JP2018054520A - Tracking target setting device, tracking target setting method and tracking target setting program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately set a tracking target even when a plurality of candidate targets is detected.SOLUTION: An aircraft 1 comprises: an optical sensor 13 capable of changing a detection direction; and a control unit 18. The control unit 18: partitions a visual field 130 of the optical sensor 13 into a plurality of tracking regions 132; determines, when the optical sensor 13 detects a plurality of candidate targets T in the visual field 130, whether or not the plurality of candidate targets T is detected in any one of the tracking regions 132; and, when determining that the plurality of candidate targets T is detected only in one tracking region 132, sets a center of an area where the plurality of candidate targets T is detected in the tracking region 132 as a tracking target of the optical sensor 13.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a technique for automatically setting a tracking target to be tracked by a detection means when a plurality of detection targets are detected by a detection means such as an optical sensor or a radar.

2. Description of the Related Art Conventionally, a technique is known in which a detection target such as an optical sensor or radar mounted on an aircraft is tracked and the information is continuously acquired (see, for example, Patent Documents 1 and 2).
In the tracking of such a detection target, when a plurality of detection targets are detected, a tracking target to be tracked is selected from the plurality of detection targets by the operator, and the tracking target is detected. It is common to track.

JP-A-7-209415 Japanese Patent No. 3339295

  However, in the above conventional technique, when a plurality of detected detection targets are moving at a high speed at the same time, it becomes difficult for an operator to manually select a tracking target, and the detection target can be suitably tracked. It will disappear.

  The present invention has been made in view of the above problems, and an object of the present invention is to allow a tracking target to be suitably set even when a plurality of detection targets are detected.

In order to achieve the above object, the invention according to claim 1 is a tracking target setting device comprising:
A detection means capable of changing the detection direction;
Visual field dividing means for dividing the visual field of the detection means into a plurality of tracking regions;
A determination unit that determines whether or not the plurality of detection targets exist only in any one of the plurality of tracking regions when the detection unit detects a plurality of detection targets in the field of view;
When the determination unit determines that the plurality of detection targets exist only in one tracking region, a center of a range where the plurality of detection targets exist in the one tracking region is set as a tracking target of the detection unit. Tracking setting means to be set;
It is characterized by providing.

The invention according to claim 2 is the tracking target setting device according to claim 1,
When the determination unit determines that the plurality of detection targets exist over a plurality of tracking regions, the plurality of detection targets are captured by another detection unit different from the detection unit. Further determine whether or not
The tracking setting means is captured by the other detection means among the plurality of detection targets when the determination means determines that the plurality of detection targets include those captured by the other detection means. What is not set is preferentially set as a tracking target of the detection means.

The invention according to claim 3 is the tracking target setting device according to claim 2,
If the determination means determines that the plurality of detection targets do not include those detected by the other detection means, includes whether the plurality of detection targets are moving toward the critical point Further determine whether or not
The tracking setting means is moving toward the critical place among the plurality of detection targets when the determination means determines that the plurality of detection targets include those moving toward the critical place. A thing is preferentially set as a tracking target of the detection means.

The invention according to claim 4 is the tracking target setting device according to claim 3,
The tracking setting means has been detected by the detection means among the plurality of detection targets when the determination means determines that the plurality of detection targets do not include those moving toward the critical point. The one with the earliest time or the one with the closest future time that cannot be detected by the detection means is preferentially set as a tracking target of the detection means.

The invention according to claim 5 is the tracking target setting device according to any one of claims 1 to 4,
The detection means is an optical sensor or radar mounted on an aircraft.

  The invention described in claims 6 and 7 is a tracking target setting method and a tracking target setting program having the same features as the tracking target setting device described in claim 1.

According to the first aspect of the present invention, when the detection unit detects a plurality of detection targets, the plurality of detection targets exist only in any one of the plurality of tracking regions in the visual field of the detection unit. And when it is determined that a plurality of detection targets exist only in one tracking area, the center of the range where the plurality of detection targets exist in the one tracking area is the tracking target of the detection means. Set as
Thereby, even when a plurality of detection targets are detected, the tracking target can be suitably set without depending on the selection operation of the operator.

  According to the second aspect of the present invention, when another detection means captures any detection target, a plurality of detection targets that are not captured by the other detection means are detected. Since priority is set as the tracking target, a plurality of detection targets can be efficiently tracked as the entire detection / capture system including the detection means and other detection means.

  According to the third aspect of the present invention, since a plurality of detection targets moving toward the critical location are preferentially set as the tracking target of the detection means, the detection target toward the critical location is tracked. A tracking target can be suitably set as a thing with high importance.

It is a block diagram which shows the function structure of the aircraft in this embodiment. It is a figure for demonstrating the tracking target setting process in this embodiment. It is a data flow figure which shows the flow of the data in a tracking target setting process. It is a figure which shows the visual field of an optical sensor, Comprising: (a) is a thing of the state divided | segmented into two tracking area | regions, (b) is a thing of a state where a detection target exists in one tracking area | region. It is a figure which shows the visual field of an optical sensor, Comprising: A thing in the state in which a detection target exists over both tracking area | regions.

  Hereinafter, an embodiment when a tracking target setting device according to the present invention is applied to an aircraft will be described with reference to the drawings.

[Constitution]
First, the configuration of the aircraft 1 in the present embodiment will be described with reference to FIG.
FIG. 1 is a block diagram showing a functional configuration of the aircraft 1.
The aircraft 1 according to the present embodiment monitors a predetermined detection target T (see FIG. 2 and the like) using the mounted optical sensor 13.
Specifically, as shown in FIG. 1, the aircraft 1 includes an optical sensor 13, an airframe sensor 14, a communication unit 15, a storage unit 16, in addition to a flight mechanism 11 for flying the aircraft 1. And a control unit 18.

The optical sensor 13 is detection means for detecting and tracking a detection target and continuously acquiring the information. The optical sensor 13 is mounted on a gimbal (not shown) so that the detection direction can be changed. Is provided. The optical sensor 13 acquires an image outside the aircraft 1 based on a control command from the control unit 18, and outputs the acquired image information to the control unit 18.
Note that the detection means is not limited to the optical sensor, and for example, a radar may be used instead of the optical sensor 13.

  The body sensor 14 is a variety of sensors for detecting the position, flight state, and the like of the aircraft 1, and includes a gyro sensor, a speed sensor, a navigation sensor, and the like. These body sensors 14 acquire various information based on a control command from the control unit 18 and output the signals to the control unit 18.

  The communication unit 15 can be connected to a communication network by wireless communication, and can communicate with other aircraft (communicator aircraft 20 described later) to transmit / receive various signals to / from each other.

The storage unit 16 is a memory that stores programs and data for realizing various functions of the aircraft 1 and also functions as a work area. In the present embodiment, the storage unit 16 stores a tracking target setting program 160 and map data 161.
The tracking target setting program 160 is a program for causing the control unit 18 to execute a tracking target setting process described later.
The map data 161 has comprehensive geographical information including information on land use conditions such as roads, railways, buildings, fields, and critical areas in addition to topographic information such as mountains and rivers.

  The control unit 18 centrally controls each unit of the aircraft 1. Specifically, the control unit 18 controls the flight of the flight mechanism 11 to control the flight of the aircraft 1, controls the operations of the optical sensor 13 and the airframe sensor 14, and is stored in the storage unit 16. The program is expanded, and various processes are executed in cooperation with the expanded program.

[Operation]
Next, the operation of the aircraft 1 when executing the tracking target setting process will be described.
FIG. 2 is a diagram for explaining the tracking target setting process in the present embodiment, and FIG. 3 is a data flow diagram showing a data flow in the tracking target setting process. FIG. 4 is a diagram showing the visual field 130 of the optical sensor 13, where (a) is a state where the optical sensor 13 is divided into two tracking areas 132, and (b) is a plurality of tracking areas 132. FIG. 5 is a diagram showing the field of view 130 of the optical sensor 13, and shows a state in which a plurality of detection targets T exist over both tracking regions 132. .

In the tracking target setting process, a predetermined detection target T is detected by the optical sensor 13, and when a plurality of detection targets T are detected, all the detection targets T are captured as much as possible in the field of view 130 of the optical sensor 13. If this is difficult, the tracking target to be tracked by the optical sensor 13 is automatically set. In the tracking target setting process, for example, when an instruction to execute the process is input by an operation of an operator who operates the optical sensor 13, the control unit 18 reads the tracking target setting program 160 from the storage unit 16 and develops it. To be executed.
Here, as shown in FIG. 2, it is assumed that the aircraft 1 forms a formation together with the two wingmen 20 and that the four aircraft in front of the aircraft, which is the detection target T, are in the monitoring flight. In addition, each wingman 20 is configured in substantially the same manner as the aircraft 1.

  As shown in FIG. 3, when the tracking target setting process is executed, the control unit 18 first detects the detection target T by the optical sensor 13 (step S1). That is, the control unit 18 controls the operation of the optical sensor 13 and captures the detection target T within the visual field (range) 130 thereof. At this time, the control unit 18 stores the time when each detection target T was detected in the storage unit 16.

Next, the control unit 18 determines whether or not a plurality of detection targets T have been detected by the optical sensor 13 (step S2).
And when it determines with the some detection target T not being detected (step S2; No), the control part 18 transfers to another process. Specifically, in this case, for example, when only a single detection target T is detected, the control unit 18 tracks the detection target T by the optical sensor 13, and when the detection target T is not detected, the control unit 18 described above. The process proceeds to step S1.

On the other hand, when it is determined in step S2 that a plurality of detection targets T have been detected (step S2; Yes), the control unit 18 divides the field of view 130 of the optical sensor 13 into a plurality of tracking regions (step S3).
Specifically, the control unit 18 divides the visual field 130 into a plurality of tracking regions so as to divide the viewing angle of the optical sensor 13. In the present embodiment, as shown in FIG. 4A, the control unit 18 moves the area inside the field of view 130 excluding the peripheral area 131 having a predetermined width, including the visual axis Ax, in the vertical direction (elevation). The two tracking areas 132 and 132 (the right tracking area 132R and the left tracking area 132L) are divided into two equal parts in the left-right direction (azimuth direction).
However, the division | segmentation aspect of the visual field 130 is not specifically limited, You may divide | segment into the 3 or more tracking area | region 132, and may be divided | segmented up and down or up and down, right and left.

Next, the control unit 18 determines whether or not all of the detected plurality of detection targets T exist only in any one tracking region 132 in the visual field 130 of the optical sensor 13 (step S4).
When it is determined that all the detection targets T are present only in one tracking area 132 (step S4; Yes), the control unit 18 all starts from the one tracking area 132 as shown in FIG. The existence range R of the detection target T is extracted, and its center C is set as the tracking target of the optical sensor 13 (step S5). Thereby, the control unit 18 causes the optical sensor 13 to track the plurality of detection targets T so that the visual axis Ax of the optical sensor 13 coincides with the center C of the existence range R.
Thereafter, the control unit 18 transmits the tracking target setting information to the wingman 20, and then proceeds to step S1 described above.

When it is determined in step S4 described above that all the detection targets T do not exist only in one tracking area 132 (that is, exist in a plurality of tracking areas 132) (step S4; No) The control unit 18 detects that the detection target T existing in any one tracking region 132 of the visual field 130 of the optical sensor 13 is the optical sensor of the wing machine 20 (that is, other detection means other than that of the own aircraft; not shown) ) To determine whether it has been captured and tracked (step S6). Here, when the wingman 20 sets a tracking target, the setting information is transmitted from the wingman 20 and stored in the storage unit 16.
The detection target T existing in any one of the tracking regions 132 is captured and tracked by the optical sensor of the wingman 20 (the setting information has been received), that is, a plurality of detection targets T are optical of the wingman 20 When it is determined that the object captured and tracked by the sensor is included (step S6; Yes), the control unit 18 detects the detection target T that is not captured and tracked by the optical sensor of the wingman 20 and the tracking target of the optical sensor 13. As a priority (step S7). For example, as shown in FIG. 5, when only two detection targets T in the right tracking area 132R are captured and tracked by the optical sensor of the wingman 20, the control unit 18 sets two detection targets in the left tracking area 132L. The center C of the existence range R of T is set as the tracking target of the optical sensor 13. Alternatively, if any one detection target T in the left tracking area 132L is also captured and tracked by the optical sensor of the wingman 20, the control unit 18 tracks the remaining one detection target T that has not been captured. Set as a goal.
Thereafter, the control unit 18 transmits the tracking target setting information to the wingman 20, and then proceeds to step S1 described above.

