JP2013127694A - Control apparatus and method therefor, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve discovery rate of an object on the sea.SOLUTION: A control apparatus has: a course control unit 20 that, in a prescribed width in a direction intersecting the travelling direction of an escort ship, causes an unmanned airplane to travel in the direction intersecting the travelling direction of the escort ship, and causes the unmanned airplane to travel in the travelling direction of the escort ship for only a prescribed distance after the unmanned airplane travelled across the prescribed width; a sea sweeping unit 22 that performs sea sweeping by moving the imaging direction of an optical sensor provided on the unmanned airplane in a lateral direction to the travelling direction of the unmanned airplane in a period when the unmanned airplane travels in the direction intersecting the travelling direction of the escort ship; and a route determination unit 23 that calculates a prescribed distance on the basis of the velocity of the unmanned airplane, the velocity of the escort ship and the length of the prescribed width so that a route off set as a distance of the travelling direction of the escort ship and the unmanned airplane becomes constant, and that determines a flight path of the unmanned airplane on the basis of the prescribed distance thus calculated.

Description

  The present invention relates to a control device, method, and program suitable for use in, for example, control of an aircraft that searches for an object at sea.

For example, an unmanned aerial vehicle system including an unmanned airplane that is unmanned and a ground control system (hereinafter referred to as “GCS”) is an unmanned aircraft that is installed on a ground base or a navigation system such as a marine vehicle. This technique is known as a technique for controlling an airplane, flying a desired flight path, and performing a search on the ground or the sea.
In Patent Document 1 below, a reconnaissance system mounted on an unmanned airplane is directed in an arbitrary direction, and a captured image of an arbitrary region of interest is obtained, thereby searching for a target that is an object of interest of the operator. Techniques to do this have been proposed.

Special table 2005-528280 gazette

  However, in the method of Patent Document 1, the flight path of the unmanned airplane is specified by the operator via the GCS, and the search range of the reconnaissance system is determined according to the flight path. There is a problem that the target cannot be found unless the flight path is properly selected. It is also possible for the operator to manually indicate the viewing direction and zoom amount of the optical sensor in order to search for a wider range, but in order to manually indicate sequentially, the operator always operates a driving device such as a joystick. There is a problem that the operator's workload becomes excessive.

  This invention is made | formed in view of such a situation, Comprising: It aims at providing the control apparatus, method, and program which can improve the discovery rate of the object on the sea easily.

In order to solve the above problems, the present invention employs the following means.
The present invention is a control device for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control means for causing the unmanned airplane to travel a predetermined distance toward the traveling direction of the marine navigation body after the unmanned airplane has traveled in the predetermined width after traveling in a direction intersecting the traveling direction of the navigation body; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane, Based on the sea scanning means for scanning the sea, the speed of the unmanned airplane, the speed of the sea navigation body, and the length of the predetermined width, the sea navigation body and the unmanned flight And a route determination unit that calculates the predetermined distance so that a path offset that is a distance in the traveling direction is constant, and determines a flight path of the unmanned airplane based on the calculated predetermined distance. Providing equipment.

According to such a configuration, the unmanned airplane is caused to travel in a direction intersecting the traveling direction of the marine navigation body at a predetermined width in a direction intersecting the traveling direction of the marine navigation body. In a period in which the unmanned airplane travels a predetermined distance toward the traveling direction and travels in a direction crossing the traveling direction of the marine navigation body, the imaging direction of the optical sensor provided in the unmanned airplane is set to the left and right with respect to the traveling direction. By moving, the optical sensor of the unmanned airplane scans the sea. The predetermined distance calculated so that the path offset, which is the distance in the direction of travel between the maritime navigation body and the unmanned airplane, is constant based on the speed of the unmanned airplane, the speed of the marine navigation body, and the length of the predetermined width. Based on the above, the flight path of the unmanned airplane is determined.
In this way, during the period when the unmanned airplane travels a predetermined width, the sea is scanned in the left-right direction with respect to the traveling direction of the unmanned airplane, thereby enabling a wide range of scanning and improving the discovery rate of targets at sea. Is done. In addition, since the predetermined distance is calculated so that the path offset is constant and the unmanned airplane flies along the flight path determined based on the predetermined distance, the setting by the operator such as the input of the flight path can be simplified. In addition, since the distance of the route offset is kept constant, for example, the seagoing body uses an escort ship to escort the escort ship, and even if the speed of the escort ship and the speed of the unmanned airplane are not constant, time elapses. Since the distance between the escort ship and the unmanned airplane can be prevented, it is possible to prevent an assault by a suspicious ship assumed to be encountered when the distance increases.

It is preferable that the control device includes an acquisition unit that acquires information on an imaging range designated by an operator and outputs the acquired information to the maritime scanning unit.
As a result, the operator can directly specify the imaging range.

  The route determination means of the control device uses as an error the difference between the target route offset information, which is the route offset information acquired as a target value, and the measured route offset, which is the route offset information acquired as a measured value. Preferably, the predetermined distance is calculated by correcting the error.

  Even if an unmanned airplane or sea vehicle does not always move at a constant speed and an error occurs between the target value and the measured value of the path offset, the predetermined distance is calculated by taking the error into account, so a more appropriate flight The route can be determined.

  The sea scanning means of the control device adjusts the zoom amount of the optical sensor based on the distance between the unmanned airplane and the sea surface, and images a subject imaged by the optical sensor with a substantially constant size. It is preferable to include zoom adjusting means.

  When the zoom amount is constant, if the distance between the unmanned airplane and the sea surface is relatively long, the subject is imaged small, and if the distance between the unmanned airplane and the sea surface is relatively short, the subject is imaged large. In the present invention, by adjusting the zoom amount to be increased when the distance between the unmanned airplane and the sea surface is relatively long, and adjusting the zoom amount to be decreased when the distance is relatively short, an object at sea is imaged with a substantially constant size. To do. Thereby, when a subject exists, it becomes easy for a monitoring operator or the like to visually recognize the subject imaged from the unmanned airplane.

  The zoom adjusting means of the control device includes an imaging area that is a tangent to the sea surface at an upper end in an imaging area that is a tangential plane that is in contact with the sea surface in a viewing range that is an area that is viewed by the optical sensor. The horizontal distance to the unmanned airplane, the assumed target size that is the assumed size of the subject, the number of imaging pixels that is the number of pixels that capture the assumed target size, the horizontal resolution of the optical sensor, and the unmanned The zoom amount may be adjusted based on the flight altitude of the airplane.

  By adjusting the zoom amount using such parameters, the subject can be imaged with a substantially constant size.

  It is preferable that the sea scanning means of the control device scans the imaging direction of the optical sensor from the first direction to the second direction among the left and right directions with respect to the traveling direction of the unmanned airplane.

  After scanning from the first direction (left or right) in the left-right direction to the second direction (right or left), the scanning position of the optical sensor is returned to the first direction (left or right), and the first direction (left or right) To the second direction (right or left). Thereby, after scanning from the first direction to the second direction, compared with the case of scanning while returning the position of the optical sensor from the second direction to the first direction, it is possible to reduce scanning overlap and efficiently scan. .

  The present invention is a control device for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control means for causing the unmanned airplane to travel a predetermined distance toward the traveling direction of the marine navigation body after the unmanned airplane has traveled in the predetermined width after traveling in a direction intersecting the traveling direction of the navigation body; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane, Based on the sea scanning means for scanning the sea, and the distance between the unmanned airplane and the sea surface, the optical sensor adjusts the scanning speed, which is the speed at which the sea is scanned, and travels. To provide a control device having a scanning speed adjustment means for presenting at a constant speed imaging result obtained by.

  According to such a configuration, the unmanned airplane is caused to travel in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across the direction intersecting the traveling direction of the marine navigation body. The imaging direction of the optical sensor provided in the unmanned airplane is set to the traveling direction during the period when the unmanned airplane is traveling in the direction intersecting with the traveling direction of the marine navigation body. By moving left and right, the sea is scanned with an optical sensor of an unmanned airplane. The scanning speed at which the optical sensor scans the sea is adjusted based on the distance between the unmanned airplane and the sea surface, and the imaging result obtained by the scanning is presented at a constant speed.

  When the scanning speed of the optical sensor is constant, if the distance between the unmanned airplane and the sea surface is relatively long, the area imaged by the optical sensor changes significantly, and if the distance between the unmanned airplane and the sea surface is relatively short, The change in the area imaged by the sensor is reduced. In the present invention, by adjusting the scanning speed to increase when the distance between the unmanned airplane and the sea surface is relatively long, and to decrease the scanning speed when the distance is relatively short, the imaging result can be obtained at a constant speed. To do. As a result, it is possible to provide a stable imaging result without complicated operations to an operator who performs surveillance on the sea imaged from an unmanned airplane, and can improve the discovery rate of a target on the sea. .

  The scanning speed adjusting means of the control device may calculate a time during which the subject is presented in the imaging region when the subject is included in the imaging region that is a tangential plane in contact with the sea surface in the viewing direction range of the optical sensor. It is also possible to set the time when the operator can visually recognize the subject and adjust the scanning speed based on the time.

  By moving the imaging region by scanning, even when the subject moves from the lower end (upper end) to the upper end (lower end) of the imaging region, the operator can reliably recognize the subject.

  The present invention provides a control method for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control process in which the unmanned airplane travels in a direction crossing a traveling direction of the navigation body, and the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body after the unmanned airplane travels the predetermined width; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane, Based on the sea scanning process for scanning the sea, the speed of the unmanned airplane, the speed of the sea navigation body, and the length of the predetermined width, the sea navigation body and the unmanned flight And a route determination process that calculates the predetermined distance so that a path offset that is a distance in the traveling direction with the aircraft is constant, and determines a flight path of the unmanned airplane based on the calculated predetermined distance. Provide a method.

  The present invention is a control program for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control process in which the unmanned airplane travels in a direction crossing a traveling direction of the navigation body, and the unmanned airplane travels a predetermined distance in a traveling direction of the marine navigation body after the unmanned airplane travels the predetermined width; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane, Based on the sea scanning process for scanning the sea, the speed of the unmanned airplane, the speed of the sea navigation body, and the length of the predetermined width, the sea navigation body and the A route determination process for calculating the predetermined distance so that a path offset which is a distance in the traveling direction with respect to the human airplane is constant, and determining a flight path of the unmanned airplane based on the calculated predetermined distance; Provide a control program to be executed.

  The present invention provides a control method for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control process in which the unmanned airplane travels in a direction crossing a traveling direction of the navigation body, and the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body after the unmanned airplane travels the predetermined width; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane Based on the sea scanning process for scanning the sea and the distance between the unmanned airplane and the sea surface, the optical sensor adjusts the scanning speed, which is the speed at which the optical sensor scans the sea. To provide a control method and a scanning speed adjustment process for presenting imaging results obtained at a constant speed by.

  The present invention is a control program for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, wherein the unmanned airplane is placed on the sea in a predetermined width across a direction intersecting the traveling direction of the marine navigation body. A route control process in which the unmanned airplane travels in a direction crossing a traveling direction of the navigation body, and the unmanned airplane travels a predetermined distance in a traveling direction of the marine navigation body after the unmanned airplane travels the predetermined width; In a period in which the airplane is traveling in a direction intersecting with the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane, Based on the sea scanning process for scanning the sea and the distance between the unmanned airplane and the sea surface, the scanning speed, which is the speed at which the optical sensor scans the sea, is adjusted. To provide a control program for executing the scan speed adjustment processing in the computer to present the imaging result obtained by scanning at a constant speed.

  The present invention has an effect of simply improving the discovery rate of objects on the sea.

It is the figure which showed the relationship between an unmanned airplane, an escort ship, and a control apparatus. It is the block diagram which showed an example of the hardware constitutions of the control apparatus which concerns on the 1st Embodiment of this invention. It is the block diagram which expand | deployed and showed the function of the control apparatus which concerns on the 1st Embodiment of this invention. It is a figure for demonstrating the flight path | route of an unmanned airplane. It is a figure for calculating the flight route of an unmanned airplane. It is a figure for demonstrating control of zoom amount. It is a figure for demonstrating an imaging region. It is a figure for demonstrating the speed control by the control apparatus concerning the 2nd Embodiment of this invention. It is the figure which showed an example of the captured image. It is a figure for demonstrating the speed control by the control apparatus concerning the 2nd Embodiment of this invention. It is the figure which showed an example of the captured image. It is the figure which showed an example of the relationship between the sensor scanning speed with respect to the elevation angle of an optical sensor, and a horizontal angle of view.

Embodiments of a control device and method and a program according to the present invention will be described below with reference to the drawings.
[First Embodiment]
In this embodiment, it is assumed that the maritime navigation body is an escort ship that escorts the escort ship, and the control device is applied to search and monitor whether there is a suspicious ship that attacks the escort ship by an unmanned airplane and an escort ship. As will be described, the application range of the marine navigation body and the control device is not limited to this.

FIG. 1 is a diagram showing a relationship among the unmanned airplane 103, the escort ship (ocean navigational body) 101, and the control device 10.
The escort ship 101 is located in front of the escort ship 102 in the traveling direction, travels away from the escort ship 102 at a predetermined interval, and escorts the escort ship 102. In addition, the escort ship 101 includes a water radar, and searches for surrounding suspicious ships 112 using the water radar. For example, as shown in FIG. 1, an area searched for by the surface radar provided in the escort ship 101 is an escort ship surface area 113 that covers the 360 ° direction of the escort ship 101. The unmanned airplane 103 flies forward in the traveling direction of the escort ship 101, scans the sea by moving the imaging direction of the optical sensor provided to the left and right with respect to the traveling direction (details will be described later), and searches for the suspicious ship 112. To do. The optical sensor is, for example, a visible light image sensor or an infrared image sensor.

The distance in the advancing direction between the escort ship 101 and the unmanned airplane 103 is a path offset R, and the unmanned airplane 103 is controlled to fly away from the escort ship 101 at an interval of the path offset R. Further, the scanning area A ′ scanned by the optical sensor of the unmanned airplane 103 and the escort ship surface radar coverage area 113 searched by the surface radar of the escort ship 101 are controlled so as not to overlap by providing a path offset R. Yes.
The control device 115 is communicably connected to the unmanned airplane 103, exchanges information with the unmanned airplane 103 (for example, information such as the speed and position of the unmanned airplane 103), and controls the unmanned airplane 103. In the present embodiment, the control device 115 will be described as being provided on the destroyer 101. In addition, the control device 115 according to the present embodiment includes sensing means such as GPS, and acquires information on the position and speed of the escort ship 101 by the sensing means of the control device 115. In addition, the control device 115 includes the control device 10.

  FIG. 2 is a block diagram showing a schematic configuration of the control device 10 according to the first embodiment of the present invention. As shown in FIG. 2, the control device 10 according to the present embodiment is a computer system (computer system), a CPU (Central Processing Unit) 11, a main storage device 12 such as a RAM (Random Access Memory), an HDD ( An auxiliary storage device 13 such as a hard disk drive), an input device 14 such as a keyboard and a mouse, an output device 15 such as a monitor and a printer, and a communication device 16 that exchanges information by communicating with external devices. Configured. Various programs (control programs) are stored in the auxiliary storage device 13, and the CPU 11 reads various programs from the auxiliary storage device 13 to the main storage device 12 such as a RAM and executes them to implement various processes.

FIG. 3 is a functional block diagram showing the functions provided in the control device 10 in an expanded manner. As shown in FIG. 3, the control device 10 includes a route control unit (route control unit) 20, an acquisition unit (acquisition unit) 21, a sea scan unit (sea scan unit) 22, and a route determination unit (route determination unit) 23. And a zoom adjustment unit (zoom adjustment means) 24.
The route control unit 20 advances the unmanned airplane 103 in a direction intersecting the traveling direction of the escort ship 101 in a predetermined width W across the direction intersecting the traveling direction of the escort ship 101, and after the unmanned airplane 103 travels the predetermined width W The unmanned airplane 103 is advanced by a predetermined distance S toward the traveling direction of the escort ship 101. In the present embodiment, description will be made by taking an example in which the direction intersecting the traveling direction is a direction perpendicular to the traveling direction.

The acquisition unit 21 acquires information on an imaging range designated by an operator who operates and monitors the control device 115 and outputs the information to the maritime scanning unit 22. The acquisition unit 21 acquires various parameter information input via the input device 14 or the like.
The marine scanning unit 22 sets the imaging direction of the optical sensor provided in the unmanned airplane 103 in the left-right direction with respect to the traveling direction of the unmanned airplane 103 during the period in which the unmanned airplane 103 is traveling in the direction perpendicular to the traveling direction of the destroyer 101. And the sea is scanned (see scanning area A ′ in FIG. 1). Specifically, the sea scanning unit 22 determines the entire total imaging region based on the information of the imaging length 111 and the predetermined width W input by the operator to the acquisition unit 21, and scans the sea.

Further, the sea scanning unit 22 scans the imaging direction of the optical sensor from the first direction to the second direction among the left and right directions with respect to the traveling direction of the unmanned airplane 103. Specifically, when the first direction is left (right) and the second direction is right (left), after scanning from left (right) to right (left), the scanning position of the optical sensor is set to the left ( Return to the right) and repeat the scan from left (right) to right (left). Thereby, the scanning overlap can be reduced as compared with the case of scanning while returning the position of the optical sensor from the right (left) to the left (right) after scanning from the left (right) to the right (left). The suspicious ship 112 can be searched efficiently.
The marine scanning unit 22 provides the operator with the captured image by causing the output device 15 to output the captured image from the unmanned airplane 103 obtained through the optical sensor.

  Based on the speed of the unmanned airplane 103, the speed of the escort ship 101, and the length of the predetermined width W, the route determination unit 23 makes the path offset R that is the distance in the traveling direction between the escort ship 101 and the unmanned airplane 103 constant. Thus, the predetermined distance S is calculated, and the flight path P of the unmanned airplane 103 is determined based on the calculated predetermined distance S. The route determination unit 23 also sets information on the set route offset Rs, which is information on the route offset R set as the target value, and observation route offset, which is information on the route offset R acquired as a measured value by a measuring device such as GPS. The difference from Ro is taken as an error, and the predetermined distance S is calculated by correcting the error.

  Specifically, a method for determining the flight path P of the unmanned airplane 103 will be described with reference to FIGS. 4 and 5. As shown in FIG. 4, the position of the destroyer 101 at time t = t1 is 101a, the position of the unmanned airplane 103 is 103a, the position of the destroyer 101 at time t = t2 is 101b, the position of the unmanned airplane 103 is 103b, and so on. The position of the destroyer 101 at time t = t3 is 101c, and the position of the unmanned airplane 103 is 103c.

  The flight path P of the unmanned airplane 103 travels a predetermined width W in a direction perpendicular to the traveling direction of the escort ship 101, then travels by a predetermined distance S in the traveling direction of the escort ship 101, and is predetermined from a position after the predetermined distance S travels. Advance width W. That is, as shown in FIG. 4, after a predetermined width W travels from right to left, it travels a predetermined distance S1 in the traveling direction of the escort ship 101, and after traveling a predetermined width W from left to right, the traveling direction of the escort ship 101 Advance by a predetermined distance S2 and advance a predetermined width W from right to left. Thus, the flight path P is calculated by the sum of the predetermined width W and the predetermined distance S.

  Here, a method of calculating the predetermined distance S will be described with reference to FIG. The predetermined width W is a value preset (input) by an operator or the like via the acquisition unit 21, and the predetermined distance Sn at time t = tn and the predetermined distance S (n + 1) at time t = t (n + 1) are Based on the fact that the time for the unmanned airplane 103 to travel the distance X1 and the time for the destroyer 101 to travel the distance X2 are equal, the following equation (1) is established.

Where W is the search width [m: m], S is the travel distance [m], Va is the speed of the unmanned airplane 103 [m / s], Vd is the speed of the destroyer 101 [m / s], Vrt Is the ratio between the speed of the unmanned airplane 103 and the speed of the destroyer 101, rt is the turning radius, and ΔR is the difference Ro−Rs [m] between the observation path offset Ro [m] and the set path offset Rs [m]. Used for.
(W + (2π × rt × 1/4) × 2 + (S−2rt)) / Va = (S + ΔR) / Vd (1)

Solving the above equation (1) for S is as follows.
S = (− ΔR × Va + (W + (π−2) × rt) × Vd) / (− Vd + Va)
= (− ΔR × (Va / Vd) + (W + (π−2) × rt)) / ((Va / Vd) −1)
= (− ΔR × (Va / Vd) / ((Va / Vd) −1) + (W + (π−2) × rt) / ((Va / Vd) −1) (2)

When Va / Vd = Vrt, the above equation (2) is
S = ((W + (π−2) × rt) −ΔR × Vrt) / (Vrt−1) (3)
It becomes.
In this way, the predetermined distance S for causing the unmanned airplane 103 to travel in the traveling direction of the escort ship 101 is calculated, the flight path P is determined based on the calculated predetermined distance S and the predetermined width W, and the unmanned airplane 103 is controlled. To do.

  The zoom adjustment unit 24 adjusts the zoom amount of the optical sensor based on the distance between the unmanned airplane 103 and the sea surface, and selects a subject imaged by the optical sensor (for example, a marine target of interest of the operator). Images are taken at a substantially constant size. Specifically, as illustrated in FIG. 6, the zoom adjustment unit 24 is connected to the sea surface at the upper end of the imaging region A that is a tangential plane that is in contact with the sea surface of the viewing range that is the region that is viewed by the optical sensor. The horizontal distance L from the imaging region upper end 203a that is a tangent to the unmanned airplane 103, the assumed target size M [m] that is the assumed size of the subject, and the number of pixels that are the number of pixels that capture the assumed target size M The zoom amount is adjusted based on d, the horizontal resolution dh of the optical sensor, and the flight altitude h of the unmanned airplane 103. Specifically, the zoom amount is adjusted by adjusting the horizontal angle of view θh.

  More specifically, the control of the zoom amount of the optical sensor by the zoom adjustment unit 24 will be described with reference to FIG. FIG. 6 is a diagram illustrating a situation in which the unmanned airplane 103 is looking at the optical sensor in the lateral direction at the flight altitude h [m]. When the zoom amount of the optical sensor, that is, the horizontal angle of view θh [rad: radians] is set, the horizontal angle of view θh and the vertical angle of view θv of the optical sensor are in a constant ratio. It is dependent. Here, the width of the imaging area A is a horizontal visual field width b [m: meter], the horizontal distance from the unmanned airplane 103 to the imaging area upper end 203a is the horizontal distance L [m], and the unmanned airplane 103 to the imaging area upper end 203a. The linear distance is defined as a linear distance l [m], and the elevation angle of the optical sensor is defined as an elevation angle θs [rad].

  In FIG. 7, the conceptual diagram of the imaging area A by an optical sensor is shown. The optical sensor has resolutions in the horizontal direction and the vertical direction, and each of them has a horizontal resolution dh [pixel] and a vertical resolution dv [pixel]. When the horizontal angle of view θh is set, the horizontal visual field width b is determined according to the horizontal distance L to the imaging region upper end 203a, and on the captured image shown in FIG. 7, an image having a physical length of b is a pixel having a horizontal resolution dh. Corresponds to a number (eg, 640 pixels). As the horizontal angle of view θh increases, the horizontal visual field width b increases, and as the horizontal field angle θh decreases, the horizontal visual field width b decreases. That is, when the horizontal angle of view θh is increased, the physical length corresponding to one pixel is increased, so that it is difficult to identify a small target on the video. Conversely, if the horizontal angle of view θh is reduced, the physical length corresponding to one pixel becomes smaller, so that it becomes easier to identify a small target, but the imaging area A in FIG. It is unsuitable.

  Therefore, the control device 115 sets an assumed suspicious ship (assumed target size M) and a setting value (imaginary target imaging pixel number d) of how many pixels the target size is imaged on the video. The horizontal angle of view θh is controlled according to the set value. For example, when a target with a size of 5 meters can be imaged with 10 pixels, a target with a size of 5 meters is always imaged with a size of 10 pixels corresponding to the elevation angle θs of the optical sensor. Thus, the horizontal field angle θh is controlled so that the horizontal visual field width b becomes a constant length of (M / d) × dh = (5/10) × 640 = 320 meters (refer to the following formula (6)).

In the overhead view of FIG. 6, when the linear distance l to the imaging region upper end 203a is determined, the horizontal angle of view θh is represented by a trigonometric function as shown in the following equation (4) according to the horizontal visual field width b of FIG. It is. Here, θh is the horizontal field angle [rad], M is the assumed target size [m: meter], d is the assumed target number of imaging pixels [pixel], dh is the horizontal resolution [pixel] of the optical sensor, and h is the flight. The altitude [m] and L are the horizontal distance [m: meter] from the unmanned airplane to the upper end of the imaging area.
tan (θh / 2) = (b / 2) / l (4)

On the other hand, as shown in FIG. 6, when the elevation angle θs and the horizontal angle of view θh of the optical sensor are determined, the straight line distance l to the imaging region upper end 203a is expressed by the following equation (5) from the three-square theorem. Represented.

Further, in the imaging area A, the horizontal visual field width b is expressed by the following equation (6) according to the assumed target imaging pixel number d, the assumed target size M, and the horizontal resolution dh.
b = (M / d) × dh (6)
By substituting the equations (5) and (6) into the above equation (4), the relational expression θv = θh × (dv / dh) between the horizontal field angle θh and the vertical field angle θv, and a trigonometric function formula. When the following formula (7) is used, formula (8) is obtained.

さらに、（８）式から二分法やニュートン法などの数値解析により、水平画角θｈが算出されることで、ズーム量が決定される。上記（８）式によれば、ズーム量（水平画角θｈ）は、仰角θｓに応じて決定されることから、即ち、無人飛行機１０３と海面との距離直線距離ｌに応じて決定されることとなる。なお、後段において、ニュートン法によって水平画角θｈが算出できることを、具体的な数値の一例を用いて説明する。

Further, the amount of zoom is determined by calculating the horizontal angle of view θh from the equation (8) by numerical analysis such as a bisection method or a Newton method. According to the above equation (8), the zoom amount (horizontal angle of view θh) is determined according to the elevation angle θs, that is, determined according to the distance linear distance l between the unmanned airplane 103 and the sea surface. It becomes. In the latter part, the fact that the horizontal angle of view θh can be calculated by the Newton method will be described using an example of specific numerical values.

  In the present embodiment, by adjusting the zoom amount to increase when the distance between the unmanned airplane 103 and the sea surface is relatively long, and to decrease the zoom amount when the distance is relatively short, the object on the sea is set to a substantially constant size. Now take an image. This makes it easier for an operator or the like who monitors the subject imaged from the unmanned airplane 103 to visually recognize the subject when it exists.

Next, the control method in the control apparatus 10 mentioned above is demonstrated using FIGS. 1-7.
Parameter information such as the search width W, the imaging range designated by the operator, the set route offset Rs, and the turning radius rt are input via the acquisition unit 21. Based on the information of the set route offset Rs acquired by the control device 10, the unmanned airplane 103 is controlled to maintain the distance of the route offset R from the escort ship 101 and to be positioned above the escort ship 101 in the traveling direction. (Time t1). When the unmanned airplane 103 is at the position of time t1, the unmanned airplane 103 and the control device 115, and the escort ship 101 and the control device 115 exchange information, so that the speed Va of the unmanned airplane 103 and the speed Vd of the escort ship 101 are obtained. Information and observation path offset Ro information are input to the control device 10.

Subsequently, the ratio Vrt between the speed Va and the speed Vd is calculated from the speed Va of the unmanned airplane 103 and the speed Vd of the destroyer 101, and the difference ΔR of the path offset is calculated based on the observation path offset Ro and the set path offset Rs. Is done. Based on the speed Va of the unmanned airplane 103 thus obtained, the speed Vd of the destroyer 101, the ratio Vrt of the speed Va speed Vd, the turning radius rt, and the path offset difference ΔR, that is, the distance of the unmanned airplane 103, ie, the unmanned airplane 103 The position at time t2 is calculated. When the unmanned airplane 103 reaches the position at time t2, the position at time t3 is calculated, and the distance of the predetermined distance S2 is determined.
As described above, the route determination unit 23 performs the flight route based on the predetermined distance S calculated according to the position of the unmanned airplane 103 at the time t (n + 1) calculated at the time tn and the predetermined width W. P is determined.

  The unmanned airplane 103 is flight-controlled by the route control unit 20 based on the determined flight path P. Further, when the unmanned airplane 103 advances a distance of a predetermined width W, the route control unit 20 advances the unmanned airplane 103 by a predetermined distance S1 in the traveling direction of the escort ship 101, and further, from the position of the advance, The predetermined width W is advanced in a direction opposite to the predetermined width W. When the unmanned airplane 103 is controlled to travel the predetermined width W, the imaging direction of the optical sensor is set in the left-right direction of the traveling direction of the unmanned airplane 103, and within the total imaging area that is the entire area to be imaged The sea is scanned so as to include the imaging area designated by the operator.

  Further, when the assumed target size M of the target and the imaging pixel number d of the assumed target are acquired via the acquisition unit 21, the horizontal angle of view θh of the captured video is obtained based on the above-described equation (8). Is calculated. When the zoom adjustment unit 24 adjusts the zoom amount of the imaging area based on the calculated horizontal angle of view θh and the captured image shown in the output device 15 includes the target, the target is a certain size. Will be presented.

