JP3985371B2 - Monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for monitoring an object.
[0002]
[Prior art]
A conventional monitoring apparatus is configured as shown in FIG. In the figure, 1 is a monitoring device housing, 2 is an imaging device that images a monitoring object, 3 is a signal processing device that processes video information obtained from the imaging device, and 4 is an image processed by the signal processing device 3. It is a display device to project.
[0003]
The monitoring device configured as described above is used, for example, for entrance / exit monitoring of a building. The above monitoring device is used when it is desired to limit the access by persons other than those related to the building, and the scene where a person enters the building is directly photographed by the imaging device 2 and the information is processed by the signal processing device 3 so that it is easy to see. Thereafter, the video information is displayed on the display device 4. It was operated by observers observing this video and determining whether a suspicious person had entered the building being monitored.
[0004]
[Problems to be solved by the invention]
In the monitoring device configured as described above, the monitoring person recognizes the monitoring object and obtains image information by directly or indirectly operating the monitoring device. In such a configuration, the monitoring device is the monitoring target. There is no problem if it is in the vicinity of an object or the monitoring device is limited to a range of several hundred meters in radius, but the monitored area covers a wide area with a radius of several kilometers or more, such as a national park or military facility. It is necessary to install several tens to several hundreds of monitoring devices, and even when installed, monitoring with these many devices is virtually impossible. In addition, in the case of cars, ships, etc. that move several kilometers or more, it is necessary to install a monitoring device in advance at the point where the monitoring object seems to move, and for the monitoring object that moves randomly Was virtually impossible to monitor.
[0005]
The present invention has been made to solve the above-mentioned problems, and by mounting a part of the monitoring device on the flying object, it is possible to monitor the movement monitoring object by remote operation and to fly at a sufficient height. The present invention provides means for continuously realizing a good monitoring operation even when the monitoring object moves as the body flies.
[0006]
[Means for Solving the Problems]
The monitoring device according to the first invention is In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that travel over the earth at a predetermined altitude, and a fixed or mobile communication facility that exchanges information with the flying object, the monitoring object is A first position measuring unit that measures the position of the monitoring object, and a first transmission unit that transmits the position of the monitoring object to the flying object, the flying object from the communication facility A receiving unit that receives the command and the position of the monitoring object from the first transmitting unit, a second position measuring device that measures the position of the flying object, a signal processing unit that executes the command, and the command A field-of-view changing unit that changes the field of view of the imaging unit, an imaging unit that acquires image data of the earth surface in the changed field of view, and a position of the monitoring object and image data acquired by the imaging unit, respectively The first to send to the communication facility The communication facility includes a ground station for exchanging information with the flying object, and the moving object moves so that the imaging object is always captured by the imaging unit based on the position data of the flying object and the monitoring object. Memory storing software for calculating target coordinates and imaging field of view, and calculation of the moving target coordinates of the flying object and imaging field of view of the imaging unit using the software, and controlling the flying object via the ground station With an operation control unit Is.
[0007]
The monitoring device according to the second invention is In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that travel over the earth at a predetermined altitude, and a fixed or mobile communication facility that exchanges information with the flying object, the monitoring object is A first position measuring unit that measures the position of the monitoring object, a first transmission unit that transmits the position of the monitoring object to the flying object, and a first that receives a congestion avoidance route from the flying object. A receiving unit that receives a command from the communication facility and a position of the monitoring object from the first transmitting unit, and a second unit that measures the position of the flying object. A position processing device, a signal processing unit that executes the command, a field changing unit that changes the field of view of the imaging unit according to the command, an imaging unit that acquires image data of the earth surface in the changed field of view, The position of the monitored object and the Each of the image data acquired in the section to the communication facility, and further comprising a second transmission unit for transmitting a congestion avoidance route from the communication facility to the monitoring target, the communication facility, A monitoring target based on the ground station for exchanging information with the flying object, a first memory storing a geographic information database describing geographical information and road information on various places on the earth, and position data of the flying object and the monitoring object A second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object so that an object is always captured by the imaging unit; and the moving target coordinates of the flying object and the imaging field of view of the imaging unit using the software An operation control unit that calculates and controls the flying object via a ground station, and a traffic jam location based on the image data acquired by the imaging unit and the geographic information database A second signal processing unit that extracts the traffic jam avoidance route from the position of the monitoring object and the traffic jam location, and transmits the traffic jam avoidance route to the flying object via the ground station; Have Is.
[0008]
The monitoring device according to the third invention is In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that travel over the earth at a predetermined altitude, and a fixed or mobile communication facility that exchanges information with the flying object, the monitoring object is A first position measuring unit that measures the position of the monitoring object, and a first transmission unit that transmits the position of the monitoring object to the flying object, the flying object from the communication facility A receiving unit that receives the command and the position of the monitoring object from the first transmitting unit, a second position measuring device that measures the position of the flying object, a signal processing unit that executes the command, and the command A field-of-view changing unit that changes the field of view of the imaging unit and the infrared camera, an imaging unit that acquires image data of the earth surface in the changed field of view, and infrared image data of the earth surface in the changed field of view Get infrared camera A second transmission unit that transmits the position of the monitoring object, the image data, and the infrared image data to the communication facility, and the communication facility is a ground station that exchanges information with the flying object. And a first memory storing a geographic information database describing geographic information and road information of places on the earth, and the monitoring object is always captured by the imaging unit and the infrared based on the position data of the flying object and the monitoring object. A second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object to be captured by the camera, and calculating the moving target coordinates of the flying object and the imaging field of view of the imaging unit using the software; An operation control unit for controlling the flying object via a ground station, and moving within the image by image processing based on image data acquired by the imaging unit and the infrared camera. ; And a second signal processing section recognizes the physical change of the monitored object, such as a particular and fire objects Is.
[0009]
The monitoring device according to the fourth invention is In a monitoring device comprising a single or a plurality of flying objects navigating over the earth at a predetermined altitude and a fixed or mobile communication facility for exchanging information with the flying objects, the flying objects are directed to a moving monitoring object. Radar device, a position measuring device that measures the three-dimensional position of the flying object on the earth, a field changing device that changes the field of view of the radar device according to a command from the ground station, and a command from the ground station A transmission unit that transmits image information acquired by the radar device to the ground station, and a first signal processing unit that executes a command from the ground station via the reception unit. The facility includes a ground station that exchanges information with the flying object, a first memory that stores a geographic information database that describes geographical information and road information of various places on the earth, and images acquired by the flying object and the radar device. A second memory storing software for calculating the moving target coordinates of the flying object and the imaging field of view so that the radar apparatus always captures the monitored object based on the position data of the monitored object extracted by comparison between before and after the data; A third memory storing information defining a region of the object, a fourth memory storing a database describing radar reflection characteristics of flying objects such as birds and aircraft, and the third memory. The movement target coordinates of the flying object and the imaging field of view of the radar apparatus are calculated using the software stored in the second database and the second memory, and displayed together with the map information data stored in the first memory. The operation control unit that displays the position of the flying object in the monitoring object on the monitoring unit and controls the flying object via the ground station, and the radar acquired by the radar device. A receiving means for receiving reflection data via a ground station, and a second signal processing section for identifying a moving object by comparing the data acquired by the radar device with a database stored in the fourth memory. And a display unit that displays image information obtained from the radar device and information from the operation control unit and is monitored by a supervisor. Is.
[0010]
The monitoring device according to the fifth invention is In a monitoring device comprising a single or a plurality of flying objects navigating over the earth at a predetermined altitude and a fixed or mobile communication facility for exchanging information with the flying objects, the flying objects are three-dimensional on the earth. A position measuring device for measuring a position, a laser oscillation device oriented substantially perpendicular to the earth surface, a light receiving unit for receiving reflection of laser light emitted from the laser oscillation device toward the ground surface, and a ground station A receiving unit that receives a command from the ground station, a first signal processing unit that executes a command from the ground station via the receiving unit and measures a time delay of the oscillation of the laser light and the reception of the reflected light, and the position of the flying object A transmitter for transmitting the time delay data measured by the coordinate information and the first signal processing unit to the ground station, and the communication facility always captures the monitored object vertically by the laser oscillation device. Move body Calculation of target coordinates to be performed and an operation control unit that analyzes the pointing direction of the laser oscillation device based on the coordinates and controls the flying object via a ground station, a ground station that exchanges information with the flying object, A flying object that always captures the ground surface of the monitored object area vertically by the laser oscillator based on the first memory storing a geographic information database describing geographical information and road information of each place and the position data of the flying object. The second memory storing software for calculating the moving target coordinates and imaging field of view, the third memory storing information defining the area of the monitoring object, and the laser light acquired from the first signal processing unit A second signal processing unit that calculates the height of the ground surface from the received time delay data and the data of the position measuring device, the ground surface height calculated by the second signal processing unit, and the first And a display unit that displays observer together with geographic information database stored in the memory to monitor Is.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 shows Embodiment 1 of the present invention. In FIG. 1, reference numeral 10 denotes a single or a plurality of flying bodies that sail over the earth at a predetermined altitude, and 11a is directed to the flying object 10 so as to face the earth. An imaging unit 12 for acquiring image data on the surface of the earth, 12 is provided in the flying object 10, and a visual field changing machine for changing the visual field of the imaging unit 11 a according to a command from a ground station, and 13 is provided in the flying object 10. A receiving unit 14 receives the command from the ground station 33 and information from the monitoring target by radio waves, and 14 is provided in the flying object 10 and receives the image information acquired from the imaging unit 11a and the information from the monitoring target from the ground station 33. A second transmission unit 15 for transmitting to the first signal processing unit 15 provided in the flying object 10 and executing a command from the ground station 33 via the reception unit 13, and 21 provided for the monitoring object and GPS ( Gl The first position measuring device 22 that can grasp the three-dimensional position of the monitored object on the earth represented by the bal Positioning System, etc., 22 is provided in the monitored object, and the position and theft of the monitored object have occurred. The first transmitting unit 31 that can transmit an abnormal signal to the flying object 10 moves the flying object 10 so that the imaging object 11a always captures the monitoring object via the ground station 33. The operation control unit 32 analyzes and controls the directivity direction of the image capturing unit 11a based on the calculated target coordinates, and the image data captured by the image capturing unit 11a and information on the monitoring target are transmitted via the ground station 33. The recorder 33 for receiving and recording in the above-mentioned manner is a ground station 33 provided with the operation control unit 31 and the recorder 32 for exchanging information with the flying object 10 by radio waves. A first memory 35, which stores a geographic information database describing geographical information and road information of each place, 35 of the flying object 10 so that the imaging object 11a always captures the monitoring object based on the position data of the flying object 10 and the monitoring object. A second memory 42 storing software for calculating the movement target coordinates and the imaging field of view is a first display unit that displays image information obtained from the imaging unit 11a and the like and is monitored by a supervisor.
