JP2011095112A - Three-dimensional position measuring apparatus, mapping system of flying object, and computer program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To compute three-dimensional position coordinates of a projectile even when photographing is performed by one camera from one location and to create and display a map such as a projectile map on the basis of the three-dimensional position coordinates. <P>SOLUTION: A three-dimensional position measuring apparatus includes both of the one camera (12) for photographing a projectile (50) in a prescribed space region (11) and a distance measuring means (24) for measuring the distance r from an origin O of a measuring position of the camera (12) to the projectile (50). Position data of the origin O of the measuring position and the azimuth direction Θ of an optical axis (13) of the camera (12) are computed on the basis of position data and azimuth data based on a GPS receiver (15). The three-dimensional position of the position C of a screen center through which the optical axis (13) of the camera (12) passes. The three-dimensional position of the projectile (50) on a photograph screen is computed on the basis of the height and the horizontal distance from the position C of the screen center. The height and the horizontal distance from the position C of the screen center are computed on the basis of the distance r from the origin O of the measuring position to the projectile (50); an angle of elevation ψ of relative height; and a relative azimuth θ. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a three-dimensional position measuring device capable of calculating quantitative three-dimensional position coordinates of a flying object even when a flying object such as a bird or a flying object is photographed from one place by one camera, and the flying object The present invention relates to a flying object mapping system that creates and displays a map of a flying diagram.

  As a method for creating a flying diagram of a flying object such as a bird in a large outdoor field, the following method is generally adopted. In other words, two cameras are placed far apart and photographed, and three-dimensional position coordinates are measured using the slurryo image method. In this method, the position of the flying object is displayed in 3D (3D mapping) on the map based on the measurement data.

Patent Document 1 is a technique for measuring a three-dimensional trajectory of a moving object, and is a technique for analyzing a movement trajectory of an object that moves at high speed like a ball in ball sports. In this method, image data including a flying object is acquired by a plurality of (usually two) cameras, and coincident particles or pixels are extracted from the synchronized plurality of image data (PTV stereo pair matching method). The matched particles and pixels are converted into three-dimensional velocity information to obtain a three-dimensional trajectory.
The technique of the PTV stereo pair matching method can be used to analyze the trajectory of a flying object such as a bird.

In addition, as disclosed in Patent Documents 2 and 3 and the like, the left camera and the right camera that are separated from each other are continuously photographed in a predetermined space area synchronized with each other from different directions, and the left image data and the right image data are obtained, respectively. To do. Next, the left image data and the right image data are associated with each other. Correspondence between times is associated with the associated particles. At this time, the correspondence was verified between a plurality of times.
Based on the particle | grains between the said some corresponding | compatible time, the three-dimensional velocity vector of the particle | grain is calculated. This method is called “multi-time method”.

  On the other hand, after a single camera is installed horizontally, a flying object whose size is known in advance is photographed by the camera. By grasping how big the flying object recorded in the captured image is in the captured image, and measuring the angle at which the flying object is reflected, the height at which the flying object is flying can be determined. There was a system to calculate.

  For example, Patent Document 4 discloses a technique for obtaining the height of a flying object using a laser device. That is, the distance to the flying object is obtained by projecting the laser beam onto the flying object by the high repetition pulse laser device and receiving the reflected light reflected by the flying object. Further, the elevation angle for viewing the flying object is obtained from the light receiving direction of the reflected light pulse and the elevation angle of the optical axis of the light receiving optical system, and the altitude of the flying object is calculated from the distance and direction to the flying object.

JP 2007-115236 A JP-A-8-14828 Japanese Patent Laid-Open No. 10-122819 JP-A-8-101272

  In any of the technologies described above, it is necessary to install two cameras at two different locations far apart. That is, it is necessary to secure two camera installation locations where the flying object can be photographed. Now, in a wide area such as a field, it may be easy to secure a camera installation location, but it is difficult to secure two camera installation locations in a mountainous area or an urban area. For example, even if one camera installation location can be secured, if another camera installation location cannot be secured at a desired position, the shooting conditions need to be changed.

In addition, since the measurement area is the area where the shooting ranges of the two cameras are overlapped, when it is found that the flying object flies outside the area, the shooting range and installation of the two cameras far away from each other It was difficult to reset the location. In addition, two sets of photographing devices are required, and two workers are required to proceed with the setting rationally.
As described above, it is necessary to secure and set the location where the camera is to be installed, to secure work personnel, and to coordinate the work between two remote locations. , It will be expensive and time consuming.

The above-described system for determining the altitude of a flying object with one camera can only obtain altitude information. As a result, maps such as flight charts could not be created.
Even a system that obtains the altitude of a flying object with a laser device can only obtain altitude information. Therefore, maps such as flying charts could not be created.

Problems to be solved by the present invention include a three-dimensional position measuring device for a flying object that calculates the three-dimensional position coordinates of the flying object, and a three-dimensional position coordinate of the flying object even if the image is taken from one place by one camera. It is an object to provide a flying object mapping system that creates and displays a map such as a flying diagram from the aircraft.

