JP6385859B2 - Flying object guidance system, flying object, flying object guidance method, and guidance control program - Google Patents

Description

  The present invention relates to a flying object guidance system, a flying object, a flying object guidance method, and a guidance control program, and more particularly to a flying object image guidance technique.

  Image guidance is known as a method for guiding a flying object to a target. In the image guidance, a target is extracted from an image captured with visible light or infrared light, and the flying object is guided toward the target.

  A guidance device that performs image guidance is described in, for example, Japanese Patent Laid-Open No. 9-170898 (see Patent Document 1). In the guidance device described in Patent Document 1, the target image selected by the pilot in advance is searched from the captured image of the flying object by matching the captured image of the base infrared imaging device with the captured image of the flying object. The flying object performs a tracking process on the target found from its captured image.

JP-A-9-170898

  The guidance device described in Patent Literature 1 collates an image captured by the mother machine with an image captured by the flying object for target extraction. At this time, the image converter calculates the difference in relative distance and angle from the target at the time of flying object image acquisition, and the difference in the angle of view between the mother aircraft and the flying object, and converts the captured image of the flying object. Is done. In the matching process, the target is extracted from the captured image of the flying object by comparing the feature value of the target area acquired from the captured image by the mother machine with the feature value in the captured image (converted image) of the flying object. .

  In the guidance device of Patent Document 1, a target is automatically extracted from an image captured by a flying object using an image captured by a mother machine in which a target is specified in advance. This makes it possible not only to extract and identify targets even under complicated backgrounds such as the ground, but also to automatically track the target selected by the base pilot or archer from among a large number of similar target groups. .

  However, if the converted image used for the collation process for target extraction or the feature quantity of the target area is significantly different from the image captured by the flying object or the feature quantity acquired from it, the target extraction accuracy may be lowered. There is. For example, when the brightness of the captured image is low due to the weather or when the conversion accuracy of the image is low, the captured image of the mother machine and the converted image may not be accurately matched. In such a case, the flying object tracks a target different from the desired target.

  Therefore, an object of the present invention is to provide a flying object guiding system, a flying object, a flying object guiding method, and a program thereof that improve the flying object guiding accuracy.

  In order to solve the above problems, the present invention employs the means described below. In the description of technical matters constituting the means, in order to clarify the correspondence between the description of [Claims] and the description of [Mode for Carrying Out the Invention] The number / symbol used in [Form] is added. However, the added numbers and symbols should not be used to limit the technical scope of the invention described in [Claims].

  In one aspect, a flying object guidance system according to the present invention includes a flying object (1) and a command device (2). The flying object (1) includes an image sensor (11), an image analysis unit (12), a transmission unit (151), a reception unit (152), and a guidance control unit (13). The image sensor (11) captures an image (110) and outputs it as an acquired image (110). The image analysis unit (12) extracts the lock-on candidate (100) from the image (110) acquired by the image sensor (11). The transmission unit (151) transmits the target identification information (200) for identifying the lock-on candidate (100) on the acquired image (110) and the acquired image (110) to the command device (2). The receiving unit (152) receives the setting information from the command device (2). When the guidance control unit (13) receives the received setting information, the guidance control unit (13) sets the lock-on target (400) of the flying object (1) based on the setting information and flies against the lock-on target (400). Image guidance of the body (1) is performed. The command device (2) includes a display device (22), a user interface (23), and a flying object control device 21. The display device (22) displays an image obtained by adding the target identification display (220) generated based on the target identification information (200) to the acquired image (110) as the target extracted image (6). The user interface (23) outputs a designation signal that designates the target in the target extracted image (6) as the lock-on target (400) of the flying object (1) according to the operation by the user. The flying object control device (21) transmits, to the flying object (1), setting information for designating an in-image target to be locked on (400) in the acquired image (110) based on the designation signal.

  With the configuration as described above, the user using the commanding device 1 can confirm the lock-on candidate (100) extracted as the image guidance target candidate on the display device (22) and operate the user interface (23). By doing so, the lock-on object (400) of the flying object (1) can be set.

  In another aspect, the flying object (1) according to the present invention includes an image sensor (11), an image analysis unit (12), a transmission unit (151), a reception unit (152), and a guidance control unit (13). . The image sensor (11) captures an image and outputs it as an acquired image (110). The image analysis unit (12) extracts the lock-on candidate (100) from the image (110) acquired by the image sensor (11). The transmission unit (151) transmits the target identification information (200) for identifying the lock-on candidate (100) on the acquired image (110) and the acquired image (110) to the command device (2). The receiving unit (152) receives the setting information from the command device (2). When receiving the received setting information, the guidance control unit (13) sets the lock-on target (400) based on the setting information, and performs image guidance on the lock-on target (400). Here, in the command device (2), when the target in the acquired image (110) is designated as the lock-on target (400) of the flying object (1), the setting information is stored in the acquired image (110). Information that designates the target as the lock-on target (400) is included.

  With the configuration as described above, the flying object (1) according to the present invention extracts the lock-on candidate (100), displays it on the command device (2), and displays the setting information from the command device (2). Based on this, the lock-on target (400) can be set. Thereby, the user of the command device (2) can confirm the lock-on candidate (100) extracted by the flying object (1) and can set the lock-on target (400) of the flying object (1).

  In still another aspect, the flying object guiding method according to the present invention includes a step of acquiring an image and outputting it as an acquired image (110), and a step of extracting a lock-on candidate (100) from the acquired image (110). Transmitting the target identification information (200) for identifying the lock-on candidate (100) on the acquired image (110) and the acquired image (110) to the command device (2); and the command device (2) When receiving the setting information from the step and the received setting information, the lock-on target (400) of the flying object (1) is set based on the setting information, and the lock-on target (400) is set. Performing image guidance. In the commanding device (2), when the target in the acquired image (100) is designated as the lock-on target (400) of the flying object (1), the setting information locks on the target in the acquired image (110). Contains information specified as the target (400).

  By the method as described above, the flying object (1) according to the present invention extracts the lock-on candidate (100), displays it on the command device (2), and displays the setting information from the command device (2). Based on this, the lock-on target (400) can be set. Thereby, the user of the command device (2) can confirm the lock-on candidate (100) extracted by the flying object (1) and can set the lock-on target (400) of the flying object (1).

  The flying object guidance method according to the present invention is preferably realized by a guidance control program recorded in a storage device and executed by a computing device.

  According to the present invention, it is possible to improve the flying object guidance accuracy.

FIG. 1 is a diagram showing an example of the configuration of a flying object guidance system according to the present invention. FIG. 2 is a diagram showing an example of the configuration of the flying object according to the present invention. FIG. 3 is a functional block diagram showing an example of the configuration of the image analysis unit according to the present invention. FIG. 4 is a schematic diagram showing an example of the lock-on candidate extraction operation according to the present invention. FIG. 5 is a flowchart showing an example of the image correction operation according to the present invention. FIG. 6 is a flowchart showing an example of the extraction image generation operation according to the present invention. FIG. 7 is a conceptual diagram showing an example of the target extraction operation according to the present invention. FIG. 8 is a diagram illustrating an example of the target extraction image displayed by the acquired image and target identification information transmitted from the flying object to the commanding device after target extraction. FIG. 9A is a diagram illustrating an example of an acquired image and target identification information transmitted from the flying object to the command device during image guidance. FIG. 9B is a diagram illustrating another example of an acquired image and target identification information transmitted from the flying object to the command device during image guidance. FIG. 10 is a diagram illustrating an example of an acquired image transmitted to the command device when the target is reached. FIG. 11 is a diagram showing an example of the configuration of the command device according to the present invention. FIG. 12 is a diagram showing an example of the state change of the flying object according to the present invention. FIG. 13 is a flowchart showing a first embodiment of the image guiding operation of the flying object according to the present invention. FIG. 14 is a flowchart showing a first modification of the first embodiment of the image guiding operation of the flying object according to the present invention. FIG. 15 is a flowchart showing a second modification of the first embodiment of the flying object image guiding operation according to the present invention. FIG. 16 is a diagram illustrating an example of the target extraction image when approaching the target. FIG. 17 is a flowchart showing a second embodiment of the image guiding operation of the flying object according to the present invention. FIG. 18 is a diagram showing an example of the structure of the target table according to the present invention. FIG. 19 is a diagram showing an operation example of the flying object guidance system according to the present invention. FIG. 20 is a diagram showing another example of the structure of the target table according to the present invention. FIG. 21 is a diagram showing still another example of the structure of the target table according to the present invention. FIG. 22 is a diagram showing an example of a target change screen according to the present invention. FIG. 23 is a flowchart showing a modification of the second embodiment of the image guiding operation of the flying object according to the present invention. FIG. 24 is a diagram showing an example of the target extraction image displayed on the display device according to the present invention.

(Overview)
The outline of the flying object guidance system according to the present invention will be described with reference to FIG. The flying object guidance system according to the present invention includes a flying object 1, a command device 2, and a launching device 3. The flying object 1 acquires an image around the target by the image sensor directed toward the target 4, extracts lock-on candidates from the acquired image, and notifies the command device 2. The command device 2 displays the image notified from the flying object 1 and the extracted lock-on candidates so as to be visible. The user can grasp the lock-on extracted by the flying object 1 with reference to the screen displayed on the command device 2. Further, the user sets the lock-on target of the flying object 1 by operating the command device 2. For example, when the user approves the lock-on candidate extracted by the flying object 1, the command device 2 sets the lock-on candidate as a lock-on target of the flying object 1 (lock-on). The flying object 1 is image-guided toward the set lock-on target.

  According to the present invention, the user can confirm an image captured by the flying object 1 and lock-on candidates extracted from the image. In addition, since the user can set the target of image guidance (lock-on target) of the flying object 1, even if the flying object 1 fails to extract the target, it can be changed to the correct target. Furthermore, since the lock-on candidates are extracted by the flying object 1, the user approves the extracted lock-on candidates as lock-on targets without searching for the target in the image to be locked-on, The lock-on target can be set. For this reason, even when the time from when the user confirms the captured image by the flying object 1 to when the lock-on target is set is short, the lock-on target can be easily set.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

1. First Example (System Configuration)
With reference to FIG. 1, the structure of the flying object guidance system in 1st Example is demonstrated. The flying object guidance system in the first embodiment includes a flying object 1, a command device 2, a launching device 3, and a communication satellite 5.