[0012]
The monitoring device according to the present invention is configured as shown in the figure, and the position transmitted from the first position measurement device 21 mounted on a moving monitoring object such as a car or ship via the first transmitter 22. Information is received by the receiving unit 13 mounted on the flying object 10 and sent to the ground station 33 via the first signal processing unit 15 and the second transmitting unit 14. Based on this information, the ground station 33 calculates the field of view of the imaging unit 11a from software stored in the second memory 35, and transmits this information to the flying object 10 via the ground station 33 via the operation control unit 31. To do. At this time, the processing flow of the software stored in the second memory 35 is shown in FIG. The software calculates the three-dimensional position of the flying object 10 that can be observed from the observable viewing angle stored in advance as parameters and the altitude of the flying object 10 from the three-dimensional position data of the monitored object (S1). The movement target of the body 10 is calculated (S2). When the flying object 10 reaches the moving target (S3), it is confirmed whether it is within the observation coverage range (S4). If it is within the range, the imaging angle is calculated (S5), and the first signal processing unit 15 The field of view of the imaging unit 11a is instructed to the field of view changing machine 12 via the imaging unit 11a, and the imaging unit 11a images the monitoring object (S6). The captured image information is sent to the ground station 33 via the first signal processing unit 15 and the second transmission unit. The ground station 33 combines the image data and the data extracted from the map road data stored in the first memory 34 based on the three-dimensional coordinates of the monitored object via the operation control unit 31 (S7). Is displayed on the display unit 42, and the monitor can view the information to enable remote monitoring. At this time, the map road data stored in the first memory 34 is information in a form typified by GIS (Geographical Information System), and is obtained by linking three-dimensional coordinate data with geographic information and road route information. Is mentioned. When an abnormality such as theft occurs in the monitoring object, the operator of the monitoring object determines that the theft is theft, transmits an emergency signal using the first transmission unit 22, receives the reception unit 13 of the flying object 10, the first The signal is transmitted to the ground station 33 through the signal processing unit 15 and the second transmission unit 14. The operation control unit 31 uses the GIS information indicated by the three-dimensional coordinates stored in the first memory 34 for the information sent via the ground station 33 to indicate the position of the monitoring object on the first display unit 42. To display. The supervisor receives this information and can grasp the position and status of the monitoring object displayed on the first display unit 42. The recorder 32 records these data and outputs them as necessary.
[0013]
In the figure, the flying object 10 includes an artificial satellite, an aircraft, a balloon, an airship, and the like. The ground station 33 may be an artificial satellite, a control station such as an aircraft, or a fixed communication facility, but may be a mobile ground station such as a vehicle that can communicate with the flying object 10. Moreover, although the object to be monitored includes aircraft, trains, etc. in addition to moving cars, ships, etc., it is also applicable to fixed objects such as buildings and houses.
[0014]
Embodiment 2. FIG.
FIG. 2 shows a second embodiment of the present invention. In FIG. 2, reference numeral 10 denotes a single or a plurality of flying bodies that sail over the earth at a predetermined altitude, and 11a is directed to the flying object 10 so as to face the earth. An imaging unit that is mounted and acquires visible light image data on the surface of the earth, 12 is provided in the flying object 10, and a field-of-view changing machine that changes the field of view of the imaging unit 11a in response to a command from the ground station. A second receiving unit 14 is provided for receiving a command from the ground station 33 and information from the monitoring target by radio waves, and 14 is provided in the flying object 10 from the image information and the monitoring target acquired by the imaging unit 11a. A second transmission unit 15 for transmitting information to the ground station 33, 15 is a first signal processing unit that is provided in the flying object 10 and that executes a command from the ground station 33 via the second reception unit 13, 21 Equipment to be monitored The first position measuring device 22 for grasping the three-dimensional position of the monitored object on the earth is provided on the monitored object, and when the position of the monitored object or theft occurs, a flying signal is transmitted. 10 is a first transmission unit that can transmit to 10, a first reception unit 23 that is provided in a monitoring object and that transmits and receives information with a single or a plurality of flying objects that travel over the earth at a predetermined altitude, and 24 is a road A second display unit for indicating geographical information such as the monitoring object, 31 an operation control unit for operating and controlling the flying object 10 via the ground station 33, and 32 an image data captured by the imaging unit 11a and a monitoring target A recorder that receives and records information about an object via the ground station 33, 33 is a ground station that includes the operation control unit 31 and the recorder 32 and exchanges information with the flying object 10 by radio waves, and 34 is a geography of various places on the earth. Information and road The first memory 35 that stores the geographic information database describing the information, and the moving target coordinates and imaging field of view of the flying object 10 so that the imaging object 11a always captures the monitoring object based on the position data of the flying object 10 and the monitoring object A second memory 37 that stores software for calculating the traffic, and a second signal processing unit 37 that calculates the position of the traffic jam location based on the traffic jam information provided by the information in the first memory 34 and the VICS in three-dimensional coordinates , 42 is a first display unit that displays image information obtained from the imaging unit 11a and the like and is monitored by a supervisor.
[0015]
The monitoring device according to the present invention is configured as shown in the figure, and the position transmitted from the first position measurement device 21 mounted on a moving monitoring object such as a car or ship via the first transmitter 22. The information is received by the second receiver 13 mounted on the flying object 10 and sent to the ground station 33 via the first signal processor 15 and the second transmitter 14. The ground station 33 calculates the field of view of the imaging unit 11a that can be monitored based on this information from the software stored in the second memory 35. The processing flow of the software stored in the second memory 35 at this time is as follows. It is shown as in FIG. The software calculates the three-dimensional position of the flying object 10 that can be observed from the observable viewing angle and the altitude of the flying object 10 stored in advance as parameters from the three-dimensional position data of the monitoring object (S1). Is calculated (S2). When the flying object 10 reaches the moving target (S3), it is confirmed whether it is within the observation coverage range (S4). If it is within the range, the imaging angle is calculated (S5), and the first signal processing unit 15 The field of view of the imaging unit 11a is instructed to the field of view changing machine 12 via the imaging unit 11a, and the imaging unit 11a images the monitoring object (S6). The captured image information is sent to the ground station 33 via the first signal processing unit 15 and the second transmission unit. The ground station 33 combines the image data and the data extracted from the map road data stored in the first memory 34 based on the three-dimensional coordinates of the monitored object via the operation control unit 31 (S7). Is displayed on the display unit 42, and the monitor can view the information to enable remote monitoring. At this time, the map road data stored in the first memory 34 is information in a form typified by GIS (Geographical Information System), and is obtained by linking three-dimensional coordinate data with geographic information and road route information. Is mentioned. The second signal processing unit 37 performs image processing on the image information obtained from the imaging unit 11a and the map road data stored in the first memory 34, thereby extracting a traffic jam location. The second signal processing unit 37 converts the extracted traffic jam location into position coordinates, calculates where in the map information stored in the first memory, and then calculates an avoidance route from the road information. The determined avoidance route is transmitted to the first receiving unit 23 via the operation control unit 31, the ground station 33, and the second receiving unit 13. The operator of the monitoring target can check the transmitted information on the second display unit. Further, when an abnormality such as theft occurs in the monitored object, it is determined that the operator of the monitored object is stolen, an emergency signal is transmitted using the first transmitting unit 22, and the second receiving unit 13 of the flying object 10. The first signal processor 15 and the second transmitter 14 are sent to the ground station 33. The operation control unit 31 displays the position of the monitoring object on the first display unit 42 based on the information sent via the ground station 33 based on the GIS information stored in the first memory 34. The supervisor receives this information and can grasp the position and status of the monitoring object displayed on the first display unit 42. The recorder 32 records these data and outputs them as necessary.
[0016]
In the figure, the flying object 10 includes an artificial satellite, an aircraft, a balloon, an airship, and the like. The ground station 33 may be an artificial satellite, a control station such as an aircraft, or a fixed communication facility, but may be a mobile ground station such as a vehicle that can communicate with the flying object 10. In addition to moving cars and ships, examples of monitored objects include airplanes, trains, and the like, but similarly applicable to fixed objects such as buildings and houses.
[0017]
Embodiment 3 FIG.
FIG. 3 shows a third embodiment of the present invention. In FIG. 3, reference numeral 10 denotes a single or a plurality of flying objects that navigate the sky above the earth at a predetermined altitude, and 11a points the earth to the flying object 10. An imaging unit 11b for acquiring image data on the surface of the earth, 11b is an infrared camera mounted on the flying object 10 so as to be directed to the earth, and 12 is provided on the flying object 10 according to a command from a ground station. A field-of-view change machine 13 for changing the field of view of the imaging unit 11a and the infrared camera 11b is provided in the flying body 10 and receives a command from the ground station 33 and information from the monitoring target by a radio wave. A receiving unit 14 is provided in the flying object 10 and is a second transmitting unit 15 that transmits image information acquired by the imaging unit 11a and the infrared camera 11b and information from the monitoring target to the ground station 33, 15 A first signal processing unit 21 that is provided in the flying object 10 and executes a command from the ground station 33 via the second receiving unit 13 is provided in the monitoring target, and is three-dimensional on the earth of the monitoring target. A first position measuring device 22 capable of grasping the target position, a first transmitting unit 22 provided in the monitoring object and capable of transmitting an abnormal signal to the flying object 10 when the position of the monitoring object and theft occur; Reference numeral 31 denotes an operation control unit that controls the flying object 10 via the ground station 33. Reference numeral 32 denotes image data captured by the imaging unit 11a and the infrared camera 11b and information about the monitoring target via the ground station 33. A recorder 33 for receiving and recording, a ground station provided with the operation control unit 31 and the recorder 32 and exchanging information with the flying object 10 by radio waves, and 34 a geographical information describing geographical information and road information on various places on the earth. A first memory 35 that stores a database, a second memory 35 that stores software that is set so as to follow the monitoring object based on the position data of the monitoring object and always maintain monitoring, and 36 represents an area of the monitoring object A third memory 37 for storing information to be defined; 37 a second signal processing unit for identifying an object moving in the image by image processing based on the moving image data acquired by the imaging unit 11a and the infrared camera 11b; A first display unit 42 displays image information obtained from the imaging unit 11a and the infrared camera 11b and is monitored by a supervisor.
