JP2013239134A - Obstacle approach warning system for flying object - Google Patents

Obstacle approach warning system for flying object Download PDF

Info

Publication number
JP2013239134A
JP2013239134A JP2012125302A JP2012125302A JP2013239134A JP 2013239134 A JP2013239134 A JP 2013239134A JP 2012125302 A JP2012125302 A JP 2012125302A JP 2012125302 A JP2012125302 A JP 2012125302A JP 2013239134 A JP2013239134 A JP 2013239134A
Authority
JP
Japan
Prior art keywords
distance
ccd camera
obstacle
image data
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2012125302A
Other languages
Japanese (ja)
Other versions
JP5086490B1 (en
Inventor
Jiro Kudo
二郎 工藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to JP2012125302A priority Critical patent/JP5086490B1/en
Application granted granted Critical
Publication of JP5086490B1 publication Critical patent/JP5086490B1/en
Publication of JP2013239134A publication Critical patent/JP2013239134A/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle approach warning system for a flying object that is capable of preventing by using a low-cost device an accident that a flying object such as a helicopter and an airship is brought into contact with an obstacle.SOLUTION: An obstacle detection sensor incorporates all of CCD cameras including a CCD camera 11a that is fixed at the center and CCD cameras 11b, 11c, 11d, and 11e that are arranged equidistant from one another and whose orientations of lenses are variable. A front surface of the obstacle detection sensor is covered with a transparent cover and is fixed to a front surface of a flying object in a traveling direction. The lenses of one of the CCD cameras 11b and 11c on right and left sides of the CCD camera 11a and one of the CCD cameras 11d and 11e on upper and lower sides of the CCD camera 11a are semi-fixed, and are set at a target distance by changing the orientations of the lenses by pressing a distance setting switch. Each of the other cameras successively scans an obstacle, and a distance to the obstacle is displayed by a distance display LED of a control box.

Description

本発明はヘリコプターや飛行船等飛翔体が障害物に接近した時、予め決められた距離で画像認識比較照合による危険及び警告を発するシステムに関する。The present invention relates to a system for issuing a danger and warning by image recognition comparison and collation at a predetermined distance when a flying object such as a helicopter or an airship approaches an obstacle.

飛翔体または移動物体の障害物を検知する手段としては、撮影位置の異なる２画像のデータを比較して物体の距離を検出するステレオ測距法（例えば特許文献１参照）、超音波センサで障害物を検知する方法（例えば特許文献２参照）、カメラの画像とレーダ装置の組み合わせで相対距離を算定する方法（例えば特許文献３参照）、障害物の形状と特徴を画像認識することで立体的に検出する方法（例えば特許文献４参照）、電磁波のビームを障害物に照射してその反射波から相対位置を測定、撮像して画像認識によって障害物を認識する方法（例えば特許文献５参照）、ＣＣＤカメラとレーザ距離計を組み合わせて障害物を検知する方法（例えば特許文献６参照）等が提案されている。As means for detecting an obstacle of a flying object or a moving object, a stereo distance measuring method (for example, refer to Patent Document 1) that detects the distance of an object by comparing data of two images with different shooting positions, and an obstacle with an ultrasonic sensor A method for detecting an object (for example, see Patent Document 2), a method for calculating a relative distance by combining a camera image and a radar device (for example, see Patent Document 3), and a three-dimensional image by recognizing the shape and characteristics of an obstacle. (For example, see Patent Document 4), a method of irradiating an obstacle with an electromagnetic wave beam, measuring a relative position from the reflected wave, imaging and recognizing the obstacle by image recognition (see, for example, Patent Document 5) A method of detecting an obstacle by combining a CCD camera and a laser distance meter (for example, see Patent Document 6) has been proposed.

