JPH10300503A - Navigation system with image collecting function - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a navigation system wherein a mobile body can easily reach a target imaging point and the place and time of imaging point for an image is instantaneously known. SOLUTION: A system 10 is provided with a personal computer 7 comprising a video camera 3, a monitor 11 which displays an imaging-point image in an imaged image ki based on the imaging signal of the video camera 3, a monitor 12 which displays a navigation image of an airplane 1, a GPS receiver 2, and a VTR device 4, which is mounted on the airplane 1. Here, the personal computer 7 is inputted with the imaging signal from the video camera 3 for accumulation to obtain an image of single screen, and that image of one screen is over-written by a GPS current point Gi and a time Ti from the GPS receiver 2, then the image is recorded by the VTR device 4 as the imaging-point image. In addition, a tape count value that follows the recording with the VTR device 4 is stored while corresponding to the GPS current point Gi and the time Ti.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation system with an image collecting function for displaying a course image of a moving body while displaying an observation image from the moving body with a video camera.

[0002]

2. Description of the Related Art Conventionally, aerial photography has been used for monitoring and measuring the current status of environmental and resource monitoring (river, forest, agriculture, marine and fisheries-related) and disaster surveys as well as road maintenance, urban development, and formulation of disaster prevention plans. Is being used for. In recent years, aircraft video (Airborne Videography), which collects video data from aircraft such as helicopters and fixed wing aircraft, has been used in Europe and the United States in order to obtain the current status of environmental and resource monitoring and measurement data. It has become so.

[0003]

However, when analyzing data collected by an aircraft video, it is necessary to determine the position where the image was captured from the video image, and the position determination requires a lot of time. It costs.

[0004] In particular, it is extremely difficult to determine the position in places such as the sea and snowy mountains where similar landscapes and terrain are continuous and it is difficult to take a target.

[0005] In addition, when shooting an aircraft video, in places where a target is difficult to pick up, it may take a long time to make a mistake in the shooting location or to search for the shooting location.

Therefore, it is desirable that the moving body can easily reach the target photographing point, and it is desirable to be able to instantly grasp the image of the photographing point at which point and when.

[0007]

According to the present invention, there is provided a video camera, a first display for displaying an image of a photographing point based on a photographing signal of the video camera, and a second display for displaying a navigation image of a moving object. Unit, GPS receiver, VTR
This is a navigation system with an image collection function, which is composed of a device and an image processing device connected to an input unit, and is mounted on a moving body. This image processing apparatus inputs and accumulates a shooting signal from a video camera to obtain an image for one screen, and after overwriting a position from a GPS receiver and a time on an image for one screen, This image is recorded on the VTR device as a photographing point image.

[0008] Further, every time a position is input from the GPS receiver, the image processing apparatus sets the position, time, and VTR.
The count value of the tape accompanying the recording of the device is stored in association with the count value.

[0009] For example, when the system is mounted on an aircraft and the aircraft is flown, a video image taken by a video camera is displayed on the first display unit, and a flight map is displayed on the second display unit. .

At the same time, the position and time of the own station from the GPS receiver are overwritten on the image from the video camera, and the image of the shooting point is recorded on the video tape of the VTR device.

Therefore, when an image of the video tape of the VTR device is displayed on the display unit, it is possible to determine at a glance which point and which image the image is.

Further, the count value of the tape accompanying the recording of the VTR device is stored in association with the position and time of the GPS receiver.

For this reason, the collected data is later analyzed to determine the flight locus and display it on the display unit, or by simply designating a position on the flight locus, the tape count value corresponding to this position is determined by the VTR device. , And the image of the shooting location captured by the video camera at that position can be instantaneously reproduced.

[0014]

FIG. 1 is a schematic block diagram of a navigation system having an image collecting function according to an embodiment of the present invention. As shown in FIG. 1, an aircraft 1 has a GPS receiver 2,
The video camera 3, the VTR device 4, and the VTR device 4
A video computer interface 5 for controlling the
A navigation system 10 with an image collection function configured by combining a personal computer 7 and the like with these devices is mounted.
While the position of the aircraft 1 and the image captured by the video camera 3 are collected in real time by this navigation system, the aircraft is guided to a target image capturing point, and the GPS of the image capturing point is displayed on the captured image ki as shown in FIG. (Hereinafter referred to as GPS current location Gi), current time Ti, and the like.

FIG. 2 shows an image ki taken by the video camera 3 while flying over the sea, the GPS current position Gi is displayed by latitude and longitude, and the current position Ti is year, month, day, Hours, minutes and seconds are displayed.

