JP2000249542A - Remote-locating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve remote operation or automatic locating by extracting the difference between a current image that is outputted from an image pick-up camera and a past image that is outputted from a memory and detecting the brightness of the image for judging whether the difference indicates a target or an impact. SOLUTION: A remote control device 19 transmits the position information of an impact point being predicted in advance to a locating equipment control device 9 and directs automatic locating equipment 4 in an approximate direction. An image control part 11 performs output to an image memory 12 and a brightness processing control part 15 with an image form an image pickup camera 5 as a reference image. The image control part 11 outputs an image from the output image pick-up camera 5 to a difference extraction part 13. The difference extraction part 13 extracts the difference between the image from the image control part 11 and that from the image memory 12 and outputs it to a brightness judgment part 14. The brightness judgment part 14 judges the brightness of the difference, determines whether the difference indicates a target object or an impact, and outputs the result to a brightness processing control part 15. The judgment result is transmitted to an operation processing control part 23 and is overlaid for display on the reference image of an operation display part 24.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for locating a target position from an observation point used in a system which needs to locate a target to be fired by a projectile in the field.
The present invention relates to a device for transmitting the orientation data.

[0002]

2. Description of the Related Art FIG. 5 is an example of a system for locating a target to be fired in a field. Here, the operation in the case of locating the landing point of the shot shell will be described. This system includes a shell 45 fired from a gun 46
The position and distance of the impact point are located using the manual positioner 43, the obtained orientation data is processed by the orientation processor 44, and information such as the type, number, correction amount and target position of the target is located. The information is transmitted to the central control device 47 at a location remote from the processing unit 44 and is used for confirming the target orientation information.

FIG. 6 is a block diagram showing a conventional device for locating a target. In the figure, 1 is a target which is a target of a fired projectile, 2 is incident light from the target 1, 3 is a distance measuring laser beam, 48
Is a visual imaging camera that images the incident light 3 from the target 1 and projects an image on the viewfinder; 49 is a manual laser that manually emits the ranging laser beam 3 in the direction of the target 1 to measure the distance and output a ranging signal. A distance measuring unit 50 is a manual angle measuring unit that fixes the visual imaging camera 48 and the manual laser distance measuring unit 49, displays a distance from the manual laser distance measuring unit 49, an azimuth angle and an elevation angle, and outputs orientation data. The manual imaging device 43 is constituted by the visual imaging camera 48, the manual laser distance measurement unit 49, and the manual angle measurement unit 50. Reference numeral 51 denotes an orientation data processing control unit that processes an input signal from the manual angle measurement unit 50 and outputs a signal as necessary. Reference numeral 16 denotes an orientation display unit that displays a display signal from the orientation data processing control unit 51. Is an orientation data transmission unit for outputting a signal obtained by frequency-multiplexing the input data and the audio signal;
Is an operation data receiving unit for restoring an input signal into data and a voice signal and outputting the data and the voice signal. The orientation data processing control unit 51, the orientation display unit 16, the orientation data transmitting unit 17, and the operation data receiving unit 18 perform orientation. The container processing device 44 is constituted. Reference numeral 20 denotes an orientation data receiving unit for restoring an input signal to a data and audio signal and outputting the data and the audio signal.
Reference numeral 2 denotes a central data transmission unit for outputting a signal obtained by frequency-multiplexing the input data and the audio signal; 53, a central processing control unit for processing the input signal and outputting a signal as necessary; An operation display unit for displaying a display signal. The orientation data reception unit 20, the central data transmission unit 52, the central processing control unit 53, and the operation display unit 24 include a central control unit 4.
7.

A conventional target locating device is constructed as described above, and operates as follows. Here, as an example, a case will be described in which the landing point of a firing shell is located. The central processing control unit 53 calculates the position of the impact point predicted in advance,
The direction data is transmitted to the orientation data processing control unit 51, and the manual orientation device 43 is directed to the vicinity of the expected impact point. When the shell 45 fired from the gun 46 lands, the firing axis of the ranging laser beam 3 of the manual laser ranging unit 49 is moved to the landing point 39, and the ranging laser beam 3 is emitted to measure the distance. The visual imaging camera 48 has an infrared imaging function,
It can also be used for nighttime orientation. The orientation data of the target position, the direction angle, and the elevation angle, which are oriented by the manual orientation device 43, are transmitted to the orientation data processing control device 51, and the orientation data is displayed on the orientation display unit 16. The correction amount between the impact point confirmed by the viewfinder of the manual laser distance measuring unit 49 and the emission axis of the distance measuring laser beam 3 is determined by the central processing control unit 53 via the orientation data transmitting device 17 and the orientation data receiving unit 20. Send to The central processing control unit 53 that has received the information displays the information on the operation display unit 24, and corrects the firing direction of the shell based on the correction amount. Although not described in this device, the central processing control unit 53 actually transmits the firing direction of the shell, the correction value, and the like to the gun 46.

FIG. 7 is a diagram showing a method of operating a conventional orientation device. In the figure, 37 is a distance measuring laser beam emission axis, 39 is a landing point, 54 is a viewfinder, and 55 is a landing point before movement. FIG. 7A shows the observation situation at the time of impact, and shows that the impact point 39 is located at a position deviated from the ranging laser light emission axis 37. FIG. 7B shows the distance measuring laser beam emitting axis 3 at the impact point 39 in order to measure the distance of the impact point 39.
7 shows a situation where 7 is matched. As described above, the conventional manual locator 43 confirms the impact point 39 at the time of impact with the view finder 54 of the manual laser distance measuring unit 49, and moves the impact point 39 to the distance measuring laser light emitting axis 37. The landing point 39 is located by emitting the distance measuring laser beam 3 from the distance measuring unit 49.

[0006]

In the apparatus for locating a target as described above, when locating the target 1, the visual imaging camera 48 and the manual laser distance measuring unit 49 are used to set the distance measuring laser beam emission axis 37 to the target 1. Since it is necessary to perform orientation together, there must be at least one operator at all times. When the manual laser distance measuring unit 49 malfunctions, there is a risk that the distance measuring laser beam 3 may damage the operator. Further, since the operator positions near the point of impact, the operator is exposed to the danger of a shell and impact upon impact. As described above, there is a problem that the operator is always in danger. When the image of the visual imaging camera 48 is transmitted from the manual orientation device 43 to the central control device 47 via the orientation device processing device 44, a transmission path between the orientation device processing device 44 and the central control device 47 is required. Since an outdoor telephone line is used, a high transmission rate cannot be achieved, and it has been difficult to transmit data with a large amount of information such as an image in a short time. Further, when an image is transmitted from the locator processing device 44 to the central control device 47 in real time, the transmission line is always occupied, and the transmission of urgent information is hindered. Furthermore, the distance between the orientation control unit 44 and the central control unit 47 is several kilometers, and there is a problem that it is difficult to lay a new line other than the outdoor telephone line.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem. A target is detected by calculating a difference value between two images, and a distance measuring laser beam is emitted to the target by remote control or automatic control. Aligning the axes eliminates operator safety issues. Further, in the image transmission, the amount of data to be transmitted is minimized by transmitting the difference value of the two images, and the existing low-speed transmission line is used without laying a line other than the outdoor telephone line. It is an object of the invention to be able to transmit an image of a target and to locate the target remotely or automatically.

[0008]

According to a first aspect of the present invention, there is provided a remote locating apparatus for driving a gantry of a locator up, down, left and right, controlling a gantry of a locator, and outputting an image of a camera. Means for controlling, means for storing the image of the imaging camera in the memory, means for extracting the difference between the current image output from the imaging camera and the past image output from the memory, And means for operating the gantry of the locator.

A target locating device according to a second aspect of the present invention detects a target and a landing point from a difference between a current image output from an imaging camera and a past image output from a memory, and detects a target and an impact on a gantry. Means are provided for calculating the amount of movement to the point, and means for automatically driving the gantry to the target and the point of impact based on the amount of movement at the target and the point of impact, and locating the target and the point of impact.

The target locating device according to a third aspect of the present invention uses a trajectory calculating means for outputting the time from the firing of the shell to the landing, and the brightness of the image is detected, and the detection result is used based on the time from the firing of the shell to the landing. Means for judging whether the target or the landing.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram showing Embodiment 1 of the present invention. In the figure, 1, 2,
Reference numerals 3, 16, 17, 18, 20, and 24 are the same as those of the conventional device. Reference numeral 5 denotes an output imaging camera which captures a target serving as a target of the projectile and a projecting point of the projectile and outputs an image, and 6 measures the target by a distance measuring laser beam and automatically detects the distance by inputting an automatic distance measuring signal. An automatic laser distance measuring unit 7 for measuring fixes the output imaging camera 5 and the automatic laser distance measuring unit 6, displays a distance from the automatic laser distance measuring unit 6, an azimuth angle and an elevation angle, outputs orientation data, and outputs a control signal. An angle measuring unit 8 having an input / output of 8 is a movable gantry for driving the angle measuring unit 7 up, down, left and right, and is automatically operated by the output imaging camera 5, the automatic laser ranging unit 6, the angle measuring unit 7 and the movable gantry 8. The orientation unit 4 is configured. 10 is a gantry controller for controlling the driving of the movable gantry 8;
11 is an image control unit for controlling the output destination of the image of the output imaging camera 5, 12 is an image memory for storing the image of the output imaging camera 5, 13 is a difference extraction unit for extracting a difference between two images, and 14 is a difference A luminance determination unit 15 detects the luminance of the image output from the extraction unit 13 and determines whether the image is an object or a landing. A luminance processing control unit 15 processes and controls distance measurement data, a luminance determination result, image data, and operation command data. Yes, gantry controller 1
0, image control unit 11, image memory 12, difference extraction unit 1
3, brightness determination unit 14, brightness processing control unit 15, orientation display unit 16, orientation data transmission unit 17, and operation data reception unit 18.
Constitute the orientation control device 9. Reference numeral 22 denotes an operation unit that operates the movable base 8 and outputs operation command data, 23 denotes an operation processing control unit that processes and controls distance measurement data, luminance determination results, image data, and impact point prediction data, and 21 denotes operation command data. And an operation data transmission unit for inputting data from the operation processing control unit 23 and frequency multiplexing the data and the voice,
The orientation data receiving unit 20, the operation data transmitting unit 21, the operation unit 22, the operation processing control unit 23, and the operation display unit 24 constitute a remote operation device.

The operation of the remote locating device configured as described above will be described. When locating the target 1, the remote control device 1
The reference numeral 9 transmits the position information of the impact point predicted in advance to the orientation control device 9, and directs the automatic orientation device 4 in the approximate direction. Outputting the image in the approximate direction is output to the image control unit 11, and the image control unit 11 outputs the image from the imaging camera 5 to the image memory 12 and the brightness processing control unit 15 as a reference image. The brightness processing control unit 15 outputs the reference image to the operation processing control unit 23 via the orientation data transmitting unit 17 and the orientation data receiving unit 20, and the operation processing control unit 23 displays the reference image on the operation display unit 24. Next, the image control unit 1
1 outputs the image from the output imaging camera 5 after a lapse of a predetermined time to the difference extracting unit 13. At the same time, the image memory 12 outputs the stored image to the difference extracting unit 13. The difference extraction unit 13 stores the image from the image control unit 11 and the image memory 12
, And outputs the difference to the luminance determination unit 14. The luminance determining unit 14 determines the luminance value of the difference, determines whether the difference is an object or an impact, and outputs the result to the luminance processing control unit 15. The determination result is transmitted to the operation processing control unit 23 via the orientation data transmission unit 17 and the orientation data reception unit 20, and the determination result is overlay-displayed on the reference image displayed on the operation display unit 24. Based on the result of the determination, the operator operates the operation unit 22 to move the movable gantry 8, and performs positioning with the target by aligning with the distance measuring laser beam emission axis 37. Operation unit 22
Is transmitted to the gantry control unit 10 via the operation data transmission unit 21, the operation data reception unit 18, and the brightness processing control unit 15. In this way, a remote locating device that enables remote locating from a remote location without the operator operating the automatic locator 4 is configured.

FIG. 4 illustrates a method for obtaining a difference value between two images. Here, as an example, a case where the impact point of a shell is located will be described. In the figure, 36 is a reference image, 3
Reference numeral 7 denotes a distance measurement laser beam emission axis, 38 denotes an impact image, 39 denotes an impact point, 40 denotes a difference image, 41 denotes an overlay image, and 42 denotes an impact point mark. The image processing unit 11 always receives an image from the output imaging camera 5. The image control unit 11 transmits the reference image 36 in FIG. 4A to the operation processing control unit 23 and the image memory 12. The operation processing control unit 23 displays the reference image 36 on the operation display unit 24. After landing, image control unit 1
1 outputs the landing image 38 of FIG. At the same time, the image memory 12 outputs the reference image 36 to the difference extraction unit 13. The difference extracting unit 13 extracts a difference image 40 in FIG. 4C of the reference image 36 and the landing image 38, and outputs the difference image 40 to the luminance determination unit 14 if the difference is equal to or larger than the threshold value. The luminance determination unit 14 determines the luminance of the difference image 40, and transmits the determination result and the coordinate position of the difference image 40 to the operation processing control unit 23. The operation processing control unit 23 overwrites the result from the luminance determination unit 14 on the reference image 36 displayed on the operation display unit 24 as the impact point mark 42, and performs the operation as in the overlay image 41 in FIG. It is displayed on the display unit 24. In this way, by transmitting the target determination result and the target coordinate position, the amount of data to be transmitted is minimized, and the landing is performed by performing the overlay display even when the transmission path between the transmitting apparatuses has a low transmission speed. You can check the points.

Embodiment 2 FIG. FIG. 2 is a configuration diagram showing a second embodiment of the present invention. In the figure, 1, 2, 3, 4,
5, 6, 7, 8, 11, 12, 14, 15, 16, 1
7, 18, 19, 20, 21, 22, 23 and 24 are shown in FIG.
Is the same as 27 detects the target position from the difference image, calculates the amount of movement of the movable gantry 8, and
The position detecting unit 26 outputs a signal for operating the movable mount 8 to the gantry control unit 10 in response to a signal from the position detecting unit 27.
An input gantry control unit having a function of driving the input gantry, and an output difference extracting unit 28 having a function of outputting a difference value to the position detecting unit 27 to the difference extracting unit 13, the input gantry controlling unit 26 and the position detecting unit 27 , The image control unit 11, the image memory 12, the output difference extraction unit, the luminance determination unit 14, the luminance control unit 15, the orientation display unit 16, the orientation data transmission unit 17, and the operation data reception unit 18 constitute the orientation control automatic control device 25. are doing.

The operation of the target locating device configured as described above will be described. From the image output from the output difference extraction unit 28, the position detection unit 27 determines where the target is in the image.
The moving amount of the movable gantry 8 until the target is moved to the center of the image is calculated from the detection result, and the moving amount is output to the automatic gantry controller 26. The automatic gantry controller 26 drives the movable gantry 8 based on the movement amount, and automatically operates and locates the laser distance measuring unit 6 to constitute a remote locating device for automatically locating the target.

Embodiment 3 FIG. 3 is a configuration diagram showing a third embodiment of the present invention. In the figure, 1, 2, 3, 4,
5,6,7,8,10,11,12,13,16,1
7, 18, 20, 22, and 24 are the same as those in FIG. Reference numeral 30 denotes a landing time luminance determining unit having the luminance determining unit 14 having a landing time determining function, and 31 denotes a landing time processing control unit having the luminance processing determining unit 15 having a function of outputting a landing time to the landing time luminance determining unit. , Gantry control unit 10, image control unit 1
1, image memory 12, difference extraction unit 13, impact time luminance determination unit 30, impact time processing control unit 31, orientation display unit 16,
The orientation data transmission unit 17 and the operation data reception unit 18 constitute a landing time processing control device 29. Reference numeral 33 denotes a landing time data transmission unit having a function of transmitting a landing time to the operation data transmission unit 21; 34, a landing time calculation unit that outputs a time from firing to impact of a shell; and 35, an operation processing control unit 23.
Is a landing calculation processing control unit having a function of outputting data necessary for calculating landing time to the landing time calculation unit. The orientation data receiving unit 20, the landing time data transmission unit 33, the landing time calculation unit 34, the operation unit The landing calculation processing control unit 35 and the operation display unit 24 constitute a landing time calculation remote control unit 32.

The operation of the target locating device configured as described above will be described. The time from firing to landing output from the landing time calculation unit 34 is output to the arrival time luminance determination unit 30 via the landing time data transmission unit 33, the operation data reception unit 18, and the landing time processing control unit 31. The arrival time luminance determination unit 30 adds the time from firing to landing to the determination criterion of the luminance value of the difference output from the difference extracting unit 13, and determines that the landing is determined before and after the time from firing to landing as landing. Judgment is made, and the judgment accuracy of the object and the impact is improved as compared with the first embodiment.

[0018]

According to the first aspect of the present invention, the remote control of the locator can be realized even on a transmission line with a low transmission speed by detecting the difference between the two images and confirming the target and the point of impact.

According to the second aspect of the present invention, the target can be automatically located with respect to the first aspect of the invention by detecting the target position from the difference between the two images and calculating the amount of movement to the target position. Becomes

Further, according to the third aspect of the present invention, it is possible to improve the target identification as compared with the first aspect of the present invention by calculating the time from the firing of the shell to the landing of the shell.

[Brief description of the drawings]

FIG. 1 is a first embodiment of a remote orientation device according to the present invention;
FIG.

FIG. 2 is a second embodiment of the remote location apparatus according to the present invention;
FIG.

FIG. 3 is a third embodiment of the remote orientation device according to the present invention;
FIG.

FIG. 4 is a diagram showing a method for obtaining a difference value between two images according to the present invention.

FIG. 5 is a diagram illustrating an example of a system to which the orientation device is applied.

FIG. 6 is a diagram showing an embodiment of a conventional orientation device.

FIG. 7 is a diagram showing an operation method of a conventional orientation device.

[Explanation of symbols]

1 target, 2 incident light, 3 ranging laser light, 4 automatic locator, 5 output imaging camera, 6 automatic laser ranging unit, 7
Measuring unit, 8 Movable gantry, 9 Pointer control device, 10
Gantry controller, 11 image controller, 12 image memory,
13 difference extraction unit, 14 brightness determination unit, 15 brightness processing control unit, 16 orientation display unit, 17 orientation data transmission unit,
18 operation data receiving unit, 19 remote control device, 20
Orientation data receiving unit, 21 operation data transmission unit, 22 operation unit, 23 operation processing control unit, 24 operation display unit, 25
Automatic orientation control device, 26 input stand control unit, 27
Position detector, 28 output difference extractor, 29 arrival time controller, 30 arrival time luminance determiner, 31 arrival time processing controller, 32 arrival time calculator remote controller, 33 arrival time data transmitter, 34 landing time calculator 35 landing calculation processing control unit, 36 landing time calculation unit, 36 reference image, 37 ranging laser beam emission axis, 38 landing image, 39
Impact point, 40 difference image, 41 overlay image,
42 impact point mark, 43 manual range finder, 44 locator processor, 45 shell, 46 gun, 47 central controller, 48 visual imaging camera, 49 manual laser range finder,
50 manual angle measuring unit, 51 orientation data processing control unit, 52
Central data transmission unit, 53 central processing control unit, 54 viewfinder, 55 landing point before moving.

Claims (3)

[Claims] 1. An imaging camera for photographing a target which is a target of a projectile and a landing point of a projectile, a laser ranging unit for measuring a distance by emitting a laser beam for measuring a target and a point of impact according to operation command data. An angle measurement unit that fixes the imaging camera and the laser distance measurement unit, measures an azimuth and an elevation angle with respect to a target and a landing point, and outputs a distance measurement value, an azimuth angle, and an elevation angle of the laser distance measurement unit, A movable gantry for driving the angle measurement unit up, down, left and right, an image control unit for controlling an image output destination by receiving an image of the imaging camera, an image memory for storing an image of the imaging camera, and the image control unit And a difference extraction unit that extracts a difference between a current image output from the image memory and a past image output from the image memory, and detects whether the difference is a target or an impact by detecting the brightness of the image output from the difference extraction unit Brightness determination unit and orientation Processing control means for processing and controlling data, image data and operation command data, transmitting and receiving means for orientation data, image data and operation command data, an operation section for remotely operating the movable gantry, and output from the operation section A gantry control unit for controlling the driving of the movable gantry according to the operation command data and operating the laser ranging unit to locate a target and a landing point. 2. A position detecting section for detecting a position of a target and a landing point from an image output from the difference extracting section and calculating an amount of movement of the movable gantry to the target and a landing point; 2. A gantry control unit for driving the movable gantry to a position of a target and a landing point with respect to the output movement amount, operating the laser ranging unit, and locating the target and the landing point. A remote location device as described. 3. A landing time calculation unit for outputting a time from the firing of a shell to landing, and a determination is made as to whether the difference image output from the difference extraction unit is a target or a landing based on the time output from the landing time calculation unit. The remote location device according to claim 1, further comprising a brightness determination unit that performs the brightness determination.