(First invention)
The first invention in the present application is a camera (12) for photographing a flying object (50) in a predetermined space region (11), and position data and azimuth data of the measurement position origin O of the camera (12). A GPS receiver (15) to be acquired, a distance measuring means (24) for measuring a distance r from the measurement position origin O of the camera (12) to the flying object (50), and an orientation acquired by the GPS receiver (15) Based on the data, the optical axis direction calculating means (25) for calculating the azimuth direction Θ of the optical axis (13) of the camera (12) from the measurement position origin O as a horizontal angle, and an image taken by the camera (12) In the data, the relative elevation angle ψ from the optical axis (13) of the camera (12) to the flying object (50) is calculated based on the pixel angle calculation from the screen center position C to the height position of the flying object (50). The height elevation angle calculating means (26) for calculating, and the image center position in the image data taken by the camera (12) Relative azimuth calculating means (27) for calculating the relative azimuth θ from the optical axis (13) of the camera (12) to the flying object (50) based on the pixel angle calculation from the relative azimuth position of the flying object (50) to the flying object (50). Calculating the spatial position of the flying object (50) from the measurement position origin O, the distance r to the flying object (50), the azimuth direction Θ of the optical axis (13), the relative height elevation angle ψ, and the relative azimuth θ; Three-dimensional position coordinate calculation means (28) for converting the spatial position into longitude, latitude and altitude,
And a flying object three-dimensional position measuring apparatus (20).

(Function)
The position data of the measurement position origin O of the camera (12) and the azimuth direction Θ of the optical axis (13) of the camera (12) are calculated based on the position data and azimuth data acquired by the GPS receiver (15). Thereby, the three-dimensional position of the screen center position C through which the optical axis (13) of the camera (12) passes can be calculated. Therefore, the three-dimensional position of the flying object (50) on the photographing screen by the camera (12) can be calculated from the height from the screen center position C and the horizontal distance. The height and horizontal distance from the screen center position C are calculated from the distance r from the measurement position origin O to the flying object (50), the relative height elevation angle ψ, and the relative orientation θ. As a result, the three-dimensional position coordinates of the flying object (50) are calculated even if one camera (12) captures images at one location.

(Variation 1 of the first invention)
The first invention can also provide the following variations.
That is, the three-dimensional position coordinate calculating means (28) is a relative optical axis formed by the optical axis (13) and the horizontal direction when the optical axis (13) of the camera (12) is tilted upward from the horizontal direction. A correction mechanism that corrects the calculation of the three-dimensional position coordinates of the flying object (50) using the elevation angle ψ ′ as a correction value may be provided.

(Function)
By tilting the optical axis (13) of the camera (12) upward from the horizontal direction, the imaging range of the flying area of the flying object (50) is expanded. At this time, the three-dimensional position coordinates of the flying object (50) can be calculated by correcting the relative optical axis elevation angle ψ ′ formed by the optical axis (13) of the camera (12) and the horizontal direction as a correction value.

(Variation 2 of the first invention)
The first invention can also provide the following variations.
That is, the camera (12) recognizes and outputs that the flying object (50) has entered the captured image, and the recognition output of the flying object (50) by the bird trigger (41). And a shooting start means (42) for acquiring the image data of the spatial region (11) for a predetermined time, and a trial PTV based on the image data of the predetermined time acquired by the camera (12). PTV calculation means (43) for executing processing, PTV processing output means (44) for outputting the result of PTV processing executed by the PTV calculation means (43), and the output result of the PTV processing output means (44) Based on the determination means (45) for determining whether or not image data capable of PTV processing has been acquired, and the determination means (45) has determined that image data capable of PTV processing has been acquired. In this case, the image data for actual shooting is predetermined for the camera (12). It transmits a command signal so as to obtain between, and a control means for transmitting a command signal to measure (46) a distance r with respect to the distance measuring means (24) may be provided.

(Function)
When the flying object (50) enters the captured image of the camera (12), the bird trigger (41) automatically recognizes and outputs an alarm. Trial shooting is started by the recognition output of the flying object (50), and the image data is acquired for a predetermined time. The acquired image data is subjected to a trial PTV process by the PTV calculation means (43). The result is outputted by the PTV processing output means (44), and the judging means (45) judges based on the result whether or not image data capable of PTV processing has been acquired. When it is judged as good, the camera (12) starts the actual shooting, and the distance measurement means (24) measures the distance r to the flying object (50), and the three-dimensional coordinates of the flying object (50) are obtained. measure.

(Variation 3 of the first invention)
The first invention can also provide the following variations.
That is, the control means (46) comprises a production start display means (47) for displaying a production start instruction to the camera (12) and the distance measurement means (24) based on a command signal transmitted. May be.

(Function)
When the activation of the camera (12) and the distance measuring means (24) is performed manually, the production start display means (47) responds and notifies the operator of the command signal of the control means (46).

