JP2012209843A - Wide-area photographing control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wide-area photographing control system which can precisely and speedily photograph a specified place where a disaster is considered to occur when an image in a wide-area disaster is to be collected by an aircraft and the like for a plurality of times.SOLUTION: The wide-area photographing control system includes: a camera 1 which is installed on a flying object and photographs the ground from the sky; an image processing section 21 which is installed on the flying object and associates a plurality of pieces of image data photographed by the camera 1 with position information; an event flag application section 24 applying an event flag to one or more image data selected from the plurality of pieces of image data photographed by the camera 1; a re-photographing plan section 26 generating a re-photographing plan for performing re-photographing based on the position information which the image processing section 21 associates with one or more image data to which the event flag is applied by the event flag application section 24; and a photographing control section 27 which is installed on the flying object and controls the camera 1 based on the re-photographing plan generated by the re-photographing plan section 26.

Description

  Embodiments described herein relate generally to a wide area imaging control system that controls imaging from the sky by an aircraft or the like for the purpose of detecting a wide area disaster.

  Conventionally, in order to detect a disaster occurrence location in a wide area, a method has been adopted in which a camera is mounted on an aircraft or the like, and a disaster location is identified by visually observing a ground image taken from a high place. If an image taken from an aircraft, etc. is brought back to the ground for development and the disaster location is identified by visual inspection, it will take a long time, especially when it is necessary to cover a wide area, and it will be possible to quickly identify the disaster location. There is a problem that it becomes difficult.

  Therefore, in recent years, a method has been adopted in which the time required for development is shortened by copying and confirming a digitized image on a monitor. In this case, the time can be further shortened by transmitting an image based on electronic data from the aircraft to the ground wirelessly.

  In addition, when an infrared sensor is used, non-contact temperature measurement can be performed, so the temperature at each part in the infrared image can be digitized to easily detect the high temperature part, and immediately from the image collected by the aircraft. It is an effective method for detecting fires. The detection method using such temperature measurement is not necessarily limited to fire detection.For example, as a result of landslides, the temperature difference that occurs due to unnatural loss of trees in some areas of the forest. It is also possible to detect.

  In addition, images of areas that are expected to have a high probability of occurrence of disasters are captured in advance using a normal camera, and the location of disasters can be detected by comparing optical images taken after the disaster with images before the disaster. The method of doing is also known. By comparing the images before and after the disaster, it is possible to visually and easily recognize not only a fire but also a landslide, which can be said to be an effective method. However, optical images from ordinary cameras have the problem that it is difficult to detect fires and smoke at night, and the temperature measurement using the infrared sensor described above is adopted depending on the situation. In some cases.

JP 2010-61398 A Japanese Patent Laid-Open No. 10-285583 JP 2003-115091 A

  In a wide-area disaster, there are several places where disasters occur, and it is very important to find them quickly. However, since a wide area disaster inevitably involves collecting images over a wide area, it takes time for image processing, and even if the above-described means are used, it takes time until detection. As a result, even when re-shooting is necessary to confirm the detailed damage situation and extent of damage at the disaster location, it is difficult to accurately and quickly grasp the location information of the disaster location. There is a problem that it takes a long time for re-photographing.

  In addition, in the case of a system that transmits images by wireless communication from an aircraft, the transmission path capacity is insufficient and all collected images cannot be transmitted in real time. However, there is a problem that it takes time after the return of the aircraft.

  In particular, due to the development of technology aimed at improving image quality, the number of pixels in digital images has increased dramatically in recent years, and considering that it is necessary to collect a wide range of images, the data capacity is enormous. Therefore, a long time is required for transmission and image processing by wireless communication, resulting in an obstacle to quick disaster detection. Even if a high-function dedicated device capable of processing an enormous amount of data is prepared, there is a problem that the device becomes large and the cost is increased.

  The present invention solves the above-mentioned problems of the prior art, and when performing image collection in a wide-area disaster using an aircraft or the like, it is possible to accurately and quickly photograph a specific place where a disaster is thought to have occurred multiple times. It is an object of the present invention to provide a wide-area shooting control system that can be used.

