JP2013186086A - Target detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a target detector that can obtain resolution of one pixel or less even for captured images of wide angle imaging devices and can improve angle resolution of the wide angle imaging devices.SOLUTION: A target detector that detects a target from captures images when imaging a target direction by wide angle imaging devices 1 and obtains angle information of the target comprises: a rotating mechanism 5 for rotating the wide angle imaging devices 1 in pixel column directions; and a visual axis driving device 2 that combines target angle information in imaging screens output from the wide angle imaging devices 1 and rotation angle information of the rotating mechanism 5 output from the rotating mechanism 5 and sets an angle direction combined to an angle of the target direction. The visual axis driving device 2 rotates the wide angle imaging devices 1 by the rotating mechanism 5, moves pixel columns of the wide angle imaging devices 1, calculates a movement angle of each frame of one pixel of an imaging element from an angular speed of the rotating mechanism 5 and frame rates of the wide angle imaging devices 1 and sets the movement angle to resolution.

Description

  Embodiments described herein relate generally to a target detection apparatus that is mounted on a flying object, images a surrounding area, and detects a target from the captured image.

  In general, in a target detection device mounted on a flying object such as an aircraft, multiple wide-angle imaging devices that share and monitor the periphery of the flying object and narrow-angle imaging that can direct the imaging direction in any direction Device. Then, when a target is detected by any of the wide-angle imaging devices, the narrow-angle imaging device is directed in the target detection direction in the detection direction, and the target detection is transferred.

  Here, in the wide-angle imaging device, as the viewing angle becomes wider, the angle of view of one pixel becomes larger. In the conventional target detection device, since the resolution of one pixel or less cannot be obtained, the target position in one pixel cannot be specified even if the target is detected by the wide-angle imaging device. As a result, the target detection direction becomes ambiguous, and it takes time to detect the target even if the target detection direction is transferred to a narrow-angle imaging device with high imaging resolution.

JP-A-10-210272 JP 2003-99127 A JP-A-5-66098

  As described above, in the conventional target detection device, the wide-angle imaging device has a large angle of view of one pixel and cannot obtain a resolution of one pixel or less, so that it is possible to specify the target position within one pixel. Can not.

  Therefore, the present embodiment has been made in view of the above problems, and even a captured image of the wide-angle imaging device can obtain a resolution of 1 pixel or less, and can improve the angular resolution of the wide-angle imaging device. An object is to provide a target detection device.

  According to the present embodiment, the target detection device detects a target from a captured image obtained by imaging the target direction with the imaging device and obtains angle information of the target. The rotation mechanism to be rotated, the target angle information in the imaging screen output from the imaging device and the rotation angle information of the rotation mechanism output from the rotation mechanism are combined, and the combined angle direction is set as the angle of the target direction. A visual axis drive means is provided. The visual axis driving means rotates the imaging device with the rotation mechanism to move the pixel row of the imaging device, and from the angular velocity of the rotation mechanism and the frame rate of the imaging device, every frame of one pixel of the imaging device. The movement angle is calculated, and the movement angle is taken as the resolution.

It is a block diagram which shows an example of the target detection apparatus in this embodiment. It is a figure which shows the method of calculating the apparent angular resolution in this embodiment. It is a figure which shows the progress which detects a target for every pixel row and frame of the wide angle imaging device shown in FIG.

  Hereinafter, embodiments will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same part in subsequent figures, the detailed description is abbreviate | omitted, and a different part is mainly described. In the following embodiments, the same description is omitted.

  FIG. 1 is a block diagram illustrating an example of a target detection apparatus.

  This target detection device includes a wide-angle imaging device 1 that captures a plurality of images in a target direction, and monitors the entire circumference. In general, the target detection device uses four wide-angle imaging devices 1 having an angle of view of 90 °. The wide-angle imaging device 1 outputs target angle information in the imaging screen acquired by monitoring the entire circumference to the visual axis driving device 2.

  In addition, the target detection device includes a rotation mechanism 5 for installing the plurality of wide-angle imaging devices 1. The rotation mechanism 5 rotates the imaging device 1 in the pixel column direction, and measures the rotation angle of the rotation mechanism 5 along with the rotation. The rotation mechanism 5 outputs the measured rotation angle to the visual axis drive device 2.

  The target detection device combines the angle within the target imaging screen output from the plurality of wide-angle imaging devices 1 and the rotation angle of the rotation mechanism 5 output from the rotation mechanism 5 by the visual axis drive device 2. The angle to be combined is defined as the target direction angle. In addition, the visual axis driving device 2 rotates the wide-angle imaging device 1 with the rotation mechanism 5 to move the pixel row of the wide-angle imaging device 1, and the imaging element is calculated from the angular velocity of the rotation mechanism 5 and the frame rate of the wide-angle imaging device 1. The moving angle of each pixel of each frame is calculated, and the moving angle is set as the resolution.

  The target detection device images the target direction with the imaging device 1 installed in the rotation mechanism 5 while rotating the rotation mechanism 5, whereby the pixel row in the imaging device moves little by little. Thereby, an angular resolution corresponding to the movement of the pixel by rotation can be obtained. As a result, the wide-angle imaging device 1 can obtain an angular resolution of one pixel or less.

  Thereby, the transfer to the narrow-angle imaging device 3 becomes smooth, and the visual axis of the laser output device 4 is directed to the target direction, so that the time for performing laser capture can be shortened.

  With the above configuration, the target detection device rotates the plurality of wide-angle imaging devices 1 using the rotation mechanism 5. As a result, the target detection device can improve the apparent angular resolution while the one-pixel resolution of the wide-angle imaging device 1 remains large.

  Next, a method for calculating the apparent angular resolution of the target detection apparatus will be described with reference to the drawings. As an example, the resolution of the wide-angle imaging device 1 is 1 °, the frame rate is 30 Hz, the angular resolution of the rotating mechanism 5 is 0.1 °, and the angular velocity is 6 ° / s.

  FIG. 2 is a diagram illustrating a method for calculating the apparent angular resolution.

  Since the angular velocity of the rotation mechanism 5 is 6 ° / s and the frame rate of the wide-angle imaging device 1 is 30 Hz in the target detection device, one pixel moves 0.2 ° (= 6 ° / 30) every frame. Therefore, the target detection device can measure the target with a resolution of 0.2 °.

  FIG. 3A is a diagram showing a pixel column of the wide-angle imaging device 1 shown in FIG. 1, and FIG. 3B is a diagram showing a process of detecting a target for each frame.

  As shown in FIG. 3B, the pixel moves 0.2 ° by moving from frame 1 to frame 2. Since the resolution of the wide-angle imaging device 1 is 1 °, it can be seen that the resolution of one pixel or less of the wide-angle imaging device 1 is obtained.

  As described above, according to the embodiment, it is possible to provide a target detection device that can obtain a resolution of one pixel or less and improve the angular resolution of the wide-angle imaging device 1 even in the captured image of the wide-angle imaging device 1. .

  Although the rotation mechanism 5 in which a plurality of wide-angle imaging devices 1 are installed is described as continuously rotating in one direction, the rotation mechanism 5 may be reciprocated at a constant angle.

  As mentioned above, although embodiment was described, this embodiment is shown as an example and is not intending limiting the range of invention. This embodiment can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope of the present invention and the gist thereof, and are also included in the invention described in the claims and the equivalent scope thereof.

  DESCRIPTION OF SYMBOLS 1 ... Wide angle imaging device, 2 ... Visual axis drive device, 3 ... Narrow angle imaging device, 4 ... Laser output device, 5 ... Rotation mechanism.

Claims (3)

In the target detection device that detects the target from the captured image when the target direction is imaged by the imaging device and obtains angle information of the target,
A rotation mechanism for rotating the imaging device in a pixel row direction;
It comprises visual axis drive means for synthesizing target angle information in the imaging screen output from the imaging device and rotation angle information of the rotation mechanism output from the rotation mechanism, and setting the synthesized angle direction as an angle of the target direction. And
The visual axis driving means rotates the imaging device with the rotation mechanism to move the pixel row of the imaging device, and from the angular velocity of the rotation mechanism and the frame rate of the imaging device, every frame of one pixel of the imaging device. A target detection apparatus characterized by calculating a movement angle of the target and using the movement angle as a resolution.   The target detection apparatus according to claim 1, wherein the rotation mechanism continuously rotates the imaging apparatus in one direction.   The target detection device according to claim 1, wherein the rotation mechanism reciprocates the imaging device at a constant angle.

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