The personal computer 7 (also referred to as an image processing device) of the navigation system 10 with an image collecting function is
As shown in FIG. 1, a CR for displaying a captured image Ki
A T-type monitor 11 and a monitor 12 for displaying a navigation display screen (LIQUID CRYSTAL)
MONITOR).

The personal computer 7 includes a video board 15 and
Latest position reflection processing unit 16, navigation processing unit 17, data processing unit 18, RS232C board 19
, A timer 20, a collection file 21, a multi-window control unit (not shown), a program management unit (not shown), etc., to control each hardware and start each processing unit by multitask processing. And perform data collection processing while performing navigation processing. These processes are performed on a Windows basis.

The video board 15 operates the video camera 3, stores the image ki taken from the video camera 3 in the image memory 15a, edits this image to a predetermined resolution, displays it on the monitor 11, and displays the VTR. Output to the device 4. This video camera 3 uses a CCD and
It is possible to take a picture at a shutter speed of 0 second or more, and it is possible to obtain an image that is not even at the moving speed of the aircraft 1.

The latest position projection processing unit 16 causes the video camera 3 to start shooting via the video board 15 in response to the input of the acquisition start command. And this photographed image k
When i is stored in the image memory 15a of the video board 15, the GPS position Gi from the GPS receiver 2 is written in the above-mentioned photographed image ki and the current time Ti of the timer 20 is written.

Then, the VTR device 4 outputs a photographed image ki (hereinafter, referred to as a photographed point image kia) in which the current time Ti and the GPS current position Gi are written.

The above-mentioned collection start command is generated by selecting a collection start command of a flight course screen, which will be described later, displayed on the monitor 11 with the mouse 23 or the keyboard 24. The GPS current location Gi is output from the GPS receiver 2 every second.

Further, the latest position projection processing unit 16
A recording instruction is output to the video computer I / F 5 to record the photographing point image kia, the video counter value Pi of the VTR device 4 is read from the video computer I / F 5, and the video counter value Pi is used as the current time Ti and GPS. It is stored in the collection file 21 in association with the position Gi. The above-mentioned recording start command is generated by selecting a video control key, which will be described later, displayed on the monitor 12 with the mouse 23 or the keyboard 24.

The navigation processing unit 17 displays a desired flight course, and receives a GPS signal from the GPS receiver 2.
The current location Gi is read via the RS232C board 19, and the GPS current location Gi, the current time Ti, and the like are displayed.
It is stored in association with the collection file 21.

The distance between the GPS seat value Gi and the nearest point on the flight course, the direction of the airplane 1 and the direction toward the point are obtained and displayed. further,
The position of the monitoring point Fi such as an abnormal ship, an abnormal sea area, or a drifting object is stored in the collection file 21.

The data copy processing unit 18 stores the collected file 2
1 is registered in the floppy 22. The collection file unit 21 includes, for example, the first file shown in FIG.
The position collection table 21a shown in FIG.
And a position collection table 21b.

The first position collection table 2 shown in FIG.
1a is a time storage area 21a in which the current time Ti is stored.
a and the current position storage area 21 in which the current position Gi is stored
ab, a counter value storage area 21ac in which the VTR counter value Pi is stored, and an area 21ad in which a flag indicating the monitoring point Fi is stored.

Further, the first position collection table 21b shown in FIG.
This is a table for manually storing the positions of drifting objects and the like. The first position collection table 21b defines a time storage area 21ba, a position storage area 21bb, and a storage area 21bc in which the VTR counter value Pi is stored.

The operation of the navigation system 10 having the image collection function configured as described above will be described below.
In this description, the navigation processing unit 17 has already displayed a flight initial screen 34 including several types of flight course item selection buttons 30, a whole area 31 of the monitored area, and a collection start button 32 shown in FIG. And the flight course Ai is selected.

This flight course Ai and collection start button 3
With the selection of 2, the navigation processing unit 17 and the latest position reflection processing unit 16 perform the processing described below.

FIG. 5 is a flowchart for explaining the main operation of the navigation processing unit 17. The navigation processing unit 17 includes a collection start button 32 and a flight course Ai.
It is monitored whether or not is selected (S1).

When the collection start button 32 and the flight course Ai are selected in step S1, the GPS current location collection processing (S2), the navigation map display processing (S3), the flight direction calculation processing (S4), and the flight point position calculation processing (S5) and the like are performed by multitasking, and the flight course navigation screen 41 shown in FIG. 6 is displayed.

The flight course navigation screen 41 shown in FIG. 6 includes a flight compass screen 42, a flight map screen 43, and a GPS
Current position display screen 44 and flight point position display screen 45
, An environment monitoring point input screen 46, a display scale selection button screen 47, a control screen 48, and the like.

Next, each of the aforementioned processes will be described. The current value collection process in step S1 is performed each time the GPS current position Gi is input from the GPS receiver 2.
i and the current time Ti of the timer 20 are stored in the collection file 21 shown in FIG. Collection file 2 in Fig. 3
In 1, the current time Ti is stored in the time storage area 21aa of the first position collection table 21a, and the current location Gi is stored in the current position storage area 21ab.

Further, the navigation map display processing in step S3 is to display the area Yi of the flight course Ai where the current GPS position Gi is located on the flight map screen 43 on a predetermined display scale Bi.
And the current GPS location Gi of this area Yi
Is displayed at the coordinate position of the screen 43 corresponding to the symbol 43a of the airplane 1 so that the flight direction Qi of the airplane 1 can be understood. This flight direction Qi is obtained from the result of the flight direction calculation processing. Further, in the navigation map display processing S3, by selecting a button on the display scale selection button screen 47, the area Yi is enlarged or reduced on a five-step display scale and displayed, and the position of the airplane 1 (GPS current position) is displayed in this area Yi. When the value exceeds, the area Yi is automatically scrolled.

Further, the flight direction calculation processing in step S4 is based on the previous GPS current position G _i-1 and the current GPS current position G _i-1.
The flight direction Qi of the airplane 1 is obtained from the flight direction i and the flight direction Qi is displayed on the flight compass screen 42 as shown in FIG.
S: A point Cia closest to the current location Gi is determined, and a direction Ei to the point Cia is determined and displayed on the flight compass screen 42. The direction Ei is displayed with the flight direction Qi facing upward.

The flight point position calculation processing in step S5 calculates the distance Di between the current GPS position Gi and the point Cia and displays the distance Di on the flight point position display screen 45 as shown in FIG. Speed V
Find the flight time Tv from i to the point Cia,
It is displayed on the flight point position display screen 45 as shown in FIG. Further, the GPS current location Gi is displayed on this screen 45.

Then, it is determined whether or not the processing is completed (S6).
If the processing is not to be ended, the processing is executed to collect the current GPS value (S
2) Return to navigation map display processing (S3), flight direction calculation processing (S4), and flight point position calculation processing (S5).

Therefore, when shooting an aircraft video,
There is no need to make a mistake in the shooting location or take time to find the shooting location.

Further, the navigation processing unit 17 sends a signal based on the operation of each button on the video controller screen 48 to the video computer I / F5, and the video counter value Pi from the video computer I / F5.
Is displayed.

The navigation processing unit 17 has a monitoring point collection processing function for automatically collecting a position (hereinafter referred to as a monitoring point) when a ship, a sea area, or the like which seems to be abnormal during flight is found. I have.

This monitoring point collection processing is performed by the automatic input button 46a on the environment monitoring point input screen 46 shown in FIG.
While is selected, the GPS current location Gi from the GPS receiver 2 is read, and the flag f is set in the area 21ad of the collection file 21 corresponding to the GPS current location Gi. The collection of the monitoring points Fi is started on condition that the VTR device 4 is in the recording state.

That is, the position range in which the flag f is set in the area 21ad of the first position collection table 21a of the collection file 21 becomes the monitoring point data. FIG.
At position Gi (N34 ° 30'00 ″, E138 ° 00′0) at 11:08:53 on July 24, 1996.
0 ″) and the position Gi (N34 ° 30′10 ″, E138 ° 01′0) at 11:08:54 on July 24, 1996.
5 ″) is the monitoring point Fi by the automatic input.

Then, the coordinate value of the flight map screen 43 corresponding to the monitoring point Fi is obtained, and a symbol (for example, a triangle mark, a circle mark, etc.) of the monitoring point Fi is displayed on the coordinate value.

In the monitoring point collection process, when the manual input button 46b on the environment monitoring point screen 46 is selected, operation inputs of the latitude input key 46c, the longitude input key 46d, and the time input key 46e are accepted. Then, the time ti and the position gi based on these key operations are stored in the second position collection table 21b of the collection file 21 in FIG. 3, while the video counter value Pi is stored.

The first position collection table 2 shown in FIG.
1b, the time ti is stored in the time storage area 21ba, the position gi is stored in the position storage area 21bb,
The VTR counter value Pi is stored in the storage area 21bc.

In FIG. 3B, at 11: 5: 10 on July 24, 1996, N33 ° 10'00 ″, E
This indicates that it is notified that there is an abnormal ship or drifting object at the position gi of 120 ° 20′15 ″.

On the other hand, the latest position projection processing unit 16 simultaneously performs the processing described below. FIG. 7 is a flowchart for explaining the operation of the latest position projection processing unit according to the present embodiment.

The latest position projection processing section 16 monitors whether or not an image ki taken by the video camera 3 is input to the video board 15 (S21). If it is determined in step S1 that the captured image ki has been input, the video board 15
Then, an instruction to store the captured image ki is output to the image memory 15a (S21).

Then, the GPS current location Gi from the GPS receiver 2 is read through the RS232C board 19, and the GPS current location Gi is read.
The PS current location Gi is overwritten in the image memory 15a (S
22). Next, the latest position projection processing unit 16 reads the current time Ti of the timer 20, and causes the image memory 15a to overwrite the current time Ti (S23).

That is, when the airplane 1 is flying over the sea, the image shown in FIG. 2 (photographing point image ki) is stored in the image memory 15a of the video board 15 by this processing.
a) will be stored.

Then, steps S20 to S23
Is determined after the process of (S).
24). If it is determined in step S24 that there is a recording instruction, the photographing point image kia of the video board 15
Is output to the VTR device 4 (S2).
5).

That is, the same video as in FIG. 2 is recorded in real time on a tape (not shown) of the VTR device 4. Next, when the VTR device 4 starts recording, the VTR counter value Pi is read, and this counter value Pi is stored in the collection file 21 (S26). Then, it is determined whether or not there is an end command (S27). If there is no end command, the process returns to step S1, and the current position Gi and the time Ti are reflected on the photographed image Ki.

If it is determined in step S24 that there is no recording command, the process returns to step S1.
That is, the shooting point image kia is always generated and output to the VTR device 4 side even if there is no recording command.

In this way, the shooting point image kia and the monitoring point Fi are obtained while flying the aircraft 1. Then, when the operator flies on the target flight course Ai, the data of the collection file 21 is stored in the floppy 22. This storage processing is performed by the data copy processing unit 1 described above.
8 does.

The data analysis of the floppy 22 is performed by a collected image output system arranged on the ground. FIG. 8 is a schematic configuration diagram of the collected image output system. As shown in FIG. 8, the collected image output system 50 includes:
A VTR device 51; a video computer interface 52 for controlling the VTR device 51;
, A printer 54, a monitor 55, a personal computer 56, and the like, and the monitor 55 displays the flight locus Mi of the airplane 1, the monitoring point Fi, and the like.
The image at the designated position i is displayed on the monitor 5
3 is displayed. A video tape (aircraft video) of the VTR device 4 mounted on the airplane 1 is inserted into the VTR device 51.

As shown in FIG. 8, the personal computer 56 includes a CRT-type monitor 53 for displaying a videotape image of the VTR device 51, a monitor 55 for displaying flight trajectory and the like, and a printer 54. Are connected.

The personal computer 56 includes a file 57, a flight trajectory display processing unit 58, a monitoring position display processing unit 59,
A video controller command section 60, a print processing section 61,
A multi-window control unit (not shown), a program management unit (not shown), etc. are provided to control each hardware, and each processing unit is activated by multitask processing to display a flight trajectory while displaying video. Display the images collected from the tape. These processes are performed on a Windows basis.

The file 57 described above contains the floppy 22
Is stored. That is, the first position collection table 21a and the second position collection table 21 shown in FIG.
b and the selected flight course Ai are stored.

The flight trajectory display processing unit 58 stores the file 57
Data (selected flight course Ai, collection file 2)
1), a graphic image of the selected flight course Ai is displayed on the monitor 55, and all current positions Gi are analyzed to obtain and display a flight locus in the image of the monitor 55.

The current location Gi is obtained from the storage area 21ab of the first position collection table 21a.

The monitoring position display processing section 59 reads the monitoring point Fi of the file 57 with the generation of the flight locus,
A symbol (a triangle mark, a circle mark, or the like) is displayed at the screen position of the monitor 55 corresponding to the monitoring point Fi.

When any point is designated on the flight trajectory of the monitor 55, the video controller command section 60 outputs a video counter value Pi corresponding to the position Gi of the point to the video computer interface 52 from the file 57. While reading the count value pq of the VTR device 51 from the video computer interface 52, when the count value pq approaches the video counter value Pi, the speed is reduced. Then, when both count values match (actually a few counts before Pi), a reproduction signal is sent to the video computer interface 52.

Therefore, as shown in FIG. 9A, the monitor 55 displays the flight locus Mi of the airplane 1 and the monitoring point F.
9 is displayed, and an image of the VTR corresponding to the designated position (including the monitoring point) of the flight locus Mi is instantly displayed on the monitor 53 as shown in FIG. 9B.

The print processing section 61 prints the map, the flight course Mi, the monitoring point Fi, and the like displayed on the monitor 55 in accordance with the input of the print command on the paper using the printer 54.

That is, when analyzing data collected by an aircraft video, it is possible to easily determine from the video image where the photographed position is.

In the above description, the example in which the present system is mounted on an airplane has been described. However, the present invention is not limited to the airplane, and may be mounted on vehicles, ships, submersibles, and the like.

[0067]

As described above, according to the present invention, the video image taken by the video camera is displayed on the first display unit,
The flight map is displayed on the second display unit.

At the same time, the position and time of the own station from the GPS receiver are overwritten on the image from the video camera, and the image of the photographing point is recorded on the video tape of the VTR device. Therefore, when an image on the video tape of the VTR device is displayed on the display unit, an effect is obtained in which it is possible to determine at a glance which point and which image the image is.

Further, the count value of the tape accompanying the recording of the VTR device is stored in association with the position and time of the GPS receiver.

For this reason, the collected data is later analyzed to obtain a flight locus, which is displayed on the display unit, or a position on the flight locus is designated, and the tape count value corresponding to this position is determined by the VTR device. , And the image of the shooting location captured by the video camera at that position can be instantaneously reproduced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a navigation system with an image collection function according to an embodiment.

FIG. 2 is an explanatory diagram illustrating a shooting point image according to the present embodiment.

FIG. 3 is an explanatory diagram illustrating a configuration of a collection file.

FIG. 4 is an explanatory diagram illustrating a flight initial screen.

FIG. 5 is a schematic flowchart illustrating the operation of the navigation system with an image collection function.

FIG. 6 is an explanatory diagram illustrating a flight course navigation screen.

FIG. 7 is a flowchart illustrating an operation of a latest position projection processing unit.

FIG. 8 is a schematic configuration diagram of a collected image output system.

FIG. 9 is an explanatory diagram illustrating screen display in the collected image output system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Aircraft 2 GPS receiver 3 Video camera 4 VTR device 7 Personal computer 11 Monitor 12 Monitor 15 Video board 16 Latest position projection processing part 17 Navigation processing part 21 Collection file

Claims (6)

[Claims] 1. A video camera, a first display unit for displaying a shooting point image based on a shooting signal of the video camera, a second display unit for displaying a navigation image of a moving object, a GPS receiver, A navigation system having an image collection function, which is configured from a VTR device and an image processing device connected to an input unit, and is mounted on the moving body, wherein the image processing device transmits a photographing signal from the video camera. After inputting and accumulating, an image for one screen is obtained, and after overwriting the image for one screen with the position from the GPS receiver and the time, this image is used as an image of a shooting point in the VTR device. A navigation system with an image collection function characterized by recording. 2. Each time a position from the GPS receiver is input, the image processing apparatus sets the position, time, and V
2. The navigation system with an image collection function according to claim 1, wherein a count value of the tape accompanying the recording of the TR device is stored in a corresponding manner. 3. The image processing apparatus displays a map image of a moving course of the moving object on a predetermined display scale on the second display unit, and every time a position from the GPS receiver is input, the map image is displayed. The navigation with an image collection function according to claim 1 or 2, wherein a first identification image indicating a current traveling direction of the moving object is displayed at a coordinate position of the second display unit corresponding to a position. system. 4. The image processing apparatus according to claim 1, wherein each time a position from the GPS receiver is input, the current position of the moving object on the map image displayed on the second display unit is calculated from the position and the previous position. 4. The navigation system with an image collecting function according to claim 3, wherein the traveling direction is determined. 5. The image processing apparatus according to claim 1, wherein each time a position from the GPS receiver is input, a direction toward a point on the moving course closest to the position is obtained, and a course direction image indicating the direction is obtained. 5. The navigation system with an image collection function according to claim 1, wherein a set of a first identification image and a second identification image similar to the first identification image are displayed in an area different from the map image. . 6. The image processing device according to claim 1, further comprising: an automatic collection command for automatically collecting coordinates of a monitoring point photographed by said video camera; 6. The navigation system with an image collection function according to claim 1, wherein the data is stored in correspondence with the data indicating that the data is collected at a monitoring point.