  The flying object 1 is launched from the launching device 3 under the control of the commanding device 2 and automatically travels toward the target 4. The flying body 1 automatically navigates by inertial guidance, and switches to image guidance in the vicinity of the target 4 to reach the target 4. The flying object 1 is exemplified by an unmanned aerial vehicle (UAV), a missile, a space rocket, and a spacecraft. When the flying object 1 is an unmanned aerial vehicle, the launcher 3 can be omitted.

  The flying object 1 and the command device 2 are connected for communication via a wireless line. In the example shown in FIG. 1, the flying object 1 and the command device 2 are connected by a wireless line via the communication satellite 5. For example, in the case where the distance between the target 4 and the commanding device 2 is long and the communication between the flying object 1 and the commanding device 2 is easily affected by the features, the flying object 1 and the commanding device 2 It is preferable to use the satellite communication 5 for communication between them.

  The command device 2 and the launch device 3 are connected by a wireless or wired communication line. The launching device 3 launches the flying object 1 in response to the launch command output from the commanding device 2. The command device 2 shown in FIG. 1 is fixedly installed on the ground, but is not limited thereto, and may be provided in a moving body such as a vehicle, a boat, an aircraft, or a spacecraft. The launching device 3 may be provided separately from the command device 2 as shown in FIG. 1 or may be mounted on the same moving body together with the command device 2.

  In the flying object guidance system shown in FIG. 1, as an example, each of the flying object 1, the command device 2, the launching device 3, and the communication satellite 5 is provided, but the number of each is not limited thereto. Absent. For example, a plurality of launch devices 3 may be connected to one command device 2. In this case, the command device 2 controls the launching of the plurality of flying bodies 1 from the plurality of launching devices 3. Alternatively, communication between the flying object 1 and the command device 2 may be performed via a plurality of communication satellites 5. Further, the communication between the flying object 1 and the command device 2 may be performed via a ground relay device (not shown).

  The target 4 indicates a moving body or a feature that the flying body 1 should reach. Specifically, the target 4 is exemplified for a moving body exemplified by vehicles, boats, other flying objects, etc., or by terrain exemplified by rivers, mountains, rocks, etc., or roads, bridges, airports, buildings. Or a member (for example, a docking mechanism of a spacecraft) in a building to be moved or a moving body or building.

(Composition of flying object)
With reference to FIG.2 and FIG.3, the detail of a structure of the flying body 1 is demonstrated. FIG. 2 is a diagram illustrating an example of the configuration of the flying object 1 in the first embodiment.

  With reference to FIG. 2, the flying object 1 includes an arithmetic processing device 10, an image sensor 11, a flying control device 14, a storage device 16, and a communication device 15. The arithmetic processing device 10 is exemplified by a CPU, and implements the functions of the image analysis unit 12 and the guidance control unit 13 by executing the guidance control program 160 recorded in the storage device 16.

  The image sensor 11 is exemplified by a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image sensor 11 electrically converts an image using infrared light or visible light, and outputs the obtained image 110 to the image analysis unit 12. To do. The image sensor 11 captures an image in the target direction in accordance with a control signal from the guidance control unit 13. Specifically, when the distance between the flying object 1 and the target 4 is within a predetermined distance, the guidance control unit 13 determines the position coordinates (position on the map), altitude, posture, and target 4 of the flying object 1. Based on the position coordinates (coordinates on the map) and the altitude thereof, the imaging direction of the image sensor 11 is controlled to the direction of the target 4 to start imaging. The image sensor 11 captures images in four target directions continuously from the start of imaging or at predetermined intervals.

  The flying control device 14 includes a thrust control device exemplified by a jet engine and a rocket motor, and a flying control blade exemplified by a steering wing, and the speed of the flying object 1 is determined based on a command from the guidance control unit 13. , Control acceleration, flying direction, attitude.

  The communication device 15 includes a transmission unit 151 and a reception unit 152, and controls communication between the flying object 1 and an external device. In this example, the communication device 15 controls communication between the command device 2 and the arithmetic processing device 10 via the communication satellite 5. Specifically, the transmission unit 151 transmits the acquired image 110 analyzed by the image analysis unit 12 and target identification information 200 that identifies the lock-on candidate 100 extracted from the acquired image 110 to the command device 2. The receiving unit 152 receives the setting information transmitted from the command device 2 and outputs it to the guidance control unit 13. The receiving unit 152 may receive a radio wave from a GPS (Global Positioning System) satellite (not shown) and output it to the guidance control unit 13 as a GPS signal.

  In general, since a satellite channel has a small communication capacity, it is preferable that data transmitted / received between the communication device 15 and the command device 2 is subjected to processing for capacity reduction by the arithmetic processing device 10. For example, the image data exemplified in the acquired image 110 is preferably subjected to processing such as image compression and resolution reduction by a compression method according to a predetermined protocol.

  The storage device 16 is an external storage device that is exemplified by a semiconductor memory and has a storage area for recording a calculation result by the calculation processing device 10. In addition, a guidance control program 160, a condition image 201, and target position information 202 are recorded in the storage device 16 in advance.

  The condition image 201 is an image including the target 4 imaged in advance and its peripheral area. For example, an image captured from above the target 4 using an aircraft or satellite (not shown) is recorded in the storage device 16 in advance as the condition image 201. Further, the condition image 201 includes information for specifying the target 4 included in the condition image 201 and characteristic features around the target. This information includes, for example, the identifier of each of the target 4 and the characteristic feature and the position coordinates on the condition image 201. The feature features are features that are easily highlighted on the image captured by the image sensor 11 without being buried by surrounding features or background noise. For example, features that can be detected separately from vegetation and surrounding features, such as road intersections, river junctions, large buildings such as bridges and airports, are set as feature features.

  The target position information 202 includes information on the flight route from the launcher 3 to the target 4, the surrounding topographic map (map information), and the position coordinates and height of the target 4 in the geographical coordinate system.

  The image analysis unit 12 analyzes the acquired image 110 using the condition image 201 and extracts a lock-on candidate 100 that is a target candidate for image guidance. Here, the lock-on candidate 100 indicates a target (also referred to as an in-image target) on an image that has not been approved by the user who operates the command device 2. The lock-on candidate 100 in the present embodiment is set as a lock-on target 400 that is a target of image guidance by being approved by the user.

  The image analysis unit 12 according to the present invention uses a target image (also referred to as an intra-image target candidate) on the acquired image 110 as a lock-on candidate 100 using the condition image 201 captured in advance and the acquired image 110 obtained by the image sensor 11. Extract. At this time, the image analysis unit 12 according to this example generates an extraction image 204 optimum for target extraction from the condition image 201 using a genetic algorithm. The image analysis unit 12 specifies the lock-on candidate 100 on the acquired image 110 by applying the positional relationship between the target in the extraction image 204 and the characteristic feature described later to the acquired image 110.

  The guidance control unit 13 determines the speed, acceleration, direction, and posture of the flying body 1 by controlling the steering and thrust of the flying control device 14. At this time, the guidance control unit 13 determines the speed, acceleration, direction, and posture of the flying object 1 based on the current position of the flying object 1 and a predetermined flight route. Further, the guidance control unit 13 determines the imaging direction and imaging timing of the image sensor 11 based on the position, posture, flight path, target 4 position, and the like of the flying object 1. Here, it is preferable that the guidance control unit 13 grasps the current position of the flying object 1 based on the speed, altitude, flying time, GPS signal, and the like measured by a sensor (not shown) of the flying object 1.

  The guidance control unit 13 guides the flight 1 to the predetermined position by inertial navigation, and switches to image guidance at the predetermined position. The switching timing from inertial guidance (intermediate guidance) to image guidance (terminal guidance) may be determined according to whether or not a predetermined position has been reached, or may be determined based on the flight time from launch. Here, it is preferable that the presence or absence of the predetermined position is calculated based on the distance between the flying object 1 and the target 4, the speed, altitude, and posture of the flying object 1.

  At the time of inertial guidance, the guidance control unit 13 is based on the position A (X, Y, Z) of the target 4 (geographic system coordinates and altitude), the scheduled flight route, and the current position of the flying object 1. The flying control device 14 is controlled to guide the flying object 1 to the target 4.

  At the time of image guidance, the guidance control unit 13 controls the flying control device 14 so that the flying object 1 is directed toward the target in the image set as the lock-on target 400 on the acquired image 110. Details of setting the lock-on target 400 (also referred to as lock-on) and image guidance will be described later.

(Details of Configuration and Operation of Image Analysis Unit 12)
The details of the configuration and operation of the image analysis unit 12 will be described with reference to FIGS. FIG. 3 is a functional block diagram showing an example of the configuration and operation of the image analysis unit 12 according to the present invention. FIG. 4 is a schematic diagram showing an example of the lock-on candidate extraction operation according to the present invention. Referring to FIG. 3, the image analysis unit 12 includes an image correction unit 121, an extraction image generation unit 122, a target extraction unit 123, and a target identification unit 124.

  With reference to FIGS. 3 and 4, the image analysis unit 12 generates a corrected image 120 obtained by correcting the acquired image 110. The extraction image generation unit 122 generates an extraction image 204 obtained by converting the condition image 201 into the eye line of the image sensor 11 using the corrected image 120. The target extraction unit 123 applies the target position in the extraction image 204 to the acquired image 110, identifies the target (target in the image) on the acquired image 110, and extracts it as the lock-on candidate 100. The target identification unit 124 generates target identification information 200 for identifying the lock-on candidate 100 in the acquired image 110.

  Details of the operations of the image correction unit 121, the extraction image generation unit 122, the target extraction unit 123, and the target identification unit 124 will be described below.

(Image correction unit 121)
3 and 4, the image correction unit 121 performs feature extraction by image correction on the acquired image 110 to generate a corrected image 120. Specifically, the image correction unit 121 performs noise removal, edge detection, and binarization processing on the acquired image 110 to generate a corrected image 120. As a noise removal method, any of edge preservation smoothing, noise removal by a median filter, a weighted moving average method, and the like can be used. As an edge detection method, either edge detection by a Laplacian filter (edge detection by a difference operator) or edge detection by a Prewitt filter (edge detection by template matching) can be used. As a binarization method, any one of a dynamic threshold method, a discriminant analysis method, and a mode method can be used.

  The number, order, and method of noise removal, edge detection, and binarization processing in the main image correction can be arbitrarily selected depending on processing time for extracting the lock-on candidate 100 and target extraction accuracy. For example, as illustrated in FIG. 5, the image correction unit 121 performs first noise removal (step S11), edge detection (step S12), second noise removal (step S13), and binary on the acquired image 110. Correction processing is performed in the order of the conversion processing (step S14). As a specific example, the image correction unit 121 performs noise removal by edge preservation smoothing on the acquired image 110 in step S11. Subsequently, in step S12, the image correction unit 121 performs edge detection using a Prewitt filter on the image after noise removal. Further, the image correcting unit 121 performs edge detection by the weighted moving average method again in step S13, and generates a corrected image 120 by performing binarization processing by the dynamic threshold method in step S14.

(Extraction image generator 122)
With reference to FIGS. 3 and 4, the extraction image generation unit 122 generates a plurality of solution candidate images 203 from the condition image 201 according to a genetic algorithm, and each of the plurality of solution candidate images 203 and the corrected image 120. And background matching. Here, the extraction image generation unit 122 outputs the solution candidate image 203 having the highest matching rate with the corrected image 120 among the plurality of solution candidate images 203 as the extraction image 204.

  FIG. 6 is a flowchart showing an example of the extraction image generation operation according to the present invention. With reference to FIG. 6, an example of the extraction image generation operation by the extraction image generation unit 122 will be described.

  The extraction image generation unit 122 affine-transforms the condition image 201 using the flying profile indicating the current state of the flying object 1 to generate a plurality of solution candidate images 203 of the line of sight of the image sensor 11 (step S21). . The flying profile includes information such as the current position (geographical coordinates and altitude) of the flying object 1, the flying direction, the imaging direction of the image sensor 11, the flying speed, and the posture. The extraction image generation unit 122 sets a conversion parameter for affine transformation from the condition image 201 to the solution candidate image 203 based on the flight profile. The conversion parameters set here are, for example, an image rotation angle, a scale magnification, and a center position. The extraction image generation unit 122 rotates the condition image 201 at the set rotation angle, changes the image size (scale) of the condition image 201 at the set scale magnification, and places the condition image 201 at the set center position. The solution candidate image 203 is generated by moving.

  In the subsequent processing of steps S22 to S29, the extraction image generation unit 122 generates a plurality of solution candidate images 203 by the genetic algorithm using the above-described conversion parameters as chromosomes, and the solution candidate images 203, the corrected images 120, and the like. The optimal solution image having the highest fitness is acquired as the extraction image 204 by performing the above-described matching and generation change of the solution candidate images.

  Hereinafter, a specific example of the generation process of the extraction image 204 will be described. In step S <b> 21, the extraction image generation unit 122 mutates the conversion parameter (chromosome) set based on the flight profile to obtain a predetermined number K (k> L) of solution candidate images 203 (individuals). Generate.

  Subsequently, the extraction image generation unit 122 randomly selects L solution candidate images 203 from the k solution candidate images 203 (step S22). The extraction image generation unit 122 calculates the fitness of each of the L solution candidate images 203 selected (step S23). The fitness calculated here is indicated by, for example, the degree of matching (matching rate) between the solution candidate image 203 and the corrected image 120.

  The extraction image generation unit 122 selects M (M <L) solution candidate images 203 having high fitness (for example, matching) as parent individuals (step S24). Subsequently, the extraction image generation unit 122 performs a genetic operation on the selected parent individual, and mutates the conversion parameter (chromosome) to generate L child individuals as new solution candidate images 203 (step S25). ). For example, the extraction image generation unit 122 replaces the bit string of the solution candidate image 203 that is a parent individual with another solution candidate image 203 to generate the solution candidate image 203 that is a child individual (mating). Alternatively, the extraction image generation unit 122 generates a solution candidate image 203 that is a child individual by mutating the bit string of the solution candidate image 203 that is a parent individual (mutation). Alternatively, in step S25, genetic manipulation may be performed by combining both mating and mutation.

  Similar to step S23, the extraction image generation unit 122 calculates the fitness of each of the L solution candidate images 203 (step S26).

  When performing the genetic manipulation, the extraction image generation unit 122 increments the generational change number i by one (step S26). At this time, step S23 to step S26 are repeated until the generation change number i reaches the preset generation number N (No in step S27).

  When the generational change number i reaches the preset generation number N in step S27, the extraction image generation unit 122 ends the gene manipulation processing from step S23 to step S26, and the solution candidate having the highest fitness (matching degree) is obtained. The image 203 is extracted as the extraction image 204 (step S29).

  As described above, the extraction image generation unit 122 changes the rotation angle, scale, and center position of the pre-captured condition image 201, thereby extracting the extraction image having the highest degree of matching (matching rate) with the acquired image 110. 204 can be generated.

  In this embodiment, since the extraction image 204 is generated using a genetic algorithm, it is possible to acquire the extraction image 204 having a high degree of coincidence in a short period of time compared to the brute force pattern matching method. it can.

  The processing time for generating the extraction image 204 depends on the number of individuals L and the number of generations N when a genetic algorithm is used. On the other hand, in order to increase the degree of coincidence between the extraction image 204 and the acquired image 110, it is necessary to increase the number of individuals L and the number of generations N. That is, the processing time and the accuracy of the degree of coincidence are in a trade-off relationship. In consideration of this relationship, it is necessary to design the number L of individuals and the number N of generations.

  If the degree of coincidence between the solution candidate image 203 and the acquired image 110 exceeds a predetermined value, the process proceeds to step S29 even if the generation change number i does not reach the generation number N, and the solution candidate with the highest degree of coincidence is obtained. The image 203 may be the extraction image 204. For example, when the threshold value of the matching degree is set to 80%, the extraction image generating unit 122 selects the solution candidate images 203 having a matching degree exceeding 80% even if the generation change number i is smaller than the generation number N. Extracted as an extraction image 204. In this case, it is possible to acquire the extraction image 204 having a desired matching degree in a shorter time than the assumed time.

(Target extraction unit 123)
Referring to FIG. 4, the condition image 201 includes information (for example, position coordinates on the condition image 201) for specifying the positions of the target T0 and the feature feature T1. Therefore, the extraction image 204 generated by converting the condition image 201 also includes information (for example, position coordinates on the extraction image 204) for specifying the positions of the target T0 and the feature feature T1. Since the extraction image 204 is generated by converting the condition image 201 according to a predetermined conversion parameter, the target T0 and the feature feature T1 on the extraction image 204 are also converted according to similar conversion parameters.

  3 and 4, the target extraction unit 123 applies the positional relationship between the target T0 and the feature features T1 and T2 included in the extraction image 204 to the acquired image 110, and targets candidates on the acquired image 110 Are extracted as lock-on candidates 100.

  FIG. 7 is a conceptual diagram showing an example of the target extraction operation according to the present invention. An example of the target extraction operation will be described with reference to FIG. The extraction image 204 shown in FIG. 7A includes information (for example, position coordinates in the image) that specifies the positions of the target T0 and the feature features T1 and T2. In this example, the characteristic feature T1 indicates an intersection of roads, and the characteristic feature T2 indicates an artificial building. The positional relationship on the image between the target T0 and the feature feature T1 is indicated by the distance L1 between the target T0 and the feature feature T1, and the azimuth α1 of the target T0 viewed from the feature feature T1. Similarly, the positional relationship on the image between the target T0 and the feature feature T2 is indicated by the distance L2 between the target T0 and the feature feature T2, and the azimuth α2 of the target T0 viewed from the feature feature T2.

  The feature features are features that can be highlighted on the acquired image 110 without being buried in the background or the like. For this reason, the target extraction unit 123 can specify the feature feature corresponding to the feature feature in the extraction image 204 in the acquired image 110. For example, referring to FIG. 7B, the target extraction unit 123 collates the extraction image 204 and the acquired image 110, and specifies the positions of the feature features T1 and T2 on the acquired image 110. The target extraction unit 123 applies the positional relationship (for example, distances L1, L2, azimuth angles α1, α2) with the target T0 obtained from the extraction image 204 to the characteristic features T1, T2 identified on the acquired image 110. Then, the position of the target T0 on the acquired image 110 is specified.

  The target extraction unit 123 extracts the target T0 specified on the acquired image 110 as the lock-on candidate 100. Here, the extracted lock-on candidate 100 may be a position coordinate on the acquired image 110 of the specified target T0, or may be an object positioned at the specified target T0.

  Note that the image used by the target extraction unit 123 as a collation target for target extraction is not limited to the acquired image 110 but may be the corrected image 120. By using the corrected image 120, the feature features T1 and T2 are displayed more cooperatively than the acquired image 110. Therefore, the positions of the feature features T1 and T2 in the corrected image 120 can be reliably identified. Also, when the corrected image 120 is used as a collation target, the lock-on candidate 100 can be extracted in the same manner as described above by applying the positions of the identified feature features T1 and T2 to the acquired image 110. .

  The number of feature features used when extracting the lock-on candidate 100 is not limited to two, and it is sufficient that there is at least one. However, since there is a possibility of failing to specify the position of the feature feature, it is preferable that a plurality of feature features for specifying the position of the target T0 is prepared. When a plurality of feature features are prepared, priority may be given to the plurality of feature features, and extraction of the lock-on candidate 100 may be performed using feature features having a high priority. For example, when the position specification of the feature feature with the higher priority fails, the feature feature with the next highest priority can be specified on the acquired image 110 and the lock-on candidate 100 can be extracted.

  In the present invention, a genetic algorithm is used to create an image with a high matching rate and perform target extraction. For this reason, it becomes possible to extract the lock-on candidate 100 which is easy to be buried in vegetation and the surrounding environment in a short time with high accuracy.

(Target identification unit 124)
With reference to FIGS. 3 and 8, the target identifying unit 124 generates target identification information 200 as information for identifying the lock-on candidate 100 on the acquired image 110. The target identification information 200 preferably includes information (for example, position coordinates on the acquired image 110) for displaying the position coordinates of the lock-on candidate 100 so as to be specified. Alternatively, the target identification information 200 preferably includes information (for example, information for specifying the edge of the object) that displays the object extracted as the lock-on candidate 100 so as to be specified. Furthermore, the target identification information 200 preferably includes information for displaying a mark (target identification display 220) for specifying the lock-on candidate 100 so as to be identifiable on the acquired image 110. Specifically, as shown in FIG. 8, the target identification display 220 can be displayed as a frame surrounding the lock-on candidate 100. In this case, the target identification unit 124 displays a frame line positioned at a predetermined distance from the position of the lock-on candidate 100 on the acquired image 110 (example: position coordinates on the screen or the center of gravity of the object). The target identification information 200 is generated. The target identification unit 124 may add the target identification information 200 (target identification display 220) to the acquired image 110 to generate the target extracted image 6 as shown in FIG. In this case, the transmission unit 151 transmits the target extracted image 6 to the acquired image 110 in place of the target identification information 200 and transmits it to the command device 2. However, in order to reduce the processing load on the arithmetic processing device 10, it is preferable that the generation processing of the target extracted image 6 is performed by the command device 2.

