JP2019140990A - Target tracking apparatus and target tracking system - Google Patents

Abstract

To inhibit tracking of a target such as birds from becoming difficult (lost) when tracking the target such as birds whose travel speed is high, and change in direction is quick.SOLUTION: A target tracking apparatus 1 includes: a wide field angle imaging unit 11 for imaging a target with a wide field angle; a narrow field angle imaging unit 12 for imaging the target with a narrow field angle; an imaging direction drive unit 13 for driving an imaging direction of the wide field angle imaging unit 11 and the narrow field angle imaging unit 12 so that imaging directions of the wide field angle imaging unit 11 and the narrow field angle imaging unit 12 are the same; and a tracking processing control unit 14 for controlling the imaging direction drive unit 13 so that the narrow field angle imaging unit 12 and the wide field angle imaging unit 11 can image the tracking target substantially in the center of the imaging field angle.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a technique for tracking a target such as a bird whose movement speed or direction is fast.

  In order to prevent bird strikes at wind power generators and airports, techniques for threatening and eliminating birds and techniques for investigating the ecology of birds are disclosed in Patent Documents 1 and 2 and the like. In the technique disclosed in Patent Document 1, it is determined whether or not the target is a bird by detecting the moving speed of the target using an optical flow method. In the technique disclosed in Patent Document 2, it is determined whether or not the target is a bird by detecting the target motion cycle by image processing.

JP 2010-193768 A JP2015-059749A

  Here, in order to discriminate targets such as birds with high accuracy without shaking, it is desirable to drive the imaging direction at a high speed in the target direction, and to enlarge the target image with a narrow angle of view. desirable. However, when tracking a target such as a bird whose movement speed or direction is fast, the target image tends to be out of the imaging field angle with a narrow angle of view, and the target such as a bird tends to be difficult to track (lost).

  Therefore, in order to solve the above-described problem, the present disclosure aims to prevent a target such as a bird from becoming difficult to be tracked (lost) when tracking a target such as a bird whose moving speed and direction are fast.

  In order to achieve the above-mentioned purpose, the wide-angle and narrow-angle imaging directions are driven in the same target direction, and the targets such as birds are not difficult to track (lost) with the wide-angle imaging means. It was decided to discriminate targets such as birds with high accuracy without blurring by means of imaging with a narrow angle of view.

  Specifically, the present disclosure includes a wide-angle imaging unit that images a target at a wide angle, a narrow-angle imaging unit that images a target at a narrow angle, the wide-angle imaging unit, and the narrow angle of view. An imaging direction driving unit that drives an imaging direction of the wide-angle imaging unit and the narrow-angle imaging unit, and the narrow-angle imaging unit and the wide-angle imaging so that the imaging direction of the imaging unit is the same direction. And a tracking processing control unit that controls the imaging direction driving unit so that the unit can capture the tracking target at approximately the center within the imaging angle of view.

  According to this configuration, when tracking a target such as a bird whose movement speed or direction is fast, it is possible to prevent the target such as a bird from becoming difficult to be tracked (lost).

  Further, according to the present disclosure, when the narrow-angle imaging unit cannot capture the tracking target within the imaging field angle, the tracking processing control unit is configured to capture the tracking imaged by the wide-angle imaging unit. Based on the deviation from the center within the target imaging angle of view, the imaging direction drive unit is controlled so that the narrow angle imaging unit can capture the tracking target again at approximately the center within the imaging angle of view. This is a target tracking device.

  According to this configuration, even after the target of birds and the like becomes difficult to be tracked (lost) by the imaging means with the narrow angle of view, the targets of the birds and the like can be discriminated with high accuracy without blurring by the imaging means with the narrow angle of view. Can do.

  The present disclosure further includes a target distance measurement unit that measures a distance to a target imaged by the wide-angle imaging unit, and the wide-angle imaging unit places a nearby target in the imaging angle of view in the vicinity of the tracking target. The tracking processing control unit is configured to capture the tracking target measured by the target distance measuring unit immediately before the narrow-angle imaging unit cannot capture the tracking target within the imaging field angle. And the distance to the tracking target measured by the target distance measuring unit immediately after the narrow-angle imaging unit cannot capture the tracking target within the imaging field angle, and to the nearby target. The target tracking device is characterized in that the tracking target and the proximity target are distinguished based on a degree of coincidence between the distance and the distance.

  According to this configuration, even after a target such as a bird becomes difficult to be tracked (lost) by the narrow-angle imaging unit, the tracking target can be re-tracked by the narrow-field imaging unit without being mistaken for a nearby target. .

  Further, the present disclosure relates to a tracking target selection unit that selects the tracking target from a plurality of targets imaged by the wide-angle imaging unit, and a non-selected target that the tracking target selection unit has not selected as the tracking target. A target position prediction unit that predicts a position after the tracking target selection unit selects the tracking target based on a moving direction and a moving speed before the tracking target selection unit selects the tracking target; After the tracking processing control unit finishes tracking the tracking target, the tracking target selection unit detects the position of the non-selected target predicted by the target position prediction unit and the target imaged by the wide-angle imaging unit. The target tracking device is characterized in that a new tracking candidate is selected from the non-selected targets on the basis of the degree of coincidence between the position and the position.

  According to this configuration, when there are a plurality of tracking target targets such as birds, another target reconfirmed as a tracking target after the tracking of one target is set as a tracking target immediately after Or another target reconfirmed as a tracking target can be set as a future tracking candidate.

  In addition, the present disclosure is a target tracking device further comprising a bird threatening unit that threatens birds as the tracking target tracked by the tracking processing control unit.

  According to this configuration, it is possible to intimidate and eliminate birds as tracking targets for the purpose of preventing bird strikes at wind power generators and airports.

  In addition, the present disclosure is a target tracking device further including a tracking output unit that outputs a result of tracking the birds as the tracking target by the tracking processing control unit.

  According to this configuration, it is possible to investigate the ecology of birds as a tracking target for the purpose of preventing a bird strike at a wind power generator or an airport.

  Further, the present disclosure includes a tracking command device that commands tracking of the tracking target, and the plurality of target tracking devices described above that track the tracking target, and the tracking command device includes a plurality of the tracking targets. Is selected, and the tracking of each group of the tracking targets among the plurality of tracking targets is assigned to each target tracking device and commanded.

  According to this configuration, when there are a plurality of targets to be tracked such as birds, a group of target tracking can be assigned to each target tracking device, and the tracking of the plurality of targets can be made efficient.

  As described above, according to the present disclosure, when a target such as a bird whose movement speed or direction is fast is tracked, the target such as a bird cannot be difficult to be tracked (lost).

It is a block diagram which shows the structure of the target tracking apparatus of this indication. It is the front view and left view which show the structure of the target tracking apparatus of this indication. It is a block diagram which shows the structure of the tracking process control part of this indication. It is a block diagram which shows the structure of the tracking target selection part of this indication. It is a flowchart which shows the procedure of the target tracking process of this indication. It is a figure which shows the simultaneous tracking process in the wide-narrow view angle of this indication. It is a figure which shows the re-tracking process by the narrow angle of view of this indication. It is a figure which shows the target distinction process in the wide view angle of this indication. It is a figure which shows the target selection process in a wide view angle of this indication. It is a block diagram which shows the structure of the target tracking system of this indication. It is a flowchart which shows the procedure of the target tracking process of this indication.

  Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of the present disclosure, and the present disclosure is not limited to the following embodiments.

  A block diagram of a configuration of the target tracking device of the present disclosure is shown in FIG. FIG. 2 shows a front view and a left side view of the configuration of the target tracking device of the present disclosure. The target tracking device 1 includes a wide field angle imaging unit 11, a narrow field angle imaging unit 12, an imaging direction driving unit 13, a tracking processing control unit 14, a target distance measuring unit 15, a tracking target selection unit 16, a target position prediction unit 17, The bird threatening unit 18, the tracking output unit 19, the database unit 20, the image authentication unit 21, and the device control unit 22 are connected to the control / monitor device 2.

  The control / monitor device 2 controls the target tracking device 1 after monitoring the captured images shown in FIGS. 6 to 9. The apparatus control unit 22 receives the control instruction from the control / monitor apparatus 2 and controls the other components (reference numerals 11 to 21) of the target tracking apparatus 1.

  The wide field angle imaging unit 11 captures a target with a wide field angle. For example, the wide-angle imaging unit 11 is a stereo camera and includes a right camera unit 111 and a left camera unit 112. The narrow field angle imaging unit 12 captures a target with a narrow field angle. For example, the narrow field angle imaging unit 12 is a variable field angle camera, and is arranged at the center between the right camera unit 111 and the left camera unit 112.

  The bird threatening unit 18 threatens the bird as a tracking target tracked by the tracking processing control unit 14. For example, the bird threatening unit 18 is driven integrally with the wide field angle imaging unit 11 and the narrow field angle imaging unit 12 and includes a laser transmission unit 181 and a sound generation unit 182. The tracking output unit 19 outputs a result of tracking the birds as the tracking target by the tracking processing control unit 14.

  The imaging direction drive unit 13 captures the wide-angle imaging unit 11 so that the imaging direction of the wide-angle imaging unit 11, the imaging direction of the narrow-angle imaging unit 12, and the threatening direction of the bird threatening unit 18 are the same direction. The direction, the imaging direction of the narrow field angle imaging unit 12 and the threatening direction of the bird threatening unit 18 are driven. The tracking processing control unit 14 controls the imaging direction driving unit 13 so that the narrow field angle imaging unit 12 and the wide field angle imaging unit 11 can capture the tracking target at approximately the center within the imaging field angle.

  FIG. 3 shows a block diagram of the configuration of the tracking processing control unit of the present disclosure. The imaging direction drive unit 13 includes an EL motor unit 131, an AZ motor unit 132, an EL detection unit 133, an AZ detection unit 134, an EL axis mechanism unit 135, and an AZ axis mechanism unit 136. The tracking processing control unit 14 includes an inter-frame interpolation unit 141, a tracking correction unit 142, an EL addition unit 143, an AZ addition unit 144, an EL subtraction unit 145, an AZ subtraction unit 146, an EL servo amplification unit 147, and an AZ servo amplification unit 148. Composed. EL indicates Elevation, and AZ indicates Azimuth.

  The EL motor unit 131 and the EL axis mechanism unit 135 (EL detection unit 133) drive the imaging elevation angle direction of the wide field angle imaging unit 11, the imaging elevation angle direction of the narrow field angle imaging unit 12, and the threat elevation angle direction of the bird threatening unit 18. (To detect. The AZ motor unit 132 and the AZ axis mechanism unit 136 (AZ detection unit 134) are the imaging azimuth direction of the wide angle imaging unit 11, the imaging azimuth direction of the narrow angle imaging unit 12, and the threat azimuth angle of the bird threatening unit 18. Drive (detect) direction. The tracking process control unit 14 will be described later.

  The target distance measuring unit 15 measures the distance to the target imaged by the wide field angle imaging unit 11. For example, the target distance measurement unit 15 uses the wide-angle imaging unit 11 according to the principle of a stereo camera, or uses the laser transmission unit 181 and the laser light-receiving unit 151 according to the principle of TOF (Time Of Flight). The distance to the target imaged by the corner imaging unit 11 is measured. The tracking target selection unit 16 selects a tracking target from a plurality of targets captured by the wide-angle imaging unit 11.

  FIG. 4 shows a block diagram of the configuration of the tracking target selection unit of the present disclosure. The tracking target selection unit 16 includes an object detection unit 161, a size determination unit 162, a capture tracking unit 163, a bird target detection unit 164, and a bird target selection unit 165. The object detection unit 161 detects a target in the image captured by the wide angle imaging unit 11. The size determination unit 162 determines the target size based on the number of target pixels captured by the wide-angle imaging unit 11 and the distance to the target measured by the target distance measurement unit 15, and is set in advance. A target within the size range is provisionally determined to be a bird.

  The capture tracking unit 163 measures the moving direction and the moving speed of the target temporarily determined by the size determining unit 162 to be a bird. The bird target detection unit 164 surely determines the target temporarily determined by the size determination unit 162 as a bird based on the target image captured by the wide-angle imaging unit 11 and the moving speed measured by the capture tracking unit 163. Determine if it is a bird. At this time, the bird target detection unit 164 makes an inquiry to the image authentication unit 21 for bird images, and the image authentication unit 21 refers to the database unit 20 for bird data. The bird target selection unit 165 selects a single bird having a high probability of bird strike or a bird strike possibility when there are a plurality of targets that the bird target detection unit 164 has determined to be certainly birds. Regardless of whether you specify a single bird.

  A flowchart of the procedure of the target tracking process of the present disclosure is shown in FIG. The capture tracking unit 163 tracks a plurality of targets with a wide angle of view (step S1). The bird target selection unit 165 selects a single target with a wide angle of view (step S2). For the selected target, steps S3 to S10 described below are executed. For the non-selected target, step S11 described below is executed. Steps S3 to S10 and step S11 are executed in parallel.

  First, the steps executed for the selected target will be described. The tracking process control unit 14 tracks the selected target with a wide field angle and a narrow field angle (step S3). Specifically, the imaging direction driving unit 13 is configured so that the wide field angle imaging unit 11 and the narrow field angle imaging unit 12 have the same imaging direction. Drive the imaging direction. Then, the tracking processing control unit 14 controls the imaging direction driving unit 13 so that the narrow field angle imaging unit 12 and the wide field angle imaging unit 11 can image the selection target at substantially the center within the imaging field angle. . For example, the tracking processing control unit 14 performs high-speed processing in a local region without searching the entire image, such as template matching, using Mean-Shift, a Particle Filter, or the like.

  Further, the tracking processing control unit 14 determines (1) the size of the target based on the number of target pixels captured by the narrow-angle imaging unit 12 and the distance to the target measured by the target distance measurement unit 15; (2) The moving direction and moving speed of the target are measured based on the direction and speed in which the imaging direction driving unit 13 is driven, and (3) the target size, the moving speed of the target and the narrow-angle imaging unit 12 capture the image. The target bird species is determined based on the target image. At this time, the tracking processing control unit 14 makes an inquiry to the image authentication unit 21 for bird images, and the image authentication unit 21 refers to the database unit 20 for bird data.

  FIG. 6 shows the simultaneous tracking process with a wide and narrow angle of view of the present disclosure. First, at the time of tracking a plurality of targets at a wide angle of view, the aircraft P and the birds B1, B2, and B3 are imaged in the wide-angle captured image 11P, and the bird B1 is selected. Next, at the time of simultaneous tracking of a selection target at a wide field angle and a narrow field angle, in the wide field angle captured image 11P, the tracking processing gate G surrounding the image of the bird B1 that has not been enlarged is approximately at the center within the imaging field angle. positioned. In the narrow-angle captured image 12P, the tracking processing gate G surrounding the enlarged image of the bird B1 is located substantially at the center within the captured angle of view.

  As described above, after the wide-angle and narrow-angle imaging directions are driven in the same target direction, the wide-angle imaging unit 11 prevents the target such as birds from being difficult to track (lost) and narrow-angle imaging. It was decided that the target of birds and the like was discriminated with high accuracy without blurring in the section 12.

  Therefore, when tracking a target such as a bird whose moving speed and direction change are fast, it is possible to prevent the target such as a bird from becoming difficult to be tracked (lost).

  When the selection target is lost with a narrow angle of view (YES in step S4), the tracking process control unit 14 re-tracks the selection target with a narrow angle of view (step S7). On the other hand, if the selection target is not lost at a narrow angle of view (NO in step S4), the tracking processing control unit 14 continues to track the selection target at a narrow angle of view. There is no need to execute step S7.

  Specifically, the narrow angle imaging unit 12 may not be able to capture the selected target within the imaging angle of view. At that time, the tracking processing control unit 14 causes the narrow-angle imaging unit 12 to select the selection target within the imaging field angle based on the deviation of the selection target captured by the wide-field imaging unit 11 from the center within the imaging field angle. The imaging direction driving unit 13 is controlled so that the imaging can be performed again approximately at the center of the imaging direction.

  FIG. 7 shows the retracking process at a narrow angle of view according to the present disclosure. First, at the time of the selection target lost at a narrow angle of view, in the narrow angle of view captured image 12P, the image of the enlarged bird B1 protrudes outside the imaged angle of view, and the bird B1 whose tracking processing gate G is expanded. Does not surround the image. In the wide-angle captured image 11P, the tracking processing gate G surrounding the image of the bird B1 that has not been enlarged is shifted from the center in the captured angle of view. Here, the shift of the tracking processing gate G from the center of the wide-angle captured image 11P is Δx in the azimuth direction and Δy in the elevation direction.

  Therefore, the tracking processing control unit 14 re-tracks the selected target with a narrow angle of view based on the deviations Δx and Δy of the tracking processing gate G from the center of the wide-angle captured image 11P. That is, the tracking process control unit 14 corrects the imaging directions of the wide-angle imaging unit 11 and the narrow-angle imaging unit 12 based on the shifts Δx and Δy of the tracking processing gate G from the center of the wide-field captured image 11P. To do. Then, the imaging direction driving unit 13 drives the imaging directions of the wide angle imaging unit 11 and the narrow angle imaging unit 12 based on the correction width of the imaging direction of the wide angle imaging unit 11 and the narrow angle imaging unit 12. To do. Then, at the time of re-tracking the selection target at a narrow angle of view, the image of the bird B1 that has been enlarged is located at the approximate center within the imaged angle of view in the narrow-angle captured image 12P, and the tracking processing gate G is enlarged. The image of the bird B1 being displayed is surrounded. In the wide-angle captured image 11P, the tracking processing gate G that surrounds the image of the bird B1 that has not been enlarged is located substantially at the center within the captured angle of view.

  Thus, even after the target of birds and the like becomes difficult to be tracked (lost) in the narrow-angle imaging unit 12, the narrow-field imaging unit 12 can discriminate the targets such as birds with high accuracy without blurring. .

  The tracking processing control unit 14 loses the selected target at a narrow angle of view (YES in step S4) and distinguishes the selected target from the nearby target when a nearby target is detected in the vicinity of the selected target (YES in step S5). After that (step S6), the selected target is re-tracked with a narrow angle of view (step S7). On the other hand, even if the tracking process control unit 14 has lost the selection target at a narrow angle of view (YES in step S4), the tracking process control unit 14 does not detect a proximity target near the selection target (NO in step S5). It is not necessary to execute step S6 for distinguishing the proximity target, and it is only necessary to execute step S7 for re-tracking the selected target with a narrow angle of view.

  Specifically, the wide field angle imaging unit 11 may image a nearby target in the vicinity of the selected target within the imaging field angle. At that time, the tracking processing control unit 14 narrows the distance to the selection target measured by the target distance measurement unit 15 immediately before the narrow field angle imaging unit 12 cannot capture the selection target within the imaging field angle. Immediately after the angle-of-view imaging unit 12 cannot capture the selected target within the imaging angle of view, the distance to the selected target and the distance to the nearby target measured by the target distance measuring unit 15 are approximately equal to each other. Based on this, the selected target and the proximity target are distinguished.

  FIG. 8 illustrates target discrimination processing with a wide angle of view according to the present disclosure. First, in the left column of FIG. 8, when the selection target is lost at the narrow angle of view, the image of the enlarged bird B1 protrudes outside the captured angle of view in the narrow-angle captured image 12P, and the tracking processing gate G Does not surround the enlarged image of the bird B1. In the wide-angle captured image 11P, the tracking processing gate G surrounding the image of the bird B1 'that has not been enlarged is shifted from the center in the captured angle of view. Here, in the wide-angle captured image 11P, since the bird B4 is imaged in the vicinity of the bird B1 ′, it is confirmed which of the birds B1 ′ and the bird B4 is the same bird as the bird B1. I can't get it.

  Therefore, in the left column of FIG. 8, the tracking processing control unit 14 determines that the distance to the bird B1 just before the lost at the narrow angle of view and the distance to the bird B1 ′ at the wide angle of view immediately after the lost are almost equal. Based on what is done, it is detected that the bird B1 ′ is the same selection target as the bird B1. On the other hand, the tracking processing control unit 14 is based on the fact that the distance to the bird B1 immediately before the lost at the narrow angle of view does not match the distance to the bird B4 at the wide angle of view immediately after the lost. It is detected that the bird B4 is a proximity target different from the bird B1. Then, in the middle column of FIG. 8, the tracking process control unit 14 and the imaging direction driving unit 13 execute the process shown in FIG. Then, in the right column of FIG. 8, at the time of re-tracking the selection target at the narrow angle of view, the enlarged image of the bird B1 is positioned at the approximate center within the angle of view of the narrow angle-of-angle captured image 12P. The tracking processing gate G surrounds the enlarged image of the bird B1. In the wide-angle captured image 11P, the tracking processing gate G that surrounds the image of the bird B1 that has not been enlarged is located substantially at the center within the captured angle of view.

  In this way, even after the target such as a bird becomes difficult to be tracked (lost) in the narrow angle imaging unit 12, the narrow target imaging unit 12 can retrack the selected target without being mistaken for a nearby target.

  The tracking process control unit 14 repeats steps S4 to S7 when continuing to track the selected target (NO in step S8). The tracking process control unit 14 proceeds to step S9 when the tracking of the selected target is finished (YES in step S8).

  The bird threatening unit 18 threatens the bird as a selection target tracked by the tracking processing control unit 14 (step S9). Specifically, the bird threatening unit 18 uses a laser transmission unit 181 and a sound generation unit 182 that are driven in a direction integrally with the wide field angle imaging unit 11 and the narrow field angle imaging unit 12, and the tracking processing control unit 14. Threatens the birds as a selection target tracked.

  Thus, for the purpose of preventing bird strikes at wind power generators or airports, birds as selection targets can be threatened and eliminated.

  The tracking output unit 19 outputs the result of tracking the birds as the selection target by the tracking process control unit 14 (step S9). Specifically, the tracking output unit 19 acquires the result of tracking the birds as the selection target from the tracking processing control unit 14 and the target distance measurement unit 15, stores the result in the database unit 20, and stores the image authentication unit 21. Prepare for reference to the database unit 20 by

  Thus, for the purpose of preventing bird strikes at wind power generators and airports, the ecology of birds as a selection target can be investigated.

  At this time, since tracking of some of the targets tracked in step S1 has not been completed (NO in step S10), the process proceeds to step S12. Hereinafter, the processing after step S11 will be described. On the other hand, if the tracking of all the targets among the plurality of targets tracked in step S1 has been completed (YES in step S10), the processing shown in FIG. 5 is terminated.

  Next, steps executed for the non-selected target will be described. While the tracking process control unit 14 is tracking the selected target (steps S3 to S10), the target position predicting unit 17 predicts the position of the non-selected target (step S11). Specifically, the target position predicting unit 17 is based on the moving direction and the moving speed before the tracking target selecting unit 16 selects the selected target for the non-selected target that the tracking target selecting unit 16 did not select as the selected target. Thus, the tracking target selection unit 16 predicts the position after selecting the selection target. In particular, when performing bird intimidation by the bird threatening unit 18, the tracking time of the selected target by the tracking processing control unit 14 is short, so that the position prediction accuracy of the non-selected target by the target position prediction unit 17 is high accuracy. .

  The capture tracking unit 163 tracks a plurality of targets with a wide angle of view (step S12). The bird target selection unit 165 selects a new single target with a wide angle of view (step S13). Specifically, after the tracking processing control unit 14 finishes tracking the selected target, the bird target selecting unit 165 captures the position of the non-selected target predicted by the target position predicting unit 17 and the wide-angle imaging unit 11 captures the image. A new tracking candidate is selected from non-selected targets based on the degree of coincidence between the target position and the target position. Steps S3 to S10 are executed for the new selection target. Step S11 is executed for a new non-selected target. Steps S3 to S10 and step S11 are executed in parallel.

  FIG. 9 shows a target selection process with a wide angle of view according to the present disclosure. First, in the left column of FIG. 9, when a single target is selected at a wide angle of view, the aircraft P and birds B1, B2, and B3 are captured in the wide angle image 11P, and the bird B1 is selected. . Next, in the middle column of FIG. 9, at the time of non-selected target position prediction, in the target position predicted image 17P, after selection of a single target based on the moving direction and moving speed of the birds B2 and B3 before selection of the single target. Predicted positions B2 ′ and B3 ′ of the birds B2 and B3 are calculated. Next, in the right column of FIG. 9, when a new single target is selected at a wide angle of view, birds B2 ″ and B3 ″ are captured in the wide angle of view captured image 11P. Here, it cannot be confirmed whether the birds B2 ″ and B3 ″ are the same birds as the birds B2 and B3. Therefore, the imaging positions of the birds B2 ″ and B3 ″ are compared with the predicted positions B2 ′ and B3 ′.

  Then, the bird target selection unit 165 is based on the fact that the predicted position B2 ′ of the bird B2 after the selection of the single target and the imaging position of the bird B2 ″ when the new single target is selected are substantially the same. The bird B2 ″ is determined to be the same bird as the bird B2, and the bird B2 ″ is set as a new single tracking candidate (step S3). Further, the tracking target selection unit 16 sets the bird B2 ″ as the bird B2. You may authenticate that it is the same birds. On the other hand, the bird target selection unit 165 is based on the fact that the predicted position B3 ′ of the bird B3 after selection of the single target and the imaging position of the bird B3 ″ when the new single target is selected do not match. The bird B3 ″ is not determined to be the same bird as the bird B3, and the bird B3 ″ is set as a new position prediction target (step S11). Further, the tracking target selection unit 16 sets the bird B3 ″ as a bird strike, for example. It may be determined that the bird has a high possibility of.

  As described above, when there are a plurality of tracking target targets such as birds, after the tracking of one target is completed, another target reconfirmed as the tracking target can be set as the immediately following tracking target. Alternatively, another target reconfirmed as a tracking target can be set as a future tracking candidate. Here, by simply performing position prediction for other targets and omitting bird authentication, tracking of other targets can be started immediately, or bird recognition after performing position prediction for other targets Can also be used to reliably prepare for tracking other targets in the future.

  FIG. 10 shows a block diagram of the configuration of the target tracking system of the present disclosure. A flowchart of the procedure of the target tracking process of the present disclosure is shown in FIG. The target tracking system includes target tracking devices 1-1 to 1-4, a control / monitor device 2, and a tracking command device 3. The target tracking devices 1-1 to 1-4 and the control / monitor device 2 are connected to the tracking command device 3.

  The tracking command device 3 tracks multiple targets with a wide angle of view (step S14), and selects multiple targets with a wide angle of view (step S15). The tracking command device 3 notifies the target tracking devices 1-1 to 1-4 of the tracking target directions of the first to fourth groups in order to command the tracking targets of the first to fourth groups. (Step S16). Here, the tracking command device 3 performs steps S14 to S16 in order to execute the wide-angle imaging unit 11, the target distance measurement unit 15, the tracking target selection unit 16, the database unit 20, the image authentication unit 21, and the device control unit. 22 and a command unit (not shown).

  Each of the target tracking devices 1-1 to 1-4 executes steps S1 to S13 when instructed to track the tracking targets of the first to fourth groups (step S17). Here, each target tracking apparatus 1-1 to 1-4 includes a configuration unit (reference numerals 11 to 22) in order to execute step S17.

  Thus, when there are a plurality of targets to be tracked such as birds, tracking of each group of targets can be assigned to each target tracking device 1 and the tracking of the plurality of targets can be made efficient.

  Finally, (1) components of the tracking processing control unit 14, (2) a specific example of the target distance measuring unit 15, (3) a specific example of the bird threatening unit 18, and (4) a specific example of the tracking target will be described. .

  The inter-frame interpolation unit 141 inputs the EL instruction angle θEL and the AZ instruction angle θAZ at the frame refresh rate of the captured image, and linearly interpolates the EL instruction angle θEL and the AZ instruction angle θAZ at a rate faster than the frame refresh rate. Therefore, the wide-angle imaging unit 11, the narrow-angle imaging unit 12, and the bird threatening unit 18 can be driven with a smooth motion instead of a stepped shape.

The tracking correction unit 142 differentiates the EL instruction angle θ _EL and the AZ instruction angle θ _AZ after the linear interpolation, and outputs an EL differential output θ _ELB and an AZ differential output θ _AZB . The EL adder 143 calculates the sum of the EL instruction angle θ _EL after the linear interpolation and the EL differential output θ _ELB and outputs an EL follow-up correction output θ _EL + θ _ELB . The AZ adder 144 calculates the sum of the AZ instruction angle θ _AZ and the AZ differential output θ _AZB after linear interpolation, and outputs an AZ follow-up correction output θ _AZ + θ _AZB . Therefore, it is possible to correct a servo error caused by a delay caused by mechanical servo that moves through image processing and servo system computation.

The EL subtraction unit 145 calculates the difference between the EL follow-up correction output θ _EL + θ _ELB and the EL detection angle θ _ELP, and calculates an EL servo error ε _EL . The AZ subtraction unit 146 calculates a difference between the AZ follow-up correction output θ _AZ + θ _AZB and the AZ detection angle θ _AZP, and calculates an AZ servo error ε _AZ . The EL servo amplifying unit 147 amplifies the power of the EL servo error ε _EL and outputs it to the EL motor unit 131. AZ servo amplifier unit 148, the AZ servo error epsilon _AZ and power amplification, and outputs the AZ motor unit 132.

  Other specific examples of the target distance measuring unit 15 include a phase difference detection method using laser, a triangulation method using laser, a TOF method using ultrasonic waves, a TOF using radio waves, and an FMCW method.

  Specific examples of the bird threatening unit 18 include irregular occurrences of high-speed pulse sounds, irregular occurrences of frequency sweep sounds, gunfire sounds, distress calls, and crying threatening birds of prey.

  As other specific examples of the tracking target, there are targets such as animals and drones whose movement speed and direction change are fast. Can threaten and investigate animals and warn and investigate drone intrusions.

