JP2000211593A - Monitor system of unmanned aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitor system of unmanned aircraft that can in details monitor the flight state of a launched unmanned aircraft. SOLUTION: The monitor system of unmanned aircraft comprises, at least, a launch position monitor camera 2 for photographing the state of an unmanned aircraft before the launch, a flight monitor camera 4 for photographing the state of the unmanned aircraft after the launch, and a tracking arithmetic device 6 for arithmetically tracking the unmanned aircraft on the basis of the image information the flight monitor camera 4 provides. An image pickup unit 41 or/and a turntable 42 for supporting thereon the image pickup unit 41 within the flight monitor camera 4 are controlled in operation on the basis of the arithmetic results of the tracking arithmetic device 6.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for an unmanned aerial vehicle, and more particularly to a monitoring device for monitoring a flight situation at the time of launch and after launch.

[0002]

2. Description of the Related Art An example of a conventional monitoring apparatus for an unmanned aerial vehicle is disclosed in Japanese Patent Laid-Open Publication No. Hei 10-138999. The monitoring device for an unmanned aerial vehicle described in this publication has a launch position monitoring camera and a flight monitoring camera, and receives and displays a switching signal between two camera images in response to a firing signal from the unmanned aerial vehicle launching device. Monitoring is possible.

[0003] According to this, in a traffic control device that controls the drone while measuring and displaying the flight position of the drone with a radar, the controller of the drone can directly visually confirm the situation before and after the launch of the drone. If you can not, or if you can not confirm by radar data,
It can monitor drones.

[0004]

However, in the conventional drone monitoring apparatus as described above, since the unmanned aerial vehicle after shooting is imaged without being tracked, it is possible to cope with variations in the firing direction of the unmanned aerial vehicle. In order to monitor for as long a time as possible, it is necessary to take an image at a wide angle, and there is a problem that the image of the unmanned aerial vehicle becomes small and monitoring is difficult.

It is an object of the present invention to provide a monitoring apparatus for an unmanned aerial vehicle that enables detailed monitoring of a flight situation after the unmanned aerial vehicle is fired by performing tracking by an image.

[0006]

The present invention employs the following means in order to solve the above-mentioned problems. That is, the monitoring device for an unmanned aerial vehicle according to claim 1, a launch position monitoring camera that captures an image of the status of the unmanned aerial vehicle before launch, a flight monitoring camera that captures the status of the unmanned aerial vehicle after launch, and the flight monitoring camera And a tracking operation device that performs a tracking operation of the unmanned aerial vehicle based on the imaging information obtained from the imaging device.

According to the present invention, there is provided a monitoring system for monitoring a situation before and after launch of an unmanned aerial vehicle in a control system for measuring and displaying a flight position of the unmanned aerial vehicle with a radar and controlling the position. By tracking the flight status of the unmanned aerial vehicle and executing an operation related thereto, detailed monitoring of the unmanned aerial vehicle is performed. This also makes it possible to perform appropriate control on the flight monitoring camera based on the calculation information.

Here, "appropriate control of the flight monitoring camera" refers to a drive related to zooming, focusing, etc. in an imaging device of the flight monitoring camera and / or a turning speed of a swivel table on which the imaging device is mounted. In the case of controlling the operation such as the turning acceleration, it can be said that the device according to this configuration is a device that is more appropriate to achieve the object of the present invention (claim 2). Irrespective of this, detailed monitoring of the drone is always possible.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. Referring to FIG. 1, there is shown a monitoring apparatus for an unmanned aerial vehicle according to an embodiment of the present invention. In the figure, a firing device 1 outputs a firing signal to a switch 8. The launch position monitoring camera 2 is installed near the launch position, has an imaging device 21 and a swivel base 22, and outputs an image signal to the switch 8. The camera controller 3 is operated by a controller, and outputs a drive signal to the launch position monitoring camera 2 to control the drive.

The flight surveillance camera 4 is installed at a position where the drone can be tracked, has an imaging device 41 and a swivel table 42, and outputs an image signal to the switch 8 and the image processing device 5. The image processing device 5 outputs information such as the position and size of the drone to the tracking operation device 6. The tracking calculation device 6 outputs a control signal for tracking monitoring to the camera control device (control means) 7. The camera control device 7 transmits the drive signal to the flight monitoring camera 4
Output to The switch 8 selects an output image based on the emission signal, and outputs it to the display device 9 or the like. The display device 9 displays an image of the drone.

Next, the operation of this embodiment will be described with reference to FIG. A launch position monitoring camera 2 mainly for monitoring the moment of launch from before launch for monitoring of the drone; and
Two or more flight monitoring cameras 4 for monitoring mainly immediately after launch are installed. The launch position monitoring camera 2 is installed in the vicinity of the launch position where the launch position can be imaged.
Two. The flight monitoring camera 4 is installed at a position where the unmanned aerial vehicle immediately after the launch can be tracked, and has an imaging device 41 such as a visible camera and a swivel 42.

Images captured by the imaging device 21 of the launch position monitoring camera 2 and the imaging device 41 of the flight monitoring camera 4 are output to the switch 8. The switch 8 outputs the input image from the imaging device 21 of the launch position monitoring camera 2 to the display device 9 before receiving the launch signal from the drone launch device 1. At the moment when the launch signal from the unmanned aerial vehicle launch device 1 is received or after a certain period of time, the switch 8 is operated by the imaging device 4 of the flight monitoring camera 4.
Switching is performed so that the input image from No. 1 is output to the display device 9.

Before the launch, the controller operates the camera control device 3 while watching the image of the drone displayed on the display device 9 such as a monitor display. The camera control device 3 controls the launch position monitoring camera 2 by outputting a drive signal such as a zoom and focus of the camera to the imaging device 21 and a swivel drive signal to the swivel 22 in accordance with the operation of the controller. Provide an image of the part you want to monitor.