  As described above, the image analysis unit 12 can specify a target (in-image target candidate) in the acquired image 110 using the condition image 201 and automatically extract it as the lock-on candidate 100.

(Lock-on and image guidance)
The guidance control unit 13 controls the flying control device 14 so that the flying object 1 is directed to the target in the image set as the lock-on target 400. The guidance control unit 13 enters a settable state in which the lock-on target 400 can be set by the control information transmitted from the command device 2 after capturing the acquired image 110 at least. When the guidance control unit 13 receives the setting information during the settable state, the target specified based on the setting information is set as the lock-on target 400.

  For example, when setting information for approving (specifying) the lock-on candidate 100 is received in the settable state, the guidance control unit 13 sets the lock-on candidate 100 as the lock-on target 400 (locks on). Alternatively, when setting information specifying another target different from the lock-on candidate 100 is received in the settable state, the guidance control unit 13 sets (locks on) the specified target as the lock-on target 400.

  Further, the lock-on target 400 may be changed a plurality of times as long as the setting information is accepted during the setting possible state. For example, while the lock-on target 400 is set and image guidance is being executed, the lock-on target 400 may be changed by new setting information.

  Furthermore, the guidance control part 13 will be in the setting impossible state which cancels | releases a setting possible state and prohibits reception of setting information, when a predetermined condition is adapted. The predetermined condition indicates a condition that makes it difficult to change the target of the flying object 1, and is determined according to the distance to the target 4, the speed, attitude, altitude, or flying direction of the flying object 1. For example, when the distance between the flying object 1 and the target 4 reaches a preset target change limit distance, the guidance control unit 13 becomes unable to be set. Or the guidance control part 13 will be in a setting impossible state, if the approach angle with respect to the target 4 of the flying body 1 reaches the preset target change limit angle. Alternatively, when the target arrival scheduled time calculated from the speed of the flying object 1 and the distance to the target 4 becomes shorter than the preset target change limit time, the setting cannot be made.

  When the setting information is not received from the extraction of the lock-on candidate 100 until the setting is disabled, the guidance control unit 13 preferably sets the lock-on candidate 100 as the lock-on target 400. In this case, even if the setting information is not transmitted from the commanding device 2, the flying object 1 is guided toward the in-image target (lock-on candidate) automatically extracted by itself.

  9A and 9B are diagrams illustrating an example of the acquired image 110 and target identification information 200 transmitted from the flying object 1 to the command device 2 during image guidance. An acquired image 110 illustrated in FIG. 9B indicates an image captured after the acquired image 110 illustrated in FIG. 9A.

  9A and 9B, when the lock-on target 400 is set, the guidance control unit 13 sets the aim 300 on the lock-on target 400 and starts image guidance. At this time, the guidance control unit 13 controls the flying direction of the flying object 1 so that the lock-on target 400 and the center (the flying direction) of the aiming sight 300 coincide. In addition, the guidance control unit 13 controls the imaging direction of the image sensor 11 so that the lock-on target 400 is at the center of the acquired image 110, so that the imaging direction of the acquired image 110 matches the flying direction. it can.

  The guidance control unit 13 locks on the acquired image 110 using the flying state of the flying object 1 (for example, the speed, altitude, posture, flying direction, etc. of the flying object 1) and the imaging direction of the image sensor 11 as parameters. The time change of the position (a1, b1) of the target 400 is calculated, and the position (a2, b2) with the highest correlation is specified as the lock-on target 400. As a result, the lock-on target 400 can be continuously tracked. For example, when the lock-on target 400 is indicated by an object, the guidance control unit 13 uses the object having the highest correlation among the plurality of object shapes predicted as time elapses as the lock-on target 400. Guide 1

  Further, the guidance control unit 13 uses not only the lock-on target 400 but also the feature features used for the extraction of the lock-on candidate 100 in the same way using the position with the highest correlation, and the lock-on target that changes with time 400 positions may be corrected.

  Furthermore, the guidance control unit 13 performs the same calculation using not only the flying state but also the moving speed and moving direction of the target 4, identifies the lock-on target 400 having the highest correlation, and tracks the target 4. May be performed.

  The transmission of the acquired image 110 from the flying object 1 to the commanding device 2 is preferably performed periodically until the flying object 1 reaches the target 4. For example, as shown in FIG. 10, when the acquired image 110 immediately before reaching the target 4 is obtained, the user operating the command device 2 visually confirms that the flying object 1 has reached the desired target. I can confirm.

(Command device 2)
FIG. 11 is a diagram showing an example of the configuration of the commanding device 2 according to the present invention. With reference to FIG. 11, an example of the configuration of the command device 2 will be described. A flying object control device 21, a display device 22, and a user interface 23 are provided.

  The flying object control device 21 includes a CPU 210, a memory 211, a communication device 212, and a storage device 213. The flying object control device 21 is exemplified by a computer device, performs arithmetic processing in accordance with a signal from the connected user interface 23, and displays the calculation result on the display device 22.

  The CPU 210 executes a program recorded in the storage device 213 to realize control of the communication device 212 and the display device 22 and setting of the lock-on target 400 (setting information generation). At this time, various data and programs from the communication device 212, the storage device 213, and the user interface 23 are temporarily stored in the memory 211, and the CPU 210 executes various processes using the data in the memory 211.

  The storage device 213 is an external storage device exemplified by a hard disk, a semiconductor memory, or a removable recording medium. The user interface 23 outputs various data to the CPU 210 and the storage device 213 by being operated by a user such as a keyboard, a mouse, or a touch panel. The display device is exemplified by a monitor and a touch panel monitor, and outputs a calculation result output from the CPU 210 so as to be visible to the user.

  The communication device 212 controls communication with the flying object 1. In this example, the communication device 212 controls communication between the flying object 1 and the CPU 210 via the communication satellite 5. Specifically, the communication device 212 transmits the setting information generated by the CPU 210 to the flying object 1. The acquired image 110 and target identification information 200 transmitted from the flying object 1 are received and output to the CPU 210.

  The acquired image 110 received by the communication device 212 is displayed on the display device 22. When the communication device 212 receives the target identification information 200 together with the acquired image 110, the CPU 210 adds the target identification display 220 generated based on the target identification information 200 to the acquired image 110 and adds the target extracted image 6. Generate. The generated target extraction image 6 is displayed on the display device 22 as shown in FIG. 8, for example.

  The user interface 23 outputs a designation signal that designates the target in the target extraction image 6 as the lock-on target 400 of the flying object 1 according to the user's operation. The flying object control device 21 transmits, to the flying object 1, setting information that designates a target to be a lock-on target 400 in the acquired image 110 based on the designation signal. For example, the user can move the pointer displayed on the display device 22 by moving and clicking the user interface 23 exemplified by the mouse, and can specify the target on the acquired image 110 as the lock-on target 400. . Alternatively, the user can specify the target on the acquired image 110 as the lock-on target 400 by tapping the user interface 23 exemplified on the touch panel. The target specified here may be the lock-on candidate 100 that can be specified by the target identification display 220, or may be another target 100 '. The target specified as the lock-on target 400 may be a position coordinate on the image or an object to be displayed.

  The user can easily confirm the lock-on candidate 100 automatically extracted by the flying object 1 from the target identification display 220. For this reason, the user can omit the target search and set the lock-on target 400 only by determining whether or not to approve it.

  When the flying speed of the flying object 1 is very high, for example, subsonic, the time from when the flying object 1 captures an image in the target direction until the lock-on target 400 is determined is short. A few seconds. During this time, it is difficult for the user to search for the target from the acquired image 110 and set the lock-on target. In particular, the acquired image 110 transmitted via a satellite line with a small communication capacity may be a coarse image, and it may be difficult to select a target from such an image in a short time. However, in the present invention, since the lock-on candidates 100 extracted by the flying object 1 are displayed so as to be visible, target selection is facilitated, and the lock-on target 400 can be set in a short time.

(State of flying body 1)
With reference to FIG. 12, the state from launching the flying object 1 to reaching the target will be described. Referring to FIG. 12, in the section from launching device 3 to a predetermined position, flying object 1 travels inertially (intermediate guidance mode A1). At this time, at a position far away from the target 4 by a predetermined distance, the flying object 1 flies at a high altitude with low air resistance, and when the target 4 approaches the predetermined distance, imaging of the target 4 is performed. Reduce altitude to the highest possible level.

  Subsequently, when the target 4 can be imaged, the flying object 1 captures an image in the target direction (acquired image 110) and transfers it to the command device 2 (image acquisition transfer mode A2). Imaging and transfer of the acquired image 110 are periodically performed until the target 4 is reached.

  In the first half of the image acquisition / transfer mode A2, the flying object 1 is in a settable state in which setting information can be received from the commanding device 2 (settable mode A21). During this time, when the setting information is received, the flying object 1 is guided to the lock-on target 400 set based on the setting information. Further, the lock-on target 400 can be changed (updated) based on the latest setting information received during this period.

  In the second half of the image acquisition / transfer mode A2, the flying object 1 enters a setting impossible state in which reception of setting information from the commanding device 2 is prohibited (setting impossible mode A22). During this time, the setting information is not received, and the flying object 1 is guided to the lock-on target set in the settable mode A21. When the setting information is not received in the settable mode A21, the flying object 1 is guided by setting the lock-on candidate 100 as the lock-on target 400.

  As described above, the flying object 1 according to the present invention has the image acquisition / transfer mode A2 in which an image in the target direction is transferred and the settable mode A21 in which the lock-on target 400 can be set or changed.

(Operation of Flying Object 1)
FIG. 13 is a flowchart showing a first embodiment of the guiding operation of the flying object 1 according to the present invention. With reference to FIG. 13, the guidance operation | movement of the flying body 1 between image acquisition transfer mode A2 is demonstrated. Here, a mode in which the flying object 1 continues inertial navigation until the lock-on target 400 is set will be described.

  When the flying object 1 acquires an image by the image sensor 11, it extracts a lock-on candidate 100 (steps S101 and S102). The flying object 1 transmits the acquired image 110 and the target identification information 200 to the command device 2 (step S103). The acquired image 110 does not need to be transmitted simultaneously with the target identification information 200, and may be transmitted prior to the target identification information 200. In the flying object 1, when the acquired image 110 and the target identification information 200 are combined to generate the target extracted image 6, the target extracted image 6 is transmitted instead of the acquired image 110 and the target identification information 200.

  When the command device 2 receives the acquired image 110 and the target identification information 200, the command device 2 displays the target extraction image 6 using these. Thereby, the user can specify the lock-on candidate 100 extracted by the flying object 1.

  Even if the flying object 1 in the present embodiment extracts the lock-on candidate 100, it continues the inertial navigation until the lock-on target 400 is set. During this time, the flying object 1 continues to fly using the preset flight path and current position, the flying state (speed, posture, altitude, etc.) and the geographical system coordinates and altitude of the target 4. .

  The flying object 1 is set to a settable state at any time after launch. Thereby, the flying object 1 will be in the state which can receive the setting information transmitted from the instruction | command apparatus 2. FIG. The timing at which the flying object 1 is settable is preferably at least before the acquired image 110 is received by the commanding device 2. Thereby, the user can set the lock-on target 400 after confirming the acquired image 110.

  While the flying object 1 is in a settable state, the flying object 1 is in a setting information standby state (No in steps S104 and S105). During this time, when the setting information is received from the commanding device 2, the setting information is accepted, and the target specified by the setting information is set as the lock-on target 400 (steps S104 No, S105 Yes, S106, S107).

  The flying object 1 is controlled to fly by image guidance targeting the set lock-on target 400 (step S108). The flying object 1 captures an image in the target direction until it reaches the target 4 and transmits the acquired image 110 to the command device 2.

  The flying object 1 is in an unsettable state when it meets a predetermined condition. During this state, the setting information transmitted from the commanding device 2 is not accepted (Step S104 Yes). If the flying object 1 is in a state where the lock-on object 400 is not set, the lock-on candidate 100 extracted by the flying object 1 is set as the lock-on object 400, and the process proceeds to step S108 (step S108). S104 Yes, S109).

  As described above, according to the flying object guidance system of the present embodiment, the image guidance target can be specified by the user, so that the target is corrected to a desired target, such as when automatic extraction of the target in the flying object 1 fails. It becomes possible to do. For example, a desired target may not be extracted when the brightness of the captured image is low due to the weather or when the conversion accuracy of the image is low. Even in such a case, the lock-on target 400 can be designated by the user, so that highly accurate image guidance is possible. Further, when it is desired to change the target extracted by the flying object 1, it can be corrected to a desired target. For example, when it is determined that the target of the flying object 1 has already been reached by another flying object 1, the target can be changed based on the judgment of the user. Thereby, it can prevent that the several flying body 1 heads to the same target.

  For example, when the target extraction image 6 as shown in FIG. 8 is displayed on the command device 2, the user can designate a target in the image as the lock-on target 400. Specifically, the lock-on candidate 100 is designated as a lock-on target by an operation (also referred to as a first operation) by the user. In this case, setting information for designating the lock-on candidate 100 as the lock-on target 400 is transmitted to the flying object 1. When the setting information is received in the flying object 1, image guidance is started with the lock-on candidate 100 as a lock-on target. Alternatively, a target 100 ′ different from the lock-on candidate 100 is designated as a lock-on target by an operation (also referred to as a second operation) by the user. In this case, setting information specifying the target 100 ′ as the lock-on target 400 is transmitted to the flying object 1. When the setting information is received by the flying object 1, image guidance is started with the target 100 'as a lock-on target.

  In this embodiment, if the user does not designate the lock-on target 400, the lock-on candidate 100 is automatically set as the lock-on target. For this reason, when the flying object 1 has extracted a desired target as the lock-on candidate 100, the user can approve the target without operating.

(First modification of the operation of the flying object 1 in the first embodiment)
In the operation of the flying object 1 shown in FIG. 13, the lock-on target 400 can be set only once from the commanding device 2, but this is not limiting, and the lock-on target 400 is updated every time setting information is received. May be. FIG. 14 is a flowchart showing a first modification of the first embodiment of the image guiding operation of the flying object 1 according to the present invention.

  Referring to FIG. 14, the operation from step S101 to step S109 is the same as the operation shown in FIG. 13, and therefore detailed description thereof will be omitted, and the operation different from that of the first embodiment will be mainly described.

  In this modification, when new setting information is received while the flying object 1 is in a settable state, the target specified by the setting information is set as the lock-on target 400, and image guidance is performed. Specifically, if the flying object 1 is in a settable state, the received setting information is accepted even if image guidance is being executed in step S108 (steps S108, S104 No, S105 Yes, S106). Thereafter, a new lock-on target 400 is set (changed) and image guidance is performed based on the setting information (steps S107 and S108).

  The flying object 1 is in an unsettable state when it meets a predetermined condition. During this state, the setting information transmitted from the commanding device 2 is not accepted (Step S104 Yes). When the flying object 1 is in an unsettable state, if the lock-on target 400 has already been set, the preset lock-on target 400 is maintained and image guidance is performed (steps S104 Yes, S201 Yes, S108).

  On the other hand, when the flying object 1 is in a state where setting is impossible while the lock-on target 400 is not set, the lock-on candidate 100 extracted by the flying object 1 is set as the lock-on target 400, and the process proceeds to step S108. (Steps S104 Yes, S110 No, S109).

  As described above, according to the first modification of the first embodiment, the user can change the target of image guidance any number of times while the flying object 1 is in a settable state. This makes it possible to cope with a situation where it is desired to change the lock-on target 400 once set.

(Second modification of the operation of the flying object 1 in the first embodiment)
In the operation of the flying object 1 shown in FIG. 13, inertial navigation is continued from the extraction of the lock-on candidate 100 to the setting of the lock-on target 400, but this is not limiting, and the lock-on setting and setting by the user Image guidance may be started without waiting for the change to the disabled state. FIG. 15 is a flowchart showing a second modification of the first embodiment of the image guiding operation of the flying object 1 according to the present invention.

  Referring to FIG. 15, the operations in steps S101, S102, and S104 to S108 in the present modification are the same as the operations with the same reference numerals shown in FIG. 13, so detailed description thereof is omitted, and the example shown in FIG. The explanation will focus on the operation different from the above.

  The flying object 1 in this modification performs image acquisition and lock-on candidate 100 extraction in the same manner as steps S101 and S102 shown in FIG. Subsequently, the flying object 1 sets the extracted lock-on candidate 100 as a lock-on target without waiting for reception of the setting information, and performs image guidance (steps S202 and S203).

  The flying object 1 transmits the acquired image 110 and the target identification information 200 to the command device 2 as in step S103 shown in FIG. 13 (step S204). When the command device 2 receives the acquired image 110 and the target identification information 200, the command device 2 displays the target extraction image 6 using these. Thereby, the user can specify the lock-on candidate 100 extracted by the flying object 1. In this modification, since the flying object 1 has already been image-guided with the lock-on candidate 100 as the lock-on target 400, the user confirms the lock-on target 400 of the flying object 1 based on the target extraction image 6. It will be.

  The flying object 1 is set to a settable state at any time after launch. Thereby, the flying object 1 will be in the state which can receive the setting information transmitted from the instruction | command apparatus 2. FIG. The timing at which the flying object 1 is settable is preferably at least before the acquired image 110 is received by the commanding device 2. As a result, the user can set the lock-on target 400 after confirming the acquired image 110.

  While the flying object 1 is in a settable state, the setting of the lock-on target 400 and the image guidance of the flying object 1 are performed based on the setting information received from the commanding device 2 as in steps S104 to S108 shown in FIG. Done. In this modification, when the setting information is received for the first time, the flying object 1 has already been image-guided with the lock-on candidate 100 as the lock-on target 400. For this reason, even when the setting information is received for the first time, the lock-on target 400 is updated.

  On the other hand, when the flying object 1 does not receive the setting information until the flying object 1 is in a setting impossible state, the image guidance using the lock-on candidate 100 as the lock-on target 400 is continued (steps S104 Yes and S108).

  As described above, according to the second modification of the first embodiment, the flying object 1 extracts the lock-on candidate 100 as the lock-on target 400 and starts image guidance. Transition to image guidance. For example, in the first embodiment, when the setting information is not received, the image guidance may not be started until the setting is disabled. However, in this modification, the image guidance is started at least when the lock-on candidate 100 is extracted. obtain. Further, while the lock-on candidate 100 is image-guided as the lock-on target 400, the flying object 1 can image at least the target peripheral area extracted as the lock-on candidate 100 and transmit it to the command device 2. For this reason, the user can set or approve the lock-on target 400 while confirming the acquired image 110 including at least the target extracted as the lock-on candidate 100 and its surrounding area.

  In the flying object guidance system according to the present invention, since the lock-on target 400 can be set by visual observation by the user, if the target 4 is a visually recognizable distance, the acquired image 110 is captured even if the target 4 is located far away. Then, the lock-on target 400 can be set. Here, when a plurality of objects close to each other are observed from a distance, the objects may be visually recognized as one object. For this reason, in the distance, the target 4 that is recognized as one object and set as the lock-on target 400 may be recognized as a plurality of objects by the acquired image 110 when approaching.

  For example, when the lock-on target 400 shown in FIGS. 9A and 9B approaches the flying object 1, it is captured as a plurality of in-image target candidates 400-1, 400-2, 400-3 as shown in FIG. May be. In such a case, for example, the flying object 1 during image guidance has the highest intra-image target candidate having the highest correlation with the lock-on target 400 shown in FIGS. 9A and 9B (for example, the intra-image target candidate 400-shown in FIG. 16). Image guidance is performed toward 1).

  Alternatively, the flying object 1 during image guidance may perform image guidance toward the center of gravity of a plurality of intra-image target candidates whose correlation with the lock-on target 400 is higher than a predetermined threshold. Specifically, the flying object 1 extracts in-image target candidates 400-1, 400-2, and 400-3 whose correlation with the lock-on target 400 shown in FIGS. 9A and 9B is higher than a predetermined threshold. Then, image guidance is performed with the center of gravity N0 of each of the positions N1, N2, and N3 as the flying direction.

  Usually, the target splitting phenomenon due to the approach of the flying object 1 described above occurs during a settable period before the flying object 1 becomes unsettable and the lock-on target 400 is determined. For this reason, as in the first modification and the second modification of the first embodiment, when image guidance is performed during the settable period, it is effective to perform correlation induction on the centroid N0 of a plurality of targets. In particular, when the correlation difference between each of the plurality of image target candidates 400-1, 400-2, 400-3 is small and there is no project target candidate with a high correlation, or the distance between target candidates on the image is It is more effective to guide the image of each center of gravity N0 as the lock-on target 400, such as when it is long. For example, when the intervals between the plurality of target candidates in the image are long on the image, if one target target in the image is set as a lock-on target, the true target is acquired by the movement of the flying object 1 (the image 110 (image There is a risk of deviating from the field of view of the sensor 11. In such a case, it is possible to prevent the true target from deviating from the acquired image 110 by pointing to the center of gravity of the plurality of target candidates in the image.

2. 2nd Example Next, the flying object guidance system in 2nd Example is demonstrated. The flying object guidance system according to the second embodiment is a system in which a configuration and a function for changing a target for inertial guidance are added to the system according to the first embodiment. The flying object guidance system according to the second embodiment includes the configuration of the first embodiment and has the same effects as the first embodiment. For this reason, the description of the same configuration and operation as in the first embodiment is omitted below, and the description will focus on the configuration and operation different from the first embodiment.

(Configuration of flying object 1)
The guidance control unit 13 of the flying object 1 is set to a settable state at any time after launch. Thereby, the flying object 1 will be in the state which can receive the setting information or target setting information transmitted from the instruction | command apparatus 2. FIG. When the setting information is received during the settable state, the guidance control unit 13 sets the target specified based on the setting information as the lock-on target 400. When target setting information is received during the settable state, the inertial guidance target is changed to a position coordinate specified based on the target setting information. Specifically, when target setting information is received during the settable state, the target for inertial guidance is changed to the position coordinates and height of the target specified by the target setting information. In addition, the flight route is changed to the flight route specified by the target setting information. The target setting information may include a newly designated flight route. In this case, the guidance control unit 13 changes to the flight route included in the target setting information. Alternatively, the target setting information may include information for specifying a flight route. In this case, a plurality of flight routes are registered in the storage device 16 of the flying object 1 in advance, and the guidance control unit 13 selects and changes the flight route specified by the target setting information from the storage device 16. To do.

  The timing at which the flying object 1 is settable in the second embodiment may be before the flying object 1 captures the acquired image 110. That is, it is good also as a settable state which can receive target setting information before the flying body 1 performs image guidance. In this case, it is possible to change the target 4 for inertial guidance of the flying object 1 before starting image guidance.

  Further, the target for inertial guidance may be changed a plurality of times as long as target setting information is accepted during the settable state.

  Furthermore, the guidance control part 13 will be in the setting impossible state which cancels | releases a setting possible state and prohibits reception of setting information and target setting information, when a predetermined condition is adapted. The predetermined condition indicates a condition that makes it difficult to change the target of the flying object 1, and is determined according to the distance to the target 4, the speed, attitude, altitude, or flying direction of the flying object 1. For example, when the distance between the flying object 1 and the target 4 reaches a preset target change limit distance, the guidance control unit 13 becomes unable to be set. Or the guidance control part 13 will be in a setting impossible state, if the approach angle with respect to the target 4 of the flying body 1 reaches the preset target change limit angle. Alternatively, when the target arrival time calculated from the speed of the flying object 1 and the distance to the target 4 becomes shorter than the preset target change limit time, the setting cannot be made.

  The timing for setting or releasing the settable state of the lock-on target 400 and the settable state of the inertial guidance target may be the same or different. However, when changing the target of image guidance, the distance to the target and the change time may be shorter than changing the target of inertial guidance. For this reason, the release timing of the settable state for the lock-on target can be set later than the release of the inertial guidance target settable state.

  When the setting information and the target setting information are not received from the extraction of the lock-on candidate 100 until the setting-disabled state is obtained, the guidance control unit 13 preferably sets the lock-on candidate 100 as the lock-on target 400. In this case, even if the setting information is not transmitted from the commanding device 2, the flying object 1 is guided toward the target automatically extracted by itself.

(Configuration of command device 2)
The user interface 23 in the second embodiment outputs a designation signal that designates the lock-on target 400 in accordance with the user's operation, and sets the inertial guidance target coordinates in accordance with another operation (also referred to as a third operation). Outputs the target specification signal to be specified. The flying object control device 21 transmits setting information for designating the lock-on target 400 to the flying object 1 based on the designation signal, and the target setting information for designating the target position for inertial guidance based on the target designation signal. Is sent to Flying Object 1. At this time, it is preferable that the target setting information includes not only the target position but also information indicating a flight route to the target position.

  The inertial guidance target specified by the target setting information can be set by inputting the geographical coordinates of the target 4 and its altitude through the user interface 23. Alternatively, if the geographical coordinates and altitude of the target 4 are recorded in the storage device 213, the target of inertial guidance can be specified for the flying object 1 by selecting these pieces of information using the user interface 23. .

(Operation of the flying object 1 in the second embodiment)
FIG. 17 is a flowchart showing a second embodiment of the image guiding operation of the flying object 1 according to the present invention. Referring to FIG. 17, the operation from step S301 to step S309 is the same as the operation from step S101 to A109 shown in FIG. 13, and thus detailed description thereof is omitted, and from step S210 different from the example shown in FIG. The operation in S213 will be mainly described.

  The flying object 1 in the second embodiment waits for setting information and target setting information in a settable state after the image is acquired by the image sensor 11 (steps S304, S305No, S310No). During this time, when the setting information is received from the command device 2, the setting information is accepted and the in-image target specified by the setting information is set as the lock-on target 400 as in the first embodiment (No in step S304). S305 Yes, S306, S307).

  On the other hand, when the target setting information is received from the command device 2 during the settable state, the target setting information is accepted, and the inertial guidance target is changed to the position coordinates specified by the target setting information (Steps S304No, S305No). , S310 Yes, S311, S312).

  The flying object 1 is controlled to fly by inertial guidance directed to the target 4 of the set position coordinates (step S313). At this time, the flying object 1 releases the image guidance control (terminal guidance), raises the altitude, and shifts to inertial guidance control (intermediate guidance). It is preferable that the flying object 1 navigates inertially toward a new target according to a flight route to the new target included in the target setting information. Thereafter, when approaching the new target 4, the imaging of the image in the target direction is started again, and the process proceeds to step S301.

  As described above, the flying object 1 in this embodiment can change not only the lock-on target 400 but also the inertial guidance target during the flight.

(Specific example of target change operation in the second embodiment)
The commanding device 2 in the second embodiment may specify a target selected from the target candidates registered in advance in the storage device 213 for the flying object 1 as a new inertial guidance target. For example, the storage device 213 preferably includes a target table in which target candidates to be targeted by the flying object 1 are set.

  FIG. 18 is a diagram showing an example of the structure of the target table according to the present invention. In the target table shown in FIG. 18, the flying object ID for identifying the flying object 1 is recorded in association with the target ID for identifying the target, the position information of the target, and the priority for selection as the target. Is done. For example, “T10”, “T11”, and “T12” are associated as target candidates for the flying object 1 “M1”, and priorities are set in the order of “T11”, “T10”, and “T12”. The position information of the target is indicated by, for example, geographical coordinates and its altitude, and the position information of the targets “T10”, “T11”, “T12” is “X0, Y0, Z0”, “X1, Y1, Z1”, “X2, Y2, Z2”. Similarly, T10 ”and“ T20 ”are associated as target candidates for the other flying object 1“ M2 ”, and priorities are set in the order of“ T10 ”and“ T20 ”. The position information of “T20” is “X0, Y0, Z0”, “X3, Y3, Z3.” As shown in FIG. It may be set as a candidate.

  The target table described above is preferably displayed on the display device 22. The target table displayed on the display device 22 allows the user to easily set a high priority target when changing the target.

  FIG. 19 is a diagram showing an operation example of the flying object guidance system according to the present invention. Referring to FIG. 19, in the flying object guidance system according to the present invention, a plurality of flying objects 1-1 and 1-2 can be fired sequentially or simultaneously from launching device 3. At this time, the targets 4 of the plurality of flying objects 1 may overlap. For example, among the plurality of targets 4-1 and 4-2, the flying objects 1-1 and 1-2 may be caused to fly with respect to the same target 4-2.

  In such a case, it is necessary to prevent the other flying object 1-1 from heading toward the target that one flying object 1-2 has already reached. In the flying object guidance system according to the present invention, it can be confirmed whether or not the flying object 1 has reached the acquired image 110 immediately before reaching the target. For this reason, it can control by the setting information from the instruction | command apparatus 2, or target setting information so that the target by which the flying object 1-2 was confirmed is not made into the target of the other flying object 1-1. .

  For example, the user operates the user interface 23 to register, in the storage device 213, the target whose arrival has been confirmed by the acquired image 110 as having been reached. The target registered as reached is preferably excluded from the target of the flying object 1 or the target candidate and set to be undesignable. Specifically, as shown in the target table shown in FIG. 20, by providing an item “situation” in which the arrival status can be registered for each target, the target reached by the flying object 1 is changed to the target of another flying object 1. Or can be excluded from target candidates. Alternatively, as in the target table shown in FIG. 21, by setting the priority of the target reached by the flying object 1 to the lowest value (for example, ∞), it is excluded from the targets or target candidates of other flying objects 1. It can be set to unspecified.

  20 and FIG. 21, the flying objects 1 “M1” and “M2” are set to the same target “T11” (priority “1”). At this time, when arrival of the flying object 1 “M2” to the target “M11” is registered, in the example illustrated in FIG. 20, the state of the target “T11” is set to “M2 arrival”. Thus, the user can exclude the target “T11” from the target of the flying object 1 “M1” and change it to the target “T10” having the next highest priority. Similarly, when arrival of the flying object 1 “M2” to the target “M11” is registered, the priority of the target “T11” is set to “∞” in the example illustrated in FIG. Thus, the user can exclude the target “T11” from the target of the flying object 1 “M1” and change it to the target “T10” having the next highest priority.

  Confirmation of the target achievement may be performed by analyzing an image taken from another device (not shown) such as an artificial satellite or an aircraft in addition to the acquired image 110 by the flying object 1.

  FIG. 22 is a diagram showing an example of the target change screen 500 according to the present invention. Referring to FIG. 22, target change screen 500 is a screen displayed on display device 22 when the user changes the target of flying object 1.

  The target change screen 500 includes a settable time 501, current status information 502, target candidate information 503, and a selection button 504.

  The settable time 501 indicates a time during which the target can be changed, and indicates that the target cannot be changed after this time has elapsed. The settable time 501 is calculated based on, for example, the state (for example, altitude, speed, posture) of the flying object 1, the distance between the flying object 1 and the target 4 that can change the target, and the altitude of the flying object 1. Is done. The settable time 501 is preferably calculated in the flying object 1 and notified to the command device 2. Alternatively, the state (e.g., altitude, speed, posture) of the flying object 1 and its position may be notified to the command device 2, and the settable time 501 may be calculated in the command device 2 using this.

  The current status information 502 indicates the status of the current target 4 of the flying object 1. For example, the current status information 502 includes a flying object ID that identifies the flying object 1, a target ID that identifies the current target of the flying object 1, position information thereof, information that indicates the status of arrival at the target, and the like. Including.

  The target candidate information 503 indicates a target that can be a target candidate of the flying object 1. For example, the target candidate information 503 is preferably displayed according to the priority of the target candidates. In the example illustrated in FIG. 22, a target ID for specifying a target candidate, its priority, and target position information are displayed as target candidate information 503.

  When the selection button 504 is pressed by operating the user interface 23, a corresponding target candidate is set as the target 4 of the flying object 1. In the example illustrated in FIG. 22, the target candidate information 503-1 (target “T11”) is selected by pressing the selection button 504-1, and the target candidate information is selected by pressing the selection button 504-2. 503-2 (target “T12”) is selected.

  By using the target change screen 500, the user can confirm the current arrival status of the target of the flying object 1 and can easily change and set the target 4 according to the priority.

(First modification of the second embodiment)
In the second embodiment, the target 4 (inertial guidance target) is changed manually using the user interface 23. However, the present invention is not limited to this, and the flying object control device 21 in the command device 2 automatically It does not matter if it is done.

  For example, when the target table shown in FIG. 20 or FIG. 21 is registered in the storage device 213, the arrival status and priority of the flying object 1 to the target 4 are the flying object 1 as described above. It can also be updated dynamically in between. The flying object control device 21 automatically changes to the next highest priority target 4 when the target of the flying object 1 is excluded from the selection target due to the arrival of the target of the other flying object 1. The flying object 1 is notified as setting information. Thereby, the target change of the flying object 1 can be automatically performed when the user inputs the target arrival to the command device 2.

  The update of the target table may be performed by the user interface 23, but may be performed by another command device 2 (not shown). That is, when a plurality of command devices 2 are provided, the target arrival status may be shared, and the target change may be performed using this information.

(Second modification of the second embodiment)
In the operation of the flying object 1 shown in FIG. 17, inertial navigation is continued from the extraction of the lock-on candidate 100 to the setting of the lock-on target 400, but not limited to this, the second modification of the first embodiment Similarly to the example, the image guidance may be started without waiting for the lock-on setting by the user or the change to the setting impossible state. FIG. 23 is a flowchart showing a second modification of the second embodiment of the image guiding operation of the flying object 1 according to the present invention.

  Referring to FIG. 23, the operations in steps S301, S302, S304 to S308, and S310 to S313 in the present modification are the same as the operations having the same reference numerals shown in FIG. The operation different from the example shown in FIG.

  The flying object 1 in this modification performs image acquisition and lock-on candidate 100 extraction in the same manner as steps S301 and S302 shown in FIG. Subsequently, the flying object 1 sets the extracted lock-on candidate 100 as a lock-on target without waiting for reception of the setting information, and performs image guidance (steps S402 and S403).

  The flying object 1 transmits the acquired image 110 and the target identification information 200 to the command device 2 similarly to step S303 shown in FIG. 17 (step S404). When the command device 2 receives the acquired image 110 and the target identification information 200, the command device 2 displays the target extraction image 6 using these. Thereby, the user can specify the lock-on candidate 100 extracted by the flying object 1. In this modification, since the flying object 1 has already been image-guided with the lock-on candidate 100 as the lock-on target 400, the user confirms the lock-on target 400 of the flying object 1 based on the target extraction image 6. It will be.

  The flying object 1 is set to a settable state at any time after launch. Thereby, the flying object 1 will be in the state which can receive the setting information or target setting information transmitted from the instruction | command apparatus 2. FIG. The timing at which the flying object 1 is settable and the setting-disabled state may be individually set for each of the setting information and the target setting information, as described above.

  While the flying object 1 is in a settable state, similarly to steps S304 to S308 and S310 to S313 shown in FIG. 17, based on the setting information received from the command device 2 and the target setting information, the lock-on target 400 or Inertia guidance target is set and changed. In this modification, when the setting information is received for the first time, the flying object 1 has already been image-guided with the lock-on candidate 100 as the lock-on target 400. For this reason, even when the setting information is received for the first time, the lock-on target 400 is updated. When the target setting information is received, the flying object 1 cancels the image guidance and changes the target 4.

  In step S313, the flying object 1 releases the image guidance control (terminal guidance), raises the altitude, and shifts to inertial guidance control (intermediate guidance). It is preferable that the flying object 1 navigates inertially toward a new target according to a flight route to the new target included in the target setting information. Thereafter, when approaching the new target 4, the imaging of the image in the target direction is started again, and the process proceeds to step S301.

  On the other hand, when the flying object 1 does not receive the setting information or the target setting until the flying object 1 is in a setting impossible state, the image guidance using the lock-on candidate 100 as the lock-on target 400 is continued (Yes in step S304). S308).

  As described above, according to the second modification of the second embodiment, the flying object 1 extracts the lock-on candidate 100 as the lock-on target 400 and starts image guidance. Transition to image guidance. For example, in the second embodiment, when the setting information is not received, the image guidance may not be started until the setting is disabled. However, in this modification, the image guidance is started at least when the lock-on candidate 100 is extracted. obtain. Further, while the lock-on candidate 100 is image-guided as the lock-on target 400, the flying object 1 can image at least the target peripheral area extracted as the lock-on candidate 100 and transmit it to the command device 2. For this reason, the user can set or approve a lock-on target while confirming at least the acquired image 110 including the target extracted as the lock-on candidate 100 and its surrounding area.

  As described above, according to the flying object guidance system in the second embodiment, not only the lock-on target 400 but also the acquired image 110 from when the image in the target direction is acquired until the target cannot be changed. Outside targets can also be changed.

  Note that the flying object 1 in the second embodiment also has a lock-on target 400 or inertia every time it receives setting information or target setting information, as in the first modification of the first embodiment (the operation shown in FIG. 14). The guidance target may be changed.

  The embodiment of the present invention has been described in detail above, but the specific configuration is not limited to the above-described embodiment, and changes within a scope not departing from the gist of the present invention are included in the present invention. .

  In the system according to the present invention, the user can specify the lock-on target 400 using the target extracted image 6. At this time, instead of designating the position of the lock-on target 400, the lock-on candidate 100 may be designated as the lock-on target 400 by approving the lock-on candidate 100 extracted by the flying object 1. . Specifically, as illustrated in FIG. 24, an approval button 600 that instructs to approve the lock-on candidate 100 as the lock-on target 400 may be included in the target extraction image 6. In this case, when the approval button 600 is pressed by an operation of the user interface 23, setting information for specifying the lock-on candidate 100 as the lock-on target 400 is generated and transmitted. Since the user can set the lock-on target 400 by selecting whether to approve the lock-on candidate 100, the target approval instruction time can be further shortened. In addition, it is preferable that the target extraction image 6 also displays a settable time 501 indicating a time during which the lock-on target 400 can be set.

  Further, in the above description, the image analysis unit 12 uses the genetic algorithm to create the extraction image 204 with a high matching rate and extract the lock-on candidates 100. However, the present invention is not limited to this. For example, the image analysis unit 12 may generate an extraction image 204 that is optimal for extracting the lock-on candidate 100 from the condition image 201 using metaheuristics different from the genetic algorithm. Here, metaheuristics indicates a heuristic solution to the combinatorial optimization problem. For example, pseudo-annealing method (SA method: simulated annealing), tabu search method (TS method: Tabu Search), ant colony optimization (ACO: Techniques such as Ant Colony Optimization (PSO) or Particle Swarm Optimization (PSO) are shown.

  Furthermore, in the above description, the image analysis unit 12 extracts one lock-on candidate 100, but the present invention is not limited to this, and a plurality of lock-on candidates 100 may be extracted. For example, when a plurality of features (eg, line segments, corners, polygons, etc.) are extracted in the vicinity (within a predetermined range) of the position on the acquired image 110 corresponding to the position of the target T0 included in the extraction image. There is. In this case, the image analysis unit 12 extracts each of the plurality of features as the lock-on candidate 100. A user using the command device 2 selects and designates a target to be a lock-on target 400 from a plurality of lock-on candidates 100. Thereby, the flying object 1 is image-guided by using one of the extracted plurality of lock-on candidates 100 as the lock-on target 400.

  In addition, when a plurality of lock-on candidates 100 are extracted, the lock-on target 400 may not be set and the setting may be disabled. In this case, for example, the guidance control unit 13 of the flying object 1 sets, as the lock-on target 400, the lock-on candidate 100 that is closest to the coordinates to which the flying object 1 is directed when the setting state is disabled. Alternatively, the guidance control unit 13 sets the lock-on candidate 100 having the highest correlation among the plurality of lock-on candidates 100 as the lock-on target 400. Thereby, even when none of the plurality of lock-on candidates 100 is set as the lock-on target 400, the lock-on target 400 can be automatically set in the flying object 1.

  It should be noted that the above-described embodiments and modifications thereof can be combined and executed within a range where there is no technical contradiction.