  Thus, by displaying the target with a certain size, it becomes easier to visually recognize the target when the operator confirms the output device 15, and the target can be reliably grasped. Further, as a method for causing the operator to find the target more reliably, the output device 15 may not only indicate the target on the captured image but also add an emphasis display such as a frame line around the target. Furthermore, the output device 15 not only presents an image via a display or the like, but also adds audio information such as a warning sound via a speaker or the like to notify the presence of the target, making it easier for the operator to find it. May be. Thereby, even if the operator does not always keep an eye on the display, the situation of missing the target object is reduced, and the workload such as the operator's work load is reduced.

  As described above, according to the control device 10, the method, and the program according to the present embodiment, the unmanned airplane 103 is perpendicular to the traveling direction of the escort ship 101 in a predetermined width W that extends in a direction perpendicular to the traveling direction of the escort ship 101. In the period during which the unmanned airplane 103 is traveling in a direction perpendicular to the traveling direction of the escort ship 101, the unmanned airplane 103 is advanced in the direction perpendicular to the traveling direction of the escort ship 101. The sea is scanned by the optical sensor of the unmanned aerial vehicle 103 by moving the imaging direction of the optical sensor provided to the left and right with respect to the traveling direction. Further, based on the speed of the unmanned airplane 103, the speed of the escort ship 101, and the length of the predetermined width W, the path offset R that is the distance in the traveling direction between the escort ship 101 and the unmanned airplane 103 is calculated to be constant. Based on the predetermined distance S, the flight path P of the unmanned airplane 103 is determined.

In this way, during the period in which the unmanned airplane 103 travels the predetermined width W, the sea is scanned in the horizontal direction with respect to the traveling direction of the unmanned airplane 103, so that a wide range of scanning is possible, and discovery of a target on the sea The rate is improved. Further, the predetermined distance S is calculated so that the path offset R becomes constant, and the unmanned airplane 103 flies on the flight path determined based on the predetermined distance S, so that the operator can easily set the flight path and the like. Can be Furthermore, since the distance of the path offset R is kept constant, even if the speed of the escort ship 101 and the speed of the unmanned airplane 103 are not constant, the distance between the escort ship 101 and the unmanned airplane 103 as time elapses. Since the divergence can be prevented, it is possible to prevent an attack by a suspicious ship that is assumed to be encountered when the divergence distance increases.
In addition, since the imaging area designated by the operator can be directly designated via the input device 14 or the like, it is possible to search the sea with the desired imaging area surely included in the total imaging area.

In the above-described equation (8), the condition to be satisfied by the horizontal angle of view θh is shown. Here, by using numerical analysis using Newton's method, the horizontal image is obtained from the conditional equation obtained by the above equation (8). The calculation of the angle θh is shown in the following example.
The Newton method is a numerical analysis method for obtaining a solution of X where f (X) = 0 by repeated calculation. For numerical analysis, f ′ (X), which is a derivative of f (X), is used, and the following calculation is repeated to approach X where f (X) = 0.
_Xn = _Xn-1- (f ( _Xn-1 ) / f '( _Xn-1 ))

Taking the following numerical value as an example, the horizontal angle of view θh of the above equation (8) is obtained by the Newton method. From the equation (8), it is assumed that a function f (θh) is used, and a derivative function f ′ (θh) of the function f (θh) is a function using a trigonometric differentiation formula.
Flight altitude h = 914.4 [m]
The elevation angle θs of the optical sensor = 50 [deg] = 0.873 [rad]
Assumed target size M = 5 [m]
Assumed target imaging pixel number d = 10 [pixel]
Optical sensor horizontal resolution dh = 640 [pixels]

The initial value of θh is θh (0) = 0.5 [rad] (the maximum horizontal field angle of a general optical sensor is about 60 [deg], and the initial value of θh is half that [30] [deg] ≈0. 5 [rad]) and the calculation by the Newton method is repeated as follows.
0th time θh (0) = 0.500 rad, f (θh (0)) = 0.170
First time θh (1) = 0.212 rad, f (θh (1)) = 0.005
Second time θh (2) = 0.203 rad, f (θh (2)) = 0.000
The second calculation converges to f (θh) ≈0, so that the horizontal angle of view θh = 0.203 [rad].
In this way, by inputting a predetermined parameter to the above equation (8), the horizontal angle of view θh can be easily calculated, so that the horizontal angle of view θh can be controlled according to various parameters.

[Second Embodiment]
Next, a control device according to a second embodiment of the present invention will be described with reference to FIG. The control device according to the present embodiment is different from the first embodiment described above in that in addition to the configuration in the first embodiment, an optical sensor adjusts the speed of scanning the sea. Hereinafter, regarding the control device according to the present embodiment, description of points that are common to the first embodiment will be omitted, and different points will be mainly described.

  The scanning speed adjustment unit (scanning speed adjustment means) adjusts the scanning speed ωs, which is the speed at which the optical sensor scans the sea, based on the distance between the unmanned airplane and the sea surface, and obtains the imaging result obtained by scanning at a constant speed. Present. In addition, when the subject is included in an imaging region that is a tangential plane that is in contact with the sea surface in the viewing range of the optical sensor, the scanning speed adjustment unit can visually recognize the subject when the subject is presented in the imaging region. The expected time is set, and the scanning speed is adjusted based on the time.

Here, a method of adjusting the scanning speed by the scanning speed adjustment unit will be described.
FIGS. 8 to 11 are diagrams for explaining a control method of an optical sensor that captures an image of a stationary target 303 at a speed at which an operator can recognize a stationary target 303 in one scene where searching is performed. In the cross-sectional view of the traveling direction shown in FIG. 8, the orientation direction and imaging area of the optical sensor of the unmanned airplane 103 during imaging flight are shown, and the unmanned airplane 103 is flying in the depth direction of the drawing. FIG. 9 shows a captured image acquired from the unmanned airplane 103. 10 and 11 are diagrams when the elevation angle of the optical sensor is changed from the diagrams of FIGS. 8 and 9 and the target 303 is moved by one pixel.

  As shown in FIG. 9, when the unmanned airplane 103 moves the viewing direction of the optical sensor clockwise and scans the sea, even if the target 303 is stationary, the target 303 is displayed on the captured image. Move from bottom to top. Here, the imaging time that is assumed to allow the operator to recognize the target 303 on the captured video is defined as a necessary imaging time T.

  If the scanning speed ωs of the optical sensor is controlled to be slow, the movement of the target 303 presented on the picked-up image is also slowed, and the target 303 can be imaged for the necessary imaging time T or longer. Searching efficiency decreases because the scanning (imaging) in the left-right direction is delayed. Therefore, in the control device of the present embodiment, the scanning speed ωs of the optical sensor that is the fastest among the scanning speeds ωs of the optical sensor that allows the operator to recognize the target 303 is set.

First, consider the time required when the stationary target 303 moves one pixel on the captured image in the captured image of FIG. The case where the scanning speed ωs is the fastest is the case where the target 303 moves the pixel dv from the lower end to the upper end on the captured image in the period (time) of the necessary imaging time T, that is, the target 303 captures the image. The time required for moving one pixel on the video is T / dv (see the following equation (9)). Here, it is assumed that the vertical field angle θv is constant regardless of the elevation angle θs of the optical sensor, ωs is the optical sensor scanning speed [rad / s], θh is the horizontal field angle [rad], and θv is the vertical field angle [rad]. ], Dh are the horizontal resolution [pixels], dv is the vertical resolution [pixels], and T is the imaging time [s] required for the operator to recognize the target on the video.
Time required for the target to move one pixel on the captured image:
T / dv [s] (9)

Next, consider the amount of change in the elevation angle θs of the optical sensor when the stationary target 303 moves one pixel on the captured image. When the elevation angle θs of the optical sensor is changed so that the target 303 moves one pixel on the captured image as shown in the sectional view in the traveling direction shown in FIG. 10, the amount of change in the elevation angle θs of the optical sensor is the vertical field angle θv. It is equal to the angle of view per pixel. That is, the change amount of the elevation angle θs of the optical sensor is θv / dv (the following equation (10)).
The amount of change in the elevation angle of the optical sensor when the target moves one pixel in the captured image:
(Θv / dv) [rad] (10)

For these reasons, the scanning speed ωs of the optical sensor changes in the elevation angle θs of the optical sensor by an amount by which the target 303 moves by one pixel in the required time when the target 303 moves by one pixel on the captured image. Therefore, the following equation (11) is obtained.
When the ratio between the vertical angle of view θv and the horizontal angle of view θh is equal to a certain ratio (usually about 4: 3) between the horizontal resolution dh and the vertical resolution dv, the vertical angle of view θv is It is expressed by equation (13). As a result, the equation (14) is derived based on the equations (12) and (13), and the scanning speed ωs is obtained.

  Here, consider a case where the vertical angle of view θv changes depending on the change of the horizontal angle of view θh. Strictly speaking, the horizontal angle of view θv slightly changes before and after the target 303 moves one pixel on the picked-up video, but if the vertical resolution dv of the equation (11) is considered sufficiently large, the target 303 is one pixel on the picked-up video. The horizontal angle of view θv can be regarded as constant before and after the movement, and the result is the expression (12), and the scanning speed ωs is finally expressed by the expression (14).

ωs = (θv / dv) / (T / dv) (11)
= Θv / T (12)
θv = θh × (dv / dh) (13)
ωs = (θh × (dv / dh)) / T (14)

Next, the control method in the control apparatus 10 mentioned above is demonstrated.
(Procedure A-1) In the control device, the parameter setting value is set via the acquisition unit, and the initial value of the elevation angle θs of the optical sensor is set. (Procedure A-2) When the horizontal angle of view θh at the initial value of the elevation angle θs is calculated based on the equation (8) shown in the first embodiment, (procedure A-3) Based on this, the scanning speed ωs of the optical sensor corresponding to the calculated horizontal field angle θh is calculated. As the viewing direction of the optical sensor moves at the calculated scanning speed ωs, the elevation angle θs of the optical sensor changes. (Procedure A-4) When the elevation angle θs is measured and it is detected that the elevation angle θs has changed by a predetermined amount, the process proceeds to the next calculation process of the scanning speed ωs. Here, for example, every time the elevation angle θs changes by 1 [deg], the following calculation process is executed.

  (Procedure A-5) When the horizontal angle of view θh corresponding to the elevation angle θs of the new optical sensor is calculated, (Procedure A-6) The scanning speed ωs of the optical sensor corresponding to the new horizontal angle of view θh is calculated. The The viewing direction of the optical sensor is moved at the new scanning speed ωs thus calculated, and the elevation angle θs of the optical sensor changes. By repeating the above-described (Procedure A-4) to (Procedure A-6) within the range of the elevation angle θs of the optical sensor, a horizontal image is displayed according to the elevation angle θs of the optical sensor that changes momentarily by sea scanning. The angle θh and the scanning speed ωs of the optical sensor are calculated.

  FIG. 12 shows an example of calculation results of the scanning speed ωs and the horizontal angle of view θh that are sequentially calculated according to the elevation angle θs of the optical sensor given the following various parameter setting values. Here, the angle unit is deg instead of rad, and every time the elevation angle θs of the optical sensor changes by 1 deg, the horizontal angle of view θh and the scanning speed ωs of the optical sensor are calculated. Further, as various parameter setting values, the range of the elevation angle θs of the optical sensor is −80 deg to 80 deg (−1.396 rad to 1.396 rad), the flight altitude is 1,000 [m: meter], the horizontal resolution is 640 pixels, The vertical resolution is 480 pixels, the assumed target size is 5 [m], the assumed target number of pixels is 10 pixels, and the imaging time T required for the operator to recognize the target on the captured image is 0.333 seconds (1 / 3 seconds).

  As shown in FIG. 12, when the elevation angle θs (the absolute value of θs) is large and the horizontal angle of view θh is small (for example, the distance between the unmanned airplane and the sea surface is long like the side of the unmanned airplane), the optical When the scanning speed of the sensor is controlled to be low, the elevation angle θs is small (θs is near zero), and the horizontal angle of view θh is large (for example, the distance between the unmanned airplane and the sea surface is close, such as near the unmanned airplane) The scanning speed ωs is controlled at a high speed.