After the launch, the image processing device 5 receiving an image input from the imaging device 41 of the flight monitoring camera 4
Extracts an image of the unmanned aerial vehicle, which is a tracking target, and outputs information such as its position and size to the tracking calculation device 6. The tracking calculation device 6 calculates a turning angle or a turning angular velocity required for tracking from the information of the tracking target, outputs the calculated turning angle or turning speed to the camera control device 7, and performs camera control such as zoom magnification and focus adjustment for detailed monitoring. The signal is also output to the camera control device 7. The camera control device 7 converts a control signal received from the tracking operation device 6 into a drive signal, outputs a drive signal such as a zoom and a focus of the camera to the imaging device 41, and outputs a turntable drive signal to the turntable 42, and monitors flight. The camera 4 is controlled to track the drone by the image. Here, the camera control device 7 may execute a feedback control in response to a feedback signal from the swivel 42. The controller can monitor the flight status of the unmanned aerial vehicle based on an image displayed on the display device 9 and automatically adjusted to a size that can be checked in detail.

As described above, in the present invention,
Since the unmanned aerial vehicle is tracked by the image, an effect that the unmanned aerial vehicle can be monitored in detail for a long time is obtained.

Hereinafter, another embodiment of the present invention will be described with reference to FIG. This embodiment is different from the embodiment shown in FIG.
And a recording device 10 and a second recording device 12 are further added.

In this embodiment, instead of switching and displaying the images from the launch position monitoring camera 2 and the flight monitoring camera 4 by the launch signal from the unmanned aerial vehicle launching device 1 in the embodiment shown in FIG. By installing a plurality of devices, both images are always displayed without switching. The controller monitors the images displayed on the display device 9 and the second display device 11 as appropriate. In addition, the image from the camera is output not only to the display device but also to the recording device 10 and the second recording device 12, so that the recording device 1
0 and the second recording device 12 records an image.

As described above, in the present embodiment, since the switching device is eliminated, the effect that the configuration is simplified can be obtained. Further, since images can be recorded, later reproduction and analysis are possible.

It should be noted that the recording apparatus 10 described above uses FIG.
May be connected to the switch 8.

[0020]

As described above, according to the surveillance system for an unmanned aerial vehicle according to the first aspect, in a surveillance system equipped with a launch position monitoring camera and a flight surveillance camera, the unmanned aerial vehicle after launch is tracked and related. Since the tracking calculation device for performing the calculation is provided, the flying state of the unmanned aerial vehicle can always be monitored in detail regardless of before and after its launch. Further, it can be said that the monitoring apparatus for an unmanned aerial vehicle according to the second aspect is one of the most suitable configurations for realizing the above effects.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram illustrating an example of a monitoring device for an unmanned aerial vehicle according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an example of a monitoring apparatus for an unmanned aerial vehicle according to an embodiment of the present invention, which is different from FIG.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 Unmanned aircraft launch device 2 Launch position monitoring camera 3, 7 Camera control device 4 Flight monitoring camera 5 Image processing device 6 Tracking calculation device 8 Switching device 9 Display device 10 Recording device 11 Second display device 12 Second recording device 21 Imaging device 22, 42 Turning table 41 Imaging device

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[Procedure amendment]

[Submission date] October 28, 1999 (1999.10.
28)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

1. A launch position monitoring camera that captures an image of a situation of an unmanned aerial vehicle before launch, a flight monitoring camera that captures a status of the unmanned aerial vehicle after launch, and an image capturing information obtained from the flight monitoring camera. A tracking calculation device that performs a tracking calculation of the unmanned aerial vehicle; and a control unit that controls an imaging position of the flight monitoring camera and / or an operation of a turntable on which the imaging device is mounted based on a calculation result of the tracking calculation device. A monitoring device for an unmanned aerial vehicle, comprising:

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction contents]

[0006]

The present invention employs the following means in order to solve the above-mentioned problems. That is, the present invention
The monitoring device of the unmanned aerial vehicle, a launch position monitoring camera that captures the status of the unmanned aerial vehicle before launch, a flight monitoring camera that captures the status of the drone after the launch, and imaging information obtained from the flight monitoring camera A tracking calculation device for performing a tracking calculation of the unmanned aerial vehicle based on the tracking calculation device.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0008

[Correction method] Change

[Correction contents]

Here, "appropriate control of the flight monitoring camera" refers to a drive related to zooming, focusing, etc. at an imaging position of the flight monitoring camera, and / or a turning speed of a swivel table on which the imaging device is mounted. Assuming that corresponds to the control of the operation of such turn acceleration, the device according to this arrangement, it becomes <br/> suitable are the the purposes of this invention, this result is always detailed drone either before or after firing Can be monitored.

Claims (2)

[Claims] A launch position monitoring camera that captures a status of the unmanned aerial vehicle before launch; a flight monitoring camera that captures a status of the unmanned aerial vehicle after launch; and A monitoring apparatus for an unmanned aerial vehicle, comprising at least a tracking operation device for performing a tracking operation of an unmanned aerial vehicle. 2. A launch position monitoring camera that captures the situation of the unmanned aerial vehicle before launch, a flight monitoring camera that captures the situation of the unmanned aerial vehicle after launch, and the launch monitoring camera based on imaging information obtained from the flight monitoring camera. A tracking calculation device that performs a tracking calculation of an unmanned aerial vehicle, and a control unit that controls an operation of an imaging device in the flight monitoring camera and / or a turntable on which the imaging device is mounted based on a calculation result of the tracking calculation device. A monitoring device for an unmanned aerial vehicle, comprising: