JP2017156122A - Control device, control method, and detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To present the behavior of an object whose position was specified to a user in more detail.SOLUTION: Provided is a control device for acquiring an image of a dynamic object, comprising: a position specification unit for specifying a three-dimensional coordinate position of the dynamic object on the basis of acquired detection information on the dynamic object at a plurality of detection points; and an imaging control unit for causing at least one or more imaging devices to image the dynamic object on the basis of the three-dimensional coordinate position of the dynamic object. The detection information includes the bearing and elevation angle of the dynamic object, with the detection points serving as the starting point.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a control device, a control method, and a detection system.

  In recent years, various methods for acquiring position information of an object have been proposed. As one of the methods described above, there is known a technique for analyzing the sound emitted from an object and specifying the position of the sound source. As an apparatus for specifying the position of a sound source, for example, there is a sound source detection apparatus described in Patent Document 1.

JP 2013-068427 A

  However, the sound source detection device described in Patent Document 1 has a problem that the user cannot visually acquire information related to the operation of the object.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is a new and improved technique capable of presenting the behavior of the identified object to the user in more detail. Another object of the present invention is to provide a control device, a control method, and a detection system.

  In order to solve the above problem, according to an aspect of the present invention, a control device that acquires an image of a dynamic object, based on detection information of the dynamic object at a plurality of acquired detection points. A position specifying unit that specifies a three-dimensional coordinate position of the dynamic object, and imaging that causes at least one imaging device to image the dynamic object based on the three-dimensional coordinate position of the dynamic object A control unit, wherein the detection information includes an azimuth and elevation angle of the dynamic object starting from the detection point.

  The detection information may be information acquired by an acoustic sensor.

  The position specifying unit calculates an intersection of the orientations of the dynamic object starting from the detection point based on the detection information at the plurality of detection points, and the three-dimensional coordinate position of the dynamic object May be specified.

  The control device may further include a display control unit that displays the three-dimensional coordinate position of the dynamic object in association with map information.

  The display control unit may further display the acquired image of the dynamic object in association with the map information.

  The display control unit may display a change in the three-dimensional coordinate position of the dynamic object in association with map information.

  The imaging control unit may broadcast the three-dimensional coordinate position of the dynamic object and cause the imaging apparatus that has received the information related to the broadcast to image the dynamic object.

  The dynamic object may be a flying object.

  In order to solve the above problem, according to another aspect of the present invention, there is provided a control method for acquiring an image of a dynamic object, the detection information of the dynamic object at a plurality of acquired detection points. And specifying at least one imaging device based on the three-dimensional coordinate position of the dynamic object and at least one imaging device based on the three-dimensional coordinate position of the dynamic object. And the detection information includes an azimuth and elevation angle of the dynamic object starting from the detection point.

  In order to solve the above problems, according to another aspect of the present invention, a detection device including a sensor unit and an imaging unit for detecting the azimuth and elevation angle of a dynamic object, and a plurality of the detection devices Based on the azimuth and elevation angle of the dynamic object obtained from the position specifying unit for specifying the three-dimensional coordinate position of the dynamic object, and at least based on the three-dimensional coordinate position of the dynamic object There is provided a detection system including a control device including an imaging control unit that causes one or more detection devices to image the dynamic object.

  As described above, according to the present invention, it is possible to present the behavior of the target object whose position has been specified to the user in more detail.

1 is a system configuration example of a detection system according to a first embodiment of the present invention. It is a functional block diagram of the detection device according to the embodiment. It is a functional block diagram of a control device concerning the embodiment. It is a figure for demonstrating the structure of the detection screen which concerns on the embodiment. It is a figure for demonstrating the behavior of the detection screen which concerns on the same embodiment. It is a flowchart which shows the flow of control by the control apparatus which concerns on the same embodiment. It is a flowchart which shows the flow of control of intersection calculation which concerns on the embodiment. It is the figure which showed typically the intersection calculation which concerns on the same embodiment. It is a display example of a detection screen according to the second embodiment. It is a figure for demonstrating the broadcast which concerns on 3rd Embodiment. It is an example of hardware constitutions concerning the present invention.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. Introduction>
Various devices have been developed due to recent technological advances. On the other hand, there are concerns about the frequent occurrence of criminal acts that abuse the device. Moreover, the crimes as described above tend to be diversified, and it is possible that general companies and organizations are targeted. For this reason, companies and organizations are demanding self-defense measures against various crimes.

  In addition, one of the crimes that have been concerned in recent years includes, for example, attacks on facilities using devices and illegal intrusion. For illegal activities such as those described above, it is necessary to quickly detect information on devices that enter the area and take measures according to the situation.

  The present invention has been conceived by paying attention to the above points, and based on the acquired detection information of the dynamic object at a plurality of detection points, the three-dimensional coordinate position of the dynamic object is specified. Is one of the features. In the present invention, based on the three-dimensional coordinate position of the dynamic object, at least one imaging device can image the dynamic object.

  In the present embodiment described below, the effects of the configuration will be described with respect to the control device, the control method, and the detection system according to the present invention, while mentioning the characteristics of the configuration. In the embodiments of the present invention described below, various flying objects are assumed and described as examples of dynamic objects. The flying object may include, for example, an air moving body or a small unmanned airplane (including a rotary wing and a fixed wing).

<2. First Embodiment>
[2.1. Example of system configuration of detection system]
The detection system according to the present embodiment can specify the three-dimensional coordinate position of the dynamic object based on the azimuth and elevation angle of the dynamic object acquired by a plurality of detection devices. In addition, the detection system according to the present embodiment can image the dynamic object based on the identified three-dimensional coordinate position of the dynamic object.

  First, a system configuration example of the detection system according to the present embodiment will be described with reference to FIG. Referring to FIG. 1, the detection system according to the present embodiment includes a plurality of detection devices 10 a and 10 b and a control device 30. The plurality of detection devices 10a and 10b and the control device 30 are connected via the network 20 so that they can communicate with each other.

  Here, the detection devices 10a and 10b are devices for detecting the flying object 40 that is a dynamic object, and may be appropriately installed according to the detection range. In addition, the control device 30 is a device that analyzes information acquired from the detection devices 10a and 10b and presents the analysis result to the user.

  Further, the network 20 has a function of connecting the detection devices 10 a and 10 b and the control device 30. The network 20 may include a public line network such as the Internet, a telephone line network, a satellite communication network, various LANs (Local Area Network) including Ethernet (registered trademark), a WAN (Wide Area Network), and the like. Further, the network 20 may include a dedicated line network such as an IP-VPN (Internet Protocol-Virtual Private Network).

  According to the detection system according to the present embodiment, it is possible to analyze the detection information related to the flying object 40 acquired by the detection devices 10a and 10b and to provide the user with the behavior of the flying object 40 as visual information.

  In the present embodiment, a case where the detection system includes two detection devices 10 will be described as an example. However, the configuration of the detection system according to the present embodiment is not limited to the example. The detection system according to the present embodiment may include three or more detection devices 10. In this case, the detection system can detect the flying object 40 in a wider detection range, and an improvement in accuracy related to the position specification can be expected. Further, when the detection system includes four or more detection devices 10, it is also possible to simultaneously analyze and present to the user the behaviors related to the plurality of flying objects 40.

[2.2. Detection Device 10 According to the Present Embodiment]
Next, the detection device 10 according to the present embodiment will be described in detail. As described above, the detection device 10 according to the present embodiment is a device for detecting the flying object 40 and can acquire the azimuth and elevation angle of the flying object 40 starting from the detection device 10. The detection device 10 according to the present embodiment can acquire the azimuth and elevation angle based on information acquired by an acoustic sensor such as a microphone or a microphone array. Further, the detection device 10 according to the present embodiment can image the flying object 40 based on the control by the control device 30.

  FIG. 2 is a functional block diagram of the detection device 10 according to the present embodiment. Referring to FIG. 2, the detection device 10 includes a sensor unit 110, an imaging unit 120, and a processing communication unit 130. Hereinafter, each component with which the detection apparatus 10 is provided is demonstrated in detail.

(Sensor unit 110)
The sensor unit 110 has a function of acquiring the azimuth and elevation angle of the flying object 40 starting from the detection device 10. The sensor unit 110 according to the present embodiment may include a plurality of sensors including an acoustic sensor in order to acquire the above information. The sensor unit 110 may include, for example, a plurality of microphones, and may acquire the above azimuth and elevation angle based on information collected by each microphone. For specifying the sound source position using a plurality of microphones, a CSP (Cross-power Spectrum Phase analysis) method described in Patent Document 1 may be used. Further, the above azimuth and elevation angle can be obtained from the cross-correlation function of the input waveform.

  Furthermore, the sensor unit 110 according to the present embodiment may include a microphone array having directivity for collecting sound in a specific direction. The sensor unit 110 may detect the azimuth and elevation angle of the flying object 40 based on information collected by a plurality of microphone arrays. Further, the microphone and the microphone array described above may be configured to react one-on-one with the flying object 40 having a higher sound pressure. In this case, even in a situation where the two projectiles 40 exist in different directions, the two detection devices 10a and 10b can detect the azimuth and elevation angle of the different projectiles 40 and image the corresponding directions. it can.

  Moreover, the sensor part 110 which concerns on this embodiment may acquire the direction and elevation angle of the flying object 40 based on information other than a sound. The sensor unit 110 has a function as a radar, for example, and can acquire the above-described direction and elevation angle by detecting a radio wave reflected from the flying object 40. The sensor unit 110 can also analyze image information captured by the imaging unit 120 described later, and obtain the above azimuth and elevation angle. In this case, the sensor unit 110 can calculate the above azimuth and elevation angle based on image information of the flying object 40 stored in advance, a distance marker imaged together with the flying object 40, and the like.

  The sensor unit 110 according to the present embodiment may include various sensors in addition to the sensors exemplified above. In this case, the sensor unit 110 includes a sensor switching unit that determines which sensor is applied, and the sensor switching unit switches a sensor to be applied among the acoustic sensor, the optical sensor, the temperature sensor, and the atmospheric pressure sensor. Can do. Specifically, when an acoustic sensor is applied when the detection device 10 is activated, the sensor switching unit may switch the applied sensor from the acoustic sensor to the optical sensor. The sensor switching unit may perform switching control from a mode in which the acoustic sensor is applied alone to a mode in which the acoustic sensor and the optical sensor are applied at the same time. Here, the sensor switching unit may control sensor switching at a predetermined interval (for example, 10 seconds or 8 hours), or may control sensor switching based on an instruction from an external device such as the control device 30. Also good. The instruction from the external device may be, for example, an instruction command for switching the applied sensor from the acoustic sensor to the temperature sensor at 6:00 am on February 29, 2016. Further, for example, a sound level meter provided in the external device may detect that the surrounding noise level has exceeded 80 dB (decibel) and notify the detection device 10 of the detection information. In this case, the sensor switching unit of the sensor unit 110 may switch the sensor to be applied from the acoustic sensor to the optical sensor based on the received detection information. Furthermore, the sensor switching unit may perform switching control of the sensor to be applied based on the analysis result relating to the image information of the flying object 40 captured by the imaging unit 120 described later. That is, the sensor switching means can also control switching of the applied sensor based on the property of the flying object 40 acquired by image analysis. Note that the configuration of the sensor unit 110 can be changed as appropriate according to the surrounding environment. Further, the configuration of the sensor unit 110 can be appropriately changed according to the nature of the flying object 40.

(Imaging unit 120)
The imaging unit 120 has a function of imaging the flying object 40. Specifically, the imaging unit 120 according to the present embodiment can perform imaging so as to capture the three-dimensional coordinate position of the flying object 40 based on control by the control device 30. For this reason, the imaging unit 120 according to the present embodiment may include an imaging device that captures a moving image or a still image. Note that the imaging unit 120 may capture the moving image or the still image in the first mode, the second mode, or the third mode. Here, the first mode may be general color photography. Further, the second mode may be infrared imaging with sensitivity to infrared rays. The third mode may be thermographic imaging that visualizes the temperature distribution based on infrared rays. In this case, the imaging unit 120 applies the first imaging unit corresponding to the first mode, the second imaging unit corresponding to the second mode, the third imaging unit corresponding to the third mode, and which imaging unit is applied. Imaging means switching means for determining Specifically, when the first imaging unit is applied when the detection device 10 is activated, the imaging unit switching unit may switch the imaging unit to be applied from the first imaging unit to the second imaging unit. The imaging means switching means may perform switching control from a state where the first imaging means is applied alone to a state where the second imaging means and the third imaging means are applied simultaneously. Here, the imaging unit switching unit may control switching of the imaging unit at a predetermined interval (for example, 10 seconds or 8 hours), or may control switching of the imaging unit based on an instruction from an external device such as the control device 30. May be. The instruction from the external device may be, for example, an instruction command for switching the imaging unit to be applied from the first imaging unit to the second imaging unit at 6:00 am on February 29, 2016. Further, for example, a day / night detector (light-shielding sensor) provided in the external device may detect whether it is day or night based on the intensity of ambient light, and notify the detection device 10 of the detection information. In this case, the imaging unit switching unit of the imaging unit 120 may switch the imaging unit to be applied from the first imaging unit to the second imaging unit based on the received detection information. Further, the imaging unit switching unit may perform switching control of the imaging unit to be applied based on the analysis result related to the image information of the flying object 40 captured by the imaging unit 120. That is, the imaging means switching means can also control switching of imaging means to be applied based on the nature of the flying object 40 acquired by image analysis. Note that the configuration of the imaging unit 120 can be changed as appropriate according to the surrounding environment.

(Processing communication unit 130)
The processing communication unit 130 has a function of communicating with the control device 30 via the network 20. The processing communication unit 130 may have a function of converting analog signals acquired by the sensor unit 110 and the imaging unit 120 into digital signals. Specifically, the processing communication unit 130 according to this embodiment has a function of transmitting the azimuth and elevation angle of the flying object 40 starting from the detection device 10 to the control device 30. At this time, the processing communication unit 130 may transmit the above azimuth and elevation angle to the control device 30 in association with the detection time. In addition, the processing communication unit 130 has a function of transferring control information acquired from the control device 30 to the imaging unit 120.

[2.3. Control device 30 according to this embodiment]
Next, the control device 30 according to the present embodiment will be described in detail. The control device 30 according to the present embodiment can specify the three-dimensional coordinate position of the flying object 40 based on the detection information of the flying object 40 acquired from the plurality of detection devices 10. As described above, the detection information may include information related to the direction and elevation angle of the flying object 40 starting from the detection device 10. Moreover, the control apparatus 30 which concerns on this embodiment can control the imaging part 120 of the detection apparatus 10 based on the identified three-dimensional coordinate position of the flying object 40, and can make the flying object 40 imaged.

  FIG. 3 is a functional block diagram of the control device 30 according to the present embodiment. Referring to FIG. 3, the control device 30 includes a communication unit 310, a position specifying unit 320, an imaging control unit 330, and a display control unit 340. Hereinafter, each component with which the control apparatus 30 is provided is demonstrated in detail.

(Communication unit 310)
The communication unit 310 has a function of communicating with a plurality of detection devices 10 via the network 20. Specifically, the communication unit 310 according to the present embodiment has a function of receiving information related to the azimuth and elevation angle of the flying object 40 from the plurality of detection devices 10. In addition, the communication unit 310 has a function of transmitting control information generated by an imaging control unit 330 described later to a plurality of imaging devices including the detection device 10.

(Position specifying unit 320)
The position specifying unit 320 has a function of specifying the three-dimensional coordinate position of the flying object 40 based on the detection information acquired from the plurality of detection devices 10. The position specifying unit 320 according to the present embodiment can specify the three-dimensional coordinate position of the flying object 40 by calculating the intersection of the orientations of the flying object 40 acquired from the plurality of detection devices 10. Details of the above functions by the position specifying unit 320 will be described later. In addition, the position specifying unit 320 has a function of recording the azimuth and elevation angle detection time acquired from the detection device 10 in association with the specified three-dimensional coordinate position of the flying object 40. Note that the position specifying unit 320 may record the above information in a storage device installed outside the control device 30 via the communication unit 310. Thus, by recording redundantly in the external storage device, for example, even when the installation position of the control device 30 is attacked by the flying object 40, information such as detection information and detection time is not destroyed. The possibility of leaving can be increased.

(Imaging control unit 330)
The imaging control unit 330 has a function of causing the imaging unit 120 of the detection device 10 to image the flying object 40 based on the three-dimensional coordinate position of the flying object 40 specified by the position specifying unit 320. That is, the imaging control unit 330 can control the imaging direction so that the imaging unit 120 of the detection device 10 captures the three-dimensional coordinate position of the flying object 40.

  Further, the imaging control unit 330 may control the zoom magnification of the imaging unit 120. Specifically, the imaging control unit 330 can control the zoom magnification of the imaging unit 120 so that the flying object 40 is larger and is captured more clearly. In this case, the imaging control unit 330 may control the zoom magnification of the imaging unit 120 based on the acquired three-dimensional coordinate position of the flying object 40 and the shape characteristics of the flying object 40 registered in advance. When the shape characteristics including the size of the flying object 40 are known, it is possible to set an optimum zoom magnification according to the subject distance (distance between the imaging unit 120 and the flying object 40). By performing the zoom magnification control described above, it becomes possible to present a moving image or a still image having a preset size of the flying object 40 to the user, thereby improving visibility and improving the efficiency of confirmation work for the user. Can do.

  Furthermore, the imaging control unit 330 may control the execution of an autofocus (AF) function together with the zoom magnification of the imaging unit 120. For example, the imaging control unit 330 can cause the imaging unit 120 to execute continuous AF when controlling the zoom magnification of the imaging unit 120. With the above-described function of the imaging control unit 330, the flying object 40 can be imaged more clearly, and high-value visual information can be provided to the user.

  Further, the imaging control unit 330 according to the present embodiment can also control an imaging device other than the detection device 10. The imaging control unit 330 may control a plurality of imaging devices connected via the network 20 to image the flying object 40. The imaging control unit 330 can also broadcast the three-dimensional coordinate position of the flying object 40 via the communication unit 310, for example, and cause the imaging device that has received the broadcast information to image the dynamic object. is there. Details of the broadcast function by the imaging control unit 330 will be described later.

(Display control unit 340)
The display control unit 340 has a function of causing the display device to display information controlled by the components of the detection device 10 and the control device 30. That is, the display control unit 340 can control a detection screen for presenting information related to the detection status and behavior of the flying object 40 to the user.

  Specifically, the display control unit 340 according to the present embodiment has a function of displaying the three-dimensional coordinate position of the flying object 40 specified by the position specifying unit 320 in association with the map information. At this time, the display control unit 340 may use map information stored in the control device 30 or an external storage device, or may use a map service provided on the Internet.

  In addition, the display control unit 340 according to the present embodiment has a function of displaying an image of the flying object 40 acquired from the detection device 10 in association with map information. Furthermore, the display control unit 340 according to the present embodiment has a function of displaying a change in the three-dimensional coordinate position of the flying object 40 in association with the map information. At this time, the display control unit 340 may use the three-dimensional coordinate position of the flying object 40 recorded by the position specifying unit 320 and associated with the detection time.

  The display control unit 340 may have a function as a display unit for displaying the various types of information described above. The above function as the display unit may be realized by, for example, a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Diode) device, or the like.

  Further, both or one of the display control unit 340 and the imaging control unit 330 may have a function related to image storage (capture). In this case, both or either one of the display control unit 340 and the imaging control unit 330 includes an image storage unit. Specifically, the image storage unit stores a moving image or a still image captured by the imaging unit 120 of the detection device 10 in a storage unit (a ROM 872, RAM 873, a storage unit 880, a drive 881, etc., which will be described later) or a server. Control is performed so as to be stored (captured) in a Web server, an FTP server, or a NAS (Network Attached Storage) connected to the network 20 (not shown in FIG. 1). When the image storage means stores the image, for example, time information (year hour minute second, etc.) in the control device 30 or the detection device 10, position information related to the detection device 10 (longitude / latitude altitude, address, control device 30). And the auxiliary information such as the three-dimensional coordinate position of the flying object 40 may be attached to the image and stored. Further, the image storage unit may control to store the image after encrypting the image (the image itself is encrypted and / or the image file is encrypted).

  The image storage unit in the imaging control unit 330 may control the imaging control unit 330 to store an image obtained by causing the imaging unit 120 of the detection apparatus 10 to capture the flying object 40. Further, the image storage means in the display control unit 340 associates the detection screen (the three-dimensional coordinate position of the flying object 40 specified by the position specifying unit 320) displayed on the display device with the map information. The image storage may be controlled based on a user operation (a stored image selection operation, a storage range selection operation, a storage execution operation, etc.) on a screen including a display.

[2.4. Detection screen according to this embodiment]
Next, the detection screen according to the present embodiment will be described in detail. The detection screen according to the present embodiment is a screen for presenting detection information of the flying object 40 to the user. As described above, the detection screen may be a screen controlled by the display control unit 340. The detection screen according to the present embodiment may be displayed on a plurality of display devices connected to the control device 30 via the network 20. In this case, the user can also check the detection screen on a smartphone or tablet. It is also possible to collect detection information of the flying object 40 at a plurality of locations and monitor it intensively.

  Hereinafter, the screen configuration of the detection screen according to the present embodiment and the flow of screen control will be described. FIG. 4 shows a screen display example of the detection screen W <b> 1 during detection of the flying object 40. Referring to FIG. 4, the detection screen W1 according to the present embodiment includes five regions R1 to R5.

  Here, the region R1 may be a region for displaying the current date and time. In the case where the recorded past detection situation is confirmed, date and time information corresponding to the detection situation may be displayed in the region R1.

  The region R2 may be a region for displaying the set position of the detection device 10 and the three-dimensional coordinate position of the specified flying object 40 in association with the map information. In the example shown in FIG. 4, the installation positions of the two detection devices 10 are shown as P1 and P2. C1 and C2 may be information indicating the detectable range of the detection device 10 corresponding to P1 and P2, respectively. That is, C1 indicates the detectable range of the detection device 10 installed in P1, and when the flying object 40 enters the detectable range, the detection device 10 detects the azimuth and elevation angle of the flying object 40. It is possible.

  Further, in the region R2, in addition to the information described above, base information registered in advance by the user can be displayed in association with the map information. As a result, the user can intuitively grasp the direction and distance of the flying object 40 starting from the base. Note that the example shown in FIG. 4 shows a state in which neither of the two detection devices 10 detects the flying object 40, and therefore no information on the flying object 40 is displayed in the region R2.

  The region R3 may be a region for displaying image information captured by the imaging unit 120 of the detection device 10. In the example shown in FIG. 4, image information captured by the two detection devices 10 installed in P1 and P2 is displayed. When the detection device 10 has a function of capturing a moving image, the image information displayed in the region R3 may be a live video at the current time. Note that the example shown in FIG. 4 shows a state in which neither of the two detection devices 10 detects the flying object 40, and therefore the flying object 40 is not reflected in the image information displayed in the region R3. .

  The region R4 may be a region for displaying log information related to detection of the flying object 40. In the region R4, for example, the azimuth and elevation angle of the flying object 40 detected by the detection device 10, the three-dimensional position information of the flying object 40 specified by the position specifying unit 320, and the like may be displayed together with time information. Note that the example shown in FIG. 4 shows a state where neither of the two detection devices 10 detects the flying object 40, and thus the detection information is not displayed in the region R4.

  The region R5 may be a region for arranging various buttons that accept user operations. Referring to FIG. 4, three buttons B1 to B3 are arranged in the region R5.

  Here, the button B1 may be a button for operating detection start and stop. In the example shown in FIG. 4, text information “Detecting” is displayed on the button B1. The user may be able to stop detection by selecting the button B1 in the above state. At this time, the text information displayed on the button B1 may be switched to “start detection”, for example. The user can start the detection of the flying object 40 by the detection device 10 by selecting the button B1 in the “detection start” state.

  Further, the button B2 may be a button for displaying history information related to detection of the flying object 40. When the button B2 is selected by the user, the display control unit 340 can search past detection information recorded and display the information. Note that the history information displayed at this time may be in the same format as the log information displayed in the region R4, or may include more detailed detection information. Further, an area for displaying history information may be provided by selecting the button B2 by the user. For example, history information may be displayed at a position in the region R2 facing the region R1 in FIG. Further, instead of newly providing an area for displaying history information, the display may be switched and replaced with an existing area such as the area R4 in FIG.

  As described above, the display control unit 340 displays the history information related to the detection of the flying object 40, so that even if the user does not always check the detection screen W1, the information of the detected flying object 40 is acquired. It becomes possible. When there is history information that has not been confirmed by the user, the display control unit 340 may display the button B2 with a highlighted display format.

  The button B3 may be a button for displaying failure information related to the detection system. The user can browse the failure information related to the detection device 10 and the control device 30 by selecting the button B3. Note that if there is failure information that has not been confirmed by the user, the display control unit 340 may display the button B3 with a highlighted display format.

  The screen display example of the detection screen W1 related to the detection of the flying object 40 has been described above. Next, a screen display example of the detection screen W1 when the flying object 40 is detected will be described with reference to FIG.

  Referring to FIG. 5, unlike the display example during detection shown in FIG. 4, O1 indicating the three-dimensional coordinate position of the detected flying object 40 is displayed in the region R2. Here, the lines extending from P1 and P2 toward O1 may indicate the direction of the flying object 40 starting from each detection device 10 and the error range of the detection direction. In the area R2, a message M1 indicating that the flying object 40 has been detected is displayed.

  As shown in FIG. 5, the display control unit 340 can notify the user of the intrusion of the flying object 40 by plotting the detected three-dimensional coordinate position of the flying object 40 on the map. At this time, the display control unit 340 can also change the display colors of C1 and C2 indicating the detectable range of the detection device 10. Thereby, the user can perceive the intrusion of the flying object 40 more intuitively. Note that the above color change may be controlled for each detection device 10. In a situation where only the detection device 10 installed in P1 detects the flying object 40, the display control unit 340 may change only the display color of the detectable range C1.

  Further, when the flying object 40 is detected, the display control unit 340 may display the captured image of the detection device 10 displayed in the region R3 with emphasis. In the example illustrated in FIG. 5, the display control unit 340 highlights the identification name of the detection device 10 that is the image acquisition source.

  Similar to the detectable range, the highlighted display of the captured image may be controlled for each detection device 10. That is, the display control unit 340 can highlight and display only the image captured by the detection device 10 that has detected the flying object 40. Image emphasis control by the display control unit 340 is more useful as the number of images displayed in the region R3 increases. By visually recognizing the emphasized image, the user can intuitively understand which detection device 10 has detected the flying object 40. In FIG. 5, “sensor array 1” and “sensor array 2” are used as examples of identification names of the detection device 10, but the identification names may be arbitrarily set by the user. By using information related to the installation position of the detection device 10 such as “main gate” or “south gate” as the identification name, the detection information of the flying object 40 can be grasped more intuitively.

  When the flying object 40 is detected, the display control unit 340 may display the detection information of the flying object 40 in the region R4. As shown in FIG. 5, the detection information of the flying object 40 may include the azimuth, elevation angle, and three-dimensional coordinate position of the flying object 40 starting from each detection device 10.

  Further, the display control unit 340 may display the imaging field angle information of the imaging unit 120 on a map, and may further display the field angle range with emphasis similarly to the region R3. The above-described shooting angle of view information is, for example, a graphic range around P1 and P2 that is the range of the angle of view captured by the imaging unit 120 of the detection device 10 installed in each of P1 and P2 shown in FIG. It may be visualized. The graphic visualization described above may be expressed by, for example, a figure or a fan-shaped figure that radiates and spreads around P1 and P2. In addition, the above-described graphical visualization is expressed by displaying a line representing the center of the imaging direction on the map and changing the display color of the range of the angle of view that is the imaging angle of view information of the imaging unit 120. Also good. At this time, the display control unit 340 may perform highlight control so that the display color of the range of the angle of view and the display color of the identification name of the detection device 10 displayed in the region R3 are the same color. Thereby, the user can intuitively grasp from which angle the imaging unit 120 included in which detection device 10 captures the image captured in the region R3. Although not shown in FIGS. 4 and 5, a region for displaying a diagram that associates the imaging angle and orientation of the imaging unit 120 may be newly provided. For example, when the imaging unit 120 is a 360-degree omnidirectional camera, the 360-degree azimuth information and the angle-of-view information of the imaging unit 120 are linked in advance, and linked with the imaging-angle-of-view information of the imaging unit 120. The imaging angle of view can be visually recognized. At this time, for example, an imaging angle of view displayed in a 360-degree donut shape or an actual image captured by a 360-degree omnidirectional camera may be displayed in the new area.

  The detection screen according to the present embodiment has been described above. As described above, the display control unit 340 according to the present embodiment can display the three-dimensional coordinate position of the flying object 40 in association with the map information. Further, the display control unit 340 according to the present embodiment can present a captured image of the flying object 40 to the user. Thereby, the user can visually confirm the detection information of the invading flying object 40, and can take measures against the flying object 40.

  In the above description, the case where the display control unit 340 plots the position information on the map based on the three-dimensional coordinate position of the flying object 40 has been specified, but the plot according to the present embodiment. Is not limited to such an example. The display control unit 340 may plot the position information on the map based on the fact that the three-dimensional coordinate position of the flying object 40 has been specified a predetermined number of times or more. For example, when the predetermined number of times is five, the display control unit 340 determines the timing at which five three-dimensional coordinate positions are specified within a predetermined time (for example, 5 seconds) or detection information received from the detection device 10. The position information may be plotted on the map at the timing when the three-dimensional coordinate position is specified five times in succession. In the case of the detection information reading interval, which will be described later, the above-described continuous specifying timing indicates a case where the three-dimensional coordinate position is specified five times in 2.5 seconds. Further, the position information plotted on the map may be all specified position information, that is, the five position information in the above example, or the last specified position information, that is, in the above example. Only the position information specified for the fifth time may be used. When the display control unit 340 acquires the detection information of the flying object 40 a plurality of times and controls the plot to display the detection information of the flying object 40, the detection information of the flying object 40 is displayed to the user as more reliable intrusion information. It can be presented. In addition, after the three-dimensional coordinate position of the flying object 40 is specified, the display control unit 340 collates the image information of the flying object 40 captured by the detection device 10 and the image of the flying object 40 in which the image is registered in advance. Plotting may be performed based on matching with the image information. When the display control unit 340 performs image collation, it is possible to determine whether the detection information of the flying object 40 is correct and to present the detection information of the flying object 40 to the user as more reliable intrusion information. In addition, the display control unit 340 performs plotting based on the movement direction of the flying object 40 indicating a predetermined direction (facility direction, etc.) after the three-dimensional coordinate position of the flying object 40 is specified a plurality of times. May be performed. Further, the display control unit 340 plots based on the fact that the moving direction of the flying object 40 does not indicate a predetermined direction (such as the direction of the facility) after the three-dimensional coordinate position of the flying object 40 is specified a plurality of times. The progress monitoring may be performed without performing the above. For example, when a plurality of three-dimensional coordinate positions are specified within a predetermined time, the display control unit 340 can specify the moving direction of the flying object 40 from the time series relationship between the detection time and the three-dimensional coordinate position. At this time, the display control unit 340 may plot the position information on the map based on the fact that the moving direction of the flying object 40 is directed to a spot or region registered in advance. Note that the previously registered points and regions may be determined according to the region or facility position where it is desired to prevent intrusion. On the other hand, the display control unit 340 performs control so that the position information is not plotted when the moving direction of the flying object 40 does not face a previously registered spot or region. When the display control unit 340 performs the above-described control, it is possible to present only the detection information related to the flying object 40 that continuously enters the specific area, which is highly likely to be dangerous for the user. It becomes. In addition, the detection burden on the user can be reduced by not presenting detection information that has been detected within the detectable range but is less dangerous for the user.

[2.5. Flow of detection screen control]
Next, the flow of control of the detection screen according to the present embodiment will be described. FIG. 6 is a flowchart showing a flow of control of the detection screen by the control device 30 according to the present embodiment. Hereinafter, a case where the control device 30 is connected to the two detection devices 10 will be described as an example.

  Referring to FIG. 6, the control device 30 first reads information on the latitude, longitude, and reference angle of the two detection devices 10 (S1101). Here, the latitude, longitude, and reference angle may be information acquired in advance for each detection device 10. Note that the reference angle may be an angle with respect to a meridian and an elevation angle. Further, the reference angle may be a direction that the imaging unit 120 of the detection device 10 captures at the first activation. The reference angle is angle information that can be set by the user, and may be 0 °, for example.

  Next, the position specifying unit 320 of the control device 30 calculates a linear distance L between the two detection devices 10 (S1102). The position specifying unit 320 can calculate the linear distance L based on the latitude and longitude of the detection device read in step S1101.

  Next, the display control unit 340 determines whether or not an instruction to start detection is given by the user (S1103). That is, the display control unit 340 determines whether or not the button B1 is in the “detecting” state on the detection screen W1. Here, when the start of detection is not instructed by the user (S1103: No), the display control unit 340 ends the control of the detection screen.

  On the other hand, when the start of detection is instructed by the user (S1103: Yes), the control device 30 stands by for a predetermined time (S1104). Here, the predetermined time may indicate an interval at which the control device 30 reads detection information from the detection device 10. The predetermined time may be 0.5 seconds, for example. In this case, the control device 30 reads detection information from the detection device 10 at intervals of 0.5 seconds (S1105). The communication of detection information at the above intervals may be controlled by the detection device 10. In this case, the detection device 10 may further include a configuration corresponding to the position specifying unit 320, and may perform the determination in step S1106 described later based on the information detected by the sensor unit 110. If it is determined that the flying object 40 has been detected, the detection device 10 can transmit detection information to the control device 30. Thereby, the control device 30 does not need to read the detection information of the detection device 10 at a predetermined interval, and can receive only necessary information at an appropriate timing.

  With reference to FIG. 6 again, the description of the control by the control device 30 will be continued. After the processing in step S1105, the position specifying unit 320 determines whether or not the flying object 40 has been detected based on the information read from the detection device 10 (S1106). If it is determined that the flying object 40 has not been detected (S1106: No), the control device 30 returns to step S1103 and repeats the subsequent processing.

  On the other hand, when it determines with the flying object 40 having been detected (S1106: Yes), the position specific | specification part 320 performs an intersection calculation based on the detection information acquired from the some detection apparatus 10 (S1107). Here, the above-mentioned intersection point may be an intersection point related to the direction of the flying object 40 starting from each detection device 10. Details of the intersection calculation will be described later.

  Next, the display control unit 340 acquires the three-dimensional coordinate position of the flying object 40 calculated by the intersection calculation in step S1107, and displays the position information in association with the map information on the detection screen W1 (S1108).

  Further, the imaging control unit 330 controls the imaging unit 120 of the detection device 10 based on the three-dimensional coordinate position of the flying object 40 (S1109). At this time, the imaging control unit 330 calculates the difference between the read azimuth and elevation angle and the azimuth and elevation angle acquired by the same detection device 10 read a predetermined time ago to thereby calculate the displacement angle of the imaging unit 120. And the imaging unit 120 may be controlled. Note that steps S1108 and S1109 may be executed in parallel.

  Thereafter, the control device 30 repeatedly executes the processes in steps S1103 to S1109 until the user instructs to stop the detection.

[2.6. Control flow for intersection calculation]
Next, the flow of control related to the intersection calculation of this embodiment will be described. FIG. 7 is a flowchart showing a flow of intersection calculation by the position specifying unit 320 according to the present embodiment. Hereinafter, a case where the control device 30 is connected to the two detection devices 10 will be described as an example.

  Referring to FIG. 7, the position specifying unit 320 first determines whether or not detection information has been received from the detection device 10 (S1201). In the above determination, a validation check of received information may be performed at the same time. Here, when the detection information from the detection device 10 is not normally received (S1201: No), the position specifying unit 320 ends the process related to the intersection calculation.

  On the other hand, when the detection information is normally received from the detection device 10 (S1201: Yes), the position specifying unit 320 determines whether the detection information from the plurality of detection devices 10 is received (S1202). . Here, when the acquired detection information is transmitted from a single detection device 10 (S1202: No), the position specifying unit 320 ends the process related to the intersection calculation because the intersection cannot be detected. .

  On the other hand, when detecting information from a plurality of detecting devices 10 is received (S1203: Yes), the position specifying unit 320 determines whether or not an intersection exists in the direction of the flying object 40 detected by the detecting device 10. (S1203). At this time, the position specifying unit 320 can make the above determination using the following mathematical formula (1).

  In the above mathematical formula (1), θ1 and θ2 may each be a value indicating the orientation of the flying object 40 detected by the two detection devices 10. Further, θ1 and θ2 may be values indicating the angle in the horizontal direction with respect to the 0 ° direction. The position specifying unit 320 can determine whether or not there is an intersection point in the direction of the flying object 40 detected by the two detection devices 10 according to the above mathematical expression (1).

  Here, when it is determined that the intersection does not exist (S1203: No), the position specifying unit 320 ends the process related to the intersection calculation.

  On the other hand, when it is determined that an intersection exists (S1203: Yes), the position specifying unit 320 calculates the horizontal distance of the intersection (S1204). That is, the position specifying unit 320 calculates the distance on the X axis and the distance on the Y axis of the intersection. At this time, the position specifying unit 320 can perform calculation using the following mathematical formulas (2) and (3).

FIG. 8 is a diagram schematically illustrating intersection calculation performed by the position specifying unit 320. FIG. 8 shows the two detection devices 10a and 10b and the orientations θ1 and θ2 of the flying object 40 detected by the detection devices 10a and 10b, respectively. Further, as described above, L may be a value indicating a linear distance between the detection devices 10a and 10b. As shown in FIG. 8, the position specifying unit 320 obtains the azimuths θ1 and θ2 of the flying object 40 detected by the two detection devices 10a and 10b and the value of the linear distance L, thereby obtaining the intersection (X _C , Y _C ) Can be calculated.

  The description will be continued again with reference to FIG. In step S1204, after calculating the distance on the X axis and the distance on the Y axis of the intersection, the position specifying unit 320 calculates the vertical distance of the intersection (S1205). That is, the position specifying unit 320 calculates the distance on the Z axis at the intersection. At this time, the position specifying unit 320 can perform calculation using the following mathematical formula (4).

  In the above mathematical formula (4), φ may be a value indicating the elevation angle of the flying object 40 detected by the detection device 10. That is, the position specifying unit 320 uses the distance on the X axis and the distance on the Y axis calculated by the above mathematical expressions (2) and (3) and the elevation angle of the flying object 40 to determine the Z of the intersection. The distance on the axis can be calculated.

  After calculating the distance of the intersection point on the Z axis, the position specifying unit 320 passes the calculated intersection point information to the display control unit 340 (S1206), and ends the processing related to the intersection point calculation.

  As described above, the position specifying unit 320 according to the present embodiment can specify the three-dimensional coordinate position of the flying object 40 based on the detection information acquired from the two detection devices 10a and 10b. With the above-described function of the position specifying unit 320, the control device 30 according to the present embodiment can provide position information of the flying object 40 to the user.

<3. Second Embodiment>
Next, a second embodiment according to the present invention will be described. In the second embodiment according to the present invention, it is possible to display the change in the three-dimensional coordinate position of the flying object 40 specified by the position specifying unit 320 in association with the map information. In the following description, differences from the first embodiment will be mainly described. About the structure of the detection apparatus 10 and the control apparatus 30, and the specification of the three-dimensional coordinate position of the flying object 40, since it is common in 1st Embodiment, description is abbreviate | omitted.

  FIG. 9 is a diagram showing a region R2 displayed on the detection screen according to the present embodiment. Referring to FIG. 9, in addition to the display of the region R <b> 2 according to the first embodiment described with reference to FIG. 5, the region R <b> 2 according to the second embodiment includes the three-dimensional of the flying object 40 specified in the past. Trajectories F1 and F2 indicating coordinate positions are displayed. In addition, captured images S1 and S2 of the flying object 40 when the three-dimensional coordinate position of the flying object 40 is specified are displayed in association with the trajectories F1 and F2, respectively.

  As described above, in the second embodiment according to the present invention, it is possible to plot the change of the position information related to the flying object 40 on the map and provide it to the user. The display control unit 340 can acquire the recorded history of the three-dimensional coordinate position of the flying object 40 and control the display of the detection screen. With the function according to the present embodiment, the user can grasp the behavior of the flying object 40 in more detail. In particular, since the moving direction of the flying object 40 can be grasped, the user can take appropriate measures against the flying object 40.

  In addition, in FIG. 9, although the case where the locus | trajectory of the flying object 40 was plotted with a point on a map was illustrated, the display of the locus | trajectory which concerns on this embodiment is not limited to the example which concerns. The trajectory of the flying object 40 according to the present embodiment may be indicated by a line such as an arrow indicating the moving direction. Further, the trajectory of the flying object 40 may be displayed in more detail by 3D display. Furthermore, the display format exemplified above can be switched by a user operation. Since the display control unit 340 has the above function, it is possible to provide information that meets the needs of the user.

<4. Third Embodiment>
Subsequently, a third embodiment according to the present invention will be described. In the third embodiment according to the present invention, it is possible to broadcast the three-dimensional coordinate position of the flying object 40 specified by the position specifying unit 320 and cause the imaging device that has received the information related to the broadcast to image the flying object 40. It is. In the following description, differences from the first embodiment and the second embodiment will be mainly described. About the structure of the detection apparatus 10 and the control apparatus 30, and specification of the three-dimensional coordinate position of the flying object 40, since it is common in 1st Embodiment and 2nd Embodiment, description is abbreviate | omitted.

  FIG. 10 is a diagram showing a region R2 displayed on the detection screen according to the present embodiment. Referring to FIG. 10, in addition to the display of the region R2 according to the first embodiment described with reference to FIG. 5, the region R2 according to the third embodiment includes P3 indicating the installation position of the control device 30, and The installation positions P4 and P5 of the two imaging devices that receive the broadcast from the control device 30 are displayed.

  The control device 30 according to the present embodiment specifies the three-dimensional coordinate position of the flying object 40 based on the detection information from the detection device 10 installed at the installation positions P1 and P2, and transmits the position information by broadcast. Is possible. At this time, the control device 30 may convert the three-dimensional coordinate position of the flying object 40 into a GPS coordinate and broadcast it. The imaging device that has received the broadcast performs imaging of the flying object 40 based on the received position information of the flying object 40. At this time, the imaging apparatus may include an installation position specifying unit for specifying the installation position. For example, the imaging device may acquire latitude and longitude by the GPS function, and set the reference angle as a direction that the imaging device captures at the first activation. The reference angle is angle information that can be set by the user, and may be 0 °, for example. The imaging device calculates the azimuth of the flying object 40 from the received position information of the flying object 40 and its own installation position information, and obtains the difference from the above-described reference angle to point the imaging unit toward the flying object 40.

  As described above, according to the control device 30 according to the present embodiment, the flying object 40 can be imaged by an imaging device different from the detection device 10. For this reason, in this embodiment, the apparatus which is not provided with the sensor which concerns on the detection of the flying object 40 can be utilized as a part of detection system. The imaging device that receives the broadcast may be an existing security camera or the like. By using the broadcast function of the control device 30, it is possible to reduce the cost associated with the detection system.

  Further, according to the broadcast function according to the present embodiment, the flying object 40 can be imaged from various directions. This feature is particularly useful when the detection device 10 cannot capture the image of the flying object 40 due to, for example, the influence of clouds. In the detection system according to the present embodiment, even in the above situation, the flying object 40 can be imaged by another imaging device and information can be provided to the user. In this case, in addition to the image information captured by the detection device 10 (P1 and P2 in FIG. 10), the display control unit 340 includes image capturing devices installed in P4 and P5 in the region R3 illustrated in FIGS. The captured image information may be displayed. For example, the display control unit 340 displays the identification names of the imaging devices installed in P4 and P5 in addition to the sensor arrays 1 and 2 of the identification names of the detection devices 10 displayed in the region R3 of FIG. As the imaging device 1 and the imaging device 2, image information captured by each imaging device may be displayed. Further, the display control unit 340 images the flying object 40 when the three-dimensional coordinate position of the flying object 40 is broadcast and imaged in the region R2 displayed on the detection screen of FIG. 10 as in the second embodiment. The image may be displayed in association with the three-dimensional coordinate position of the flying object 40. In this case, images captured by the P4 and P5 imaging devices that have received the broadcast are displayed in association with the three-dimensional coordinate position of the flying object 40.

  Furthermore, in the broadcast according to the present embodiment, the timing for transmitting information may be determined by a user operation. In this case, although not shown in FIGS. 4 and 5, a button for executing broadcasting and acquiring an image from another imaging apparatus may be provided. For example, when the user determines that the image information desired by the user cannot be obtained from the image information acquired according to the first embodiment, another image pickup apparatus is newly selected by selecting the button related to the broadcast. More image information can be obtained.

  In addition, the control device 30 having a broadcast function may include a transmission output control unit that controls transmission output when broadcasting. Further, the control device 30 may control the transmission output based on selection of a button related to the broadcast by a user operation. For example, when the standard output is 100 mW and the range reached by 100 mW is 100 m, the user may be able to expand the broadcast range to, for example, 200 m by controlling the output as high as 120 mW by operating a button. Thereby, the user can include an imaging device installed far away in the broadcast range. On the other hand, when it is desired to broadcast in the range of an imaging device installed nearby, it is possible to broadcast to a narrow range such as 50 m by controlling the output as low as 50 mW.

  Further, the transmission output control means described above may perform control based on the moving direction of the flying object 40 that can be specified after the three-dimensional coordinate position of the flying object 40 is specified a plurality of times. In this case, the control device 30 may further include a moving direction determination unit. Taking FIG. 10 as an example, the moving direction of the flying object 40 calculated from the time-series relationship of a plurality of three-dimensional coordinate positions of the flying object 40 identified based on the detection information from P1 and P2 where the detection device 10 is installed. When the movement direction determination means determines that the movement is in a direction away from P3 where the control device 30 is installed, the transmission output control means broadcasts in a range including an imaging device installed at a distance. Control transmission at high output. On the other hand, when it is determined that the moving direction of the flying object 40 is moving in the direction approaching P3, the transmission output control means controls the transmission output with a reference output or a low output.

  Further, the transmission output control means may control the transmission output based on the three-dimensional coordinate position of the flying object 40. For example, when the transmission output control means determines that the three-dimensional coordinate position of the flying object 40 at the time of detection is far from P3 where the control device 30 is installed, the transmission output control means has a wide range including an imaging device installed far away. Transmission control may be performed with a high output so as to broadcast, and when it is determined that the three-dimensional coordinate position of the flying object 40 is close to P3, the transmission output may be controlled with a reference output or a low output. In the transmission output control described above, the control device 30 may store the direction and distance with respect to P3 serving as control reference information, and the relationship between the broadcast range and the transmission output. In addition, an imaging apparatus that receives broadcast information may be provided with specific frequency receiving means for receiving only at a specific frequency. In this case, the control device 30 further includes frequency change control means, and broadcasts control information to a specific image pickup device or an image pickup device group previously grouped with specific frequency information by changing the frequency by the frequency change control means. can do.

  Furthermore, the control device 30 and the imaging device may each include an encryption unit and a decryption unit. By providing each of the encryption unit and the decryption unit, secure communication can be established between the control device 30 and the imaging device. Specifically, the control device 30 encrypts and broadcasts the information of the specified three-dimensional coordinate position of the flying object 40 by the encryption means, and the imaging device having the decryption means receives the encrypted information, By decoding by the decoding means, information on the three-dimensional coordinate position of the flying object 40 can be acquired.

  Furthermore, the control device 30 may further include a common key transmission unit that transmits the common key to the imaging device in advance. By using the common key, more secure communication can be realized between the control device 30 and the imaging device. Before broadcasting the specified three-dimensional coordinate position of the flying object 40, the control device 30 transmits the common key to the imaging device by the common key transmission means. The control device 30 encrypts the information of the three-dimensional coordinate position of the flying object 40 by the encryption means and broadcasts it, and the imaging device having the decryption means receives the encrypted three-dimensional coordinate position information and decrypts it with the decryption means and the common key. By doing so, the information of the three-dimensional coordinate position of the flying object 40 can be acquired. As a result, only the imaging device having the decryption means and the common key can perform imaging. Further, the control device 30 may include a common key management table for managing a plurality of different common keys and a common key selection unit. For example, the control device 30 manages the common key A and the common key B, and the common key A is used for the imaging device installed at P4 in FIG. 10 by the common key selection unit, and the common key is used for the imaging device installed at P5. A and the common key B can be selected and transmitted by the above-described common key transmission means. At this time, when the control device 30 encrypts the information of the three-dimensional coordinate position of the flying object 40 with the common key B and broadcasts it, only the imaging device installed in P5 that has received the common key B in advance. Information on the three-dimensional coordinate position of the flying object 40 can be acquired. Further, when the control device 30 encrypts the information of the three-dimensional coordinate position of the flying object 40 with the common key A and broadcasts it, the imaging devices installed in P4 and P5 that have received the common key A in advance. Information on the three-dimensional coordinate position of the flying object 40 can be acquired. As a result, the control device 30 can cause only the image capturing device having the decryption means and the specific common key to perform image capturing.

<5. Fourth Embodiment>
Subsequently, a fourth embodiment according to the present invention will be described. In the first embodiment, the second embodiment, and the third embodiment, information is provided via a detection screen. In the fourth embodiment according to the present invention, it is possible to notify the user separately from the provision of information via the detection screen. Specifically, in the fourth embodiment according to the present invention, when the position specifying unit 320 specifies the flying object 40, the outgoing call is controlled and notified. Therefore, unlike the control device 30 of the first embodiment, the second embodiment, and the third embodiment, the control device 30 of the fourth embodiment is a notification for controlling the telephone call to the user's telephone terminal. Have means.

  The notification means controls the outgoing call 40 by the control device 30 (S1106: Yes), the provision of the detection screen by the control device 30 (S1108 (S1108 and S1109)), or the telephone call according to the user operation. The control of outgoing calls in response to user operations is to select a message (M1 in FIG. 5) indicating that the flying object 40 has been detected and a notification button (button not shown in region R5 in FIG. 4). When the operation is performed, the notification means controls the outgoing call. Here, the message M1 indicating that the flying object 40 has been detected is illustrated in FIG. 5, but in the fourth embodiment, for example, in addition to “Detect!”, The guard is notified. You may make it display a message "Please press this display." In FIG. 4, the button of the region R5 is illustrated, but in the fourth embodiment, for example, a notification button is displayed along with the display of the message M1 indicating that the flying object 40 has been detected. You may do it.

  The notifying means can perform any one of the first notification process, the second notification process, and the third notification process to control outgoing calls to the user's telephone terminal.

[5.1. First notification process]
In the first notification process, the notification means makes a telephone call and gives voice guidance. When performing the first notification process, the notification means communicates with the telephone network based on the telephone number information, voice guidance information (for example, voice “detected”) of the telephone terminal that is the destination, and telephone number information. It includes a call establishment means for forming a call path (establishing a call) with a previous telephone terminal and a voice guidance means for reproducing voice guidance on the established call path. Here, the telephone call by the first notification process may be an internal line call, an external line call, or a mobile phone call.

  When making an extension call in the first notification process, the notification means communicates with the extension telephone number information, voice guidance information, and extension telephone network of the extension telephone terminal that is the destination, and performs an extension call with the extension telephone terminal of the destination And a voice guidance means for reproducing voice guidance for the established extension call.

  When making an outside line call in the first notification process, the notifying means sends the outside line telephone number information (for example, “outside line calling special number + outside line telephone number” or “FMC (Fixed Mobile) assigned to the outside line telephone terminal”. Extension telephone number for Convergence ", etc.), voice guidance information, external line establishment means for establishing an external line call via the internal telephone network with the external telephone terminal of the destination by communicating with the internal telephone network and the established external line Voice guidance means for reproducing voice guidance for a call is included.

  When making a mobile phone call in the first notification process, the notification means communicates with the mobile phone terminal of the call destination by exchanging with the mobile phone number information, voice guidance information, and the mobile phone carrier network of the call destination mobile phone terminal. Mobile phone call establishment means for establishing a mobile phone call and voice guidance means for reproducing voice guidance for the established mobile phone call.

[5.2. Second notification process]
In the second notification process, the notification means makes a telephone call to establish a call between the two parties. Here, the two are, for example, a user A other than the user of the control device 30 (for example, an indoor security room) and a user B (for example, an outdoor security guard). Note that the user A who is the user of the control device 30 and the user B other than the user of the control device 30 may be used. When performing the second notification process, the notification means includes the first telephone number information of the user A's telephone terminal as the first destination, the second telephone number information of the user B's telephone terminal as the second destination, and the first The first telephone number information is exchanged with the telephone network, the first destination telephone terminal is received, the call is put on hold according to the operation of the user A, and the second telephone number information is exchanged with the telephone network. Call establishment means for causing a telephone terminal to receive a call and forming a call path (call establishment) with the first destination telephone terminal being held in response to an operation of user B is included.

[5.3. Third notification process]
In the third notification process, the notification means can make a call by making a telephone call. When performing the third notification process, the control device 30 includes a microphone and a speaker, and the notification means communicates with the telephone network based on the telephone number information of the telephone terminal that is the destination and the telephone number information, and the destination telephone. Call establishment means for forming a call path (establishing a call) with a terminal, and a call for giving voice input from the call path and the microphone of the control device 30 to the call path and giving voice obtained from the call path to the speaker of the control device 30 Includes functional means.

[5.4. Other aspects]
The fourth embodiment according to the present invention has been described as controlling and notifying a telephone call. In accordance with the operation mode of the system to which the present invention is applied, the notification unit may have other modes. For example, SMS (Short Message Service), e-mail notification, or the like can be applied as other modes.

  When the notification means performs notification by SMS, the notification means communicates with the telephone network based on the telephone number information, message information (for example, “detected”) of the telephone terminal that is the SMS transmission destination, and telephone number information. SMS transmission means for performing SMS transmission is included.

  When the notification means performs notification by e-mail, the notification means communicates with the telephone network based on e-mail address information, message information (for example, “detected”, etc.) and e-mail address information as the e-mail transmission destination. E-mail sending means for sending e-mail.

<6. Hardware configuration example>
Next, a hardware configuration example common to the detection device 10 and the control device 30 according to the present invention will be described. FIG. 11 is a block diagram illustrating a hardware configuration example of the detection device 10 and the control device 30 according to the present invention. Referring to FIG. 11, the detection device 10 and the control device 30 include, for example, a CPU 871, a ROM 872, a RAM 873, a host bus 874, a bridge 875, an external bus 876, an interface 877, an input unit 878, and an output. A unit 879, a storage unit 880, a drive 881, a connection port 882, and a communication unit 883. Note that the hardware configuration shown here is an example, and some of the components may be omitted. Moreover, you may further include components other than the component shown here.

(CPU 871)
The CPU 871 functions as, for example, an arithmetic processing unit or a control unit, and controls all or part of the operation of each component based on various programs recorded in the ROM 872, RAM 873, storage unit 880, or removable recording medium 901. .

(ROM 872, RAM 873)
The ROM 872 is a means for storing programs read by the CPU 871, data used for calculations, and the like. In the RAM 873, for example, a program read by the CPU 871, various parameters that change as appropriate when the program is executed, and the like are temporarily or permanently stored.

(Host bus 874, bridge 875, external bus 876, interface 877)
The CPU 871, the ROM 872, and the RAM 873 are connected to each other via, for example, a host bus 874 capable of high-speed data transmission. On the other hand, the host bus 874 is connected to an external bus 876 having a relatively low data transmission speed via a bridge 875, for example. The external bus 876 is connected to various components via an interface 877.

(Input unit 878)
For the input unit 878, for example, a mouse, a keyboard, a touch panel, a button, a switch, a microphone, a lever, and the like are used. Furthermore, as the input unit 878, a remote controller (hereinafter referred to as a remote controller) that can transmit a control signal using infrared rays or other radio waves may be used.

(Output unit 879)
The output unit 879 includes acquired information such as a display device (display device) such as a CRT (Cathode Ray Tube), LCD, or organic EL, an audio output device such as a speaker or a headphone, a printer, a mobile phone, or a facsimile. Is a device capable of visually or audibly notifying a user.

(Storage unit 880)
The storage unit 880 is a device for storing various data. As the storage unit 880, for example, a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like is used.

(Drive 881)
The drive 881 is a device that reads information recorded on a removable recording medium 901 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, or writes information to the removable recording medium 901.

(Removable recording medium 901)
The removable recording medium 901 is, for example, a DVD medium, a Blu-ray (registered trademark) medium, an HD DVD medium, or various semiconductor storage media. Of course, the removable recording medium 901 may be, for example, an IC card on which a non-contact IC chip is mounted, an electronic device, or the like.

(Connection port 882)
The connection port 882 is a port for connecting an external connection device 902 such as a USB (Universal Serial Bus) port, an IEEE 1394 port, a SCSI (Small Computer System Interface), an RS-232C port, or an optical audio terminal. is there.

(External connection device 902)
The external connection device 902 is, for example, a printer, a portable music player, a digital camera, a digital video camera, or an IC recorder.

(Communication unit 883)
The communication unit 883 is a communication device for connecting to the network 903. For example, a communication card for wired or wireless LAN, Bluetooth (registered trademark), or WUSB (Wireless USB), a router for optical communication, ADSL (Asymmetric) A digital subscriber line) or a modem for various types of communication. Moreover, you may connect to telephone networks, such as an extension telephone network and a mobile telephone provider network.

<7. Summary>
As described above, the control device 30 according to the present invention can specify the three-dimensional coordinate position of the flying object 40 based on the detection information of the flying object 40 acquired from the plurality of detection devices 10. Moreover, the control apparatus 30 which concerns on this embodiment can control the imaging part 120 of the detection apparatus 10 based on the identified three-dimensional coordinate position of the flying object 40, and can make the flying object 40 imaged. According to such a configuration, it is possible to present the behavior of the position-specified target object to the user in more detail.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Detection apparatus 110 Sensor part 120 Imaging part 130 Processing communication part 20 Network 30 Control apparatus 310 Communication part 320 Position specification part 330 Imaging control part 340 Display control part

Claims (10)

A control device for acquiring an image of a dynamic object,
A position specifying unit for specifying a three-dimensional coordinate position of the dynamic object, based on detection information of the dynamic object at a plurality of acquired detection points;
An imaging control unit that causes at least one imaging device to image the dynamic object based on the three-dimensional coordinate position of the dynamic object;
With
The detection information includes an azimuth and elevation angle of the dynamic object starting from the detection point,
Control device. The detection information is information acquired by an acoustic sensor.
The control device according to claim 1. The position specifying unit calculates an intersection of the orientations of the dynamic object starting from the detection point based on the detection information at the plurality of detection points, and the three-dimensional coordinate position of the dynamic object Identify
The control device according to claim 1 or 2. A display control unit for displaying the three-dimensional coordinate position of the dynamic object in association with map information;
Further comprising
The control device according to claim 1. The display control unit further displays the acquired image of the dynamic object in association with the map information.
The control device according to claim 4. The display control unit displays a change in the three-dimensional coordinate position of the dynamic object in association with map information;
The control device according to claim 4 or 5. The imaging control unit broadcasts the three-dimensional coordinate position of the dynamic object, and causes the imaging apparatus that has received the information related to the broadcast to image the dynamic object,
The control device according to claim 1. The dynamic object is a flying object,
The control device according to claim 1. A control method for acquiring an image of a dynamic object,
Identifying a three-dimensional coordinate position of the dynamic object based on the detection information of the dynamic object at a plurality of acquired detection points;
Causing at least one imaging device to image the dynamic object based on the three-dimensional coordinate position of the dynamic object;
Including
The detection information includes an azimuth and elevation angle of the dynamic object starting from the detection point,
Control method. A sensor unit for detecting the azimuth and elevation angle of a dynamic object, and an imaging unit;
A detection device comprising:
A position specifying unit for specifying a three-dimensional coordinate position of the dynamic object based on an azimuth and elevation angle of the dynamic object acquired from a plurality of the detection devices; and the three-dimensional coordinates of the dynamic object An imaging control unit that causes at least one detection device to image the dynamic object based on a position;
A control device comprising:
Including detection system.

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