特開公 平１０−２２２６６５JP-A-10-222665 特開公 平 ６−２４７３９３JP-A-6-247393 特開公２００８−２０２７６JP 2008-20276 特開公２００７−４６９７JP 2007-4697 A 特開公２００６−２５８５０７JP 2006-258507 A 特開公２００６−２０１０３０JP 2006-201030

前記で提案されているレーザ、超音波を使用する方法では、障害物が平面で且つ入射角度が小さい時は検知できるが入射角度が大きい場合や複雑な形状または反射率の小さい物体では検知されない恐れがある（特許文献２、特許文献３、特許文献５）。又これまでの画像認識による距離測定方法では単体の物体では容易でも複数の物体が存在した時は特定が難しい（特許文献１、特許文献４）。他にもレーダを利用する方法も存在するが小型化軽量化が難しく高価であるという課題がある。In the method using the laser and the ultrasonic wave proposed above, the obstacle can be detected when the obstacle is a plane and the incident angle is small, but it may not be detected when the incident angle is large or an object having a complicated shape or a low reflectance. (Patent Document 2, Patent Document 3, and Patent Document 5). Further, the distance measurement method based on image recognition so far is easy for a single object, but is difficult to identify when there are a plurality of objects (Patent Documents 1 and 4). There are other methods using radar, but there is a problem that it is difficult to reduce the size and weight and is expensive.

このような課題を解決するために本発明に係わる飛翔体の障害物接近警告システムは、中心に固定された１台のＣＣＤカメラと、それぞれ等距離に配設される上下、左右に１台ずつのＣＣＤカメラと、中心のＣＣＤカメラを除く上下、左右のＣＣＤカメラのレンズは伸縮しないで上下或いは左右に方向が可動する構造になっていて，内部に全てのＣＣＤカメラを配設した障害物検知センサは前面が透明カバーで覆われていて飛翔体の進行方向の前面に固定されている。In order to solve such problems, an obstacle approach warning system for a flying object according to the present invention includes one CCD camera fixed at the center and one each vertically and horizontally arranged at equal distances. The CCD camera and the top and bottom, left and right CCD cameras except for the central CCD camera are designed to move in the vertical and horizontal directions without expansion and contraction. The front surface of the sensor is covered with a transparent cover, and is fixed to the front surface of the flying object in the traveling direction.

前記上下のどちらか１台と左右のどちらか１台のＣＣＤカメラのレンズは半固定になっていて、距離設定スイッチを押してレンズの方向を変えて目的の距離に設定できる。残りのそれぞれ１台のＣＣＤカメラは連続して障害物をスキャンし、障害物までの距離をコントロールボックスの距離表示ＬＥＤに表示させる。The lens of either one of the upper and lower CCD cameras or the left and right CCD cameras is semi-fixed, and the distance can be set to a desired distance by pressing the distance setting switch. Each of the remaining one CCD camera continuously scans the obstacle and displays the distance to the obstacle on the distance display LED of the control box.

飛翔体の操縦席に設置されるコントロールボックスには、ＣＣＤカメラのレンズ方向を制御する信号と距離を手動で設定する電子回路と、画像を認識比較照合処理する電子回路と、障害物検知センサに供給する電源回路と、３台のモニタディスプレーと距離表示ＬＥＤと、危険告示灯及び警告灯が配設されている。The control box installed in the flight control seat of the flying object includes a signal for controlling the lens direction of the CCD camera and an electronic circuit for manually setting the distance, an electronic circuit for image recognition and comparison processing, and an obstacle detection sensor. A power supply circuit to be supplied, three monitor displays, a distance display LED, a danger notification lamp and a warning lamp are arranged.

本発明によればヘリコプターや飛行船等飛翔体が障害物に接触する事故を低コストの装置で未然に防ぐことができる飛翔体の障害物接近警告システムを提供することが出来る。ADVANTAGE OF THE INVENTION According to this invention, the obstacle approach warning system of a flying body which can prevent the accident which flying bodies, such as a helicopter and an airship, contact an obstacle with a low-cost apparatus can be provided beforehand.

本発明の実施の形態の飛翔体の障害物接近警告システムの障害物検知センサの外観図である。It is an external view of the obstacle detection sensor of the obstacle approach warning system of the flying object of embodiment of this invention. 同障害物検知センサ内部の外観図である。It is an external view inside the obstacle detection sensor. 同ＣＣＤカメラの拡大外観図である。2 is an enlarged external view of the CCD camera. FIG. 同コントロールボックスの外観図である。It is an external view of the control box. 同半固定ＣＣＤカメラを距離設定した時の図である。It is a figure when the distance is set for the semi-fixed CCD camera. 同ＣＣＤカメラの画像をｎ分割した図である。It is the figure which divided the image of the same CCD camera into n. 同電子回路のブロック図である。It is a block diagram of the same electronic circuit. 同フローチャート図である。FIG.

以下図面に基づき本発明の実施の形態について説明する。
前面が透明カバー２で覆われた障害物検知センサ（図１）の内部には、レンズ可動機構を省いたギャボックス３０の内部に１枚の回路基板（図示せず）を収納したＣＣＤカメラ１１ａと、該ＣＣＤカメラ１１ａの上下、左右にはそれぞれ等距離の位置にレンズ可動機構を備えた半固定またはスキャンするＣＣＤカメラ１１ｂ、１１ｃ及び１１ｄ、１１ｅと、モニタディスプレー５２ａ、５２ｂ、５２ｃと、距離表示ＬＥＤ５１と障害物までの距離（例えば図５のｈ点）を自由に設定する距離設定スイッチ５３と、画像データを処理するＭＰＵを含む画像認識回路及びデータ比較照合回路と、レンズ可動機構を駆動する回路と電源回路を１枚の回路基板（図示せず）に集約して内蔵するコントロールボックス５０で構成されている。Embodiments of the present invention will be described below with reference to the drawings.
Inside the obstacle detection sensor (FIG. 1) whose front surface is covered with the transparent cover 2, a CCD camera 11a in which a circuit board (not shown) is housed in the Gabox 30 without the lens moving mechanism. And CCD cameras 11b, 11c and 11d, 11e that are semi-fixed or scanned with lens moving mechanisms at equidistant positions on the top, bottom, left and right of the CCD camera 11a, monitor displays 52a, 52b, 52c, A distance setting switch 53 for freely setting the distance between the display LED 51 and the obstacle (for example, point h in FIG. 5), an image recognition circuit including an MPU for processing image data, a data comparison / collation circuit, and a lens movable mechanism are driven. And a control box 50 which integrates a built-in circuit and a power supply circuit on a single circuit board (not shown).

前記レンズ可動機構はステッピングモータ３４と、回転を減速させる複数の歯車（図示せず）を内蔵するギャボックス３０と、該ギャボックス３０に固定するブラケット３３とレンズ固定ブラケット３１で構成されていて、レンズ固定ブラケット３１にはレンズ３２とＣＣＤイメージセンサ（図示せず）を配設する回路基板３５が固定されている。レンズ固定ブラケット３１はブラケット３３の両端を支点に左右に回転させてレンズ３２の方向を変える。レンズ３２を上下方向に変えるＣＣＤカメラ１１ｄ、１１ｅは、ＣＣＤイメージセンサ（図示せず）の配設を変えて全体を９０度回転させた位置で筐体に組み込まれている。The lens moving mechanism includes a stepping motor 34, a gabox 30 containing a plurality of gears (not shown) for decelerating rotation, a bracket 33 fixed to the gabox 30, and a lens fixing bracket 31. A circuit board 35 on which a lens 32 and a CCD image sensor (not shown) are disposed is fixed to the lens fixing bracket 31. The lens fixing bracket 31 changes the direction of the lens 32 by rotating left and right with both ends of the bracket 33 as fulcrums. The CCD cameras 11d and 11e that change the lens 32 in the vertical direction are incorporated in the housing at a position rotated by 90 degrees as a whole by changing the arrangement of a CCD image sensor (not shown).

左右の半固定ＣＣＤカメラ１１ｂ、１１ｃのどちらか１台と上下のＣＣＤカメラ１１ｄ、１１ｅのどちらか１台は、コントロールボックス５０に配設されている距離設定スイッチ５３で障害物までの距離（例えば図５のｈ点）を自由に設定できる。残りの各々１台は前記ＣＣＤカメラで設定された距離（例えば図５のｈ点）から無限大の距離まで、またはその逆に連動してスキャンし、その距離を距離表示ＬＥＤ５１に表示する。該距離表示ＬＥＤ５１の表示は設定する距離とスキャンした距離を自動的に切り換えて表示している。ＣＣＤカメラ１１ａと半固定ＣＣＤカメラ１１ｂまたは１１ｃと１１ｄまたは１１ｅの各々の画像は、それぞれのモニタディスプレー５２に全体画像が常時映し出されている。ＣＣＤカメラ１１ａ、１１ｂ、１１ｃ、１１ｄ、１１ｅの筐体がＣＣＤカメラ固定板１０に固定されていて、該ＣＣＤカメラ固定板１０は固定板１に内部で固定されている。Either one of the left and right semi-fixed CCD cameras 11b and 11c and one of the upper and lower CCD cameras 11d and 11e are distanced to an obstacle by a distance setting switch 53 disposed in the control box 50 (for example, The point h in FIG. 5 can be set freely. Each remaining one scans from the distance set by the CCD camera (for example, point h in FIG. 5) to an infinite distance or vice versa, and displays the distance on the distance display LED 51. The display of the distance display LED 51 automatically switches between the set distance and the scanned distance. The entire images of the CCD camera 11a and the semi-fixed CCD camera 11b or 11c and 11d or 11e are always displayed on the respective monitor displays 52. The casings of the CCD cameras 11a, 11b, 11c, 11d, and 11e are fixed to the CCD camera fixing plate 10, and the CCD camera fixing plate 10 is fixed to the fixing plate 1 inside.

次に作用について説明する。
飛翔体から障害物までの距離はＣＣＤカメラ１１ａの画像データをテンプレートとして半導体メモリに録画し、ＣＣＤカメラ１１ｂ、１１ｃ、１１ｄ、１１ｅの画像データの形状とその輪郭が一致した時の距離である。ＣＣＤカメラ１１ａ、１１ｂ、１１ｃ、１１ｄ、１１ｅの画像データは同時に定間隔で複数回取り込まれて、それぞれ画像メモリ上でｎ分割（例えば水平方向を５分割、垂直方向を３分割）されていて、それぞれの画像を認識比較照合して判定される。Next, the operation will be described.
The distance from the flying object to the obstacle is a distance when the image data of the CCD camera 11a is recorded in the semiconductor memory as a template and the shapes of the image data of the CCD cameras 11b, 11c, 11d, and 11e coincide with the outline thereof. The image data of the CCD cameras 11a, 11b, 11c, 11d, and 11e are simultaneously fetched a plurality of times at regular intervals, and each of them is divided into n on the image memory (for example, the horizontal direction is divided into 5 and the vertical direction is divided into 3). Each image is determined by recognition and comparison.

ＣＣＤカメラ１１ｂ、１１ｃ、１１ｄ、１１ｅのそれぞれのレンズ３２をＣＣＤカメラ１１ａの方向に傾ける（図５）と、ＣＣＤカメラ１１ａのｎ分割された画像（図６）Ｆ２Ｘ１、Ｆ２Ｘ２、Ｆ２Ｘ３、Ｆ２Ｘ４、Ｆ２Ｘ５と、ＣＣＤカメラ１１ｄ及び１１ｅのｎ分割された画像の形状とその輪郭がそれぞれで一致する。ＣＣＤカメラ１１ａのｎ分割された画像（図６）Ｆ１Ｘ３、Ｆ２Ｘ３、Ｆ３Ｘ３と、ＣＣＤカメラ１１ｂ及び１１ｃのｎ分割された画像の形状とその輪郭が一致する。When the respective lenses 32 of the CCD cameras 11b, 11c, 11d, and 11e are tilted toward the CCD camera 11a (FIG. 5), the n-divided images (FIG. 6) of the CCD camera 11a (FIG. 6) F2X1, F2X2, F2X3, F2X4, F2X5 And the shape of the n-divided images of the CCD cameras 11d and 11e and the outline thereof match each other. The n-divided images of the CCD camera 11a (FIG. 6) F1X3, F2X3, and F3X3 and the shapes of the n-divided images of the CCD cameras 11b and 11c coincide with the contours thereof.

数字がアップダウン可能の距離設定スイッチ５３で、距離（例えば図５のｈ点）を設定する半固定ＣＣＤカメラ１１ｂまたは１１ｃのどちらか１台とＣＣＤカメラ１１ｄまたは１１ｅのどちらか１台は、それぞれのステッピングモータ３４に加えるパルス数と距離との相関を予め決めていて、コントロールボックス５０に配設された距離表示ＬＥＤ５１に距離を表示し、距離設定スイッチ５３から手を放すと距離が設定されて表示がスキャンする距離に自動的に切り換わる。Either one of the semi-fixed CCD camera 11b or 11c and one of the CCD cameras 11d or 11e for setting the distance (for example, the point h in FIG. 5) and the one of the CCD cameras 11d or 11e are respectively set by the distance setting switch 53 that can be up and down. The correlation between the number of pulses applied to the stepping motor 34 and the distance is determined in advance, the distance is displayed on the distance display LED 51 provided in the control box 50, and the distance is set by releasing the distance setting switch 53. The display automatically switches to the scanning distance.