[0018]
The monitoring device according to the present invention is configured as shown in the figure, and the position transmitted from the first position measuring device 21 provided in the monitoring object such as a national park or military facility via the first transmitter 22. The information is received by the second receiver 13 mounted on the flying object 10 and sent to the ground station 33 via the first signal processor 15 and the second transmitter 14. The ground station 33 calculates the field of view of the imaging unit 11a and the infrared camera 11b that can be monitored based on this information from the software stored in the second memory 35, and is stored in the second memory 35 at this time. The software processing flow is shown in FIG. The software calculates the three-dimensional position of the flying object 10 that can be observed from the observable viewing angle and the altitude of the flying object 10 stored in advance as parameters from the three-dimensional position data of the monitoring object (S1). Is calculated (S2). When the flying object 10 reaches the moving target (S3), it is confirmed whether it is within the observation coverage range (S4), and if it is within the range, the field of view changer 12 is imaged via the first signal processing unit 15. The field of view of the unit 11a and the infrared camera 11b is instructed (S5), and the imaging unit 11a and the infrared camera 11b image the monitoring object (S6). The captured image information is sent to the ground station 33 via the first signal processing unit 15 and the second transmission unit. The ground station 33 combines the image data and the data extracted from the map road data stored in the first memory 34 based on the three-dimensional coordinates of the monitored object via the operation control unit 31 (S7). Is displayed on the display unit 42, and the monitor can view the information to enable remote monitoring. At this time, the map road data stored in the first memory 34 is information in a form typified by GIS (Geographical Information System), and is obtained by linking three-dimensional coordinate data with geographic information and road route information. Is mentioned. At the same time, the second signal processing unit 38 extracts a moving object by image processing from the image information obtained from the imaging unit 11a and the infrared camera 11b (S9), and calculates its position data. Based on this information and the monitoring area information stored in the third memory 36, the presence / absence of an intruder with respect to the monitoring object is determined (S10). When the second signal processing unit 37 confirms the intruder, its position coordinates are calculated (S11) and displayed on the first display unit via the operation control unit 31. The monitor can check the displayed information and the status of the monitored object. At the same time, in a situation such as a fire, the second signal processing unit 37 performs the process shown in S9 of the flowchart to detect the presence or absence of an area of 200 ° C. or more in the monitoring area from the image data of the infrared camera 11b. Inform the occurrence of a fire. Even when the operator of the monitoring object determines that an abnormality has occurred, an emergency signal is transmitted using the first transmission unit 22, and the second reception unit 13, the first signal processing unit 15 of the flying object 10, It is sent to the ground station 33 via the second transmitter 14. The operation control unit 31 displays the position of the monitoring object on the first display unit 42 based on the information sent via the ground station 10 based on the GIS information stored in the first memory 34. The supervisor receives this information and can grasp the position and status of the monitoring object displayed on the first display unit 42. The recorder 32 records these data and outputs them as necessary.
[0019]
In the figure, the flying object 10 includes an artificial satellite, an aircraft, a balloon, an airship, and the like. The ground station 33 may be an artificial satellite, a control station such as an aircraft, or a fixed communication facility, but may be a mobile ground station such as a vehicle that can communicate with the flying object 10. In addition, examples of monitoring objects include national parks, military facilities, and the like that have a wide range of monitoring objects, but they can also be applied to moving vehicles, ships, airplanes, trains, and the like.
[0020]
Embodiment 4 FIG.
FIG. 4 shows Embodiment 4 of the present invention. In FIG. 4, reference numeral 10 denotes one or a plurality of flying bodies that sail over the earth at a predetermined altitude, and 12 denotes the flying body 10 provided from the ground station. A field-of-view changing machine that changes the field of view of the radar device 16 according to a command, 13 is a second receiving unit that is provided in the flying object 10 and receives a command from the ground station 33 by radio waves, and 14 is provided in the flying object 10 and is a radar. A second transmission unit 15 for transmitting image information acquired by the device 16 to the ground station 33, 15 is provided in the flying object 10 and executes a command from the ground station 33 via the second reception unit 13. A signal processing unit 16 is a radar device that is provided in the flying object 10 and faces the surface of the earth, and 17 is provided in the flying object 10 and can grasp a three-dimensional position of the flying object 10 on the earth represented by GPS. Position measuring device, 31 Calculation of target coordinates for moving the flying object 10 so as to always capture the object to be monitored by the radar device 16 and analysis of the pointing direction of the radar device 16 based on the coordinates are performed, and the flying object 10 is controlled via the ground station 33. An operation control unit 32 that receives and records the image data captured by the radar device 16 via the ground station 33, and 33 includes the operation control unit 31 and the recorder 32. A ground station for exchanging information, 34 is a first memory storing a geographic information database describing geographical information and road information of places on the earth, and 35 is a radar device that always follows the monitoring object based on the position data of the monitoring object. A second memory storing software that is set so as to be captured in 16 fields of view; 36 a third memory storing information defining an area of the monitoring object; 37 The second signal processing unit 40 compares the data acquired by the radar device 16 with the database stored in the fourth memory 40 and identifies a moving object. 40 is a radar of a flying object such as a bird flock or an aircraft. A fourth memory 42 for storing a database describing reflection characteristics is a first display unit that displays image information obtained from the radar device 16 and the like and is monitored by a supervisor.
[0021]
The monitoring apparatus according to the present invention is configured as shown in the figure, and the operation control unit 31 determines the monitoring target area from the software stored in the second memory 35 and the definition of the monitoring target area stored in the third memory 36. The moving target of the flying object 10 and the field of view of the radar device 16 are calculated so that the field of view of the device 16 can be captured. The processing flow of the software stored in the second memory at this time is shown in FIG. The software calculates the three-dimensional position of the flying object 10 that can be observed from the observable viewing angle and the altitude of the flying object 10 stored in advance as parameters from the three-dimensional position data of the monitoring target area (S1). Is calculated (S2). When the flying object 10 reaches the moving target (S3), it is confirmed whether it is within the observation coverage range (S4). If it is within the range, the first signal processing unit 15 uses the information to change the field of view. 12, the field of view of the radar apparatus 16 is instructed (S5), and the radar apparatus 16 images the monitoring target area (S6). The captured radar image information is sent to the ground station 33 through the second transmitter together with the position information of the flying object 10 acquired by the position measuring device 17 via the first signal processing unit 15. The ground station 33 performs processing by the second signal processing unit 37 via the operation control unit 31, compares the data before and after the image data, and extracts a moving object (S9). The radar reflection characteristic database and the radar reflection characteristic of the moving object acquired by the radar device 16 are compared, and the object captured in the monitoring target area is specified and its position is calculated (S10, S11). The operation control unit 31 combines the map road data stored in the first memory 34 with the extracted image data based on the three-dimensional coordinates of the monitored object (S7), and displays it on the first display unit 42. . At this time, the map road data stored in the first memory 34 is information in a form typified by GIS (Geographical Information System), and is obtained by linking three-dimensional coordinate data with geographic information and road route information. Is mentioned. The monitoring person receives this information and can grasp the object in the monitoring target area and its position. The recorder 32 records the output data from the operation control unit 31 and outputs it as necessary.
[0022]
In the figure, the flying object 10 includes an artificial satellite, an aircraft, a balloon, an airship, and the like. The ground station 33 may be an artificial satellite, a control station such as an aircraft, or a fixed communication facility, but may be a mobile ground station such as a vehicle that can communicate with the flying object 10. Moreover, although the monitoring target includes bird damage prevention monitoring in the area near the airport, it is also applicable to threat monitoring in the area near the military facility.
[0023]
Embodiment 5 FIG.
FIG. 5 shows a fifth embodiment of the present invention. In FIG. 5, reference numeral 10 denotes a single or a plurality of flying bodies that sail over the earth at a predetermined altitude, and 13 is provided in the flying body 10 from the ground station 33. The second receiving unit 14 for receiving the above command by radio waves is received in the flying object 10 and the time when the laser is emitted from the laser oscillation device 18 recorded in the first signal processing unit and the reflected light thereof. A second transmitter 15 for transmitting time information to the ground station 33, 15 is provided in the flying object 10 and executes a command from the ground station 33 via the second receiver 13, and a laser is emitted from the laser oscillation device 18. A first signal processing unit 17 for recording the time of launch and the time of receiving the reflected light is represented by GPS which is provided in the flying body 10 and can grasp the three-dimensional position of the flying body 10 on the earth. Position measuring device 18 A laser oscillation device provided in the flying object 10 and oriented almost perpendicularly to the surface of the earth, 19 is a light receiving unit that receives laser light emitted from the laser oscillation device 18 toward the ground surface, and 31 is always a laser oscillation device. An operation control unit that analyzes the target coordinates for moving the flying object 10 so as to be captured perpendicularly to the earth surface in the observation region and controls the flying object 10 via the ground station 33, and 32 is a second signal processing unit. A recorder that records the calculated height of the ground surface, 33 is a ground station that includes the operation control unit 31 and the recorder 32 and exchanges information with the flying object 10 by radio waves, and 34 is geographical information and roads on various locations on the earth. A first memory 35 that stores a geographic information database describing information, and 35 is software that sets up to constantly monitor and follow the monitoring object based on the position data of the monitoring object. The stored second memory, 36 is a third memory storing information defining the region of the monitoring object, 37 is the laser beam reception delay data acquired by the laser oscillation device 18 and the light receiving unit 19, and the first memory. A second signal processing unit 42 for calculating the height of the ground surface from the data of the second position measuring device 17, 42 is a first display unit monitored by a supervisor.
[0024]
The monitoring apparatus according to the present invention is configured as shown in the figure, and performs observation using software stored in the second memory 35. The processing flow of the software stored in the second memory at this time is shown in FIG. The software stored in the second memory 35 calculates the three-dimensional position of the observable flying object 10 from the definition of the monitoring target area stored in the third memory 36 (S1), and moves the flying object 10 A target is calculated (S2). When the flying object 10 reaches the moving target (S3), it is confirmed whether it is within the observation coverage range (S4), and if it is within the range, monitoring is started. The flying object 10 emits laser light from the laser oscillator and receives the laser light reflected by the sea surface or the like at the light receiving unit 19 (S5). At this time, the time at which the first signal processing unit 15 oscillates, the time at which the reflected light is received, and the information from the position measurement device are collectively transmitted to the ground station 33 via the second transmission unit 13 (S6). . The ground station 33 processes these data in the second signal processing unit 37 via the operation control unit 31, and calculates the height of the sea level and the like (S7). The operation control unit 31 combines the map road data stored in the first memory 34 and the monitoring data based on the three-dimensional coordinates of the monitored area (S8), and displays them on the first display unit 42. At this time, the map road data stored in the first memory 34 is information in a form typified by GIS (Geographical Information System), and is obtained by linking three-dimensional coordinate data with geographic information and road route information. Is mentioned. The monitor can receive this information and grasp the wave height (tsunami) in the monitored area. The recorder 32 records these data and outputs them as necessary.
[0025]
In the figure, the flying object 10 includes an artificial satellite, an aircraft, a balloon, an airship, and the like. The ground station 33 may be an artificial satellite, a control station such as an aircraft, or a fixed communication facility, but may be a mobile ground station such as a vehicle that can communicate with the flying object 10. The monitoring target includes sea level height monitoring in the vicinity of harbor facilities, but it is also applicable to crustal movement monitoring on land.
[0026]
【The invention's effect】
According to the first aspect of the present invention, it is possible to remotely monitor a monitoring object that moves over a wide range without the monitoring person following it, and to check the current state and position information of the monitoring object.
In addition, it is possible for the supervisor to grasp the status of the monitored object and track its position in the event of an emergency such as theft by remotely monitoring the object to be moved over a wide area by using information emitted from the monitored object.
[0027]
According to the second aspect of the present invention, it is possible to confirm the current status and position information of a monitored object that travels over a wide range even from a remote location, and information such as an appropriate moving route that avoids traffic congestion on the monitored object. Can be shown.
[0028]
According to the third aspect of the invention, it is possible for the monitor side to acquire information related to intrusion, fire, etc. into the monitored area even from a remote location.