  The target tracking device and the target tracking system of the present disclosure can prevent these targets from becoming difficult to be tracked (lost) when tracking a target such as a bird, an animal, or a drone whose moving speed or direction is fast. These targets can be discriminated with high accuracy without blurring.

1, 1-1, 1-2, 1-3, 1-4: target tracking device 2: control / monitor device 3: tracking command device 11: wide angle imaging unit 12: narrow angle imaging unit 13: imaging direction Drive unit 14: tracking process control unit 15: target distance measurement unit 16: tracking target selection unit 17: target position prediction unit 18: bird threatening unit 19: tracking output unit 20: database unit 21: image authentication unit 22: device control unit 111: Right camera unit 112: Left camera unit 131: EL motor unit 132: AZ motor unit 133: EL detection unit 134: AZ detection unit 135: EL axis mechanism unit 136: AZ axis mechanism unit 141: Inter-frame interpolation unit 142: Tracking correction unit 143: EL addition unit 144: AZ addition unit 145: EL subtraction unit 146: AZ subtraction unit 147: EL servo amplification unit 148: AZ servo amplification unit 151: Laser light receiving unit 161: Object detection unit 162: Large Determining section 163: Capture tracking section 164: Bird target detection section 165: Bird target selection section 181: Laser transmission section 182: Sound generation section 11P: Wide-angle captured image 12P: Narrow-angle captured image 17P: Target position predicted image P: Aircraft B1, B1 ′, B2, B2 ″, B3, B3 ″, B4: Birds B2 ′, B3 ′: Predicted position G: Tracking processing gate

Claims (7)

A wide-angle imaging unit that images a target with a wide angle of view;
A narrow field angle imaging unit that images a target with a narrow field angle;
An imaging direction driving unit that drives the imaging direction of the wide-angle imaging unit and the narrow-angle imaging unit so that the imaging directions of the wide-angle imaging unit and the narrow-angle imaging unit are the same direction;
A tracking process control unit that controls the imaging direction driving unit so that the narrow field angle imaging unit and the wide field angle imaging unit can capture the tracking target at approximately the center in the imaging field angle;
A target tracking device comprising: When the narrow field angle imaging unit cannot capture the tracking target within the imaging field angle, the tracking processing control unit is configured to capture the tracking target within the imaging field angle captured by the wide field angle imaging unit. The imaging direction driving unit is controlled based on the deviation from the center of the image pickup unit so that the narrow-angle imaging unit can capture the tracking target again at approximately the center within the imaging field angle. The target tracking device according to claim 1. A target distance measuring unit that measures a distance to a target imaged by the wide-angle imaging unit;
When the wide-angle imaging unit captures a nearby target in the vicinity of the tracking target within the imaging field angle, the tracking processing control unit is configured so that the narrow-angle imaging unit captures the tracking target within the imaging field angle. The distance to the tracking target measured by the target distance measurement unit immediately before it becomes impossible to capture the image, and immediately after the narrow-angle imaging unit cannot capture the tracking target within the imaging field angle. The tracking target and the proximity target are distinguished based on a degree of coincidence between the distance to the tracking target and the distance to the proximity target measured by the target distance measurement unit. Item 3. The target tracking device according to Item 2. A tracking target selection unit that selects the tracking target from a plurality of targets captured by the wide-angle imaging unit;
For a non-selected target that the tracking target selection unit did not select as the tracking target, the tracking target selection unit performs the tracking based on a moving direction and a moving speed before the tracking target selection unit selects the tracking target. A target position prediction unit that predicts a position after selecting a target,
After the tracking processing control unit finishes tracking the tracking target, the tracking target selection unit determines the position of the non-selected target predicted by the target position prediction unit and the target imaged by the wide-angle imaging unit. The target tracking device according to any one of claims 1 to 3, wherein a new tracking candidate is selected from the non-selected targets based on a degree of coincidence between the position and the position.   5. The target tracking device according to claim 1, further comprising a bird threatening unit that threatens a bird as the tracking target tracked by the tracking processing control unit.   The target tracking device according to claim 1, further comprising a tracking output unit that outputs a result of tracking the birds as the tracking target by the tracking processing control unit. A tracking command device that commands tracking of the tracking target; and a plurality of target tracking devices according to any one of claims 1 to 6 that track the tracking target;
The target tracking system, wherein the tracking command device selects a plurality of tracking targets, and allocates and commands tracking of the tracking target of each group of the tracking targets to each target tracking device.

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