JPH11142098A - Method and device for detection of impact location of released bomb - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method wherein the impact location of a simulation bomb in an air-to-ground bombing training can be measured unmannedly at a favorable precision, and a device to perform the method. SOLUTION: Around a target 1, three fixed cameras (photographing device) 2, 3, 4 are approx. evenly arranged, and also, a sound sensor 5 is buried in the ground the target 1, and at the same time, in a control chamber, a computer system 7 having an analyzing device 11, a display device 12 for monitoring, a printing device 13 which prints desired data, a signal identifying apparatus 14 which discriminates an impact signal of a simulation bomb from output signals of the sound sensor 5, an image processing related apparatus 15, and a power source 16, is provided. A release signal of a simulation bomb is generated by the signal identifying apparatus from the output signals of the sound sensor 5, and an image processing is performed by retrieving the image data from the fixed cameras to the analyzing device with the release signal as a trigger, and the impact location is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for determining a landing position of a dropped bomb in air-to-ground firing training by image processing, and an apparatus for executing the method.

[0002]

2. Description of the Related Art In air-to-ground shooting training, a simulated ammunition that emits smoke at the same time as a bomb is set up on the head of a bomb,
The diameter previously set on the ground from the training machine is 100m ~ 15
Some drop at a target of 0m.

[0003] Conventionally, as a method of evaluating the impact position in such an air-to-ground explosion drill, an observer is placed at a plurality of locations around a target, and after a simulated bullet is dropped, the observer relies on smoke generated from a smoke tube. In general, a method of visually confirming the impact position using binoculars or the like, and then collating the impact position information obtained by each observer to determine a correct impact position has been common. However, this method requires a large number of personnel to monitor the impact position, may put the observer at risk of accidental explosion, and may not inform the trainee of the results of shooting training in real time. There are inconveniences such as the inability to increase training efficiency.

[0004] In recent years, various devices have been proposed in which a computer determines the impact position of a simulated bullet. One example is the WISS (Weapons Inpact Scoring Set) commercialized by Cartwright Company, USA. In this drop bomb landing position detection device, two imaging devices are arranged around a target at a distance from each other, and a monitor monitors image data sent from these imaging devices on a monitor, and When smoke is generated in the smoke cane caused by the arrival, the position of the smoke is pointed on the monitor by the observer, and the computer determines the position of the simulated ammunition based on the data. According to this device, since it is not necessary to arrange a guard around the target, the number of guards can be reduced, and the danger due to accidental explosion can be avoided. Further, since the result of the shooting training can be notified to the trainee in real time, the training can be made more efficient.

[0005]

However, even with this device, a person in charge of monitoring the monitor is required, so that it is not possible to completely automatically determine the impact position. In addition, since humans point the smoke generation position on the monitor, there is an inconvenience that the accuracy cannot be sufficiently improved due to differences in skill levels and individual differences in timing of point addition.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned deficiencies of the prior art, and an object of the present invention is to provide an unmanned and accurate method for measuring the impact position of a simulated ammunition and an apparatus for executing the method. To provide.

[0007]

According to the present invention, in order to achieve the above-mentioned object, a plurality of image pickup devices installed around a target and a plurality of image pickup devices installed from each of these image pickup devices are provided. A computer that performs image processing on the image data to calculate the landing position of the simulated ammunition, and a signal generator that detects when the simulated bullet is released and outputs a simulated bullet release signal,
A configuration in which the plurality of imaging devices are activated by using a simulated bullet release signal from a signal generator as a trigger, image data of a target and surroundings is taken into the computer, and an impact position of the simulated bullet is automatically obtained by image processing. I made it.

As the signal generator, an acoustic sensor buried around a target and, when an output signal value of the acoustic sensor becomes larger than a predetermined reference signal value, outputs a simulated bullet release signal. Consisting of a signal classifier,
An imaging device that captures the body of a training aircraft approaching the vicinity of the target, and image processing of image data from the imaging device to detect the time of dropping a simulated bullet from the position, posture, or track of the training aircraft, An image processing device that outputs a simulated bullet release signal in synchronism, or a device mounted on a training machine and wirelessly transmitting a simulated bullet release signal in synchronization with a simulated bullet release operation can be used. In addition, if two imaging devices are provided around the target, it is possible to detect the landing positions of the simulated bullets that are dropped one at a time, and if three imaging devices are provided around the target, It is also possible to detect the landing positions of the simulation bullets that are dropped a plurality of times each time.