連動してスキャンするＣＣＤカメラ１１ｂまたは１１ｃのどちらか１台と、ＣＣＤカメラ１１ｄまたは１１ｅのどちらか１台のステッピングモータ３４に加えるパルス数と距離との相関がとられていて、ＣＣＤカメラ１１ａのｎ分割された画像（図６）のＦ２とＸ３の交わる画像と、２台のスキャンするＣＣＤカメラの中心の画像がＡＮＤで一致した時に距離表示ＬＥＤ５１に距離が表示される。The number of pulses applied to one of the stepping motors 34 of the CCD camera 11b or 11c and the CCD camera 11d or 11e that scans in conjunction with each other is correlated with the distance of the CCD camera 11a. The distance is displayed on the distance display LED 51 when the image obtained by intersecting F2 and X3 of the n-divided image (FIG. 6) coincides with the center image of the two CCD cameras to be scanned by AND.

ｎ分割された画像（図６）データでＣＣＤカメラ１１ａのＦ２とＸ３の交わる画像データが、半固定ＣＣＤカメラ１１ｂまたは１１ｃのデータと一致し、且つ半固定ＣＣＤカメラ１１ｄまたは１１ｅの画像データが一致した時（ＡＮＤ）を危険と判断して危険告示灯を点灯または点滅させる。Ｆ２とＸ３の交わる画像データ以外の画像データＦ２Ｘ１、Ｆ２Ｘ２、Ｆ２Ｘ４、Ｆ２Ｘ５と、Ｆ１Ｘ３、Ｆ３Ｘ３がそれぞれで一致した時は警告灯を点灯または点滅させる。Ｆ２とＸ３の交わる分割画像以外は飛翔体から左右または上下の距離が離れているので危険性はなく事故になることはない。危険告示灯と警告灯はブザーと併用してもよい。In the n-divided image (FIG. 6) data, the image data of F2 and X3 of the CCD camera 11a coincides with the data of the semi-fixed CCD camera 11b or 11c, and the image data of the semi-fixed CCD camera 11d or 11e matches. (AND) is judged to be dangerous, and the danger notification lamp is turned on or blinked. When the image data F2X1, F2X2, F2X4, F2X5 and F1X3, F3X3 other than the image data intersecting with F2 and X3 coincide with each other, a warning light is turned on or blinked. Except for the divided images where F2 and X3 intersect, the left and right or top and bottom distances are away from the flying object, so there is no danger and no accident occurs. The danger warning light and warning light may be used in combination with the buzzer.

半固定またはスキャンするＣＣＤカメラ１１ｂ、１１ｃ、１１ｄ、１１ｅの画像データと、固定されたＣＣＤカメラ１１ａの画像データは厳密には一致しないが、障害物の位置に設定する距離に比してＣＣＤカメラ相互間の距離は短く、傾きの角度が少さいのでそれぞれの画像データを認識比較照合する際に障害物の外形とその輪郭を照合して、高い確率で一致した場合に同等と判定する。Although the image data of the CCD cameras 11b, 11c, 11d, and 11e that are semi-fixed or scanned do not exactly match the image data of the fixed CCD camera 11a, the CCD camera is compared with the distance set at the position of the obstacle. Since the distance between each other is short and the angle of inclination is small, the contours of the obstacles and their contours are collated when the respective image data are recognized, compared and collated.