  In order to solve the above-described problem, the wide-area shooting control system of the embodiment is mounted on a flying object, and an imaging unit that images the ground from the sky, and a plurality of imaging units mounted on the flying object and captured by the imaging unit. An image processing unit that associates position information with each of the image data, an event flag adding unit that adds an event flag to one or more image data selected from a plurality of image data captured by the imaging unit, A re-shooting plan unit for generating a re-shooting plan for performing re-shooting based on position information associated with the one or more pieces of image data to which the event flag is added by the event flag adding unit; An imaging control unit mounted on the flying body and controlling the imaging unit based on the re-imaging plan generated by the re-imaging plan unit. To.

It is a block diagram which shows the structure of the wide area | region imaging control system of the form of Example 1. FIG. It is a block diagram which shows another structural example of the wide area | region imaging control system of the form of Example 1. FIG. It is a block diagram which shows the structure of the wide area | region imaging control system of the form of Example 2. FIG.

  Hereinafter, an embodiment of the wide area photographing control system will be described in detail with reference to the drawings.

  Hereinafter, embodiments will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of a wide area photographing control system according to the first embodiment of the present invention. As shown in FIG. 1, the wide-area shooting control system of this embodiment includes a camera 1, a collection sensor control unit 2 a, and a display unit 3. The collection sensor control unit 2 a includes an image processing unit 21, an image storage unit 22, an image display unit 23, an event flag assignment unit 24, an own device information collection unit 25, a re-shooting plan unit 26, and a shooting control unit 27. Is done.

  The camera 1, the collection sensor control unit 2a, and the display unit 3 are mounted on a flying body (an aircraft in this embodiment).

  The camera 1 is an example of a photographing unit of the present invention, and is mounted on a flying body and images the ground from the sky. The image captured by the camera 1 may be a normal optical image or an infrared image. In the case of an infrared image, the camera 1 uses an infrared sensor to capture an infrared image of the ground from the sky. Therefore, an image for performing non-contact temperature measurement and displaying the captured temperature distribution of the image as an image. Data can be acquired.

  The collection sensor control unit 2a is mounted on the flying object, collects images taken by the camera 1, and performs necessary processing. Hereinafter, each component in the collection sensor control part 2a is demonstrated concretely.

  The image processing unit 21 is mounted on the flying object, collects images taken by the camera 1, and performs processing on each of the collected plurality of image data. Specifically, the image processing unit 21 stores position information (latitude, longitude, etc.) when the camera 1 has taken an image, and associates the position information with each of the plurality of image data. This position information can be obtained by, for example, GPS (Global Positioning System). The image processing unit 21 may be equipped with GPS by itself, or may obtain position information from the own device information collecting unit 25 having GPS.

  The image storage unit 22 stores image data captured by the camera 1. Specifically, the image storage unit 22 is connected to the image processing unit 21 and stores the images collected by the image processing unit 21 together with position information. Further, the image storage unit 22 may display a specific image on the image display unit 23 described later by a command signal as necessary.

  The image display unit 23 displays the image stored in the image storage unit 22 as necessary. For example, the image display unit 23 may acquire and display image data designated by the user through an external input from the image storage unit 22.

  The event flag assigning unit 24 is provided on the flying object and assigns an event flag to one or more image data selected from a plurality of image data photographed by the camera 1. Here, the event flag is a flag indicating the importance in performing disaster detection. There are various image data selection methods. Here, the event flag assigning unit 24 selects image data designated by the user through external input.

  Specifically, the user confirms the image displayed on the image display unit 23, selects an image that seems to have caused a disaster such as a fire or a landslide, and corresponds through an input device such as a keyboard (not shown). Specify an image. The event flag assigning unit 24 assigns an event flag to the image data of the image designated by the user, and causes the image storage unit 22 to store the event flag.