On the other hand, with regard to the impact position detection method, a simulated ammunition that emits smoke at the same time as an impact is dropped into a target having a plurality of image pickup devices provided therearound, and a signal is generated to detect when the simulated ammunition is dropped. When a simulated bullet release signal is output from the vessel, the signal is used as a trigger to activate the plurality of imaging devices, capture image data of the target and its surroundings into the computer, and calculate the coordinates of the smoke position on the image data. Then, the landing position of the simulated bullet is determined from the coordinate information and the set position information of the plurality of imaging devices.

As an image processing method, in order to improve the accuracy of the analysis of the landing position, a plurality of image data taken at shorter time intervals than each of a plurality of image pickup devices is taken into a computer, and each image data having a different image pickup time is taken. It is preferable to calculate the coordinates of the smoke position from the difference data of the data. In particular, because you can more accurately grasp the movement due to smoke,
Assuming that two image data taken at short time intervals are A and B, respectively, the difference data of (AB) and the difference data of (BA) are taken, and then these difference data are added. Therefore, it is preferable to extract all the movements of the smoke as the subject, and obtain the impact position by obtaining the center of gravity.

When a simulated bullet lands, an impact sound that propagates in the ground is generated by its collision energy. By capturing the impulsive sound with an acoustic sensor, it is possible to specify when the simulated bullet lands. Also, when dropping a simulated ammunition from a training machine, the position, posture, or track of the training machine changes from the normal state. You can almost specify the time of impact. further,
Even when a simulated bullet release signal is wirelessly transmitted from the training machine in synchronization with the simulated bullet release operation, it is possible to substantially specify the time when the simulated bullet is landed.

A plurality of imaging devices installed around the target use a simulated bullet release signal from a signal generator as a trigger,
It can be activated in synchronization with the arrival of a simulation bullet. On the other hand, the simulated ammunition emits smoke from the flares incorporated in the warhead simultaneously with the impact. Therefore, when the simulated bullet is dropped into the target, the image data around the target including the target immediately after impact and the smoke rising from the smoke can always be captured by each imaging device.

In addition, the target immediately after impact and the surrounding image data from each imaging device are continuously taken into the computer at short time intervals, and the difference image of each image data at each time point is calculated. Since only the smoke portion from the smoke tube can be extracted, the coordinates of the smoke portion (landing position) on the image data can be automatically obtained. Further, the landing position with respect to the target can be automatically obtained by calculation from the coordinates of the landing position thus obtained, the installation position of each imaging device, and the imaging direction.

Thus, according to the method and apparatus of the present invention,
The ability to automatically monitor the location of the dropped bombs reduces or eliminates surveillance personnel, and also allows the location of the dropped bombs to be calculated in real time, providing immediate feedback on the firing results to the trainees. Can be achieved. In addition, since the imaging device is activated based on the time at which the simulated bullet is landed, there is no room for individual error at the time of measurement, and highly accurate landing position detection can be realized.

If three imaging devices are arranged around the target, a so-called triangulation method can be applied. Therefore, the landing positions of the simulated bullets when a plurality of simulated bullets are simultaneously dropped from the training machine are also calculated. Can be determined automatically by

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will now be described with reference to FIG.
This will be described with reference to FIG. FIG. 1 is a configuration diagram of an impact position detecting apparatus according to an embodiment, FIG. 2 is a flowchart showing an impact position detecting method, FIG. 3 is an explanatory diagram schematically showing a flow of image processing, and FIG. 4 is an impact applying triangulation. FIG. 5 is an explanatory diagram of the position detection method, and FIG. 5 is an explanatory diagram showing the track of the training machine and the timing of simulated bullet release.

As shown in FIG. 1, the landing position detecting device of the present embodiment comprises three fixed cameras (imaging devices) 2, 3, and 4 arranged approximately equally around the target 1, and the target 1 It comprises an acoustic sensor 5 buried in the surrounding ground, a preamplifier 6 for amplifying an output signal of the acoustic sensor 5, and a computer system 7 provided in a control room. The computer system 7 includes an analysis device 11 in which a control program for controlling the entire device, an image processing program, an impact position calculation program, and the like are stored, and a monitor display device 12.
A printing device 13 for emitting desired data, a signal classifier 14 for discriminating a landing signal of a simulated ammunition from an output signal of the acoustic sensor 5, an image processing-related device 15, and a power supply 16.

