JPH06329098A - Remote control monitor for moving body - Google Patents
Remote control monitor for moving bodyInfo
- Publication number
- JPH06329098A JPH06329098A JP5118106A JP11810693A JPH06329098A JP H06329098 A JPH06329098 A JP H06329098A JP 5118106 A JP5118106 A JP 5118106A JP 11810693 A JP11810693 A JP 11810693A JP H06329098 A JPH06329098 A JP H06329098A
- Authority
- JP
- Japan
- Prior art keywords
- camera
- video
- image
- computer graphic
- communication device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004891 communication Methods 0.000 claims description 18
- 238000012806 monitoring device Methods 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 abstract 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、移動体の遠隔制御用監
視装置に係り、特定地域での監視装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for remote control of a mobile body, and more particularly to a monitoring device in a specific area.
【０００２】[0002]
【従来の技術】例えば無人航空機の遠隔監視にあって無
人航空機を離着陸させようとする場合、図２に示すよう
に、航空機１６に搭載したＴＶカメラ１８により航空機
前方の視界を撮像し、このＴＶカメラ信号１９を地上の
通信装置２０にて受信し、地上制御装置１７のモニタシ
ステム２１に写し出し、地上作業員によって前方の視野
を確認しつつ地上制御装置１７から指令を出し航空機１
６を操縦するという方法を採っている。また、航空機の
機体の位置・姿勢については、航空機１６に装備したセ
ンサシステム２２からの機体データ２３を地上の通信装
置２０にて受信し、地上制御装置の計器２４でモニタし
ている。2. Description of the Related Art For example, when attempting to take off and land an unmanned aerial vehicle in the remote monitoring of the unmanned aerial vehicle, as shown in FIG. The camera signal 19 is received by the ground communication device 20 and is displayed on the monitor system 21 of the ground control device 17, and a command is issued from the ground control device 17 while confirming the field of view in front by a ground worker.
The method of operating 6 is adopted. Further, regarding the position and orientation of the aircraft body, the aircraft body data 23 from the sensor system 22 mounted on the aircraft 16 is received by the ground communication device 20, and is monitored by the instrument 24 of the ground control device.
【０００３】[0003]
【発明が解決しようとする課題】従来の方法による無人
航空機の離着陸では、以下の問題点があった。 （１）ＴＶカメラでモニタできる範囲（前方視野）が狭
いため、離着陸の際の速度感、距離感がつかみにくい。 （２）ＴＶカメラ本体又は映像信号通信系が故障した場
合、計器モニタのみによる制御となり、離着陸の際の微
妙な姿勢制御が困難となる。The take-off and landing of an unmanned aerial vehicle by the conventional method has the following problems. (1) Since the range that can be monitored by the TV camera (front view) is narrow, it is difficult to grasp the sense of speed and distance during takeoff and landing. (2) When the TV camera body or the video signal communication system fails, the control is performed only by the instrument monitor, and it becomes difficult to perform delicate attitude control during takeoff and landing.
【０００４】本発明は、広い視野を提供すると共にＴＶ
カメラ等の故障によってもモニタ映像を得るようにした
移動体の遠隔制御用監視装置の提供を目的とする。The present invention provides a wide field of view and a TV
It is an object of the present invention to provide a monitoring device for remote control of a mobile body, which is capable of obtaining a monitor image even if a camera or the like fails.
【０００５】[0005]
【課題を解決するための手段】上述の目的を達成する本
発明は、移動体に搭載されて前方視野を撮影するＴＶカ
メラからのＴＶカメラ信号を受信する通信装置と、移動
体が移動する対象地域の情報をデータベースとして耳に
するコンピュータグラフィック映像作成装置と、上記通
信装置及びコンピュータグラフィック映像作成装置それ
ぞれの映像信号が入力されて合成切替えが行なわれしか
も上記通信装置からの映像信号が入力されるＴＶカメラ
ステータス監視装置による以上出力にてコンピュータグ
ラフィック映像作成装置の映像信号を採用する映像合成
切替装置と、上記映像合成切替装置の出力を表示するモ
ニタ装置と、を有することを特徴とする。SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a communication device for receiving a TV camera signal from a TV camera mounted on a mobile body and capturing a front view, and an object to which the mobile body moves. A computer graphic image creation device that hears regional information as a database, and image signals of the communication device and the computer graphic image creation device are input to perform composite switching, and an image signal from the communication device is input. It is characterized in that it has a video composition switching device which adopts the video signal of the computer graphic video creation device at the above output by the TV camera status monitoring device, and a monitor device which displays the output of the video composition switching device.
【０００６】[0006]
【作用】ＴＶカメラによる映像にコンピュータグラフィ
ックにより作られた映像を合成しあるいは選択すること
により、ＴＶカメラのみによる視野を補う広い視野が疑
似的に得られる。また、ＴＶカメラ映像が故障等により
途切れた場合、コンピュータグラフィック映像に切り替
えることにより、ＴＶカメラ映像と同等の映像が得られ
る。By combining or selecting the image created by computer graphic with the image from the TV camera, a wide field of view supplementing the field of view of the TV camera alone can be obtained in a pseudo manner. Further, when the TV camera image is interrupted due to a failure or the like, the image equivalent to the TV camera image can be obtained by switching to the computer graphic image.
【０００７】[0007]
【実施例】ここで、図１を参照して本発明の実施例を説
明する。図１において、１は無人航空機、２は無人航空
機１に搭載して前方の視界を撮影するＴＶカメラ、３は
無人航空機１からのＴＶカメラ信号、４はＴＶカメラ信
号３を受信する通信装置をそれぞれ示す。また、無人航
空機１には、機体の位置・姿勢等についての機体データ
を得るセンサシステム２２が搭載され、このセンサシス
テム２２からは機体の位置・姿勢データ６が地上の通信
装置４に送られる。EXAMPLE An example of the present invention will now be described with reference to FIG. In FIG. 1, 1 is an unmanned aerial vehicle, 2 is a TV camera that is mounted on the unmanned aerial vehicle 1 and captures a forward view, 3 is a communication device that receives a TV camera signal from the unmanned aerial vehicle, and 4 is a communication device that receives the TV camera signal 3. Shown respectively. Further, the unmanned aerial vehicle 1 is equipped with a sensor system 22 that obtains machine body data regarding the machine body position / orientation, and the sensor system 22 sends machine body position / orientation data 6 to the ground communication device 4.
【０００８】通信装置４に接続されたコンピュータグラ
フィック映像作成装置７は、対象となる制御地域例えば
ここでは離着陸しようとする空港の地形情報をデータベ
ースとして備え、通信装置４からの位置・姿勢データを
用いてＴＶカメラ２と同一視点の前方の映像やＴＶカメ
ラでは写し出せない任意の視点の映像を人工的に作り出
す。そして、このコンピュータグラフィック映像作成装
置７の出力である映像信号は映像合成・切替装置１０に
入力される。The computer graphic image forming device 7 connected to the communication device 4 is provided with a database of topographical information of a target control area, for example, an airport which is about to take off and land here, and uses position / orientation data from the communication device 4. Thus, an image in front of the same viewpoint as the TV camera 2 or an image from an arbitrary viewpoint that cannot be projected by the TV camera is artificially created. The video signal output from the computer graphic video creation device 7 is input to the video synthesis / switching device 10.
【０００９】他方、通信装置４からは、ＴＶカメラ２に
よる映像信号９が映像合成・切替装置１０に入力され
る。また、通信装置４からのＴＶカメラ信号を受信する
ＴＶカメラステータス監視装置１４が備えられ、この装
置からの受信状況の監視のためのＴＶカメラ映像ステー
タス１５が映像合成・切替装置１０に入力される。On the other hand, the video signal 9 from the TV camera 2 is input to the video synthesizing / switching device 10 from the communication device 4. Further, a TV camera status monitoring device 14 for receiving a TV camera signal from the communication device 4 is provided, and a TV camera video status 15 for monitoring the reception status from this device is input to the video composition / switching device 10. .
【００１０】このようにして、コンピュータグラフィッ
ク映像作成装置７、通信装置４からの各映像信号及びＴ
Ｖカメラ映像ステータス１５が入力される映像合成・切
替装置１０では以下の処理を行ない、加工された映像信
号１１を地上制御装置１２のモニタシステム１３に出力
する。 （１）ＴＶカメラ映像信号９における航空機の位置と、
コンピュータグラフィック映像信号８における航空機の
位置との整合をとるため、コンピュータグラフィック映
像作成装置７において映像を作成するために要する時間
分だけＴＶカメラ映像信号の入力を遅らせて時間補正を
行なう。 （２）ＴＶカメラ映像信号９の視点と、コンピュータグ
ラフィック映像信号８との視点が一致していれば、これ
を合成する。このとき視野の重なる部分は、いずれかの
映像のみ出力するか、両方の映像をオーバライドするか
を選択する。 （３）両方の映像の視点が異なる場合は、いずれか一方
の映像を切り替えて出力する。 （４）ＴＶカメラ信号３の受信状況を監視する装置１４
から得られるＴＶカメラ映像ステータス１５をもとに、
ＴＶカメラ映像信号９の正常、異常を判定し、異常の場
合には、コンピュータグラフィック映像８に切り替え
る。In this way, each of the video signals from the computer graphic video creating device 7 and the communication device 4 and the T signal.
The video synthesizing / switching device 10 to which the V camera video status 15 is input performs the following processing, and outputs the processed video signal 11 to the monitor system 13 of the ground control device 12. (1) The position of the aircraft in the TV camera video signal 9,
In order to match the position of the computer graphic video signal 8 with the position of the aircraft, the input of the TV camera video signal is delayed by the time required to create an image in the computer graphic video creating apparatus 7 to perform time correction. (2) If the viewpoint of the TV camera video signal 9 and the viewpoint of the computer graphic video signal 8 match, they are combined. At this time, for the portion where the fields of view overlap, it is selected whether to output only one of the images or to override both images. (3) If the viewpoints of both videos are different, one of the videos is switched and output. (4) Device 14 for monitoring the reception status of the TV camera signal 3
Based on the TV camera video status 15 obtained from
Whether the TV camera video signal 9 is normal or abnormal is determined, and if abnormal, the computer graphic video 8 is switched to.
【００１１】上述の説明は、無人航空機の遠隔制御に基
づいて述べたが、制限される地域が限定されればコンピ
ュータグラフィック画像作成が可能であるため車輪やロ
ボット等の遠隔制御システムにも適用できる。Although the above description is based on the remote control of the unmanned aerial vehicle, it can be applied to a remote control system such as a wheel or a robot because a computer graphic image can be created if the restricted area is limited. .
【００１２】[0012]
【発明の効果】以上説明したように本発明によれば、Ｔ
Ｖカメラのモニタ視野を補う広い視野により、距離間、
速度感がつかみやすくなりＴＶカメラの映像が途切れて
も疑似的に作成した映像にて視野がえられる。As described above, according to the present invention, T
A wide field of view that complements the V camera's monitor field of view
The sense of speed is easy to grasp, and even if the image of the TV camera is interrupted, the field of view can be obtained with the pseudo image created.
【図１】本発明の実施例のブロック図。FIG. 1 is a block diagram of an embodiment of the present invention.
【図２】従来例のブロック図。FIG. 2 is a block diagram of a conventional example.
２ ＴＶカメラ ４ 通信装置 ７ コンピュータグラフィック映像作成装置 １０ 映像合成・切替装置 １４ ＴＶカメラステータス監視装置 １３ 映像表示装置（モニタシステム） 2 TV camera 4 Communication device 7 Computer graphic video creation device 10 Video composition / switching device 14 TV camera status monitoring device 13 Video display device (monitor system)
Claims (1)
ＴＶカメラからのＴＶカメラ信号を受信する通信装置
と、 移動体が移動する対象地域の情報をデータベースとして
有するコンピュータグラフィック映像作成装置と、 上記通信装置及びコンピュータグラフィック映像作成装
置それぞれの映像信号が入力されて合成切替えが行なわ
れしかも上記通信装置からの映像信号が入力されるＴＶ
カメラステータス監視装置による異常出力にてコンピュ
ータグラフィック映像作成装置の映像信号を採用する映
像合成切替装置と、 上記映像合成切替装置の出力を表示するモニタ装置と、 を有することを特徴とする移動体の遠隔制御用監視装
置。1. A communication device mounted on a mobile body for receiving a TV camera signal from a TV camera for capturing a front view, and a computer graphic image creation device having a database of information on a target area to which the mobile body moves, A TV to which the video signals of the communication device and the computer graphic video creation device are input to switch the combination and the video signal from the communication device is input.
A moving object characterized by having a video composition switching device that employs a video signal of a computer graphic video creation device in abnormal output by a camera status monitoring device, and a monitor device that displays the output of the video composition switching device. Monitoring device for remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5118106A JPH06329098A (en) | 1993-05-20 | 1993-05-20 | Remote control monitor for moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5118106A JPH06329098A (en) | 1993-05-20 | 1993-05-20 | Remote control monitor for moving body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06329098A true JPH06329098A (en) | 1994-11-29 |
Family
ID=14728169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5118106A Withdrawn JPH06329098A (en) | 1993-05-20 | 1993-05-20 | Remote control monitor for moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06329098A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018110352A (en) * | 2017-01-05 | 2018-07-12 | Kddi株式会社 | Steering device, information processing method, program, and flight system |
| JP2021119714A (en) * | 2019-09-06 | 2021-08-12 | Kddi株式会社 | Steering device, information processing method, and program |
-
1993
- 1993-05-20 JP JP5118106A patent/JPH06329098A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018110352A (en) * | 2017-01-05 | 2018-07-12 | Kddi株式会社 | Steering device, information processing method, program, and flight system |
| JP2021119714A (en) * | 2019-09-06 | 2021-08-12 | Kddi株式会社 | Steering device, information processing method, and program |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Application deemed to be withdrawn because no request for examination was validly filed |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 20000801 |