(Second invention)
The second invention in the present application is a camera (12) for photographing a flying object (50) in a predetermined space region (11), and position data and orientation data of the measurement position origin O of the camera (12). A GPS receiver (15) to be acquired, a distance measuring means (24) for measuring a distance r from the measurement position origin O of the camera (12) to the flying object (50), and an orientation acquired by the GPS receiver (15) Based on the data, the optical axis direction calculating means (25) for calculating the azimuth direction Θ of the optical axis (13) of the camera (12) from the measurement position origin O as a horizontal angle, and an image taken by the camera (12) In the data, the relative elevation angle ψ from the optical axis (13) of the camera (12) to the flying object (50) is calculated based on the pixel angle calculation from the screen center position C to the height position of the flying object (50). The height elevation angle calculating means (26) for calculating, and the image center position in the image data taken by the camera (12) Relative azimuth calculating means (27) for calculating the relative azimuth θ from the optical axis (13) of the camera (12) to the flying object (50) based on the pixel angle calculation from the relative azimuth position of the flying object (50) to the flying object (50). The spatial position of the flying object (50) is calculated from the measurement position origin O, the distance r to the flying object (50), the azimuth direction Θ of the optical axis (13), the relative height elevation angle ψ, and the relative azimuth θ. 3D position coordinate calculation means (28) for converting the spatial position into longitude, latitude and altitude, and the position coordinates calculated by the 3D position coordinate calculation means (28) from the position for each time to the flying object (50 Flying object trajectory calculating means (31) for calculating the trajectory of the flying object, and output display means (32) for displaying the data calculated by the flying object trajectory calculating means (31) in a three-dimensional map. Related to the mapping system (10).

(Function)
The position data of the measurement position origin O of the camera (12) and the azimuth direction Θ of the optical axis (13) of the camera (12) are calculated based on the position data and azimuth data acquired by the GPS receiver (15). Thereby, the three-dimensional position of the screen center position C through which the optical axis (13) of the camera (12) passes can be calculated. Therefore, the three-dimensional position of the flying object (50) on the photographing screen by the camera (12) can be calculated from the height from the screen center position C and the horizontal distance. The height and horizontal distance from the screen center position C are calculated from the distance r from the measurement position origin O to the flying object (50), the relative height elevation angle ψ, and the relative orientation θ. As a result, the three-dimensional position coordinates of the flying object (50) are calculated even if one camera (12) captures images at one location. The trajectory of the flying object (50) is calculated from the three-dimensional position coordinates of the flying object (50) from the position for each time and displayed on a three-dimensional map.

(Variation 1 of the second invention)
The second invention can also provide the following variations.
That is, the three-dimensional position coordinate calculating means (28) is a relative optical axis formed by the optical axis (13) and the horizontal direction when the optical axis (13) of the camera (12) is tilted upward from the horizontal direction. A correction mechanism that corrects the calculation of the three-dimensional position coordinates of the flying object (50) using the elevation angle ψ ′ as a correction value may be provided.

(Function)
By tilting the optical axis (13) of the camera (12) upward from the horizontal direction, the imaging range of the flying area of the flying object (50) is expanded. At this time, the three-dimensional position coordinates of the flying object (50) can be calculated simply by correcting the relative optical axis elevation angle ψ 'formed by the optical axis (13) of the camera (12) and the horizontal direction as a correction value. .

(Variation 2 of the second invention)
The second invention can also provide the following variations.
That is, the camera (12) recognizes and outputs that the flying object (50) has entered the captured image, and recognizes and outputs the flying object (50) by the bird trigger (41). And a shooting start means (42) for acquiring the image data of the spatial region (11) for a predetermined time, and a trial PTV based on the image data of the predetermined time acquired by the camera (12). PTV calculation means (43) for executing processing, PTV processing output means (44) for outputting the result of PTV processing executed by the PTV calculation means (43), and the output result of the PTV processing output means (44) Based on the determination means (45) for determining whether or not image data capable of PTV processing has been acquired, and the determination means (45) has determined that image data capable of PTV processing has been acquired. In this case, the image data for actual shooting is predetermined for the camera (12). It transmits a command signal so as to obtain between, and a control means for transmitting a command signal to measure (46) a distance r with respect to the distance measuring means (24) may be provided.

(Function)
When the flying object (50) enters the captured image of the camera (12), the bird trigger (41) automatically recognizes and outputs an alarm. Trial shooting is started by the recognition output of the flying object (50), and the image data is acquired for a predetermined time. The acquired image data is subjected to a trial PTV process by the PTV calculation means (43). The result is outputted by the PTV processing output means (44), and the judging means (45) judges based on the result whether or not image data capable of PTV processing has been acquired. When it is judged as good, the camera (12) starts the actual shooting, and the distance measurement means (24) measures the distance r to the flying object (50), and the three-dimensional coordinates of the flying object (50) are obtained. measure.

(Variation 3 of the second invention)
The second invention can also provide the following variations.
That is, the control means (46) comprises a production start display means (47) for displaying a production start instruction to the camera (12) and the distance measurement means (24) based on a command signal transmitted. May be.

(Function)
When the activation of the camera (12) and the distance measuring means (24) is performed manually, the production start display means (47) responds and notifies the operator of the command signal of the control means (46).

(Third invention)
According to a third aspect of the present invention, there is provided one camera for photographing a flying object in a predetermined space region, a GPS receiver for obtaining position data and orientation data of the measurement position origin of the camera, and from the measurement position origin of the camera to the flying object. The present invention relates to a computer program for measuring the three-dimensional position of a flying object using distance measuring means for measuring the distance r of the flying object.
The program includes an optical axis direction calculation procedure for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver as a horizontal angle from the measurement position origin,
Height elevation angle calculation procedure for calculating the relative height elevation angle ψ from the optical axis of the camera to the flying object based on the pixel angle calculation from the center position of the screen to the height position of the flying object in the image data taken by the camera When,
In the image data taken by the camera, a relative azimuth calculation procedure for calculating a relative azimuth θ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object,
The spatial position of the flying object is calculated from the measurement position origin, the distance r to the flying object, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ, and the spatial position is converted into longitude, latitude, and altitude. A computer program for causing a computer to execute a three-dimensional position coordinate calculation procedure.

(Fourth invention)
4th invention is the one camera which image | photographs the flying body of a predetermined | prescribed space area | region, the GPS receiver which acquires the positional data and azimuth | direction data of the measurement position origin of the said camera, and a flying body from the measurement position origin of the said camera And a computer program for displaying the trajectory of the flying object on a three-dimensional map using distance measuring means for measuring the distance r up to.
The program includes an optical axis direction calculation procedure for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver from a horizontal angle from the measurement position origin, and image data captured by the camera. A height elevation angle calculation procedure for calculating a relative height elevation angle ψ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the height position of the flying object, and an image taken by the camera In the data, a relative azimuth calculation procedure for calculating a relative azimuth θ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object, the measurement position origin, the flying object Is calculated from the distance r, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ. A three-dimensional position coordinate calculation procedure for converting to a high altitude, a flying object locus calculation procedure for calculating the locus of the flying object from the position coordinates calculated in the three-dimensional position coordinate calculation procedure for each time, and the flying object A computer program that causes a computer to execute an output display procedure for displaying data calculated by a locus calculation procedure on a three-dimensional map.

  The third and fourth inventions can be provided by being recorded on a recording medium, and can be provided through a communication line.

  According to the first and third aspects of the invention, the X-axis, Y-axis, and Z-axis, which are the three-dimensional positions of the flying object, can be captured from one place using one camera and distance measuring means. Coordinate data can be calculated. As a result, it has become possible to provide a flying object three-dimensional position measuring apparatus and a computer program for realizing the same, which make it easy to secure a place for installing a camera and secure an operator and reduce costs and labor.

According to 2nd invention and 4th invention, even if it image | photographs from one place using one camera and distance measuring means, it is X-axis, Y-axis, and Z-axis which are the three-dimensional positions of a flying body. Coordinate data can be calculated. The trajectory of the flying object can be calculated from the three-dimensional position coordinates from the position for each time, and a flying diagram of the flying object can be created and displayed. As a result, it was possible to provide a flying object mapping system and a computer program for realizing it, which facilitated securing a place for installing the camera and securing operating personnel, and reducing costs and labor.

1 is a schematic perspective view showing a flying object three-dimensional position measurement apparatus and a flying object mapping system according to an embodiment of the present invention. It is the side view which looked at FIG. 1 from the side. It is the top view which looked at FIG. 1 from the top. It is a block diagram of a computer of the three-dimensional position measurement apparatus and flying object mapping system of the embodiment of the present invention. It is a side view which shows other embodiment. It is a block diagram showing a test photographing device added to a flying object three-dimensional position measuring apparatus and a flying object mapping system according to an embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings.
1 to 3, a flying object mapping system 10 (computer) according to the present embodiment includes one camera 12, a GPS receiver 15, a distance measuring means 24, an optical axis direction calculating means 25, and a height. The flying object three-dimensional position measuring device 20 constituted by the elevation angle calculating means 26, the relative azimuth calculating means 27, and the three-dimensional position coordinate calculating means 28, and the flying object locus calculating means 31 in addition to the three-dimensional position measuring device 20 The output display means 32 is configured.

  Each of the means 12, 15, 24, 25, 26, 27, 28, 31, 32 is connected to a CPU 21 which is a central processing unit of the flying object mapping system 10 (computer) as shown in FIG. Has been. The CPU 21 is connected to an input means 22 for inputting various data and a storage means 23 for storing various data.

One camera 12 is a photographing means for continuously photographing a predetermined space region 11 (photographing region) where a flying object such as a bird 50 is to be measured. In order to photograph the entire space area 11, the space area 11 is installed using a fixing tool such as a tripod 16 at a reasonably distant place. Basically, as shown in FIG. 2, the optical axis 13 of the camera 12 is directed in the horizontal direction. In the present embodiment, the description will be made using the bird 50 as a flying object.
Further, in the present embodiment, in order to obtain the captured image data 17 (hereinafter simply referred to as “image data”) for creating a flight diagram showing the trajectory of the bird 50, the camera 12 performs 50 times per second in this embodiment. Continuous shooting is performed, for example, shooting for 5 to 10 minutes. For the sake of explanation, FIG. 1 illustrates the range of the shooting screen 14 acquired by the camera 12.

  The camera 12 is a camera using a C-MOS sensor. The C-MOS sensor is easier to control the exposure time than the CCD element, and is suitable for capturing images of birds with a high flight speed. In addition, it is easy to shoot in cloudy weather and the like, and equipment such as laser light irradiation is not necessary.