1, 1-1, 1-2: Flying object 2: Command device 3: Launcher 4, 4-1, 4-2: Target 5: Communication satellite 6: Target extraction image 10: Arithmetic processing device 11: Image sensor 12: Image analysis unit 13: Guidance control unit 14: Control device 15: Communication device 16: Storage device 21: Flying object control device 22: Display device 23: User interface 100: Lock-on candidate 110: Acquired image 120: Correction image 121: Image correction unit 122: Extraction image generation unit 123: Target extraction unit 124: Target identification unit 151: Transmission unit 152: Reception unit 160: Guidance control program 200: Target identification information 201: Condition image 202: Target position information 203 : Solution candidate image 204: Extraction image 400: Lock-on target 500: Target change screen

Claims (21)

A flying object, a command device,
Comprising
The flying object is
An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to the command device;
A receiving unit for receiving setting information from the commanding device;
A guidance control unit configured to set the flying object lock-on target based on the setting information when receiving the received setting information, and to perform image guidance of the flying object on the lock-on target; And
The command device is:
A display device for displaying, as a target extracted image, an image obtained by adding a target identification display generated based on the target identification information to the acquired image;
A user interface that outputs a designation signal that designates a target in the target extraction image as a lock-on target of the flying object according to an operation by a user;
A flying object control device for transmitting to the flying object the setting information for designating an in-image target to be locked on in the acquired image based on the designation signal ;
When the lock-on candidates extracted by the image analysis unit include a plurality of intra-image target candidates, the guidance control unit locks on the barycentric points of the plurality of intra-image target candidates before accepting the setting information. When the image of the flying object is set as a target and the setting information is received during image guidance, the target candidate in the image designated based on the setting information is locked on the flying object. A flying object guidance system that sets an object and performs image guidance of the flying object with respect to the lock-on object . With flying bodies
A command device;
Comprising
The flying object is
An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to the command device;
A receiving unit for receiving setting information from the commanding device;
When the received setting information is received, a guidance control unit that sets the flying object lock-on target based on the setting information and performs image guidance of the flying object with respect to the lock-on target;
Comprising
The command device is:
A display device for displaying, as a target extracted image, an image obtained by adding a target identification display generated based on the target identification information to the acquired image;
A user interface that outputs a designation signal that designates a target in the target extraction image as a lock-on target of the flying object according to an operation by a user;
A flying object control device for transmitting the setting information for designating an in-image target to be locked on in the acquired image to the flying object based on the designation signal;
With
The guidance control unit
It is set to an unsettable state that prohibits acceptance of the setting information according to a predetermined condition,
If the setting information is not accepted before the setting is disabled, the lock-on candidate is set as the lock-on target, and the flying object is guided to the lock-on target. Guidance system. In the flying object guidance system according to claim 2 ,
The predetermined condition includes a target change limit distance that makes it difficult to change the target of the flying object,
The said guidance control part is set to the said setting impossible state when the distance of the said flying body and a target reaches the preset target change limit distance. In the flying object guidance system according to claim 2 ,
The predetermined condition includes a target change limit angle at which the target change of the flying object becomes difficult,
The said guidance control part is set to the said setting impossible state, when the approach angle with respect to the target of the said flying object reaches the said target change limit angle set beforehand. With flying bodies
A command device;
Comprising
The flying object is
An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to the command device;
A receiving unit for receiving setting information from the commanding device;
When the received setting information is received, a guidance control unit that sets the flying object lock-on target based on the setting information and performs image guidance of the flying object with respect to the lock-on target;
Comprising
The command device is:
A display device for displaying, as a target extracted image, an image obtained by adding a target identification display generated based on the target identification information to the acquired image;
A user interface that outputs a designation signal that designates a target in the target extraction image as a lock-on target of the flying object according to an operation by a user;
A flying object control device for transmitting the setting information for designating an in-image target to be locked on in the acquired image to the flying object based on the designation signal;
With
The user interface outputs a target change signal in response to a third operation by the user,
The flying object control device transmits target setting information for designating new target coordinates in response to the target change signal to the flying object,
The guidance control unit, when receiving the received target setting information, inertially guides the flying object to the target coordinates specified based on the target setting information. In the flying object guidance system according to claim 5 ,
The command device is:
Comprising a target table in which a plurality of target candidates are recorded are Installing corresponding to the flying object,
The flying object control device selects the target candidate coordinates according to the target change signal from the plurality of target candidates corresponding to the flying object with reference to the target table, and A flying object guidance system that is designated as a new target coordinate. In the flying object guidance system according to claim 6 ,
Each of the plurality of goal candidates is assigned a priority,
The flying object control device refers to the target table, selects the target candidate coordinate having the highest priority in the target candidate different from the current target from the plurality of target candidates, and sets the new target coordinate. Specify flying object guidance system. In the flying object guidance system according to claim 6 ,
Each of the plurality of goal candidates is assigned a priority,
The display device displays the plurality of target candidates in order according to priority. In the flying object guidance system according to any one of claims 6 to 8 ,
The flying object control device controls a target candidate identical to a target reached by another flying object so that it cannot be designated from the target table. In the flying object guidance system according to claim 9 ,
The flying object control system sets a target candidate that is the same as a target reached by another flying object to be reached, and sets the target candidate to be unspecified as the target of the flying object. In the flying object guidance system according to claim 9 ,
Each of the plurality of goal candidates is assigned a priority,
The flying object control device sets the priority of the same target candidate as the target reached by the other flying objects to the lowest value, and sets the priority of the flying object so that it cannot be specified. . With flying bodies
A command device;
Comprising
The flying object is
An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to the command device;
A receiving unit for receiving setting information from the commanding device;
When the received setting information is received, a guidance control unit that sets the flying object lock-on target based on the setting information and performs image guidance of the flying object with respect to the lock-on target;
Comprising
The command device is:
A display device for displaying, as a target extracted image, an image obtained by adding a target identification display generated based on the target identification information to the acquired image;
A user interface that outputs a designation signal that designates a target in the target extraction image as a lock-on target of the flying object according to an operation by a user;
A flying object control device for transmitting the setting information for designating an in-image target to be locked on in the acquired image to the flying object based on the designation signal;
With
The transmitter transmits the acquired image to the command device until the flying object reaches a target,
The display device displays the acquired image transmitted from the flying object. An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to a command device;
A receiving unit for receiving setting information from the commanding device;
When the received setting information is received, a lock-on target is set based on the setting information, and a guidance control unit that performs image guidance on the lock-on target includes:
In the command device, when a target in the acquired image is specified as a target for lock-on of the flying object, the setting information includes information for specifying a target in the specified acquired image as a target for lock-on. See
When the lock-on candidates extracted by the image analysis unit include a plurality of intra-image target candidates, the guidance control unit locks on the barycentric points of the plurality of intra-image target candidates before accepting the setting information. When image guidance is performed by setting as a target and the setting information is received during execution of image guidance, the target candidate in the image designated based on the setting information is set as a lock-on target, and the lock-on target is set. A flying body that guides the image . An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to a command device;
A receiving unit for receiving setting information from the commanding device;
A guidance control unit configured to set a lock-on target based on the setting information and perform image guidance on the lock-on target when the received setting information is received;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the designated acquired image as a target for lock-on. ,
The guidance control unit
It is set to an unsettable state that prohibits acceptance of the setting information according to a predetermined condition,
When the setting information is not received before the setting is disabled, the lock-on candidate is set as the lock-on target, and image guidance is performed on the lock-on target. An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to a command device;
A receiving unit for receiving setting information from the commanding device;
A guidance control unit configured to set a lock-on target based on the setting information and perform image guidance on the lock-on target when the received setting information is received;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the designated acquired image as a target for lock-on. ,
The receiving unit receives target setting information for specifying a new target coordinate from the command device;
When receiving the target setting information, the guidance control unit inertially guides to the target coordinates designated based on the target setting information. An image sensor that captures an image and outputs it as an acquired image;
An image analysis unit for extracting lock-on candidates from the acquired image;
Target identification information for identifying the lock-on candidate on the acquired image, and a transmission unit that transmits the acquired image to a command device;
A receiving unit for receiving setting information from the commanding device;
A guidance control unit configured to set a lock-on target based on the setting information and perform image guidance on the lock-on target when the received setting information is received;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the designated acquired image as a target for lock-on. ,
The transmitting unit transmits the acquired image to the command device until the flying object reaches a target. Capturing an image and outputting it as an acquired image;
Extracting lock-on candidates from within the acquired image;
Generating target identification information for identifying the lock-on candidate on the acquired image;
Transmitting the target identification information and the acquired image to a command device;
Receiving setting information from the commanding device;
When the received setting information is received, setting a target to be locked on the flying object based on the setting information, and performing image guidance for the target to be locked on, and
In the instruction device, when the target of said acquired image is specified as the lock-on target of the flying object, the setting information, see contains information specifying a target in said captured image as a lock-on target,
Before receiving the setting information, the step of performing image guidance includes:
When the extracted lock-on candidates include a plurality of intra-image target candidates, the step of setting the center of gravity of the plurality of intra-image target candidates as a lock-on target and performing image guidance of the flying object is provided. How to guide the body. Capturing an image and outputting it as an acquired image;
Extracting lock-on candidates from within the acquired image;
Generating target identification information for identifying the lock-on candidate on the acquired image;
Transmitting the target identification information and the acquired image to a command device;
Receiving setting information from the commanding device;
When receiving the received setting information, setting the flying object lock-on target based on the setting information, and performing image guidance for the lock-on target;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the acquired image as a target for lock-on,
Setting to a non-settable state prohibiting acceptance of the setting information according to a predetermined condition;
If the setting information is not received before the setting is disabled, the lock-on candidate is set as the lock-on target and image guidance is performed on the lock-on target. How to guide the body. Capturing an image and outputting it as an acquired image;
Extracting lock-on candidates from within the acquired image;
Generating target identification information for identifying the lock-on candidate on the acquired image;
Transmitting the target identification information and the acquired image to a command device;
Receiving setting information from the commanding device;
When receiving the received setting information, setting the flying object lock-on target based on the setting information, and performing image guidance for the lock-on target;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the acquired image as a target for lock-on,
Receiving target setting information for designating new target coordinates from the command device;
A method for guiding a flying object, further comprising the step of inducting inertia to the target coordinates designated based on the target setting information when the target setting information is received. Capturing an image and outputting it as an acquired image;
Extracting lock-on candidates from within the acquired image;
Generating target identification information for identifying the lock-on candidate on the acquired image;
Transmitting the target identification information and the acquired image to a command device;
Receiving setting information from the commanding device;
When receiving the received setting information, setting the flying object lock-on target based on the setting information, and performing image guidance for the lock-on target;
Comprising
In the command device, when a target in the acquired image is designated as a target for lock-on of the flying object, the setting information includes information for designating a target in the acquired image as a target for lock-on,
The flying object guiding method further comprising the step of transmitting the acquired image to the command device until the flying object reaches a target. A guidance control program for causing an arithmetic processing unit to execute the flying object guidance method according to any one of claims 17 to 20 .

Images