  The own aircraft information collection unit 25 collects flying object information as own aircraft information. Specifically, the own aircraft information collection unit 25 collects at least one of the current position, altitude, direction, and speed of the flying object as own aircraft information. In the present embodiment, the own device information collecting unit 25 collects all the information described above. For example, the own aircraft information collection unit 25 has a GPS and collects the current position (latitude / longitude) of the flying object as own aircraft information.

  The re-imaging plan unit 26 performs re-photographing based on the positional information associated with the image processing unit 21 with respect to one or more image data to which the event flag is added by the event flag adding unit 24. Generate a reshoot plan to do. Specifically, the re-shooting plan unit 26 includes at least one of shooting route information (hereinafter referred to as a route), a shooting area, a shooting direction, and a shooting timing (generated from the relationship between the position of the own device and the shooting possible area). One is generated as part of the reshoot plan. For example, the route that the re-shooting plan unit 26 generates as a part of the re-shooting plan is a route that connects places where a disaster to which an event flag has been assigned is thought to have occurred, and is used for efficiently performing re-shooting. It is a route plan. In the present embodiment, the re-shooting plan unit 26 generates all the information described above as a part of the re-shooting plan.

  The imaging control unit 27 is mounted on the flying object and controls the camera 1 based on the re-imaging plan generated by the re-imaging plan unit 26. For example, the imaging control unit 27 adjusts the direction and angle of the camera 1 based on the imaging direction included in the re-imaging plan. Furthermore, the imaging control unit 27 causes the camera 1 to perform imaging based on the imaging timing included in the re-imaging plan.

  Further, the photographing control unit 27 further controls the camera 1 based on the own device information collected by the own device information collecting unit 25. For example, the imaging control unit 27 can know the direction and imaging timing in which the camera 1 should be relatively directed based on the current flying object position, altitude, direction, and speed included in the own aircraft information. The camera 1 can be controlled more accurately.

  The display unit 3 displays the control status by the imaging control unit 27 as necessary. For example, the display unit 3 can display a route included in the re-shooting plan, the position of the own aircraft, a point for performing re-shooting, and the like. However, the display unit 3 is not an essential component, and may not be necessarily installed when it is not particularly necessary to display the status of control by the imaging control unit 27. Further, instead of installing the display unit 3, the image display unit 23 may play the role of the display unit 3.

  Next, the operation of the present embodiment configured as described above will be described. First, the camera 1 mounted on the flying object takes an image of the ground from above. At this time, the image processing unit 21 collects images taken by the camera 1, associates position information with each of the collected plurality of image data, and then outputs them to the image storage unit 22. The image storage unit 22 stores the images collected and processed by the image processing unit 21.

  Next, the user causes the image display unit 23 to display the image stored in the image storage unit 22 by operating a keyboard or the like. The user confirms the image displayed on the image display unit 23 and designates an image that seems to have caused a disaster by operating a keyboard or the like. The event flag assigning unit 24 assigns an event flag to one or more pieces of image data designated by the user and causes the image accumulating unit 22 to store the event flag.

  On the other hand, the own aircraft information collecting unit 25 collects information on the current position, altitude, direction, and speed of the flying object as own aircraft information and outputs the collected information to the imaging control unit 27. The re-shooting plan unit 26 acquires the image data stored in the image storage unit 22, and the image processing unit 21 associates the one or more image data to which the event flag is added by the event flag adding unit 24. Based on the position information, a re-shooting plan for performing re-shooting is generated. Specifically, the re-shooting plan unit 26 generates a re-shooting plan for the route, the shooting area, the shooting direction, the shooting timing, and the like.

  The imaging control unit 27 controls the camera 1 based on the own device information collected by the own device information collecting unit 25 and the reshooting plan generated by the reshooting plan unit 26. Specifically, the imaging control unit 27 acquires information on the current position, altitude, direction, and speed of the flying object based on the own aircraft information collected by the own aircraft information collecting unit 25, and re-shooting plan Based on the re-shooting plan generated by the unit 26, the camera 1 is adjusted to an appropriate direction and angle, and shooting by the camera 1 is performed at an appropriate timing.

  Further, the imaging control unit 27 may cause the display unit 3 to display the route information included in the re-imaging plan and the speed information of the flying object. The pilot of the flying object (aircraft) operates according to the route displayed on the display unit 3, and adjusts the speed of the flying object according to the speed information of the flying object.

  As described above, according to the wide-area shooting control system according to the form of the first embodiment, when collecting images in a wide-area disaster using an aircraft or the like, a specific place where the disaster is thought to have occurred is captured multiple times accurately and quickly. can do.

  That is, the wide area shooting control system of the present embodiment includes an event flag adding unit 24 that adds an event flag to one or more image data selected from a plurality of image data shot by the camera 1. The image which seems to be can be extracted, and the accurate and quick position information of the disaster occurrence place can be grasped.

  Furthermore, the wide area imaging control system of the present embodiment recognizes position information associated with one or more image data to which an event flag has been assigned, so that it can be re-transmitted from outside without sending information to the ground side. The re-shooting plan can be automatically generated on the aircraft side during the flight without receiving the shooting plan. At that time, the re-shooting plan unit 26 generates at least one of the navigation route, the shooting direction, the timing of shooting, and the speed of the flying object as a part of the re-shooting plan, so it seems that a disaster has occurred. A place can be efficiently shot multiple times.

  In this way, the wide-area shooting control system of the present embodiment efficiently captures the disaster occurrence location multiple times based on the generated re-shooting plan when a disaster such as a fire, landslide, or debris flow occurs. It is possible to quickly grasp changes in the situation over time.

  FIG. 2 is a block diagram illustrating another configuration example of the wide area imaging control system of the present embodiment. A difference from the configuration of the wide area imaging control system shown in FIG. 1 is that a comparison / extraction unit 29 is provided instead of the event flag assignment unit 24.

  The comparison and extraction unit 29 is an example of an event flag adding unit according to the present invention. The comparison and extraction unit 29 is mounted on a flying object, and sets an event flag for one or more image data selected from a plurality of image data captured by the camera 1. Give. However, as a difference from the event flag assigning unit 24, the comparison and extraction unit 29 selects one or more image data based on a plurality of image data photographed by the camera 1, and selects one or more selected image data. Assign event flag.

  That is, while the event flag assigning unit 24 assigns an event flag through human judgment, the comparison / extraction unit 29 automatically assigns an event flag based on own judgment without human intervention. To do.

  As a specific image selection method, for example, an image of each area before the occurrence of the disaster is stored in the image storage unit 22 in advance, and the comparison and extraction unit 29 creates the ground image before the occurrence of the disaster, Compare with the image of the ground after the occurrence (for example, in the optical image, compare the presence or absence of the building with that before the disaster), detect the location of the disaster based on the difference between them, and set the event flag on the corresponding image Give. When the amount of image data becomes enormous, for example, it is possible to use a thumbnail image with a small amount of data.

  In addition, when no image is stored in advance in the image storage unit 22, for example, an image of a predetermined area is taken a plurality of times with time by an aircraft, and the comparison and extraction unit 29 is caused by expansion of damage at the disaster occurrence location. You may detect a disaster occurrence location based on the difference which arises.

  Or when the camera 1 can image | photograph an infrared image, for example, the comparison extraction part 29 may detect the location which satisfy | fills predetermined | prescribed temperature conditions as a disaster occurrence location based on image data. Since the temperature is very high when a fire is occurring, the comparative extraction unit 29 can detect the location of the fire using the temperature condition as a threshold value.

  As described above, even when the comparison / extraction unit 29 is provided instead of the event flag assigning unit 24, the above-described effects can be obtained, and image selection can be performed without human intervention. It is possible to assign a flag and generate a re-shooting plan.

  FIG. 3 is a block diagram illustrating a configuration of the wide area shooting control system according to the second embodiment. The difference from the wide-area imaging control system of the first embodiment is that a ground image processing unit 4, a photo database 5, and an image display unit 6 are newly provided, and an image transmission unit 28 is provided in the collection sensor control unit 2b. is there.

  The ground image processing unit 4 includes a comparison extraction unit 41, an image reception unit 42, and a shooting plan unit 43. Here, the camera 1, the collection sensor control unit 2b, and the display unit 3 are mounted on a flying object (an aircraft in the present embodiment). On the other hand, the ground image processing unit 4, the photograph database 5, and the image display unit 6 are installed on the ground. In addition, necessary images are transmitted between the aircraft and the ground by wireless communication. That is, the exchange of information between the image transmission unit 28 and the image reception unit 42 and the exchange of information between the imaging plan unit 43 and the imaging control unit 27 are all performed by wireless communication.

  The photograph database 5 is a database in which photographs (image data) before disasters in various regions are accumulated. Although it is desirable that the photograph database 5 covers photographs of all areas in Japan if possible, photographs may be accumulated only in areas where disasters are likely to occur.

  The image transmission unit 28 is an example of the transmission unit of the present invention, and is mounted on the flying body and transmits a plurality of image data captured by the camera 1 to the ground side by wireless communication. Specifically, the image transmission unit 28 transmits, in real time, a plurality of images accumulated by the image accumulation unit 22 to the image reception unit 42 in the ground image processing unit 4 installed on the ground by wireless communication. . When the amount of image data is enormous, wireless communication can be performed using, for example, a thumbnail image with a small amount of data.

  The image receiving unit 42 is an example of the receiving unit of the present invention, is installed on the ground side, receives a plurality of image data transmitted by the image transmitting unit 28, and outputs the received image data to the comparison and extraction unit 41. . Further, the image receiving unit 42 may output the received image data to the image display unit 6 and cause the image display unit 6 to display an image.

  The comparison extraction unit 41 is an example of the event flag assigning unit of the present invention, and is provided on the ground side and assigns an event flag to one or more image data selected from a plurality of image data photographed by the camera 1. . Specifically, the comparison and extraction unit 41 selects one or more image data based on a plurality of image data photographed by the camera 1, and assigns an event flag to the selected one or more image data.

  More specifically, the image of each region before the occurrence of the disaster is stored in the photo database 5 in advance, and the comparison and extraction unit 41 creates the ground image before the occurrence of the disaster, the image of the ground after the occurrence of the disaster, Are detected, a disaster occurrence location is detected based on the difference, and an event flag is assigned to the corresponding image. In addition, the comparison and extraction unit 41 causes the image display unit 6 to display an image to which the event flag has been added.

  Note that there are various methods for detecting a difference by comparing images, for example, a method of comparing color spectra, a method of comparing shapes of roads, rivers, mountain ridges, and the like. As the detection method itself, an image comparison method existing as a conventional technique may be used.

  The imaging plan unit 43 is an example of a re-imaging plan unit according to the present invention, and is set on the ground side, and the image processing unit 21 associates one or more image data to which an event flag is assigned by the comparison extraction unit 41. Based on the position information, a re-shooting plan for performing re-shooting is generated.

  However, in this embodiment, the imaging plan unit 43 does not directly receive the position information from the comparison and extraction unit 41, but indirectly uses the position information. That is, the comparison and extraction unit 41 displays the image with the event flag on the image display unit 6 together with the position information, and the user confirms the image displayed on the image display unit 6 and the position information, and an external input device such as a keyboard. Is used to input necessary information to the shooting plan unit 43.

  As a matter of course, the comparison / extraction unit 41 may directly output the position information associated with the image to which the event flag is assigned to the imaging plan unit 43. In this case, there is no need for human intervention, so that processing can be performed quickly.

  The imaging plan unit 43 generates at least one of the navigation route, the imaging direction, the imaging timing, and the flying body speed as a part of the re-imaging plan. In the present embodiment, the shooting plan unit 43 generates all the information described above as a part of the re-shooting plan.

  The imaging control unit 27 is mounted on the flying body and controls the camera 1 based on the re-imaging plan generated by the imaging plan unit 43. However, in the present embodiment, the imaging control unit 27 receives the re-imaging plan from both the re-imaging plan unit 26 and the imaging plan unit 43, and therefore executes the re-imaging plan by the re-imaging plan unit 26 with priority. It shall be. Depending on the situation, the imaging control unit 27 may select which re-imaging plan to execute.

  Other configurations are the same as those of the first embodiment, and redundant description is omitted.

  Next, the operation of the present embodiment configured as described above will be described. The processing itself on the aircraft side is the same as that in the first embodiment. Therefore, as described above, the imaging control unit 27 can receive both the re-imaging plan generated in the collection sensor control unit 2b and the re-imaging plan generated in the ground image processing unit 4, You can choose whether to execute the re-shooting plan.

  Since the processing in the collection sensor control unit 2b is considered to be quick because it does not involve wireless communication, when priority is given to speed, the imaging control unit 27 is generated in the collection sensor control unit 2b. Prioritize re-shooting plans.

  However, it is considered that the ground image processing unit 4 can detect the disaster more accurately because the comparison and extraction unit 41 gives an event flag by comparing with the past image. Therefore, when priority is given to accuracy, the imaging control unit 27 may execute the re-imaging plan generated in the ground image processing unit 4 with priority.

  As described above, according to the wide-area shooting control system according to the form of the second embodiment, not only can the same effect as the first embodiment be obtained, but also the re-shooting plan generated on the aircraft side and the re-shooting generated on the ground side. Which one of the shooting plans is to be executed can be selected, and it is possible to flexibly cope with the situation.

  Although several embodiments have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 Camera 2a, 2b Collecting sensor control part 3 Display part 4 Ground image processing part 5 Photo database 6 Image display part 21 Image processing part 22 Image storage part 23 Image display part 24 Event flag provision part 25 Self-machine information collection part 26 Re-photographing Planning unit 27 Imaging control unit 28 Image transmission unit 29 Comparison extraction unit 41 Comparison extraction unit 42 Image reception unit 43 Imaging planning unit

Claims (7)

A shooting unit that is mounted on a flying body and shoots the ground from above,
An image processing unit mounted on the flying body and associating position information with each of a plurality of image data captured by the imaging unit;
An event flag assigning unit that assigns an event flag to one or more image data selected from a plurality of image data photographed by the photographing unit;
A re-shooting plan unit for generating a re-shooting plan for performing re-shooting based on position information associated with the one or more pieces of image data to which the event flag is added by the event flag adding unit; ,
An imaging control unit that is mounted on the flying object and controls the imaging unit based on the re-imaging plan generated by the re-imaging plan unit;
A wide-area shooting control system comprising:   The wide-area shooting control system according to claim 1, wherein the re-shooting plan unit generates at least one of a navigation route, a shooting area, a shooting direction, and a shooting timing as a part of the re-shooting plan. A self-machine information collection unit that collects the flying object information as self-machine information,
The wide-area shooting control system according to claim 1, wherein the shooting control unit further controls the shooting unit based on own device information collected by the own device information collecting unit.   4. The wide area photographing control system according to claim 3, wherein the own device information collecting unit collects at least one of the current position, altitude, direction, and speed of the flying object as own device information.   The event flag assigning unit selects one or more image data based on a plurality of image data photographed by the photographing unit, and assigns an event flag to the selected one or more image data. The wide area imaging | photography control system of any one of Claim 1 thru | or 4.   6. The wide area imaging control system according to claim 1, wherein the event flag assigning unit and the re-imaging planning unit are mounted on the flying object. A transmitter that is mounted on the flying body and that transmits a plurality of image data captured by the imaging unit to the ground side by wireless communication;
A receiving unit installed on the ground side and receiving a plurality of image data transmitted by the transmitting unit;
The wide-area shooting control system according to claim 1, wherein the event flag assignment unit and the re-shooting plan unit are installed on the ground side.

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