In step S6 described above, the detection target T existing in any one of the tracking areas 132 is not captured and tracked by the optical sensor of the wingman 20 (that is, a plurality of detection targets T are captured and tracked by the optical sensor of the wingman 20). (No in step S6), the control unit 18 determines that the detection target T existing in any one of the tracking areas 132 in the visual field 130 of the optical sensor 13 is in an urgent place. It is determined whether or not the vehicle is heading (step S8). Specifically, the control unit 18 obtains the position and moving direction of each detection target T from the information acquired by the optical sensor 13, and compares the detection target T with the map data 161 to determine whether the detection target T is heading to a critical place. Determine. Alternatively, when the detection target T is flying ballistically, for example, the control unit 18 first estimates the expected arrival point of each detection target T based on the information acquired by the optical sensor 13 and the map data 161. . Then, the control unit 18 calculates the distance between the predicted arrival point of each detection target T and the closest important point from the predicted arrival point, and determines whether each detection target T heads for the important point based on this distance. You may judge.
Then, when it is determined that the detection target T existing in any one of the tracking areas 132 is moving toward the critical point (that is, including a plurality of detection targets T moving toward the critical point) (steps) S8; Yes), the control unit 18 preferentially sets the detection target T toward the critical point as a tracking target of the optical sensor 13 (step S9).
Thereafter, the control unit 18 transmits the tracking target setting information to the wingman 20, and then proceeds to step S1 described above.

  In the above-described step S8, when it is determined that the plurality of detection targets T do not include those moving toward the critical point (step S8; No), the control unit 18 determines that the time detected by the optical sensor 13 is the time. The detection target T that is the earliest detection target T or that has the closest future time when detection is impossible is preferentially set as the tracking target of the optical sensor 13 (step S10). At this time, the future time at which each detection target T becomes undetectable (cannot be detected by the optical sensor 13) is the position / speed / movement direction of each detection target T, changes in optical and radio wave reflection characteristics, separation from the own aircraft. Estimated based on distance or the like.

  Next, the control unit 18 determines whether or not to end the tracking target setting process (step S11). If it is determined not to end the process (step S11; No), the process proceeds to step S1 described above. . On the other hand, when it is determined that the tracking target setting process is to be ended, for example, by receiving an end operation by the operator (step S11; Yes), the control unit 18 ends the tracking target setting process.

[effect]
As described above, according to the present embodiment, when the optical sensor 13 detects a plurality of detection targets T, the plurality of detection targets T is any of the plurality of tracking regions 132 in the field of view 130 of the optical sensor 13. In the case where it is determined whether or not there is only one of the tracking areas 132 and it is determined that the plurality of detection targets T exist only in one tracking area 132, the existence of the plurality of detection targets T in the one tracking area 132 The center C of the range R is set as the tracking target of the optical sensor 13.
Thereby, even when a plurality of detection targets T are detected, the tracking target can be suitably set without depending on the selection operation of the operator.

  When the optical sensor of the wingman 20 captures any detection target T, a plurality of detection targets T that are not captured by the optical sensor of the wingman 20 are given priority as the tracking target of the optical sensor 13. Therefore, a plurality of detection targets T can be efficiently tracked as the entire detection / capture system including the optical sensor 13 of the own aircraft and the optical sensor of the wingman 20.

  Further, among the plurality of detection targets T, the one moving toward the critical location is set with priority as the tracking target of the optical sensor 13, and therefore the detection target T toward the critical location is assumed to have high tracking importance. The tracking target can be suitably set.

[Modification]
The embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present invention.

  For example, in the above embodiment, in the tracking target setting process, it is determined whether a plurality of detection targets T exist only in one tracking region 132, tracking target setting based on the determination (steps S4 and S5), and a plurality of detection targets T. Including whether the target is captured by other detection means, tracking target setting based on it (steps S6, S7), determination of whether a plurality of detection targets T include those that are heading to critical areas, and The tracking target setting (steps S8 and S9) based on this is executed in this order, but the order is not particularly limited.

  Moreover, although the case where the tracking target setting device according to the present invention is applied to an aircraft has been described, the present invention can also be suitably applied to other moving bodies such as vehicles and ships.

DESCRIPTION OF SYMBOLS 1 Aircraft 13 Optical sensor 130 Field of view 132 Tracking area Ax Visual axis 16 Memory | storage part 160 Tracking target setting program 18 Control part 20 Colleague aircraft T Detection target R Existence range

Claims (7)

A detection means capable of changing the detection direction;
Visual field dividing means for dividing the visual field of the detection means into a plurality of tracking regions;
A determination unit that determines whether or not the plurality of detection targets exist only in any one of the plurality of tracking regions when the detection unit detects a plurality of detection targets in the field of view;
When the determination unit determines that the plurality of detection targets exist only in one tracking region, a center of a range where the plurality of detection targets exist in the one tracking region is set as a tracking target of the detection unit. Tracking setting means to be set;
A tracking target setting device comprising: When the determination unit determines that the plurality of detection targets exist over a plurality of tracking regions, the plurality of detection targets are captured by another detection unit different from the detection unit. Further determine whether or not
The tracking setting means is captured by the other detection means among the plurality of detection targets when the determination means determines that the plurality of detection targets include those captured by the other detection means. The tracking target setting device according to claim 1, wherein a target not set is preferentially set as a tracking target of the detection means. If the determination means determines that the plurality of detection targets do not include those detected by the other detection means, includes whether the plurality of detection targets are moving toward the critical point Further determine whether or not
The tracking setting means is moving toward the critical place among the plurality of detection targets when the determination means determines that the plurality of detection targets include those moving toward the critical place. 3. The tracking target setting device according to claim 2, wherein a thing is preferentially set as a tracking target of the detection means.   The tracking setting means has been detected by the detection means among the plurality of detection targets when the determination means determines that the plurality of detection targets do not include those moving toward the critical point. 4. The tracking target setting according to claim 3, wherein the time with the earliest time or the time with the nearest future time that cannot be detected by the detection means is set with priority as a tracking target for the detection means. apparatus.   The tracking target setting apparatus according to claim 1, wherein the detection unit is an optical sensor or a radar mounted on an aircraft. A tracking target setting device comprising a detection means capable of changing the detection direction,
A detection step by the detection means;
A field dividing step for dividing the field of view of the detection means into a plurality of tracking regions;
A determination step of determining whether or not the plurality of detection targets exist only in any one of the plurality of tracking regions when the detection unit detects a plurality of detection targets in the field of view;
When it is determined in the determination step that the plurality of detection targets exist only in one tracking area, the center of the range where the plurality of detection targets exist in the one tracking area is set as the tracking target of the detection means. Tracking setting process to be set as
The tracking target setting method characterized by performing. A tracking target setting device having a detection means capable of changing the detection direction,
Visual field dividing means for dividing the visual field of the detecting means into a plurality of tracking regions;
A determination unit that determines whether or not the plurality of detection targets exist only in any one of the plurality of tracking regions when the detection unit detects a plurality of detection targets in the field of view;
When the determination unit determines that the plurality of detection targets exist only in one tracking region, a center of a range where the plurality of detection targets exist in the one tracking region is set as a tracking target of the detection unit. Tracking setting means to set,
The tracking target setting program characterized by functioning as

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