１ 固定板 ３５ 回路基板
２ 透明カバー ５０ コントロールボックス
１０ ＣＣＤカメラ固定板 ５１ 距離表示ＬＥＤ
１１ ＣＣＤカメラ ５２ モニタディスプレー
３０ ギャボックス ５３ 距離設定スイッチ
３１ レンズ固定ブラケット ５４ 危険告示灯
３２ レンズ ５５ 電源スイッチ
３３ ブラケット ５６ 警告灯
３４ ステッピングモータDESCRIPTION OF SYMBOLS 1 Fixed plate 35 Circuit board 2 Transparent cover 50 Control box 10 CCD camera fixed plate 51 Distance display LED
11 CCD camera 52 Monitor display 30 Gabox 53 Distance setting switch 31 Lens fixing bracket 54 Hazard warning lamp 32 Lens 55 Power switch 33 Bracket 56 Warning lamp 34 Stepping motor

Claims (4)

前面が透明カバーで覆われた障害物検知センサの内部には、レンズ可動機構を省いたギャボックスの内部に１枚の回路基板を配設して固定した１台のＣＣＤカメラと、該ＣＣＤカメラの上下、左右の等距離の位置にレンズ可動機構を備えた半固定ＣＣＤカメラをそれぞれに１台と、同様にレンズ可動機構を備えて距離をスキャンするＣＣＤカメラをそれぞれに１台と、３台のモニタディスプレーと、距離表示ＬＥＤと障害物までの距離を設定する距離設定スイッチと、画像データを処理するＭＰＵを含む画像認識回路及びデータ比較照合回路と、レンズ可動機構を駆動する回路と電源回路を１枚の回路基板に集約して内蔵するコントロールボックスで構成されていることを特徴とする飛翔体の障害物接近警告システム。Inside the obstacle detection sensor whose front surface is covered with a transparent cover, one CCD camera in which a single circuit board is disposed and fixed inside the Gabox without the lens moving mechanism, and the CCD camera One semi-fixed CCD camera with a lens moving mechanism at equal distances on the top, bottom, left and right, respectively, and one CCD camera with a lens moving mechanism for scanning the distance, and three each. Monitor display, distance display LED, distance setting switch for setting the distance to the obstacle, image recognition circuit and data comparison circuit including MPU for processing image data, circuit for driving lens moving mechanism, and power supply circuit An obstacle approach warning system for flying objects, characterized in that it consists of a control box that integrates and integrates a single circuit board. 前記レンズ可動機構を備えた２台の半固定ＣＣＤカメラとスキャンする２台のＣＣＤカメラは、それぞれのステッピングモータに加えるパルス数と距離との相関を予め決めていて、コントロールボックス上に配設された距離表示ＬＥＤに設定する距離とスキャンした距離を自動的に切り換えて表示し、スキャンする２台のＣＣＤカメラは半固定ＣＣＤカメラで設定された距離から無限大の距離まで、またはその逆に連動してスキャンすることを特徴とする請求項１に記載の飛翔体の障害物接近警告システム。The two semi-fixed CCD cameras equipped with the lens moving mechanism and the two CCD cameras for scanning have a predetermined correlation between the number of pulses applied to each stepping motor and the distance, and are arranged on the control box. The distance setting LED and the scanned distance are automatically switched and displayed, and the two CCD cameras that scan are linked from the distance set by the semi-fixed CCD camera to the infinite distance or vice versa. The flying object obstacle approach warning system according to claim 1, wherein scanning is performed. 固定したＣＣＤカメラの画像データはｎ分割されてテンプレートとして半導体メモリに録画し、中心の画像データと２台の半固定ＣＣＤカメラのｎ分割された中心の画像データがＡＮＤで一致した時を危険と判断して危険告示灯を点灯または点滅させて、中心の画像データ以外の画像データがそれぞれで一致した時は警告灯を点灯または点滅させることを特徴とする請求項１または請求項２に記載の飛翔体の障害物接近警告システム。The image data of the fixed CCD camera is divided into n and recorded in a semiconductor memory as a template, and it is dangerous when the center image data and the n-divided center image data of two semi-fixed CCD cameras coincide with AND. 3. The warning lamp is turned on or blinked when the judgment is made, and the warning light is turned on or blinked when the image data other than the central image data match each other. Obstacle approach warning system for flying objects. 固定したＣＣＤカメラのｎ分割された中心の画像データと、距離をスキャンする２台のＣＣＤカメラのｎ分割された中心の画像データがＡＮＤで一致した時に距離表示ＬＥＤに距離が表示されることを特徴とする請求項１から請求項３のいずれかに記載の飛翔体の障害物接近警告システム。The distance display LED displays the distance when the n-divided center image data of the fixed CCD camera and the n-divided center image data of the two CCD cameras that scan the distance coincide with each other by AND. The flying object obstacle approach warning system according to any one of claims 1 to 3.
JP2012125302A 2012-05-16 2012-05-16 Obstacle approach warning system for flying objects Expired - Fee Related JP5086490B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012125302A JP5086490B1 (en) 2012-05-16 2012-05-16 Obstacle approach warning system for flying objects

