JPH09281230A - Monitor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To support an operator decision and to make a monitoring function efficient by performing sensor control over sensor magnifications, etc., according to the position, speed, etc., of a platform and planning the movement of the platform. SOLUTION: A sensor control part 4 inputs state data regarding the position and speed of the platform 12 from a position and state inspection part 3 and operation data on an acceleration state, etc., from outside, and selects proper magnifications of a sensor 1 and adjusts its swing. A platform movement planning part 6 inputs abnormality data outputted by a signal and information processing part 2 and state data on the platform 12 from the inspection part 3. Then a plan for movement as to the movement path of the platform 12, etc., for observing an observation object that the abnormality data indicates more in detail is generated and outputted. Then object data and abnormality data outputted by the processing part 2, the state data outputted by the inspection part 3, and the movement plan outputted by the generation part 6 are displayed at a display part 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device mounted on a moving platform for monitoring the state of an observation target, and particularly when an abnormality is estimated in the observation target, it autonomously controls a sensor, The present invention relates to decision support of an operator who creates a movement plan draft such as a movement route of a platform.

[0002]

2. Description of the Related Art Conventionally, as a monitoring device of this type, for example, there is an "approaching tree separation detecting device" disclosed in Japanese Patent Application No. 07-43109. This is for observing the distance from an obstacle such as a tree approaching a power transmission line and outputting a warning signal of an abnormal approach point. As an onboard device, a laser range finder unit and a TV camera unit, GPS (Global Po) that measures the flight position of aircraft such as helicopters
The distance signal and the scan angle data output by the positioning system unit and the laser distance measuring device unit are fetched, and an alarm signal is generated when the distance between the transmission line and the approaching tree is abnormally closer than a certain set value. An abnormal approaching point alarm generation unit is provided, and distance data around the power transmission line is acquired while flying over the power transmission line, and the data is processed by the data processing analysis unit of the ground device.

Also, Imai, Kaneko et al .: "Tokyo Disaster Prevention Information System", Mitsubishi Electric Technical Report, Vol. 66, No. 5 (1
In 992), there is a system shown as "earthquake disaster interpretation system". It is composed of a helicopter on-board system that collects video and position information from the sky, and a deciphering processing system that simultaneously displays the helicopter position and video by searching a predetermined map from the collected information. The helicopter mounting system is a GPS device that detects the position of the camera device and helicopter as a sensor.
And a device such as a video transmission device that performs video transmission. The interpretation processing system processes the information collected by the helicopter-mounted system and simultaneously provides video and map information to support the operator's disaster situation interpretation work.

An outline of the main part of the apparatus shown above is shown in FIG.
Is shown in In the figure, 1a is a sensor that senses the state of the observation target and outputs a sensor signal, and 2a performs signal processing and information processing of the sensor signal output by the sensor 1, and the target data relating to the state of the observation target and abnormalities A signal / information processing unit that outputs abnormal data indicating a certain observation target, 3a is a position / state detection unit that outputs state data regarding the position and speed of the moving platform, and 8a is the above-mentioned target output by the signal / information processing unit 2a. It is a display unit for inputting and displaying the data, the abnormal data, and the above-mentioned state data output from the position / state detecting unit 3a.

[0005]

The conventional monitoring device is constructed as described above, and in the case of monitoring an observation target by using a sensor mounted on a moving body such as an aircraft, a helicopter, or an unmanned aerial vehicle. , The sensor signal obtained by sensing the state of the observation target was used to judge whether the observation target was abnormal or to avoid danger based on the distance measurement result. The movement plan such as the movement route was not output. In other words, when an abnormality is estimated in the observation target, we usually thought that it can be recognized by one sensing, so we have to move the platform in order to perform autonomous sensor control and further investigate the state of the observation target in more detail. There is a problem in that the work load of the operator is increased because the operator does not support the decision making of the operator by creating a movement plan draft such as a route.

The present invention has been made to solve the above problems, and when the abnormality is estimated in the observation target, autonomously controls the sensor and further examines the observation target in more detail. , The purpose is to prepare a movement plan such as the movement route of the platform and to obtain a monitoring device that supports the decision making of the operator.

[0007]

In order to achieve the above object, the monitoring device of the invention according to claim 1 has the following (1):
Install the elements of ~ (6) on the moving platform,
It is characterized by monitoring the state of the observation target. (1) A sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, and (3) a position / state detection unit. Sensor control means for inputting the platform state data to be output and platform control / control data from the outside to output sensor control data, (4) sensor signal output from the sensor, position / state detecting means The platform status data output by the sensor and the sensor control data output by the sensor control means are input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data and anomalies related to the status of the observation target. Signal / information processing means for outputting abnormal data indicating a certain observation target, (5) the position Input the status data regarding the position and speed of the platform output by the status detection means, and the anomaly data indicating the abnormal observation target output by the signal / information processing means, and output the movement plan such as the movement path of the platform. Platform movement plan creating means, (6) Target data relating to the state of the observation target output by the signal / information processing means and abnormal data indicating an abnormal observation target, the movement path of the platform output by the platform movement plan creating means, etc. The display means for inputting and displaying the movement plan and the state data relating to the position and speed of the platform output by the position / state detecting means.

The monitoring device of the invention according to claim 2 is
2. At least the mode according to claim 1, wherein target designation data designating an observation target or an observation unnecessary target is input to at least the platform movement plan creation means, or a sensor operation mode is designated to the sensor control means and the platform movement plan creation means. It is characterized by inputting designated data.

The monitoring device of the invention according to claim 3 is
The sensor according to claim 1, position / state detecting means, sensor control means, signal / information processing means, and output selecting means for selecting and outputting desired output information from the output information of the platform movement plan creating means. It is characterized by

The monitoring device of the invention according to claim 4 is
The following (1) to (4) elements are mounted on a moving platform, and the following (5) to (8) elements are provided in a fixed or mobile base unit to monitor the state of the observation target. And (1) A sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, and (3) a position / state detection unit. Sensor control means for outputting platform status data to be output and platform control / control data from the outside to output sensor control data, (4) Platform connected to the base data transmitting / receiving means of the following base unit through a line Data transmission / reception means, (5) A signal for noise removal, etc. by inputting the sensor signal output by the sensor, the platform state data output by the position / state detection means, and the sensor control data output by the sensor control means. Object related to the state of the observation target by performing processing and information processing such as target feature extraction Data and information processing means for outputting anomaly data indicating an abnormal observation target, (6) status data relating to the position and speed of the platform output by the position / status detecting means, and the signal / information processing means Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target to be output and outputting a movement plan such as the movement route of the platform, (7) Regarding the state of the observation target output by the signal / information processing means Abnormal data indicating the target data and the abnormal observation target, the movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position /
Display means for inputting and displaying status data relating to the position and speed of the platform output by the status detecting means, and (8) data transmitting / receiving means of a base unit which is connected to the platform data transmitting / receiving means of the above platform.

The monitoring device of the invention according to claim 5 is
The following (1) to (5) elements are mounted on a moving platform, and the following (6) to (8) elements are provided in a fixed or mobile base unit to monitor the state of the observation target. And (1) A sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, and (3) a position / state detection unit. Sensor control means for inputting the platform state data to be output and platform control / control data from the outside to output sensor control data, (4) sensor signal output from the sensor, position / state detecting means The platform status data output by the sensor and the sensor control data output by the sensor control means are input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data and anomalies related to the status of the observation target. Signal / information processing means for outputting abnormal data indicating an observation target with
(5) Platform data transmission / reception means for line connection with the base data transmission / reception means of the following base unit, (6) Status data relating to the position and speed of the platform output by the position / status detection means, and the signal / information processing means. Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target to be output and outputting a movement plan such as the movement route of the platform, (7) Regarding the state of the observation target output by the signal / information processing means Abnormal data indicating the target data and the abnormal observation target, the movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position /
Display means for inputting and displaying status data relating to the position and speed of the platform output by the status detecting means, and (8) data transmitting / receiving means of a base unit connected to the platform data transmitting / receiving means of the platform by a line.

The monitoring device of the invention according to claim 6 is
The following (1) to (4) elements are mounted on the towing section, and the following (5) to (8) elements are provided on the mother machine to monitor the state of the observation target. (1) A sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, and (3) a position / state detection unit. Sensor control means that outputs platform status data to be output and platform control / control data from the outside and outputs sensor control data, (4) Data transmission of the towed section that sends and receives data to and from the following mother machine Means, (5) inputting a sensor signal output from the sensor, platform state data output from the position / state detection means, and sensor control data output from the sensor control means,
Signal / information processing means for performing signal processing such as noise removal and information processing such as target feature extraction, and outputting target data relating to the state of the observation target and abnormal data indicating an abnormal observation target, (6) the position / state A platform for inputting state data relating to the position and speed of the platform output by the detection means and abnormality data output by the signal / information processing means indicating an abnormal observation target, and outputting a movement plan such as the movement path of the platform. Movement plan creating means, (7) target data relating to the state of the observation target output by the signal / information processing means, abnormal data indicating an abnormal observation target, moving path of the platform output by the platform movement plan creating means, etc. The movement plan, the position of the platform output by the position / state detection means, Display means (8) data transmission means for towed unit which transmits and receives the above-mentioned towed portion and a data displaying them by entering the state data relating to degrees.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1. Embodiment 1 of the present invention will be described. FIG. 1 is a block diagram showing Embodiment 1 of the present invention. FIG. 2 is a diagram illustrating target data and abnormal data according to the present embodiment.

In FIG. 1, 1 is a sensor for sensing the state of an observation target and outputting a sensor signal, and 3 is a position / state detection means for outputting state data relating to the position and speed of a moving platform. Division, 4
Is the state data of the platform output by the position / state detection means, and the operation / control of the platform from the outside.
A sensor control unit is a sensor control unit that inputs control data and outputs sensor control data. Reference numeral 2 denotes a sensor signal output from the sensor 1, and a position and speed of the platform output from the position / state detection unit. The state data regarding the state of the observation target and the control data of the sensor output from the above-mentioned sensor control means are input to perform signal processing such as noise removal and information processing such as target feature extraction Signal / information processing unit which is a signal / information processing unit for outputting the abnormal data indicating the, and 6 indicates status data relating to the position and speed of the platform output by the position / status detecting unit, and an error output by the signal / information processing unit. Platform movement plan creation that inputs data and outputs movement plans such as platform movement routes It is a platform movement plan creating section is a means.

Next, the operation of the first embodiment will be described. The sensor 1 is a sensor such as a TV, an IR image pickup device, a radar, a synthetic aperture radar, or the like, and senses a state of an observation target and outputs a sensor signal. The signal / information processing unit 2
Input the sensor signal, signal processing such as noise removal,
Information processing such as target feature extraction is performed, and target data regarding the state of the observation target and abnormal data indicating an abnormal observation target are output. For example, when the sensor 1 is an IR image pickup device, the signal / information processing unit 2 divides the two-dimensional image of the output of the IR image pickup device into several regions and extracts feature data in each region, and The target data is the reference data and the like, which are the characteristic data acquired in 1. FIG. 2 is a diagram for explaining target data output from the signal / information processing means regarding the state of the observation target and abnormal data indicating an abnormal observation target. In this example, data obtained from a sensor such as an IR image pickup device is divided into several areas, the values in each area are averaged, and the color density is changed according to the value. (In FIG. 2, color densities are represented by numbers 1 to 5).
There is a big difference between the characteristic data and the reference data. The areas 1-a and 3-b have a large difference in density from the reference, so the areas 1-a and 3-b are abnormal data. . The signal / information processing means outputs such target data and abnormal data.

Further, from the state data regarding the position and speed of the platform output by the position / state detection unit 3 and the position of the observation target (target) sensed by the sensor 1, there is a risk that the platform collides with the observation target (target). In some cases, an alarm is issued. Here, the position / state detector 3
Detects state data such as the position of the platform, velocity vector of the platform, inclination of the platform, etc., which are obtained from GPS and gyro and outputs them to the signal / information processing unit 2, the display unit 8 and the outside.

The sensor control unit 4 inputs the state data relating to the position and speed of the platform output from the position / state detecting unit 3 and the operation data of the platform such as the acceleration condition and the steering size from the outside. Select the appropriate magnification of the sensor and adjust the shaking. For example, if the sensor is a TV, when a high-magnification image is acquired, if it moves at a high speed, the screen will flow and the screen will be very difficult to see. Therefore, it is necessary to set the screen magnification as a function of the moving speed and the altitude, and this is controlled by the sensor control unit.

The platform movement plan creating unit 6 inputs the anomaly data indicating the abnormal observation target output from the signal / information processing unit 2 and the status data on the position and speed of the platform output from the position / status detecting unit 3. do it,
Create and output a movement plan draft such as the movement route of the platform for further detailed observation of the observation target indicated by the abnormal data. For example, as shown in FIG. 2, 1-a and 3
-B has anomalous data, currently platform is 2
If you are in -b and are heading to 2-c, determine how to move to quickly sense the regions 1-a and 3-b by using a method such as dynamic programming, By outputting the decided plan to the display unit, it is presented to the operator to support the decision making of the operator. Unlike the well-known route plan, this movement plan is performed in consideration of the dynamic characteristics of the platform, the observation conditions of the sensor, the importance of the observation target, and the like.

Here, it is assumed that the degree of importance of the observation target is determined in real time according to the degree of abnormality, and is determined in advance from the density of the population and the like.

For example, in the example of FIG. 2, assuming that the user is currently at 2-b and heading for 2-c, the abnormal data 1-a
And I want to observe 3-b in detail. At this time, the required time for going straight from 2-b to 2-c is 1 unit time, and the required time for going diagonally forward from 2-b to 1-c is 1 unit time. 1.5 credit hours,
When going straight from the direction 2-b to 1-b, it is assumed that it takes 2 unit time, and the others cannot proceed. After that, the straight ahead direction will be the direction connecting the previous location and the current location, and make a movement plan. Now, if you are going from 2-b to 2-c, after passing 1-a, 3-
The route to go to b is 2-b, 1-b, 1-a, 2-
a, 3-b, and 4 unit hours until the observation of 1-a, 3
It takes 6.5 unit hours until the observation of -b. On the other hand, the route to go to 1-a after passing 3-b is
2-b, 3-b, 3-a, 2-a, 1-a, 3-
It takes 2 unit hours to observe b and 6 unit hours to observe 1-a. Therefore, considering the total time, the former is 10.
It can be said that the latter is a better plan because it takes 5 unit hours and the latter takes 8 unit hours. Further, when there is a difference in the importance of the target area, it is necessary to consider an evaluation function that also takes this importance into consideration. -B), and the importance of each observation target is P (1-a) and P (3-b), the evaluation function J can be expressed by the following equation, and the movement that maximizes this evaluation function J is performed. The plan will be adopted. J = {P (1-a) / T (1-a)} + {P (3-b)
/ T (3-b)}

The display unit 8 displays the target data and abnormal data output by the signal / information processing unit 2, the state data output by the position state detection unit 3, the movement plan draft output by the platform movement plan creation unit, and the like. To do. By presenting the draft movement plan in this way, the flight plan in a macro sense is automatically shown to the operator, so that the operator can concentrate on manipulating in the visible range, that is, avoiding dangerous objects, etc. Can be reduced.

Embodiment 2 FIG. Embodiment 2 of the present invention will be described. FIG. 3 is a block diagram showing the second embodiment of the present invention. FIG. 4 is a diagram for explaining schematic sensing for observing an observation target whose sensor operation mode is in a wide range. FIG. 5 is a diagram illustrating detailed sensing in which an operation target of a sensor observes an observation target in a specific range.

In FIG. 3, reference numeral 6 denotes a platform movement plan preparation section which is a platform movement plan preparation means capable of inputting object designation data for designating an observation object or an observation unnecessary object from the outside. In addition, 4,
Reference numerals 6 and 6 denote a sensor control unit and a platform movement planning unit which can also input mode designation data for designating an operation mode of the sensor from the outside. In FIG. 3, the other parts are the same as those in FIG. 1 showing the first embodiment, and therefore description thereof is omitted.

Next, the operation of the second embodiment will be described. In the first embodiment, the platform movement plan creation unit 6 uses the abnormal data output from the signal / information processing unit 2 as
Although the object to be observed is to be sensed, the second embodiment
Then, in addition to the abnormal data indicating the abnormal observation target input from the signal / information processing unit 2, the movement target plan is created by observing the sensing target indicated by the target designation data input by the operator.

For example, when the operator wants to sense 4-c in FIG. 2 and inputs this as target designation data, the target designation data is composed of a flag indicating that it is observed as 4-c. As a result, sensing is performed even if 4-c is not abnormal data. On the contrary, if the operator thinks that it is not necessary to sense 3-b in FIG. 2 and inputs it as the target designation data of the observation unnecessary target, the target designation data is a flag indicating that it is not observed as 3-b. Composed. As a result, with abnormal data,
Even if 3-b is sensed, 3-b is not sensed. Therefore, in the first embodiment, the target region to be observed in more detail is determined only by the abnormal data, but in the second embodiment, it is determined by the abnormal data and the target designation data. A movement plan proposal for observing the target area thus determined is created in the same manner as in the first embodiment.

Next, an example of specifying the operation mode of the sensor will be described with reference to FIGS. The operation mode of the sensor indicates how to perform sensing, and the sensor control unit controls the sensor according to the input operation mode. For example, when the sensor is a radar, while the platform moves as shown in FIG. 4, rough sensing for observing a wide range of observation targets, or even if the platform moves as shown in FIG. It is possible to observe and select detailed sensing for improving resolution and the like. If the platform is an aircraft, the operation mode can be switched depending on the altitude.

As described above, the platform movement plan creating unit 6 can create a movement plan draft by a method such as a linear programming method based on the operation mode of the sensor in addition to the first embodiment.

The operations other than the sensor control unit 4 and the platform movement plan creation unit 6 are the same as those in the first embodiment, and will be omitted.

Embodiment 3 Embodiment 3 of the present invention will be described. FIG. 6 is a block diagram showing a third embodiment of the present invention.

In the figure, reference numeral 11 denotes an output content selection unit which is an output selection means for selecting and outputting only desired data among the data output by the monitoring device.

Next, the operation of the third embodiment will be described. The operations other than the output content selection unit 11 are the same as those in the first and second embodiments, and thus the description thereof will be omitted. The output content selection unit 11 includes a sensor signal for sensing the state of the observation target output from the sensor 1, abnormal data indicating an abnormal observation target output from the signal / information processing unit 2, target data regarding the state of the observation target, Also, it is possible to select and output a movement plan draft such as the movement route of the platform output by the platform movement plan creation unit 6. At this time, if the communication capacity when outputting to the outside is fixed, the data to be output is selected in advance in consideration of the communication capacity,
The selected data is output, or a priority is added in advance to the type of data to be output, and the data having a higher priority is output so as not to exceed the communication capacity.

Embodiment 4 FIG. A fourth embodiment of the present invention will be described. FIG. 7 is a block diagram showing a fourth embodiment of the present invention.

In the first to third embodiments, the monitoring device mounted on the platform has been described, but in the fourth embodiment, as shown in FIG. 7, the sensor 1, the position / state detecting unit 3, and the sensor control are provided. The platform 4, the platform data transceiver which is a platform data transceiver for transmitting and receiving data to and from the base unit described below is mounted on the platform, and the signal / information processing unit 2, the platform movement plan creating unit 6, the display unit, and the above The base unit is provided with a base data transmitting / receiving unit which is a base data transmitting / receiving unit for transmitting / receiving data to / from the platform. In addition,
The base unit is not limited to being fixedly installed, but may be installed in a mobile body.

Next, the operation of the fourth embodiment will be described. It is basically the same as the one described in the second embodiment, but by separating the configuration into the platform and the base unit, by placing the signal / information processing unit 2 in the base unit, the configuration to be mounted on the platform is small and compact. Can be In addition, here the platform is a child machine,
The same effect can be obtained by using a fixed or mobile base unit as a mother machine.

Embodiment 5 FIG. Embodiment 5 of the present invention will be described. FIG. 8 is a block diagram showing a fifth embodiment of the present invention.

The difference from the fourth embodiment is that, as shown in FIG. 8, there are differences in the configuration of the platform and the base unit.
The signal / information processing unit is provided not on the base unit but on the platform.

Next, the operation of the fifth embodiment will be described. Compared to the fourth embodiment, since the signal / information processing is performed by the platform, the data transmission amount between the platform and the base unit can be reduced. The same effect can be obtained by using the platform as a slave unit and the fixed or mobile base unit as a mother unit.

Embodiment 6 FIG. Embodiment 6 of the present invention will be described. FIG. 9 is a block diagram showing a sixth embodiment of the present invention.

The difference from the fourth embodiment is that, as shown in FIG. 9, the sensor 1, the position / state detection unit 3, and the sensor control unit 4 are mounted on the towing unit towed by the mother machine, and signals / information are provided. The processing unit 2, the platform movement plan creation unit 6, and the display unit are provided in the mother machine.

Next, the operation of the sixth embodiment will be described. Compared with the fourth embodiment, the data transmission between the towing unit and the towing unit is wired by using a line connecting the mother unit 25 and the towing unit, or the mother unit 25 and the towing unit 26 are described in the fourth embodiment. Alternatively, a data transmitter / receiver may be provided to perform wirelessly. Further, since the towing unit 26 equipped with the sensor is separated from the mother aircraft 25 on which a person is mounted, it is possible to perform sensing of a dangerous observation target that is difficult for a person to approach.

[0041]

As described above, according to the first aspect of the present invention, when the abnormality is estimated in the observation target, the sensor control means uses the sensor control data such as the sensor magnification suitable from the position and speed of the platform. It is possible to control the sensor autonomously, and the platform movement plan creation means can automatically show the platform movement plan proposal such as the movement route of the platform, so that it can support the operator's decision making and observe efficiently. It is possible to obtain a monitoring device in which the monitoring function of the target works.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, by designating the operation mode of the sensor, it is possible to roughly sense a wide range of observation targets. Further, by specifying a specific observation target, detailed sensing for improving the resolution can be performed, and a monitoring device capable of sensing the observation target to be observed more reliably can be obtained.

According to the invention of claim 3, in addition to the effect of the invention of claim 1, output selection means can be provided to select desired output information from the output information of the monitoring device. When connecting with a device, the amount of output information can be adjusted without sending unnecessary output information, and an efficient monitoring device can be obtained.

According to the invention of claim 4, the platform is provided with a sensor or the like, the base is provided with a signal / information processing means, etc., and data transmission between the platform and the base is performed by the data transmitting / receiving means. As a result, it is possible to obtain a monitoring device in which the platform is unmanned and the size and weight can be reduced.

According to the invention of claim 5, the signal / information processing means is mounted on the platform in addition to the sensor, thereby obtaining the monitoring device capable of reducing the data transmission amount between the platform and the base unit. be able to.

According to the invention of claim 6, by mounting a sensor or the like on the towing section towed by the mother machine, it is possible to sense a dangerous observation target which is difficult for a person to approach. It is possible to obtain a monitoring device.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram illustrating target data regarding the state of an observation target output from a signal / information processing unit, and abnormality data indicating an observation target having an abnormality.

FIG. 3 is a block diagram showing a second embodiment of the present invention.

FIG. 4 is a diagram illustrating rough sensing by a radar as a sensor.

FIG. 5 is a diagram illustrating detailed sensing by a radar as a sensor.

FIG. 6 is a block diagram showing a third embodiment of the present invention.

FIG. 7 is a block diagram showing a fourth embodiment of the present invention.

FIG. 8 is a block diagram showing a fifth embodiment of the present invention.

FIG. 9 is a block diagram showing Embodiment 6 of the present invention.

FIG. 10 is a block diagram showing a conventional monitoring device.

[Explanation of symbols]

 1 sensor 2 signal / information processing unit 3 position / state detection unit 4 sensor control unit 6 platform movement plan creation unit 8 display unit 11 output content selection unit 12 platform 20 base unit 21 platform data transmission / reception unit 22 base unit data transmission / reception unit 25 mother machine 26 Towing Department

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location G08B 25/00 510 G08B 25/00 510A

Claims (6)

[Claims] 1. A monitoring device comprising the following elements (1) to (6) mounted on a moving platform to monitor the state of an observation target: (1) Sensing the state of the observation target (2) Position / state detecting means for outputting state data relating to the position and speed of the platform, (3) Platform state data output by the position / state detecting means, and a platform from the outside. Sensor control means for inputting data relating to control / control of the sensor and outputting control data of the sensor, (4) sensor signal output by the sensor, platform state data output by the position / state detecting means,
And the sensor control data output from the sensor control means is input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data relating to the state of the observation target and abnormal data indicating an abnormal observation target. And information processing means for outputting (5) status data relating to the position and speed of the platform output by the position / status detecting means, and the signal
Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target output by the information processing means and outputting a movement plan such as a movement path of the platform, (6) Observation output by the signal / information processing means Target data regarding the status of the target and abnormal data indicating an abnormal observation target, a movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position and speed of the platform output by the position / state detection means Display means for inputting state data regarding and displaying them. 2. A mode designation for at least inputting target designation data designating an observation target or a non-observation target to the platform movement plan creating means, or designating an operation mode of the sensor to the sensor control means and the platform movement plan creating means. The monitoring device according to claim 1, wherein data is input. 3. A sensor, a position / state detecting means, a sensor controlling means, a signal / information processing means, and an output selecting means for selecting and outputting desired output information from the output information of the platform movement plan creating means. The monitoring device according to claim 1, wherein: 4. The following (1) to (4) elements are mounted on a moving platform, and the following (5) to (8) elements are provided on a fixed or mobile base unit to determine the state of the observation target. A monitoring device characterized by monitoring, (1) a sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, (3) Sensor control means for inputting the state data of the platform output from the position / state detecting means and data relating to the operation / control of the platform from the outside, and outputting the control data of the sensor, (4) the following base unit Platform data transmission / reception means connected to the base data transmission / reception means of (5) the sensor signal output from the sensor, the position / state detection means Output to the platform of the state data,
And the sensor control data output from the sensor control means is input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data relating to the state of the observation target and abnormal data indicating an abnormal observation target. (6) State data relating to the position and speed of the platform output by the position / state detecting means, and the signal / information processing means
Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target output by the information processing means and outputting a movement plan such as a movement path of the platform, (7) Observation output by the signal / information processing means Target data regarding the status of the target and abnormal data indicating an abnormal observation target, a movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position and speed of the platform output by the position / state detection means Display means for inputting and displaying status data regarding the above, (8) Data transmission / reception means of a base unit connected to the platform data transmission / reception means of the above-mentioned platform by a line. 5. The following (1) to (5) elements are mounted on a moving platform, and the following (6) to (8) elements are provided on a fixed or mobile base unit to determine the state of the observation target. A monitoring device characterized by monitoring, (1) a sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection unit that outputs state data relating to the position and speed of the platform, (3) Sensor control means for inputting the state data of the platform output from the position / state detection means and data relating to the operation / control of the platform from the outside and outputting the control data of the sensor. (4) Output of the sensor Sensor signal, platform status data output by the position / status detection means,
And the sensor control data output from the sensor control means is input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data relating to the state of the observation target and abnormal data indicating an abnormal observation target. (5) Platform data transmission / reception means for line connection with the base data transmission / reception means of the following base unit, (6) Status data relating to the position / speed of the platform output by the position / status detection means , And the above signals
Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target output by the information processing means and outputting a movement plan such as a movement path of the platform, (7) Observation output by the signal / information processing means Target data regarding the status of the target and abnormal data indicating an abnormal observation target, a movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position and speed of the platform output by the position / state detection means Display means for inputting and displaying status data concerning the above, and (8) data transmission / reception means of a base unit which is connected to the platform data transmission / reception means of the above-mentioned platform. 6. The following (1) to (4) elements are mounted on a towing section, and the following (5) to (8) elements are provided on a mother machine to monitor the state of an observation target. Monitoring device, (1) a sensor that senses the state of the observation target and outputs a sensor signal, (2) a position / state detection means that outputs state data relating to the position and speed of the platform, (3) the position / Sensor control means for inputting the state data of the platform output by the state detection means and data relating to the operation / control of the platform from the outside and outputting the control data of the sensor. (4) Towed transmission / reception of data with the mother machine below. Data transmission means of the unit, (5) sensor signal output by the sensor, platform state data output by the position / state detection means,
And the sensor control data output from the sensor control means is input to perform signal processing such as noise removal and information processing such as target feature extraction, and target data relating to the state of the observation target and abnormal data indicating an abnormal observation target. (6) State data relating to the position and speed of the platform output by the position / state detecting means, and the signal / information processing means
Platform movement plan creating means for inputting abnormality data indicating an abnormal observation target output by the information processing means and outputting a movement plan such as a movement path of the platform, (7) Observation output by the signal / information processing means Target data regarding the status of the target and abnormal data indicating an abnormal observation target, a movement plan such as the movement route of the platform output by the platform movement plan creation means, and the position and speed of the platform output by the position / state detection means Display means for inputting and displaying state data regarding (8) Data transmission means of the towing section for transmitting / receiving data to / from the towing section.