[0029]
According to the fourth aspect of the present invention, it is possible to monitor the flying object approaching the monitoring target area even from a remote location, and to acquire information on threats on the monitor side.
[0030]
According to the fifth aspect of the invention, it is possible to monitor the wave height of the sea level even from a remote location, and to detect information on the wave height or the like on the monitor side by detecting an abnormal change in the sea level.
[Brief description of the drawings]
FIG. 1 is a configuration diagram according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram in a second embodiment of the present invention.
FIG. 3 is a configuration diagram in a third embodiment of the present invention.
FIG. 4 is a configuration diagram in a fourth embodiment of the present invention.
FIG. 5 is a configuration diagram according to a fifth embodiment of the present invention.
FIG. 6 is a software processing flow diagram according to the first embodiment.
FIG. 7 is a software processing flowchart according to the second embodiment.
FIG. 8 is a software processing flowchart according to the third embodiment.
FIG. 9 is a software processing flowchart according to the fourth embodiment.
FIG. 10 is a software processing flowchart according to the fifth embodiment.
FIG. 11 is a configuration diagram of a conventional monitoring device.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Monitoring apparatus housing | casing, 2 imaging equipment, 3 signal processing equipment, 4 display equipment, 10 flying object, 11a imaging part, 11b infrared camera, 12 visual field change machine, 13 2nd receiving part, 14 2nd transmission part , 15 First signal processing unit, 16 Radar device, 17 Second position measurement device, 18 Laser oscillation device, 19 Light receiving unit, 21 First position measurement device, 22 First transmission unit, 23 First reception Unit, 24 second display unit, 31 operation control unit, 32 recorder, 33 ground station, 34 first memory, 35 second memory, 36 third memory, 37 second signal processing unit, 42 first Display part.

Claims (7)

In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that navigate the earth over a predetermined altitude, and a fixed or moving communication facility that exchanges information with the flying object,
The monitoring object includes a first position measurement unit that measures the position of the monitoring object, and a first transmission unit that transmits the position of the monitoring object to the flying object,
The flying object includes a receiving unit that receives a command from the communication facility and a position of the monitoring object from the first transmitting unit, a second position measuring device that measures the position of the flying object, and the command. A signal processing unit that executes the following, a visual field changing unit that changes the visual field of the imaging unit according to the command, an imaging unit that acquires image data of the earth surface in the changed visual field, the position of the monitoring object, and the A second transmission unit that transmits the image data acquired by the imaging unit to each of the communication facilities,
The communication facility calculates the moving target coordinates and imaging field of view of the flying object so that the imaging object is always captured by the imaging unit based on the ground station that exchanges information with the flying object and the position data of the flying object and the monitoring object. A memory storing software, and an operation control unit that calculates the movement target coordinates of the flying object and the imaging field of view of the imaging unit using the software, and controls the flying object via the ground station. A monitoring device characterized by. In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that navigate the earth over a predetermined altitude, and a fixed or moving communication facility that exchanges information with the flying object,
The monitoring object includes a first position measurement unit that measures the position of the monitoring object, a first transmission unit that transmits the position of the monitoring object to the flying object, and a traffic jam avoidance route from the flying object. And a first receiving unit for receiving
The flying object includes a receiving unit that receives a command from the communication facility and a position of the monitoring object from the first transmitting unit, a second position measuring device that measures the position of the flying object, and the command. A signal processing unit that executes the following, a visual field changing unit that changes the visual field of the imaging unit according to the command, an imaging unit that acquires image data of the earth surface in the changed visual field, the position of the monitoring object, and the A second transmission unit that transmits image data acquired by the imaging unit to each of the communication facilities, and transmits a traffic avoidance route from the communication facility to the monitoring target;
The communication facility includes a ground station that exchanges information with the flying object, a first memory that stores a geographic information database that describes geographical information and road information of various places on the earth, and the position of the flying object and the monitoring object. Second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object so that the imaging object is always captured by the imaging unit based on the data, and the moving target coordinates of the flying object and the imaging using the software The operation control unit that calculates the imaging field of view of the unit and controls the flying object via the ground station, extracts the traffic jam location based on the image data acquired by the imaging unit and the geographic information database, and A traffic jam avoidance route is determined from the position and the traffic jam location, and the traffic jam avoidance route is transmitted to the flying object via the ground station. Monitoring apparatus characterized by comprising a signal processing unit. In a monitoring device comprising a moving monitoring object, a single or a plurality of flying objects that navigate the earth over a predetermined altitude, and a fixed or moving communication facility that exchanges information with the flying object,
The monitoring object includes a first position measurement unit that measures the position of the monitoring object, and a first transmission unit that transmits the position of the monitoring object to the flying object,
The flying object includes a receiving unit that receives a command from the communication facility and a position of the monitoring object from the first transmitting unit, a second position measuring device that measures the position of the flying object, and the command. A signal processing unit that executes the following, a field changing unit that changes the field of view of the imaging unit and the infrared camera according to the command, an imaging unit that acquires image data of the earth surface in the changed field of view, and the changed type An infrared camera for acquiring infrared image data of the earth surface in the field of view; and a second transmission unit for transmitting the position of the monitoring object, the image data, and the infrared image data to the communication facility. Equipped,
The communication facility includes a ground station that exchanges information with the flying object, a first memory that stores a geographic information database that describes geographical information and road information of various places on the earth, and the position of the flying object and the monitoring object. A second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object so that the monitoring object is always captured by the imaging unit and the infrared camera based on the data, and the moving object using the software Calculate the target coordinates and the imaging field of view of the imaging unit, and control the flying object via a ground station, and image processing based on image data acquired by the imaging unit and the infrared camera. A monitoring apparatus comprising: a second signal processing unit that identifies a moving object and recognizes a physical change of a monitoring target such as a fire. In a monitoring device comprising a single or a plurality of flying objects navigating over the earth at a predetermined altitude, and a fixed or mobile communication facility that exchanges information with the flying objects,
The flying object changes a field of view of the radar apparatus according to a command from a ground station, a radar apparatus that directs a moving monitoring object, a position measuring apparatus that measures a three-dimensional position of the flying object on the earth, and the like. Field of view changer, receiving unit for receiving a command from the ground station, transmitting unit for transmitting image information acquired by the radar device to the ground station, and executing a command from the ground station via the receiving unit 1 signal processing unit,
The communication facility is acquired by a ground station that exchanges information with the flying object, a first memory that stores a geographic information database that describes geographical information and road information of each place on the earth, and the flying object and the radar device. A second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object so that the radar apparatus always captures the monitoring object based on the position data of the monitoring object extracted by comparing the image data before and after; A third memory that stores information that defines the area of the monitoring object, a fourth memory that stores a database describing radar reflection characteristics of flying objects such as birds and airplanes, and the third memory. Of the moving target coordinates of the flying object and the imaging field of view of the radar device using the stored database and software stored in the second memory And an operation control unit that displays the position of the flying object in the monitoring object on the display unit together with the map information data stored in the first memory and controls the flying object via the ground station, and the radar The receiving means for receiving the radar reflection data acquired by the apparatus via the ground station, the data acquired by the radar apparatus and the database stored in the fourth memory are compared, and the moving object is specified. A monitoring apparatus comprising: 2 signal processing units; and a display unit that displays image information obtained from the radar device and information from the operation control unit and is monitored by a supervisor. In a monitoring device comprising a single or a plurality of flying objects navigating over the earth at a predetermined altitude, and a fixed or mobile communication facility that exchanges information with the flying objects,
The flying object includes a position measurement device that measures a three-dimensional position on the earth, a laser oscillation device that is directed substantially perpendicular to the surface of the earth, and a laser beam emitted from the laser oscillation device toward the ground surface. A light receiving unit for receiving the reflection of the laser beam, a receiving unit for receiving the command from the ground station, and executing a command from the ground station via the receiving unit to measure the time delay of the oscillation of the laser beam and the reception of the reflected light A first signal processing unit, and a transmission unit that transmits the position coordinate information of the flying object and the time delay data measured by the first signal processing unit to the ground station,
The communication facility always calculates the target coordinates for moving the flying object so that the object to be monitored is vertically captured by the laser oscillation apparatus, and analyzes the directivity direction of the laser oscillation apparatus based on the coordinates to detect the flying object. An operation control unit for controlling via a ground station, a ground station for exchanging information with the flying object, a first memory storing a geographic information database describing geographical information and road information for each place on the earth, and the flying object A second memory storing software for calculating the moving target coordinates and imaging field of view of the flying object so that the ground surface of the monitored object area is always vertically captured by the laser oscillator based on the position data; The height of the ground surface is calculated from the third memory storing the information defining the laser, the reception time delay data of the laser light acquired from the first signal processing unit, and the data of the position measuring device. A second signal processing unit for calculating the image, a ground surface height calculated by the second signal processing unit and a geographic information database stored in the first memory, and a monitor for monitoring. And a monitoring device. In a monitoring device comprising a single or a plurality of flying objects for navigating over the earth at a predetermined altitude, and monitoring a moving monitoring object on the ground,
The above flying object is
Position data of the flying object, the position data of the monitoring object, the ground station that receives the image data captured by the imaging unit of the flying object, and the position data of the flying object and the monitoring object And a memory storing software for calculating the moving target coordinates and imaging field of the flying object so that the imaging object is always captured by the imaging unit, and the moving target coordinates of the flying object and the imaging field of view of the imaging unit using the software. And an operation control unit that controls the flying object via the ground station, and a command transmitted from the ground communication facility to the flying object and the monitoring target is directed to the flying object. A receiver for receiving the position of the monitored object to be transmitted,
A position measuring device for measuring the position of the flying object;
A signal processing unit for executing the command;
A field-of-view changing unit that changes the field of view of the imaging unit according to the command;
An imaging unit for acquiring image data of the earth surface in the changed field of view;
A monitoring apparatus comprising: a second transmission unit that transmits the position of the monitoring object and the image data acquired by the imaging unit to the communication facility. In a monitoring device that has a fixed or mobile communication facility for exchanging information with a single or a plurality of flying objects that travel over the earth, and that monitors moving objects on the ground,
The above communication facilities
A receiving unit that receives a command from the communication facility and a position of the monitoring target that the monitoring target transmits to the flying object, a position measuring device that measures the position of the flying object, and the command are executed. A signal processing unit, a visual field changing unit that changes the visual field of the imaging unit according to the command, an imaging unit that acquires image data of the earth surface in the changed visual field, the position of the monitoring object, and the imaging unit A ground station that exchanges the position data of the flying object, the position data of the monitoring object, and the image data between the flying objects each having a transmission unit that transmits the acquired image data to the communication facility. ,
A memory unit that stores software for calculating the moving target coordinates and imaging field of view of the flying object so that the imaging object is always captured by the imaging unit based on the position data of the flying object and the monitoring object;
An operation control unit that calculates the moving target coordinates of the flying object and the imaging field of view of the imaging unit using the software and controls the flying object via the ground station;
A monitoring device comprising:

Images