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012125302A JP5086490B1 (en) 2012-05-16 2012-05-16 Obstacle approach warning system for flying objects

Publications (2)

Publication Number Publication Date
JP5086490B1 JP5086490B1 (en) 2012-11-28
JP2013239134A true JP2013239134A (en) 2013-11-28

Family

ID=47435619

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2012125302A Expired - Fee Related JP5086490B1 (en) 2012-05-16 2012-05-16 Obstacle approach warning system for flying objects

Country Status (1)

Country Link
JP (1) JP5086490B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017539033A (en) * 2014-12-12 2017-12-28 アマゾン テクノロジーズ インコーポレイテッド Commercial and general aircraft avoidance using light, sound, and / or multispectral pattern detection
US10109204B1 (en) 2014-12-12 2018-10-23 Amazon Technologies, Inc. Systems and methods for unmanned aerial vehicle object avoidance

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5548605A (en) * 1978-10-05 1980-04-07 Olympus Optical Co Ltd Distance measuring device
JPS6491011A (en) * 1987-10-01 1989-04-10 Hino Motors Ltd Apparatus for measuring distance between vehicles
JP3228603B2 (en) * 1993-06-07 2001-11-12 住友電気工業株式会社 Image monitoring device and its use

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017539033A (en) * 2014-12-12 2017-12-28 アマゾン テクノロジーズ インコーポレイテッド Commercial and general aircraft avoidance using light, sound, and / or multispectral pattern detection
US10109204B1 (en) 2014-12-12 2018-10-23 Amazon Technologies, Inc. Systems and methods for unmanned aerial vehicle object avoidance
US10109209B1 (en) 2014-12-12 2018-10-23 Amazon Technologies, Inc. Multi-zone montoring systems and methods for detection and avoidance of objects by an unmaned aerial vehicle (UAV)

Also Published As

Publication number Publication date
JP5086490B1 (en) 2012-11-28

Similar Documents

Publication Publication Date Title
US10953785B2 (en) Light control systems and methods
KR102096676B1 (en) 2-dimensioal lidar scanner and control device using for vehicle
US10070116B2 (en) Device and method for optically scanning and measuring an environment
US9769463B2 (en) Device and method for optically scanning and measuring an environment and a method of control
JP6387407B2 (en) Perimeter detection system
JP2007064804A (en) Obstacle detecting device for vehicle
CN107914634B (en) Lighting device for vehicle
US10663295B2 (en) Distance measurement system, mobile object, and component
KR20100112853A (en) Apparatus for detecting three-dimensional distance
CN108536142B (en) Industrial robot anti-collision early warning system and method based on digital grating projection
WO2020086698A1 (en) Methods and systems used to measure tire treads
JP5086490B1 (en) Obstacle approach warning system for flying objects
KR101534806B1 (en) Adjusting nethod the angle of a three dimensional using display apparatus support for adjusting the angle of a three dimensional based on tracing user's situation
US11537240B2 (en) Virtual image display device
US11415938B2 (en) Information processing apparatus, information processing system, and non-transitory computer readable medium storing program
US10343603B2 (en) Image processing device and image processing method
RU2559332C1 (en) Method of detecting small unmanned aerial vehicles
WO2021015171A1 (en) Head-up display
JP2009192430A (en) Object type determining apparatus, object type determining method, and object type determining program
RU2322371C2 (en) Method of orientation of transport facility moving in space by light beam and device for realization of this method
JP2017013671A (en) Head-up display device
JP6179249B2 (en) Vehicle detection device
US8994943B2 (en) Selectivity by polarization
US9857060B2 (en) LED illumination control systems and methods
EP3865940B1 (en) 360 degree projection mapping device for a vehicle

Legal Events

Date Code Title Description
TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120828

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150914

R154 Certificate of patent or utility model (reissue)

Free format text: JAPANESE INTERMEDIATE CODE: R154

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150914

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 5086490

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S531 Written request for registration of change of domicile

Free format text: JAPANESE INTERMEDIATE CODE: R313531

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees