JP2009133558A - Control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To resolve a problem when launching an object by a launching device while optically tracking a target, wherein image tracking is influenced by images of fire and smoke generated from the launching device, and continuous image tracking can not be carried out. <P>SOLUTION: In the control device 1, when the object is launched from the launching device by a display control panel 10, stable tracking can be continued by detecting superimposition of the launching device and a target position in a screen of an image pickup unit 4 by a launching device position monitor device 11, temporarily stopping a target signal detecting process of an image tracking device, maintaining an angle detection position of the target, and automatically resuming an image tracking process after completing the launching. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control device that is mounted on a ship and tracks a target by an image signal.

  Conventionally, when aiming an injection device equipped with a gun that is mounted on a ship, a method of optically tracking a target with a television camera or the like and controlling the directivity angle of the injection device is well known ( For example, see Patent Document 1).

JP-A-7-174495 (FIG. 7)

  In the conventional control device, generally, when shooting from the injection device at sea, aiming of the target to be shot is continuously performed. When performing image tracking, the target position is detected from the video signal as an angle from the center of the screen, and the orientation control of the image pickup device is performed so that the target always exists at the center of the image, and automatic tracking is performed.

  When automatic tracking calculation is performed in the control device, the target and the injection device may be superimposed in the same field of view, depending on the mounting position relationship between the injection device and the image pickup device, the target position, etc. If the operation is performed, the image may be disturbed by the smoke generated from the injection device, the target position detection in the image tracking process may malfunction, and tracking continuity may be impaired.

  As described above, in order to continue the image tracking while performing the shooting, it is necessary to control to ensure the stability of the image tracking at the time when the shooting operation is performed. The technology cannot stabilize the image tracking process at the launch time.

  In other words, in the conventional control device, the main aim is always to accurately aim regardless of the operating state of the injection device, and image tracking is performed while avoiding the influence of fire smoke generated from the injection device at the time of launch. There was a problem that the stability of the system could not be secured.

  The present invention has been made to solve such a problem, and it is a case where the target and the injection device are in the same field of view, and it is predicted that the smoke emitted from the injection device will be reflected on the target. However, it is intended to continue accurate target tracking by controlling so that the position of target angle detection by image tracking does not change greatly.

  The control device according to the present invention obtains a target image from an image of an image pickup device, tracks a target, and measures a target distance and angle, and a target distance and angle obtained by the target tracking device. The target position is obtained, and based on the obtained target position and the positional relationship between the image pickup device and the injection device, an image of the flame ejected from the injection device and the injection device is superimposed on the field of view of the imaging screen of the image pickup device. An injection device position monitoring device that predicts a state in which tracking is impossible, and the target tracking device temporarily performs target tracking when a state in which target tracking is impossible is predicted by the injection device position monitoring device. It is characterized by stopping.

  According to the present invention, even if the target and the injection device are in the same field of view of the imager, and it is predicted that the smoke emitted from the injection device or the injection device is projected to be superimposed on the target, an incorrect target is obtained. Can be prevented, and accurate target tracking can be continued.

Embodiment 1 FIG.
Embodiment 1 according to the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing an operation mode of a control device according to Embodiment 1 of the present invention. In the figure, the ship 13 carries the injection device 2 and the target tracking device 30 and navigates on the sea surface 17. The target tracking device 30 images the target 14 with the image pickup device, tracks the image of the target 14, and injects an ejected matter (for example, a bullet) from the gun gun of the injection device 2. The projectile ejected from the gun of the ejection device 2 flies along the trajectory 16. Note that the imager of the target tracking device 30 has a viewing angle 15.

FIG. 2 shows the internal structure of the control device according to the first embodiment. In the figure, the portion surrounded by a dotted line is the control device 1, and the shooting control is performed on the injection device 2. That is, the injection device 2 can cause the gun of the injection device 2 to follow the angle instructed by the control device, and fire the injection. Hereinafter, the configuration of the control device 1 will be described.
The control device 1 is mounted on a ship, and includes a monitoring device 3, an image tracking processor 6, a tracking controller 7, an injection device controller 8, a gyro 9, a display operation panel 10, and an injection device position monitoring device. 11 and an occupation difference table 12. The gyro 9, the monitoring device 3, the image tracking processor 6, and the tracking controller 7 constitute a target tracking device 30. The target tracking device 30 is a portion surrounded by a one-dot chain line in the figure.

The monitoring device 3 includes an image pickup device 4 for picking up a target image and a distance measuring device 5 for measuring a target distance. The monitoring machine 3 is capable of turning in the turning and raising / lowering directions, receives control signals from the gyro 9 and the display operation panel 10, and is directed and controlled in the target direction. The image tracking processor 6 processes the captured target video signal to calculate an angle within the target screen, and tracks the target within the tracking area set by the display operation panel 10. The gyro 9 detects the course, roll angle, and pitch angle of the ship, obtains a control signal for correcting the shake of the ship from the detection result, and inputs the control signal to the monitoring device 3 and the injection device controller 8. The display operation panel 10 displays the target video imaged by the imaging device 4. In addition, the display operation panel 10 performs operations related to directivity control of the monitoring device 3 and launch control of the injection device 2.

  The image tracking processor 6 processes the target video signal picked up by the image pickup device 4, calculates an angle within the target screen, and tracks the target within the tracking region set by the display operation panel 10. . The tracking controller 7 commands the target directional angle of the monitoring device 3 based on the angle that the monitoring device 3 is currently pointing and the angle in the target screen obtained by the image tracking processing device 6. Find the angle. The occupation difference table 12 stores the occupation difference information on the hull of the monitoring device 3 and the injection device 2.

  The injection device position monitoring device 11 receives the target distance measured by the distance measuring device 5 and the target angle measured by the tracking controller 7, and calculates the target position based on the target distance and angle. Further, the injection device position monitor device 11 obtains the injection device equipment position from the occupation difference information set in the occupation difference table 12. The injection device position monitor device 11 takes into consideration the target position and the injection device equipment position obtained in this way, the state of shaking of the hull obtained from the control signal of the gyro 9, etc., and the field of view of the imaging screen of the imaging device 4 It is monitored whether or not the injection device and the flame image at the time of launch are superimposed on each other, and the state where the target tracking becomes impossible is monitored. This monitoring result is output to the image tracking processor 6. The image tracking processor 6 obtains the monitoring result of the injection device position monitor device 11, and the image of the flame ejected from the injection device 2 or the injection device 2 is superimposed on the field of view of the imaging screen of the image pickup device 4 so that target tracking is impossible. It is predicted whether or not a state can be generated. In this way, when a state in which target tracking is impossible is expected, tracking of the target image is temporarily stopped. The control device according to the first embodiment tracks the target by each of the above devices, and accurately fires the injection device 2 based on the tracking specifications.

Next, the operation of the control device 1 will be described.
The monitoring machine 3 can be rotated in the turning and raising / lowering directions, and is directed and controlled in the direction instructed by the display operation panel 10 and the tracking controller 7. The gyro 9 detects the rocking angle of the ship, outputs it to the monitoring device 3, and controls the monitoring device 3 in a direction to cancel the shaking. The monitoring device 3 captures the target image with the attached image pickup device 4 and measures the distance to the target with the distance measuring device 5.

The image tracking processor 6 detects a target signal distinguished from the background based on the image obtained by the image pickup device 4. The range for distinguishing the target signal from the background is the optical tracking gate, and the presence of the target is detected by a change in the amplitude of the image signal. When the optical tracking gate is set as the target tracking area, the image tracking processor 6 obtains the detected target position in the optical tracking gate as the vertical and horizontal angles from the center of the screen.
In the injection device position monitor device 11, the image of the injection device 2 is within the field of view of the image pickup device 4 based on the ship's motion specifications, the image pickup device 4, the equipment position on the deck of the injection device 2, and the directivity angle of the injection device 2. Monitor guns and fire smoke that may be captured.
In the state where the gun is superimposed in the field of view of the image pickup device 4, if a fire signal is input from the display operation panel 10, the target image may be disturbed by fire smoke, so the image tracking processing device 6 determines from the image signal. Temporarily hold the target angle to be measured.
The tracking controller 7 obtains the turning and elevation angles at which the target exists from the turning angle and elevation angle of the monitor 3 and the vertical and horizontal angles from the screen center obtained by the image tracking processor 6. A directivity angle is commanded to 3 and control is performed so that the target always exists at the center of the screen.
Further, when the image tracking processor 6 temporarily holds the target angle measured from the image signal, the tracking controller 7 keeps the target angle direction until the predetermined time when the smoke is settled elapses. Keep tracking.
Then, after the time at which the smoke is settled by the injection device position monitor device 11, the image tracking processor 6 resumes image tracking using the temporarily held target angle as the tracking start point, and within the optical tracking gate. Are re-captured, and the re-captured target positions are obtained as vertical and horizontal angles from the center of the screen.

  In the display operation panel 10, in addition to displaying a target image by the image pickup device 4, an operation for directivity control of the monitoring device 3 is performed, and a launch control operation for performing the start and release of the directivity with respect to the injection device 2 and the launch operation is performed. Do.

  In addition, the injection device controller 8 obtains the directivity angle with respect to the injection device 2 based on the target distance measured by the distance measuring device 5 and the target angle obtained by the tracking controller 7, and is detected by the gyro 9. The fluctuation correction angle with respect to the injection device 2 is obtained based on the fluctuation angle of the ship, and the injection device 2 is controlled so as to be able to stably point in space.

  Here, the example which shows the state of the image in the image tracking processor 6 is shown in FIG.3 and FIG.4. FIG. 3 is a diagram showing an example of a target image in the image tracking processor 6. FIG. 4 is a diagram illustrating an example of an image of a target and emission from the injection device 2 in the image tracking processor 6.

  3 and 4, reference numeral 14 denotes a target for associating the projectile ejected from the injection device 2, reference numeral 18 denotes an optical tracking gate in the image tracking process, and reference numeral 19 denotes a part of a ship such as a bow. . Moreover, in FIG. 4, the code | symbol 20 is the fire smoke by the discharge of the gun barrel of the injection apparatus 2, and an injection thing. In this way, when launching in a state where the injection device 2 and the target 14 are within the field of view of the image pickup device 4, the image of fire smoke superimposed on the target image can be a disturbance of image tracking. .

  In order to cope with such a state, in the injection device position monitor device 11, when the control device 1 commands the injection device 2 to launch, the target image and the smoke of the injection device are generated within the field of view of the imager 4. The superposition is predicted by the following equations 1 to 6.

  FIG. 5 is a diagram showing a positional relationship between the monitoring machine 3 and the injection device 2 on the hull. In the figure, C indicates the course of the ship, and here is the rotation angle of the hull from true north with the hull z-axis as the center. E is the pitch angle of the ship, which is the rotation angle from the horizontal plane around the hull z-axis in the figure. Z is a roll angle of the ship, and is a rotation angle from a horizontal plane around the hull y-axis in the figure.

Further, x _d , y _d , and z _d in the above equation are the position difference indicating the equipment position of the injection device 2 on the hull with respect to the position of the monitoring device 3, and the deck is defined by using the bow tail line as the y axis. It is a numerical value in a coordinate system in which the surface is an xy plane. The information on the occupational difference is output to the injection device position monitoring device 11 by the occupational difference table 12.

From the above formula, the true orientation BRG (gun) and the pre-elevation angle ELV (gun) can be obtained as the position of the injection device seen from the monitoring device 3.
FIG. 6 is a reference diagram showing an example of the positional relationship between the monitoring device 3 and the injection device 2 on the horizontal plane. In FIG. 6, x, y, and z indicate the position of the injection device 2 in the stabilized space with respect to the position of the monitoring device 3, the north-south line is the y-axis, and the horizontal plane is the xy plane. It is a numerical value in the coordinate system.

  Furthermore, if the true direction of the target being tracked by the monitoring device 3 is BRG (tgt) and the pre-elevation angle EL (tgt), the following equation (Equation 7) is satisfied and the injection device is within the field of view for tracking the target. Since the images are superimposed, it can be determined that the smoke from the fire can be a factor that disturbs the target image.

  In the above equation, it is assumed that the target being tracked is at the approximate center of the field of view of the imager, and φ is a threshold value indicating the range that affects image tracking from the center of the field of view.

  As described above, the injection device position monitor device 11 determines whether or not the image of the injection device is superimposed in the field of view for tracking the target based on the above equation (7). When the image tracking processor 6 receives the determination result from the injection device position monitor device 11, the image tracking processor 6 automatically suspends the target image tracking automatically at the time when the bullet is fired from the injection device 2, and sets a predetermined time when the smoke is settled. The target position is maintained until the time elapses. Thereby, it is possible to prevent the tracking angle from largely fluctuating in the image tracking processor 6 and to restart the image tracking after the time when the fire smoke has settled.

  As described above, according to the first embodiment, the target tracking device 30 that obtains the target image from the video of the image pickup device 4 and tracks the target to measure the target distance and angle, and the target tracking device 30 obtain the target image. The target position is obtained from the target distance and angle, and the injection device 2 and the injection device 2 spray on the field of view of the image pickup screen of the image pickup device 4 based on the obtained target position and the equipment position relationship between the image pickup device 4 and the injection device 2. There is an injection device position monitor device 11 that monitors a state in which the image of the flame that comes out is superimposed and target tracking is impossible, and the target tracking device 30 is in a state in which target tracking is disabled by the injection device position monitor device 11. When predicted, the target tracking is configured to be temporarily stopped so that the target and the injection device are within the same field of view of the imager, and the smoke emitted from the injection device 2 and the injection device 2 is superimposed on the target. Can be Even if it is, to prevent the tracking of false targets, it is possible to continue accurate target tracking.

It is a figure for showing the operational state by Embodiment 1 of this invention. It is a figure for showing the composition by Embodiment 1 of this invention. It is an example which shows the target image in the image tracking processor. It is an example which shows the image of the launch from the target and the injection device in the image tracking processor 6. It is a figure which shows the positional relationship of the injection apparatus and monitoring machine in a ship body. It is a figure which shows the positional relationship of the injection apparatus and monitoring machine in a horizontal surface.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Control apparatus, 2 injection apparatus, 3 monitoring machine, 4 imaging device, 5 range finder, 6 image tracking processor, 7 tracking controller, 8 injection apparatus controller, 9 gyro, 10 display operation panel, 11 injection apparatus position Monitor device, 12 occupational difference table, 13 ship, 18 optical tracking gate, 30 target tracking device.

Claims (3)

A target tracking device that obtains a target image from the image of the image pickup device, tracks the target image, and measures a target distance and angle;
The target position is obtained from the target distance and angle obtained by the target tracking device, and the injection device is placed in the field of view of the imaging screen of the imager based on the determined target position and the positional relationship between the imager and the injection device. And an injection device position monitoring device that superimposes an image of a flame ejected from the injection device and monitors a state where target tracking is impossible,
The target tracking device is characterized by temporarily stopping tracking of a target when a state in which target tracking is impossible is predicted by the injection device position monitoring device. A gyro that detects the course, roll angle, and pitch angle of the ship and outputs a control signal;
A display operation panel for displaying an image of the target, setting and inputting a target tracking area in the display screen, and performing an operation related to launch control of the injection device,
A monitor that is mounted on a ship, has an imager that captures an image of a target, and a distance meter that measures the distance of the target, and receives a control signal from the gyro and the display operation panel, and directs in a target direction
An image tracking processor that processes the target video signal imaged by the imager and calculates an angle in the target screen, and image-tracks the target in the tracking area set by the display operation panel;
A tracking controller for instructing a target directional angle of the monitoring device and obtaining a target angle based on an angle at which the monitoring device is currently directed and an angle in a target screen obtained by an image tracking processor; ,
From the target distance measured by the distance measuring device, the target angle calculated by the tracking controller, and the control signal from the gyro, the directivity angle of the injection device is calculated, and with respect to the injection device An injection device controller that commands a directional angle;
A position difference table for storing position difference information on the hull of the monitoring device and the injection device;
The target position is obtained from the target distance measured by the distance measuring device and the target angle calculated by the tracking controller, and obtained from the obtained target position and the occupation difference information set in the occupation difference table. Based on the position of the injection device and the state of motion of the hull obtained from the gyro control signal, it is monitored whether the image of the injection device and the flame at the time of launch are superimposed on the field of view of the imaging screen of the imager. An injection device position monitoring device;
Control device with The injection device position monitoring device outputs a monitoring result to the image tracking processor, and the image tracking processing device is configured to display the injection device or the imaging device in the field of view of the imaging screen of the imaging device based on the monitoring result of the injection device position monitoring device. 3. The control device according to claim 2, wherein when a flame image ejected from the injection device is superimposed, tracking of the target image is temporarily stopped for a predetermined time.

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