and the reference temperature. The ambient temperature may be obtained through the temperature sensor 150. In addition, the reference temperature may be set in consideration of a case where the ambient temperature is excessively high and the target and the image around the target cannot be distinguished from the infrared image. In one embodiment, the reference temperature may be 38 degrees.

In step S517, the controller 160 continuously supplies power to the infrared camera 120 when the average luminance of the plurality of consecutive frames is less than the lower limit of the reference range and the ambient temperature is less than the reference temperature, and Power may be periodically supplied to the camera 110.

In step S518, the control unit 160 may continuously output an infrared image through the second display unit 132 included in the display unit 130, and periodically output an electro-optical image through the first display unit 131. have.

Meanwhile, in step S519, when the average luminance of the plurality of consecutive frames is less than the lower limit of the reference range and the ambient temperature is higher than the reference temperature, the infrared camera 120 and the electro-optical camera 110 It can supply power continuously.

In step S520, the controller 160 continuously outputs the electro-optical image through the first display unit 131 included in the display unit 130, and continuously outputs the infrared image through the second display unit 132. I can.

Target monitoring device 10 of the present invention, if the ambient temperature of the target monitoring device 10 is excessively high, and there is a concern that a target identification error may occur when the target is identified with only infrared images, the target is additionally identified through an electro-optical image. By doing so, there is an effect of maximizing the accuracy of target identification despite changes in ambient temperature.

The embodiment according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded in a computer-readable medium. In this case, the medium is a magnetic medium such as a hard disk, a floppy disk, and a magnetic tape, an optical recording medium such as a CD-ROM and a DVD, a magnetic-optical medium such as a floptical disk, and a ROM. It may include a hardware device specially configured to store and execute program instructions, such as, RAM, flash memory, and the like.

Meanwhile, the computer program may be specially designed and configured for the present invention, or may be known and usable to a person skilled in the computer software field. Examples of the computer program may include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like.

Those of ordinary skill in the technical field related to the present embodiment will appreciate that it may be implemented in a modified form within a range not departing from the essential characteristics of the above-described description. Therefore, the disclosed methods should be considered from an explanatory point of view rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the scope equivalent thereto should be construed as being included in the present invention.

10: target detection device
110: electro-optical camera
120: infrared camera
130: display
140: battery
150: temperature sensor
160: control unit

Claims (8)

An electro-optical camera that acquires an Electro Optical (EO) image including a target;
An infrared camera that acquires an infrared (InfraRed: IR) image including a target;
A battery for supplying power to the infrared camera and the electro-optical camera; And
Includes; a control unit for controlling power supplied to the electro-optical camera and the infrared camera based on the electro-optical image obtained from the electro-optical camera, and
The control unit
Controlling power supplied to the electro-optical camera and the infrared camera based on the average luminance of a plurality of consecutive frames acquired from the electro-optical image,
When the average luminance of the plurality of consecutive frames acquired from the electro-optical image is less than the lower limit of the preset reference range, power is continuously supplied to the infrared camera, and based on a preset control period, the electro-optical camera is Supply power,
Controlling power supplied to the electro-optical camera and the infrared camera based on an electro-optical image periodically acquired from the electro-optical camera,
The control cycle is
Including a first time to supply power to the electro-optical camera and a second time to cut off power to the electro-optical camera,
The second time is a target monitoring device that is set to be greater than the first time. delete The method of claim 1,
The control unit
A target monitoring device that continuously supplies power to the electro-optical camera and the infrared camera when the average luminance of the plurality of consecutive frames acquired from the electro-optical image falls within a preset reference range. delete delete The method of claim 1,
The control unit
When the average luminance of a plurality of consecutive frames acquired from the electro-optical image is greater than the upper limit of a preset reference range, a target that cuts off power supplied to the infrared camera and continuously supplies power to the electro-optical camera monitor. Obtaining an electro-optical image including a target through an electro-optical camera;
Obtaining an infrared image including a target through an infrared camera; And
Controlling power supplied to the electro-optical camera and the infrared camera based on the electro-optical image obtained from the electro-optical camera; Including,
Controlling power supplied to the electro-optical camera and the infrared camera
Controlling power supplied to the electro-optical camera and the infrared camera based on the average luminance of a plurality of consecutive frames acquired from the electro-optical image,
When the average luminance of the plurality of consecutive frames acquired from the electro-optical image is less than the lower limit of the preset reference range, power is continuously supplied to the infrared camera, and based on a preset control period, the electro-optical camera is Supplying power; And
Controlling power supplied to the electro-optical camera and the infrared camera based on an electro-optical image periodically acquired from the electro-optical camera; Including,
The control cycle is
Including a first time to supply power to the electro-optical camera and a second time to cut off power to the electro-optical camera,
The target monitoring method in which the second time is set to be greater than the first time. A computer-readable recording medium storing a program for executing the method of claim 7 on a computer.

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