JP2006281830A - View point display system for camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a view point display system for a camera capable of grasping view point of the camera mounted on a flight unit such as an unmanned helicopter or the like and having pan and tilt function at real time. <P>SOLUTION: In the flight unit mounted with the camera device having the pan and tilt function, a unit position and a nose direction of the flight unit are detected, a pan angle and a tilt angle of the camera device are detected and the view point A of the camera is calculated from these respective data and is displayed on a map 74 of a monitor picture 56. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a camera viewpoint display system when a camera apparatus having pan and tilt functions is mounted on a flying object and photographing is performed from above.

  Conventionally, as shown in Patent Document 1, for example, a camera device is mounted on a helicopter to take aerial photographs and videos. In particular, in recent years, unmanned helicopters can be made to fly out of the operator's field of view using GPS or the like. Therefore, such autonomously controlled unmanned helicopters are used in manned helicopters such as volcanoes and disaster sites. We are active in places where it is difficult to get close to.

  In order to check the flight status of such a helicopter on the ground and to check the captured images and videos on the ground, a communication means is provided for transmitting and receiving data between the helicopter body and the ground station. . The aircraft data and flight data, and the captured image and video data are transmitted from the aircraft to the ground station and displayed on a monitor screen of a personal computer provided in the ground station. In particular, when an unmanned helicopter is flying out of the operator's field of view, such information is always watched to grasp the airframe status and flight status, and confirm the contents of imaging.

  However, conventionally, the position and traveling direction of the helicopter airframe can be grasped by the ground station, but there is no means for displaying on the monitor screen of the ground station what location the camera is photographing. For this reason, when an object or the like that is not posted on the map is photographed, it is difficult to determine where the object is located on the map.

Japanese Patent Laid-Open No. 11-312015

  The present invention has been made in consideration of the above prior art, and an object of the present invention is to provide a camera viewpoint display system capable of grasping in real time the viewpoint of a camera having a pan and tilt function mounted on an aircraft such as an unmanned helicopter. And

  According to a first aspect of the present invention, in a flying object equipped with a camera device having a pan and tilt function, the aircraft position and nose direction of the flying object are detected, and the pan angle and tilt angle of the camera device are detected. Provided is a camera viewpoint display system that calculates a camera viewpoint from each data and displays the viewpoint on a map of a monitor screen.

  According to a second aspect of the present invention, in the first aspect of the present invention, the field-of-view range centered on the viewpoint is displayed on the map from the camera angle of view of the camera.

  The invention of claim 3 is the invention of claim 1, wherein the flying body is an unmanned helicopter, the helicopter and the ground station can communicate with each other, the aircraft can be controlled from the ground station, and the aircraft and the camera device. The aircraft status, flight status, pan angle and tilt angle are transmitted to the ground station, and the camera viewpoint is displayed on the monitor screen of the ground station.

  According to the invention of claim 1, since the camera viewpoint calculated from the body position and the pan angle and tilt angle of the camera is displayed on the map of the monitor screen, for example, when a person or a car that is not on the map appears in the camera In addition, it is possible to quickly grasp on the map where it is located.

According to the invention of claim 2, since the range of the captured image is displayed on the map as the field of view of the camera, the range of the captured image on the actual terrain can be recognized more accurately and easily.

  According to the invention of claim 3, even if the unmanned helicopter is flying out of the field of view of the operator, the position of the image or video being taken can be accurately grasped from the ground in real time. Therefore, for example, when a disaster is rescued, the position of the object being photographed can be specified and used for quick rescue.

1 to 3 show a helicopter according to the present invention. 1 is a side view, FIG. 2 is a top view, and FIG. 3 is a front view, showing an example of an unmanned helicopter for aerial photography equipped with a camera device.
The unmanned helicopter 1 includes an airframe 4 including a main body 2 and a tail body 3. A main rotor 5 is provided at the top of the main body 2, and a tail rotor 6 is provided at the rear of the tail body 3. The main rotor 5 and tail rotor 6 are composed of a plurality of rotor blades. A radiator 7 is provided at the front portion of the main body 2, and thereafter, the engine, the intake system, the main rotor shaft, and the fuel tank are accommodated in the main body 2 in this order. A large-capacity fuel tank is accommodated near the center of the fuselage to eliminate the need for an external sub fuel tank. Skids 9 are provided on the left and right lower parts of the main body 2 in the substantially central part of the airframe 4 via support legs 8. A muffler 61 provided in an exhaust pipe 60 connected to an engine (not shown) in the fuselage is disposed at the lower part of the fuselage above the front end of the skid 9.

  A control panel 10 is provided on the rear upper side of the main body 2, and an indicator lamp 11 is provided on the lower side. The control panel 10 displays check points before flight, self-check results, and the like. The display on the control panel 10 can also be confirmed at the ground station. The indicator lamp 11 displays a GPS control state, an abnormality warning of the aircraft, and the like.

  A camera device 12 accommodating an infrared camera is attached to the lower side of the front portion of the main body 2 via a camera head 13. The camera device 12 rotates about a pan axis (vertical axis) with respect to the camera head 13 and an internal camera (not shown) can rotate about a tilt axis (horizontal axis). Thereby, the camera can photograph all directions on the ground from the sky through the front window 14.

  An autonomous control box 15 is mounted on the left side of the main body 2. The autonomous control box 15 accommodates a GPS control device necessary for autonomous control, a data communication device and an image communication device communicating with the ground, a control board incorporating a control program, and the like. Autonomous control is based on flight data such as the position and speed of the aircraft, aircraft data such as the attitude and orientation of the aircraft, and operating state data such as engine speed and throttle opening, etc. Is selected automatically or in response to a command from the ground station, and optimal steering control is performed according to the driving state.

  The unmanned helicopter 1 can fly by such autonomous control and can be manually operated by a remote controller based on various flight state data transmitted from the flight state and the aircraft while visually confirming the flight state. It is.

  An antenna support frame 16 is attached to the lower surface side of the main body 2. An inclined stay 17 is attached to the antenna support frame 16. A steering data antenna 18 for transmitting / receiving steering data (digital data) such as driving state data and flight command data necessary for the above-described autonomous control to and from the ground station is attached to the stay 17. The stay 17 is further provided with an image data antenna 19 for transmitting image data (analog data) captured by the camera device 12 to the ground station.

  An azimuth angle sensor 20 based on geomagnetism or the like is provided on the lower surface side of the tail body 3. The azimuth sensor 20 detects the orientation of the aircraft (east, west, south, and north). The main body 2 is further provided with a posture angle sensor (not shown) composed of a gyro device.

  A main GPS antenna 21 and a sub GPS antenna 22 are provided on the upper surface side of the tail body 3. A remote control receiving antenna 23 for receiving a command signal from the remote control pilot is provided at the rear end of the tail body 3.

  4 to 6 are schematic views of the unmanned helicopter camera device according to the present invention. FIG. 4 is a front view and FIG. 5 is a side view. 6 is a partially cutaway side view of the camera device of FIG.

  The unmanned helicopter camera device 12 according to the present invention includes a camera head 13, an infrared camera 103 (FIG. 6) attached to the camera head 13, and a camera cover 104. The infrared camera 103 is covered with an opaque resin camera cover 104. The camera cover 104 can rotate around the pan axis (vertical axis) P with respect to the camera platform 13 together with the infrared camera 103. The infrared camera 103 in the camera cover 104 can rotate around a tilt axis (horizontal axis) Q. When the infrared camera 103 is rotated around the tilt axis Q, an opening 128 (FIG. 6) is formed on the front surface of the camera cover 104 so as to cover the rotation viewing angle and enable photographing. The window 14 is formed by an infrared window member 106 made up of three opaque rectangular flat plates 105. The window 14 is formed by incorporating a window member 106 into a window frame 108 as will be described later. The window member 106 includes three rectangular plates 105 adjacent to each other along the curved portion of the camera cover 104 so that the infrared camera 103 is positioned in front of the camera lens 107 when the infrared camera 103 rotates around the tilt axis. It is formed by bending at the joint portion. That is, the flat plates are bent and arranged around the tilt axis so that the joining sides of the adjacent flat plates 105 are parallel to the tilt axis Q and surround the tilt axis Q with a plurality of flat plates. By adopting such a configuration, an inorganic material or an inorganic compound such as germanium or ZnS is used as an infrared window material used in the infrared camera 103 because it is difficult to bend or the like and can only be cut out from a large material in order to form a curved surface. Even in this case, the rotational viewing angle of the infrared camera 103 can be covered along the curved portion of the camera cover 104, which simplifies the structure and facilitates manufacture.

  A window member 106 composed of three flat plates 105 is attached to a metal window frame 108. The window frame 108 includes a support material 109 and an edge material 110. The three flat plates 105 are sandwiched between the bent edge members 110 in the same manner as the bent mounting surface 109a of the support member 109 and fixed with screws 111a. At this time, a sealing material (not shown) is applied to the joint side portions between the mounting surface 109a of the support material 109 and the edge material 110 and between the adjacent flat plates 105. The edge member 110 covers the outer peripheral portion of the three flat plates 105 and covers the joint side portion between the flat plates. As described above, the window 14 formed as an integrated unit by sandwiching the flat plate 105 between the support member 109 and the edge member 110 is fixed to the camera cover 104 with the screw 111b through the curved mounting surface 109b of the support member 109. Note that the bent joint portion of the flat plate 105 is very close to the camera lens 107 and has a narrow width and is almost linear, so that even if it is covered with an edge material, it does not hinder photographing.

7 and 8 are a front view and a side view, respectively, showing a camera support structure in the camera cover.
The camera head 13 is attached to the airframe bracket 112 via a spring 120 for absorbing engine vibration and the like. A central shaft 113 is fixed to the lower side of the camera head 13 integrally therewith. That is, the central shaft 113 is attached to the lower side of the machine body in a state where it is fixed together with the pan head 13 (in a state where it does not rotate). A central cylindrical portion 124 of a disc-shaped rotating plate 114 is attached to the outer peripheral side of the central shaft via a bearing 121. The central cylindrical portion 124 is integral with the rotating plate 114. The outer peripheral edge of the rotary plate 114 is rotatably attached to the side wall 13a of the pan head 13 in a dust-proof state via a labyrinth seal structure 122. The center axis of the central shaft 113 is the pan axis P. Accordingly, the rotating plate 114 rotates around the pan axis P. A tilt arm 116 described later is fixed to the rotating plate 114. A pan driving motor 115 is attached to the tilt arm 116.

The rotation of the pan driving motor 115 is transmitted to the pulley 131 integrally formed on the outer periphery of the central shaft 113 via the pulley 129 and the belt 130. Accordingly, the rotation of the pan driving motor 115 causes the pulley 129 on the output shaft to rotate, and the pulley 129 revolves around the pulley 131 of the central shaft 113 via the belt 130. That is, the rotation plate 114 rotates around the pan axis P by the rotation of the pan drive motor 115. The rotation position of the rotating plate 114 is detected by a rotation angle sensor 135. In this example, a rotation angle sensor 135 is mounted on a support member 134 that is bridged between two tilt arms 116 that are fixed to the rotating plate 114. The disk 136 is fixed to the central shaft 113, and the rotation position of the rotating plate 114 is detected by the rotation angle sensor 135 rotating around the periphery of the stationary disk 136.

  Two tilt arms 116 are fixed to the rotating plate 114. A camera support frame 125 on which the infrared camera 103 is mounted is attached to the lower end portion of the tilt arm 116 so as to be rotatable about the tilt axis Q. A motor drive control board 127 is provided above the camera support frame 125 via a bracket 126. A tilt drive motor 118 is attached to the camera support frame 125. The rotation of the tilt drive motor 118 is transmitted to a pulley 133 fixed to the tilt arm 116 so as not to rotate through a pulley 132 and a belt 119 on its output shaft. Thereby, the camera support frame 125 rotates around the tilt axis Q.

  FIG. 9 is a block diagram of an unmanned helicopter according to the present invention.

  The camera device 12 attached to the camera pan 13 includes a rotating table 162 (rotating plate 114) that can be rotated around the pan axis, and a support frame 166 (camera supporting frame) that is attached to the rotating table 162 and can be rotated around the tilt axis. 125), and each is provided with a pan gyro 26A and a tilt gyro 26B for detecting the inclination thereof. Furthermore, the camera control part 28 which receives only the low frequency component from which the high frequency component was removed from the data of the pan gyro 26A and the tilt gyro 26B via the low pass filters 27A and 27B is provided. A pan motor 29 </ b> A and a tilt motor 29 </ b> B that drive the turntable 162 and the support frame 166 based on a signal from the camera control unit 28 are provided.

  The camera controller 28, the pan gyro 26A, the tilt gyro 26B, the pan motor 29A, and the tilt motor 29B constitute an attitude correction unit for the camera 24. When vibration or tilt around the pan axis and tilt axis of the unmanned helicopter 1 is detected, the motor is driven in a direction opposite to the tilted direction to cancel the vibration or tilt.

  In the autonomous control box 15, an image control device 30 that receives image data from the camera 24 from which the low frequency component of vibration has been removed by the attitude correction unit and removes the high frequency component, and the image data to the ground station An image communicator 31 to be sent, a data communicator 32 for transmitting / receiving data necessary for autonomous control to / from the ground station, a control board 33 comprising a microcomputer or the like storing an autonomous controller program, and a main GPS antenna The main GPS receiver 34 connected to 21 and the sub GPS receiver 35 connected to the sub GPS antenna 22 are housed.

  The body 4 includes an image data antenna 19 that sends analog image data to the ground station from the image communication device 31 and the data communication device 32 in the autonomous control box 15, and steering data that sends and receives digital data to and from the ground station. Each antenna 18 is provided. The azimuth sensor 20 is connected to a control board 33 in the autonomous control box 15. In the body 4, an attitude angle sensor 36 composed of a gyro device or the like is provided and connected to a control box 37. The control box 37 performs data communication with the control board 33 in the autonomous control box 15 and drives the servo motor 38. There are five servo motors 38 that control the main rotor 5 and the engine to control the movement of the machine body 4 in the front-rear, left-right, and vertical directions, and the tail rotor 6 to control the rotation of the machine body 4.

  FIG. 10 is a block diagram of the ground station.

  The ground station 40 that communicates with the helicopter 1 includes a GPS antenna 44 that receives a signal from GPS health, a communication antenna 45 that performs data communication with the helicopter 1, and an image reception that receives image data from the helicopter 1. An antenna 46 is installed on the ground.

  The ground station 40 includes a data processing unit 41, a monitoring operation unit 42, and a power supply unit 43.

  The data processing unit 41 includes a GPS receiver 52, a data communication device 53, an image communication device 54, and a communication board 51 connected to these communication devices 52, 53, 54.

  The monitoring operation unit 42 includes a controller 60 for manual operation by a remote controller, a base controller 57 for operating the camera device and controlling the operation of the airframe 4, a backup power source 58, a personal computer 55 connected to the base controller 57, A monitor screen 56 for the personal computer 55 and an image monitor 59 connected to the base controller 57 and displaying image data are configured.

  The power supply unit 43 includes a generator 61 and a backup battery 63 connected to the generator 61 via a battery booster 62. The backup battery 63 is connected to the fuselage 4 side and supplies a voltage of 12 V when the generator 61 is not operating, such as during a check before flight. During the flight, a voltage of 100 V is supplied from the generator 61 to the data processing unit 41 and the monitoring operation unit 42.

  With the above configuration, a command related to the flight of the helicopter 1 is programmed by the personal computer 55 of the ground station 40 and transmitted from the ground station 40 to the helicopter 1 via the data processing unit 41. When the data antenna 23 of the helicopter 1 receives the command, the attitude and position of the airframe 4 are controlled by the control board 33 (FIG. 9), and the helicopter 1 is autonomously controlled.

  The ground station 40 monitors the helicopter 1 by displaying data such as aircraft status and flight status transmitted from each sensor provided in the aircraft 4 of the helicopter 1 on the monitor screen 56 of the personal computer 55. When the helicopter 1 in flight is corrected in flight status, it can be remotely operated by the manual controller 60 or the personal computer 55.

  FIG. 11 shows a display example of the monitor screen 56 of the personal computer 55 provided in the ground station 40. The arrangement of information to be displayed is not limited to the example of FIG.

  On the left side of the monitor screen 56, the body information 71 such as the voltage and fuel status, the output status of various sensors, the operating status of various control devices, the payload operation panel 72 for controlling the camera platform and the camera, and the operation of the aircraft 4 An input panel 73 is displayed.

  Furthermore, an instrument 75 for knowing the operation status of the machine body 4 is arranged below and on the right side of the monitor screen 56. These meters 75 display the engine speed controlled by the control box 37, the horizontal and vertical speeds recognized by the GPS, the heading and altitude recognized from the azimuth angle sensor and the attitude angle sensor, and the like. .

  In the center of the monitor screen 56, a map 74 of the area where the helicopter 1 is flying is displayed, and the trajectory of the flight path of the helicopter 1 is displayed as a line 81. At the tip of the line 81, an aircraft mark 82 indicating the nose direction of the aircraft at the current position is shown. An image or video captured by the camera 24 can also be displayed on a part of the map screen (for example, a part indicated by 74a in the figure).

  On the map 74, the viewpoint A of the camera is displayed with, for example, an “x” mark. The viewpoint A is calculated from the altitude and direction of the aircraft transmitted from the aircraft of the helicopter 1 to the ground station, and the pan angle and tilt angle transmitted from the camera device 12.

  That is, the GPS receiver 52 of the ground station 40 detects the position, altitude and speed of the helicopter 1 on the map from the GPS satellites. Further, the azimuth sensor 20 provided on the fuselage 4 detects the east, west, south, and north directions of the nose from the geomagnetism, and the attitude angle sensor 36 detects the tilt of the fuselage 4 and transmits it as ground data to the ground station 40. Is done. Further, a pan angle and a tilt angle are detected by a rotation detector including encoders of a pan motor 29A and a tilt motor 29B attached to the camera pan head 13 and transmitted to the ground station 40.

  Then, the viewpoint of the camera 24 is calculated by a calculation method described later, and the viewpoint is displayed on the map 74. Furthermore, the range that is captured by the camera 24 from the camera angle of view is displayed as a field of view C on the map. The field of view is narrower near the camera and wider at the far end, so it becomes a trapezoid on the map.

  FIG. 12 is a flowchart showing a camera viewpoint calculation procedure according to the present invention. Hereinafter, the camera viewpoint calculation procedure when the ground is horizontal and the attitude of the aircraft is not tilted will be described.

Step S1: A horizontal distance d from the aircraft to the viewpoint is calculated from the altitude of the aircraft and the tilt angle of the camera. FIG. 13 is a schematic diagram in the vertical direction when the tilt angle of the camera 24 mounted on the helicopter 1 flying at an altitude h is t. The altitude of the helicopter 1, that is, the vertical distance between the helicopter 1 and the ground 90 is h, and the tilt angle of the camera 24 is t. d is
d = h × tan (t)
Is required.

Step S2: The direction of the viewpoint on the plane of east, west, south, and north, for example, the angle θ from the north direction is obtained from the direction of the aircraft and the pan angle of the camera. FIG. 14 is a schematic diagram showing the viewing direction in the horizontal direction. The nose direction of the helicopter 1 is inclined to the east side by an angle he with respect to the north, and the camera 24 has a pan angle pan in a clockwise direction with respect to the nose direction. Therefore, the line-of-sight direction of the camera 24 is the direction of the arrow B in FIG. 14 on the map. That is, the point A that is a horizontal distance d in the direction of arrow B is the viewpoint of the camera 24. The angle θ from the north direction of the arrow B is
θ = (he) + (pan)
It is.

Step S3: In order to display the viewpoint A on the map, the coordinates of the point A on the map are obtained. Since the point A in FIG. 15 is the viewpoint and the coordinates of the helicopter 1 are detected by GPS, the horizontal distance E in the east direction from the helicopter 1 to the point A and the horizontal distance N in the north direction are obtained.
N = d × cos (θ)
E = d × sin (θ)

  Step S4: Since the positional relationship between the helicopter 1 and the viewpoint A is obtained in step S3, the viewpoint is displayed on the map. FIG. 16 shows a display example of the viewpoint A, and the viewpoint A is displayed on the map together with the aircraft mark 82 indicating the position and orientation of the helicopter, for example, by an “x” mark.

  In this way, the viewpoint of the camera 24 is calculated as coordinates on the map from the position and direction of the helicopter 1 and the direction of the camera 24. Therefore, for example, the position of the subject 91 captured by the camera 24 in FIG. 13 can be confirmed on the map in real time. Further, the range captured by the camera 24 is calculated from the camera angle of view, and the field of view C is displayed using this as a trapezoidal frame. That is, since the viewing range in the pan direction (horizontal direction) and the viewing range in the tilt direction (vertical direction) of the camera are known, the pan angle and tilt angle at the four corners of the view field can be calculated. Based on this, the position of the four corners of the field of view can be calculated, and the field of view can be displayed by connecting them on the map in the same manner as the method for calculating the viewpoint A described above. When the inclination of the helicopter 1 is detected, the viewpoint is calculated in consideration of the inclination. For example, if the aircraft is in a forward-tilting posture with a forward-downward tilt, the camera tilt angle t is corrected according to the tilt angle.

  INDUSTRIAL APPLICABILITY The present invention can be applied to a case where an aerial photograph or an image is taken by mounting a camera device on a flying object such as a manned helicopter or other aircraft other than an unmanned helicopter for aerial photography.

The side view of the unmanned helicopter concerning the present invention. The top view of the helicopter of FIG. The front view of the helicopter of FIG. The front view of the camera apparatus which concerns on this invention. The side view of FIG. The partially broken side view which shows the internal structure of FIG. The front view of the support structure of the camera apparatus of this invention. The side view of the camera apparatus of FIG. The block block diagram of the unmanned helicopter concerning this invention. The block block diagram of a ground station. The front view which shows the example of a display of the monitor screen of a ground station. The flowchart which shows the procedure of this invention. Explanatory drawing of the vertical direction which shows the process of the viewpoint calculation method by this invention. Explanatory drawing of the horizontal direction which shows the process following FIG. FIG. 15 is an explanatory diagram in the horizontal direction showing the process following FIG. 14. The front view which shows the example of a display of the viewpoint by this invention.

Explanation of symbols

1: Unmanned helicopter, 2: Main body, 3: Tail body, 4: Airframe, 5: Main rotor, 6: Tail rotor, 7: Radiator, 8: Support leg, 9: Skid, 10: Control panel, 11: Display Light: 12: Camera device, 13: Head, 14: Window, 15: Autonomous control box, 16: Antenna support frame, 17: Stay, 18: Steering data antenna, 19: Image data antenna, 20: Azimuth angle sensor, 21: Main GPS antenna, 22: Sub GPS antenna, 23: Remote control receiving antenna, 24: Camera, 26A: Pan gyro, 26B: Tilt gyro, 27A, 27B: Low pass filter, 28: Camera control unit, 29A: Pan motor, 29B : Tilt motor, 30: Image control device, 31: Image communication device, 32: Data communication device, 33: Control board 34: main GPS receiver, 35: sub-GPS receiver, 36: attitude angle sensor, 37: control box, 38: servo motor, 40: ground station, 41: data processing unit, 42: monitoring operation unit, 43: power supply 44: GPS antenna 45: Communication antenna 46: Image receiving antenna 51: Communication board 52: GPS receiver 53: Data communication device 54: Image communication device 55: Personal computer 56: Monitor screen 57: Base controller, 58: Backup power supply, 59: Image monitor, 60: Manual controller, 61: Generator, 62: Battery booster, 63: Backup battery, 71: Airframe information, 72: Operation panel, 73: Control input Panel, 74: Map, 75: Instrument, 81: Line, 82: Airframe mark, 90: Ground, 91: Subject, 103: Infrared Camera: 104: Camera cover, 105: Flat plate, 106: Window material, 107: Camera lens, 108: Window frame, 109: Support material, 109a: Mounting surface, 109b: Mounting surface, 110: Edge material, 111a, 111b: Screw: 112: Bracket, 113: Central shaft, 114: Rotary plate, 115: Pan drive motor, 116: Tilt arm, 118: Tilt drive motor, 119: Belt, 120: Spring, 121: Bearing, 122: Labyrinth seal structure 124: central cylindrical part, 125: camera support frame, 126: bracket, 127: control board, 128: opening, 129: pulley, 130: belt, 131: pulley, 132: pulley, 133: pulley, 134: support Material, 135: rotation angle sensor, 136: disk, 162: turntable, 166: support frame, P: Pan axis, Q: tilt axis.

Claims (3)

  In a flying object equipped with a camera device having a pan and tilt function, the aircraft position and nose direction of the flying object are detected, and the pan angle and tilt angle of the camera device are detected, and the camera is detected from these data. A viewpoint display system for a camera, wherein the viewpoint is calculated and the viewpoint is displayed on a map on a monitor screen.   The camera viewpoint display system according to claim 1, wherein a field of view centered on the viewpoint is displayed on a map from a camera angle of view of the camera. The flying object is an unmanned helicopter, the helicopter and a ground station can communicate with each other, the aircraft can be controlled from the ground station, and the aircraft status and flight status from the aircraft and the camera device to the ground station The camera viewpoint display system according to claim 1, wherein a pan angle and a tilt angle are transmitted, and the camera viewpoint is displayed on a monitor screen of the ground station.

Images