A GPS receiver 15 is provided for the camera 12 in order to acquire position data and orientation data of the measurement position origin O of the camera 12. That is, the latitude and longitude of the installation location of the camera 12, the altitude altitude position data and the azimuth data are obtained by the GPS receiver 15. As the position data of the camera 12, for example, the measurement position origin O of the camera 12 on the map ground surface is coordinate data of the X axis (for example, the N pole direction), the Y axis, and the Z axis with a reference point of 0 m above sea level. Represented. The X-axis-Y-axis plane is a horizontal plane, and the Z-axis is a perpendicular axis.
The optical axis 13 of the camera 12 passes through the measurement position origin O and the screen center position C acquired by the camera 12. As shown in FIGS. 1 and 3, the azimuth direction Θ of the optical axis 13 is represented by a horizontal angle with respect to the N-pole direction (X axis) with the measurement position origin O as the center. Such information is obtained by using a function provided in the GPS.

The distance measuring means 24 measures the distance r from the measurement position origin O of the camera 12 to the bird 50, and for example, a theodolite such as a laser distance meter is used. For example, the distance r to the bird 50 is obtained by projecting the laser beam LB onto the bird 50 with a high repetition pulse laser device and receiving the reflected light reflected by the bird 50.
The distance r can be measured manually, but the distance measuring means 24 is installed using a mounting fixture such as a tripod and is automatically tracked by a driving device that tracks and drives the bird 50, It is also possible to automatically measure the distance r every time. When the distance r is automatically measured, the trajectory of the bird 50 can be measured at each time by automatically inputting the measured data from the input means 22 to the three-dimensional position measuring device 20 (computer). It becomes easy.

  The optical axis direction calculation means 25 calculates the azimuth direction Θ of the optical axis 13 of the camera 12 from the measurement position origin O as a horizontal angle based on the azimuth data acquired by the GPS receiver 15. The optical axis 13 of the camera 12 passes through the measurement position origin O and the screen center position C acquired by the camera 12. The azimuth direction Θ of the optical axis 13 is represented by a horizontal angle Θ with respect to the N-pole direction (X axis) with the measurement position origin O as the center, as shown in FIGS. Such information is obtained by using a function provided in the GPS.

  The height elevation angle calculating means 26 is configured to calculate from the optical axis 13 of the camera 12 to the bird 50 based on the pixel angle calculation from the screen center position C to the height position of the bird 50 on the photographing screen 14 photographed by the camera 12. The relative height elevation angle ψ is calculated. For example, as shown in FIG. 2, if the shooting angle in the height direction of the lens of the camera 12 is 45 ° and the number of pixels in the height direction of the shooting and shooting screen 14 is 200 pixels, the angle per pixel is 0. 225 ° (= 45 ° / 200). When the number of pixels from the screen center position C to the height H of the bird 50 is h, the relative height elevation angle ψ is 0.225 ° × h.

  The relative azimuth calculating means 27 is a relative position from the optical axis 13 of the camera 12 to the bird 50 based on the pixel angle calculation from the screen center position C to the relative azimuth position of the bird 50 on the photographing screen 14 photographed by the camera 12. The azimuth θ is calculated. For example, as shown in FIG. 3, when the horizontal shooting angle of the lens of the camera 12 is 60 ° and the horizontal number of pixels of the shooting screen 14 is 300 pixels, the angle per pixel is 0.2 ° ( = 60 ° / 300). When the number of pixels from the screen center position C to the horizontal distance V of the bird 50 is v, the relative orientation θ is 0.2 ° × v.

The three-dimensional position coordinate calculation means 28 calculates the spatial position of the bird 50 from the measurement position origin O, the distance r to the bird 50, the azimuth direction Θ of the optical axis 13, the relative height elevation angle ψ, and the relative azimuth θ, The spatial position is converted into longitude, latitude, altitude X-axis, Y-axis, and Z-axis coordinate data. For example, as shown in FIGS. 1 to 3, the height H from the screen center position C to the bird 50 in the photographing screen 14 is simply H = rsinψ. On the other hand, the horizontal distance V from the screen center position C to the bird 50 is simply V = rsinθ.
Since the position coordinate data of the screen center position C can be calculated from the distance r from the measurement position origin O to the bird 50 and the azimuth direction Θ of the optical axis 13, the position coordinates of the screen center position C and the height H of the bird 50 can be calculated. The coordinate data of the three-dimensional position X-axis, Y-axis, and Z-axis of the bird 50 can be calculated from the horizontal distance V.

  As described above, the flying object three-dimensional position measurement apparatus 20 according to the present embodiment uses the single camera 12 and the distance measurement unit 24 to capture the three-dimensional position of the bird 50 even if the image is taken from one place. Coordinate data of a certain X axis, Y axis, and Z axis can be calculated. As a result, a place where one camera 12 is installed can be easily secured. In addition, since there is only one set of operating personnel at one place of installation, it can be easily secured. In addition, it is not necessary to perform a cooperative operation between two remote locations as in the case of two cameras. Accordingly, it is possible to eliminate the conventional large-scale photographing work and photograph the bird 50 without cost and time.

  The flying object mapping system 10 (computer) according to the present embodiment uses the X-axis, Y-axis, and Z-axis coordinate data, which are the three-dimensional positions of the bird 50 calculated by the three-dimensional position measurement apparatus 20 of the flying object. Based on this, a map such as a flying diagram of the bird 50 is created and displayed by the flying object trajectory calculating means 31 and the output display means 32.

The flying object trajectory calculating means 31 calculates the trajectory of the bird 50 from the position of each three-dimensional position coordinate calculated by the three-dimensional position coordinate calculating means 28. That is, time correlation is performed on the three-dimensional position coordinate data. The correlation between the time points is the particle having the shortest distance among the three-dimensional data bird 50 particles of the X-axis, Y-axis, and Z-axis and the three-dimensional data bird 50 of the next time after Δt seconds, for example. Are determined as the particles of the corresponding bird 50.
Next, the three-dimensional velocity vector of the particle of the bird 50 between two times (Δt seconds) correlated by the time correlation is calculated.
The trajectory of the bird 50 is calculated by continuously following the three-dimensional velocity vector of the bird 50 particles calculated at each time. The locus of the bird 50 at this time is represented by X-axis, Y-axis, and Z-axis coordinate data with a reference point of 0 m above sea level.

  The output display means 32 displays the trajectory of the bird 50 calculated by the flying object trajectory calculating means 31 on a monitor or the like in a three-dimensional map.

As described above, in the flying object mapping system 10 according to the present embodiment, the X axis that is the three-dimensional position of the bird 50 is captured even from one place using the single camera 12 and the distance measuring unit 24. , Y-axis, and Z-axis coordinate data can be calculated. It is possible to calculate the trajectory of the bird 50 by continuously calculating the three-dimensional velocity vector of the three-dimensional position coordinates of the bird 50 from the position for each time, and to create and display the trajectory of the bird 50 in the flight diagram. it can.
As a result, as described in the description of the flying object three-dimensional position measurement apparatus 20, a place where one camera 12 is installed can be easily secured. In addition, since there is only one set of operating personnel at one place of installation, it can be easily secured. The conventional large-scale photographing work can be eliminated, and the bird 50 can be photographed without cost and effort.

  In the above-described flying object three-dimensional position measurement apparatus 20 and flying object mapping system 10, the optical axis 13 of one camera 12 is installed in the horizontal direction. 11 often does not fly the bird 50 so much. Therefore, in order to eliminate the waste of the lower half of the shooting screen 14, as shown in FIG. 5, the shooting range of the region where the bird 50 flies can be expanded by tilting the optical axis 13 of the camera 12 upward from the horizontal. That is, the elevation angle ψ ′ of the optical axis 13 with respect to the horizontal direction can be set as the correction angle.

  Therefore, the three-dimensional position coordinate calculation means 28 uses the relative optical axis elevation angle ψ ′ formed by the optical axis 13 and the horizontal direction when the optical axis 13 of the camera 12 is tilted upward from the horizontal direction as a correction value. A correction mechanism for correcting the calculation of the three-dimensional position coordinates of the bird 50 can be provided.

  Basically, the three-dimensional position coordinate data of the bird 50 calculates the height and horizontal distance of the bird 50 from the screen center position C of the shooting screen 14 based on the above-described embodiment, and the calculated bird 50 Calculation is performed from the three-dimensional coordinates of the height and horizontal distance and the screen center position C. At this time, the coordinates of the screen center position C are corrected by the amount that the optical axis 13 passing through the screen center position C is inclined at the elevation angle ψ ′ from the horizontal direction. Therefore, the three-dimensional position coordinate of the bird 50 is corrected by the elevation angle ψ 'and easily calculated.

In addition, whether or not the bird 50 has entered the preset space area 11 before performing the actual shooting with the single camera 12 for the above-described flying object three-dimensional position measuring device 20 and the flying object mapping system 10. A test shooting device 40 for confirming whether or not can be added.
The reason is that, even if a flying object such as a bird 50 deviates from the space area 11 on the shooting screen 14, the shot bird 50 actually enters the space area 11. It is necessary to determine whether it is a thing or a thing that has come off. If the bird 50 that has fallen out of the space area 11 is photographed, it is useless, so the cost of the battery (power source) and the hard disk (recording means) and the time and effort of the operation are increased.

As shown in FIG. 6, the trial photographing apparatus 40 includes a bird trigger 41 and a photographing activation unit 42 for the camera 12. In addition to this, a PTV calculation unit 43, a PTV processing output unit 44, a determination unit 45, and a control unit 46 are provided.
Each means 41, 42, 43, 44, 45, 46 is connected to the CPU 21 which is a central processing unit of the flying object mapping system 10 (computer).

The bird trigger 41 automatically recognizes that the bird 50 has entered the captured image and outputs it in an alarming manner.
The imaging activation means 42 inputs the recognition output of the bird 50 by the bird trigger 41 to the camera 12, so that the camera 12 stores the image data 17 in the imaging area 11 for a short predetermined time such as 5 to 10 seconds, for example. , To obtain on a trial basis.
The PTV calculation means 43 executes a trial PTV process based on the image data 17 of a predetermined time acquired by the camera 12.
The PTV process output means 44 outputs the result of the PTV process executed by the PTV calculation means 43.