  As described above, according to the control device, method, and program according to the present embodiment, the time that the subject is presented in the imaging area is set as the time that the operator can visually recognize the subject, and based on this time. To adjust the scanning speed. Thus, even when the subject moves from the lower end (upper end) to the upper end (lower end) of the imaging region by moving the imaging region by scanning, the captured image output to the output device 15 is constant. Since the speed is set so that the operator who monitors the captured image can easily see the target, the discovery rate of objects on the sea is improved.

10 Control Device 20 Route Control Unit (Route Control Unit)
21 Acquisition unit (acquisition means)
22 Marine scanning unit (sea scanning means)
23 route determination unit (route determination means)
24 Zoom adjustment unit (zoom adjustment means)

Claims (12)

A control device for controlling an unmanned aerial vehicle that flies ahead in the traveling direction of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. Route control means for causing the airplane to travel a predetermined distance in the traveling direction of the marine navigation body;
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. Sea scanning means for scanning the sea;
Based on the speed of the unmanned airplane, the speed of the marine navigation body, and the length of the predetermined width, a path offset that is a distance in the traveling direction between the marine navigation body and the unmanned airplane is constant. A control device comprising: route determination means for calculating the predetermined distance and determining a flight route of the unmanned airplane based on the calculated predetermined distance.   The control device according to claim 1, further comprising an acquisition unit that acquires information on an imaging range designated by an operator and outputs the information to the sea scanning unit.   The route determination means sets an error as a difference between target route offset information, which is information of the route offset acquired as a target value, and measurement route offset, which is information of the route offset acquired as a measurement value. The control device according to claim 1 or 2, wherein the predetermined distance is corrected and calculated.   The sea scanning means adjusts the zoom amount of the optical sensor based on the distance between the unmanned airplane and the sea surface, and zoom adjustment means for imaging a subject imaged by the optical sensor with a substantially constant size. The control apparatus in any one of Claims 1-3 which comprises.   The zoom adjustment unit is configured to extend from the upper end of the imaging area that is a tangent to the sea surface to the unmanned airplane in the imaging area that is a tangential plane that is in contact with the sea surface in the viewing range that is the area that is viewed by the optical sensor. Horizontal distance, an assumed target size that is an assumed size of the subject, an imaging pixel number that is the number of pixels that captures the assumed target size, a horizontal resolution of the optical sensor, and a flight altitude of the unmanned airplane The control device according to claim 4, wherein the zoom amount is adjusted based on:   The control according to any one of claims 1 to 5, wherein the marine scanning means scans the imaging direction of the optical sensor from a first direction to a second direction in a horizontal direction with respect to a traveling direction of the unmanned airplane. apparatus. A control device for controlling an unmanned aerial vehicle that flies ahead in the traveling direction of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. Route control means for causing the airplane to travel a predetermined distance in the traveling direction of the marine navigation body;
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. Sea scanning means for scanning the sea;
Scanning speed adjusting means for adjusting a scanning speed, which is a speed at which the optical sensor scans the sea, based on a distance between the unmanned airplane and the sea surface, and presenting an imaging result obtained by scanning at a constant speed. Control device.   When the subject is included in an imaging region that is a tangential plane that is in contact with the sea surface in the viewing direction range of the optical sensor, the scanning speed adjustment unit allows the operator to set a time when the subject is presented in the imaging region. The control device according to claim 7, wherein the time is assumed to be visible and the scanning speed is adjusted based on the time. A control method for controlling an unmanned aerial vehicle that flies ahead in the direction of travel of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. A route control process in which an airplane travels a predetermined distance in the direction of travel of the maritime vehicle,
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. A sea scanning process for scanning the sea;
Based on the speed of the unmanned airplane, the speed of the marine navigation body, and the length of the predetermined width, a path offset that is a distance in the traveling direction between the marine navigation body and the unmanned airplane is constant. A control method comprising: a route determination step of calculating the predetermined distance and determining a flight route of the unmanned airplane based on the calculated predetermined distance. A control program for controlling an unmanned aerial vehicle that flies ahead in the direction of travel of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. A route control process for advancing a predetermined distance toward the traveling direction of the marine navigation body;
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. A sea scanning process for scanning the sea;
Based on the speed of the unmanned airplane, the speed of the marine navigation body, and the length of the predetermined width, a path offset that is a distance in the traveling direction between the marine navigation body and the unmanned airplane is constant. A control program for causing the computer to execute route determination processing for calculating the predetermined distance and determining a flight route of the unmanned airplane based on the calculated predetermined distance. A control method for controlling an unmanned aerial vehicle that flies ahead in the direction of travel of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. A route control process in which an airplane travels a predetermined distance in the direction of travel of the maritime vehicle,
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. A sea scanning process for scanning the sea;
A control having a scanning speed adjustment process of adjusting a scanning speed, which is a speed at which the optical sensor scans the sea based on a distance between the unmanned airplane and the sea surface, and causing an imaging result obtained by the scanning to be presented at a constant speed. Method. A control program for controlling an unmanned aerial vehicle that flies ahead in the direction of travel of a marine vehicle,
The unmanned airplane is advanced in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across a direction intersecting the traveling direction of the marine navigation body, and the unmanned airplane travels the unmanned airplane after traveling the predetermined width. A route control process for advancing a predetermined distance toward the traveling direction of the marine navigation body;
During the period in which the unmanned airplane is traveling in a direction crossing the traveling direction of the maritime vehicle, the imaging direction of the optical sensor provided in the unmanned airplane is moved in the left-right direction with respect to the traveling direction of the unmanned airplane. A sea scanning process for scanning the sea;
Based on the distance between the unmanned airplane and the sea surface, the computer adjusts the scanning speed, which is the speed at which the optical sensor scans the sea, and causes the computer to perform a scanning speed adjustment process that presents the imaging result obtained by scanning at a constant speed. Control program to be executed.

Images