The determination unit 45 determines whether or not the image data 17 that can be PTV processed can be acquired based on the output result of the PTV processing output unit 44.
When the bird 50 deviates from the space region 11, the bird 50 is too close to the installation position of the camera 12, too fast, or too far away and too small. Therefore, when trial shooting is performed, if the bird 50 is too close, too fast, or too small as described above, it is determined that the bird is out of the preset space area 11.

When it is determined by the determination unit 45 that the image data 17 that can be PTV-processed is acquired, the control unit 46 acquires the image data 17 for actual shooting from the camera 12 for a predetermined time. It is a control unit for actual photographing that transmits a command signal and transmits a command signal so as to measure the distance r to the bird 50 with respect to the distance measuring unit 24.
On the other hand, if it is determined by the determination means 45 that the image data 17 that can be PTV-processed has not been acquired, the installation location of the camera 12 can be changed to an appropriate location.

  Further, in order to cope with the case where the camera 12 and the distance measuring unit 24 are manually activated, the control unit 46 notifies the camera 12 and the distance measuring unit 24 based on the command signal transmitted. Production start display means 47 for displaying a production activation start instruction can be provided. As the actual start display means 47, a sound generator or a light emitting device can be used.

  With the above configuration, when the bird 50 enters the captured image of the camera 12, the bird trigger 41 automatically recognizes and outputs an alarm. Trial shooting is started by the recognition output of the bird 50, and the image data 17 is acquired for a predetermined time. The acquired image data 17 is subjected to a trial PTV process by the PTV calculation means 43. The result is output by the PTV processing output means 44. Based on the result, the judgment means 45 determines whether or not the image data 17 that can be PTV processed has been acquired, that is, the bird 50 is in the space area 11. Determine if you entered. When it is determined that the bird 50 has entered the space region 11, the actual shooting is started immediately by the camera 12, and the distance r to the bird 50 is measured by the distance measuring unit 24.

  By adding the trial shooting device 40 described above, it is automatically determined that the bird 50 has entered the space area 11 before the actual shooting, without constantly monitoring the shooting screen 14 by an operator input. can do. In response to the result, the actual shooting is started with the camera 12, the distance r is measured by the distance measuring means 24, the three-dimensional coordinates of the bird 50 are measured, the trajectory of the bird 50 is measured, and the flight diagram You can create a map.

The present invention has applicability in a business related to a measurement service for collecting information on environmental assessments related to flying objects, a manufacturing industry of the measurement device, a software creation business related to the measurement service, and the like.

10 Mapping system 11 Spatial area (shooting area)
DESCRIPTION OF SYMBOLS 12 Camera 13 Optical axis 14 Shooting screen (screen) 15 GPS receiver 16 Tripod 17 Captured image data 20 Three-dimensional position measuring device 21 CPU
22 Input means 23 Storage means 24 Distance measurement means 25 Optical axis direction calculation means 26 Height elevation angle calculation means 27 Relative azimuth calculation means 28 Three-dimensional position coordinate calculation means 31 Flying object locus calculation means 32 Output display means 40 Trial shooting device 41 Bird Trigger 42 Shooting starting means 43 PTV calculating means 44 PTV processing output means 45 Judging means 46 Control means 47 Production start display means 50 Bird (flying object)
O Measurement position origin C Screen center position LB Laser beam

Claims (10)

One camera that captures flying objects in a predetermined space area;
A GPS receiver for obtaining position data and orientation data of the measurement position origin of the camera;
Distance measuring means for measuring a distance r from the measurement position origin of the camera to the flying object;
An optical axis direction calculating means for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver in a horizontal angle from the measurement position origin;
Height elevation angle calculating means for calculating a relative height elevation angle ψ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the height position of the flying object in the image data photographed by the camera When,
In the image data photographed by the camera, relative azimuth calculating means for calculating the relative azimuth θ from the optical axis of the camera to the flying object based on the pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object,
The spatial position of the flying object is calculated from the measurement position origin, the distance r to the flying object, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ, and the spatial position is converted into longitude, latitude, and altitude. Three-dimensional position coordinate calculation means;
A three-dimensional position measurement device for flying objects.   The three-dimensional position coordinate calculation means is a three-dimensional position coordinate of the flying object using a relative optical axis elevation angle ψ ′ formed by the optical axis and the horizontal direction when the optical axis of the camera is tilted upward from the horizontal direction as a correction value. The flying object three-dimensional position measurement apparatus according to claim 1, further comprising a correction mechanism that corrects the calculation. The camera inputs a bird trigger that recognizes and outputs that the flying object has entered the captured image, and a recognition output of the flying object by the bird trigger, and acquires the image data of the space area for a predetermined time. An activation means,
A PTV calculation means for executing a trial PTV process based on image data of a predetermined time acquired by the camera, a PTV process output means for outputting a result of the PTV process executed by the PTV calculation means, and an output of the PTV process A determination unit that determines whether image data that can be PTV-processed can be acquired based on an output result of the unit, and a case where it is determined by the determination unit that image data that can be PTV-processed can be acquired A control means for transmitting a command signal so as to acquire image data for actual shooting for a predetermined time to the camera, and for transmitting a command signal so as to measure a distance r to the distance measuring means;
The apparatus for measuring a three-dimensional position of a flying object according to any one of claims 1 and 2.   The three-dimensional position measurement of the flying object according to claim 3, wherein the control means includes a production start display means for displaying a production start start instruction to the camera and the distance measurement means based on a command signal transmitted. apparatus. One camera that captures flying objects in a predetermined space area;
A GPS receiver for obtaining position data and orientation data of the measurement position origin of the camera;
Distance measuring means for measuring a distance r from the measurement position origin of the camera to the flying object;
An optical axis direction calculating means for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver in a horizontal angle from the measurement position origin;
Height elevation angle calculating means for calculating a relative height elevation angle ψ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the height position of the flying object in the image data photographed by the camera When,
In the image data photographed by the camera, relative azimuth calculating means for calculating the relative azimuth θ from the optical axis of the camera to the flying object based on the pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object,
The space position of the flying object is calculated from the measurement position origin, the distance r to the flying object, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ, and the spatial position is converted into longitude, latitude, and altitude. Three-dimensional position coordinate calculation means for
Flying object trajectory calculating means for calculating the trajectory of the flying object from the position coordinates calculated by the three-dimensional position coordinate calculating means for each time;
Output display means for displaying the data calculated by the flying object trajectory calculating means in a three-dimensional map;
A flying object mapping system characterized by comprising:   The three-dimensional position coordinate calculation means is a three-dimensional position coordinate of the flying object using a relative optical axis elevation angle ψ ′ formed by the optical axis and the horizontal direction when the optical axis of the camera is tilted upward from the horizontal direction as a correction value. The flying object mapping system according to claim 5, further comprising a correction mechanism that corrects the calculation. The camera inputs a bird trigger that recognizes and outputs that the flying object has entered the captured image, and a recognition output of the flying object by the bird trigger, and acquires the image data of the space area for a predetermined time. An activation means,
A PTV calculation means for executing a trial PTV process based on image data of a predetermined time acquired by the camera, a PTV process output means for outputting a result of the PTV process executed by the PTV calculation means, and an output of the PTV process A determination unit that determines whether image data that can be PTV-processed can be acquired based on an output result of the unit, and a case where it is determined by the determination unit that image data that can be PTV-processed can be acquired A control means for transmitting a command signal so as to acquire image data for actual shooting for a predetermined time to the camera, and for transmitting a command signal so as to measure a distance r to the distance measuring means;
The flying object mapping system according to claim 5, further comprising:   8. The flying object mapping system according to claim 7, wherein the control means comprises production start display means for displaying a production start start instruction for the camera and the distance measurement means based on a command signal transmitted. One camera that captures a flying object in a predetermined space area, a GPS receiver that acquires position data and azimuth data of the measurement position origin of the camera, and a distance r from the measurement position origin of the camera to the flying object A computer program for measuring the three-dimensional position of a flying object using a distance measuring means,
The program includes an optical axis direction calculation procedure for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver as a horizontal angle from the measurement position origin,
Height elevation angle calculation procedure for calculating the relative height elevation angle ψ from the optical axis of the camera to the flying object based on the pixel angle calculation from the center position of the screen to the height position of the flying object in the image data taken by the camera When,
In the image data taken by the camera, a relative azimuth calculation procedure for calculating a relative azimuth θ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object,
The spatial position of the flying object is calculated from the measurement position origin, the distance r to the flying object, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ, and the spatial position is converted into longitude, latitude, and altitude. A computer program for causing a computer to execute a three-dimensional position coordinate calculation procedure. One camera that captures flying objects in a predetermined space area;
A GPS receiver for obtaining position data and orientation data of the measurement position origin of the camera;
A computer program for displaying a trajectory of the flying object on a three-dimensional map using a distance measuring means for measuring a distance r from the measurement position origin of the camera to the flying object,
The program includes an optical axis direction calculation procedure for calculating the azimuth direction Θ of the optical axis of the camera based on the azimuth data acquired by the GPS receiver as a horizontal angle from the measurement position origin,
Height elevation angle calculation procedure for calculating the relative height elevation angle ψ from the optical axis of the camera to the flying object based on the pixel angle calculation from the center position of the screen to the height position of the flying object in the image data taken by the camera When,
In the image data taken by the camera, a relative azimuth calculation procedure for calculating a relative azimuth θ from the optical axis of the camera to the flying object based on a pixel angle calculation from the center position of the screen to the relative azimuth position of the flying object,
The space position of the flying object is calculated from the measurement position origin, the distance r to the flying object, the azimuth direction Θ of the optical axis, the relative height elevation angle ψ, and the relative azimuth θ, and the spatial position is converted into longitude, latitude, and altitude. 3D position coordinate calculation procedure to
A flying object trajectory calculation procedure for calculating the trajectory of the flying object from the position coordinates calculated in the three-dimensional position coordinate calculation procedure from the position for each time;
A computer program for causing a computer to execute an output display procedure for displaying data calculated by the flying object trajectory calculation procedure on a three-dimensional map.

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