Each of the fixed cameras 2, 3, and 4 has its incident optical axis directed to the center O of the target 1, and its squeezing and the like are adjusted so that the entire target 1 can be accommodated in the field of view. The acoustic sensor 5 is adjusted to have a sensitivity capable of detecting an impact sound propagating in the ground generated when a simulated bullet dropped from the training machine lands in the target 1. The preamplifier 6 outputs an output signal from the acoustic sensor 5. Is amplified to a value that can be easily processed by the signal classifier 14. These fixed cameras 2,3
4 is connected to the analyzer 11 via the image processing-related equipment 15, and the acoustic sensor 5 is connected to the analyzer 11 via the preamplifier 6 and the signal separator 14.

The signal discriminator 14 receives the signal output from the acoustic sensor 5 and amplified by the preamplifier 6 and, when the signal level exceeds a predetermined value, converts the landing detection signal into an analysis device 11. Output to

When the landing detection signal is input from the signal classifier 14 as shown in FIG.
In step 1, an activation signal is output to the fixed cameras 2, 3, and 4 based on a built-in control program.
Then, two image data A and B are sequentially taken from each of the fixed cameras 2, 3 and 4 at short time intervals {FIG.
See (b). Next, in step S-4, the captured 2
Difference image 1 ｛= AB from image data A and B; FIG.
(C) reference and difference image 2 = BA; see FIG. 3 (d)
Then, in step S-5, difference image 3 ｛= difference image 1 + difference image 2; see FIG. 3 (e)｝. Thereafter, in step S-6, the difference image 3 is binarized (see FIG. 3 (f)).
In step S-7, the position of the center of gravity of the white extraction region is determined {FIG.
(G), the coordinates of the position of the center of gravity on the image data are determined in step S-8 (see FIG. 3 (h)). Then, the process proceeds to step S-9, where the coordinates of the barycentric position on the image data captured by the three fixed cameras 2, 3, 4 and the set point of each fixed camera and the direction of the field of view coincide with each other. To calculate the true landing position. Finally, step S-10
Then, the calculation result is displayed on the monitor display device 12. If necessary, the data can be recorded on recording paper by the printing device 13.

The smoke rising from the warhead of the simulated ammunition fluctuates, so that by calculating a difference image between two pieces of image data A and B taken at short time intervals, the movement of the smoke can be extracted.
In this case, when only the difference image 1 (= AB) is calculated, as is clear from FIGS. 3B and 3C, the area where the image data B has a higher brightness than the image data A is Since the difference becomes a negative value and the luminance is regarded as 0, the same result as in the case where there is no movement of smoke in this area is obtained. On the other hand, the same applies to the case where only the difference image 2 (= BA) is calculated. As is clear from FIGS. 3B and 3C, the image data A is more than the image data B. In a region having a bright luminance, the difference becomes a negative value and the luminance is regarded as 0, and the same result as in the case where there is no movement of smoke in this region is obtained. Therefore, in such a difference calculation, the movement of the smoke cannot be correctly extracted. Therefore, difference image 3 (= difference image 1 + difference image 2)
Is calculated, as shown in FIG. 3 (e), the area which becomes a negative value in each difference calculation can be stored together, so that the smoke movement, that is, the landing position of the simulation bullet can be extracted more accurately.

In the difference image 3, since the brightness of the surrounding area of the smoke rising from the simulated bullet becomes higher than the brightness of the background area, if this is binarized with an appropriate threshold value, as shown in FIG. In addition, the area around the smoke can be extracted white. Determining the position of the center of gravity of these white points can be easily performed according to a standard method of image processing. In addition, the coordinates of the position of the center of gravity with respect to the image data can be easily obtained according to a standard method of image processing. Further, it is also possible to calculate the coordinates of the position of the center of gravity on the target 1 from the coordinates of the position of the center of gravity on each image data captured by the three fixed cameras 2, 3, and 4, and the set position and the viewing direction of each fixed camera. , And can be easily performed according to the triangulation method. Therefore, according to the apparatus and method according to the embodiment, the true landing position can be automatically obtained.

According to this embodiment, since the position of the dropped bomb can be automatically monitored, the number of guards can be reduced or eliminated, and the position of the dropped bomb can be calculated in real time. Since the feedback can be provided to the trainees, the efficiency of the training can be improved. In addition, since the imaging device is activated by using an impact sound when a simulated bullet lands, the detection device has no room for an individual error at the time of measurement, and a highly accurate landing position detection can be realized.

When three fixed cameras 2, 3, and 4 are provided around the target 1 as in the apparatus of this example, the triangulation can be performed even when a plurality of simulated bullets are simultaneously dropped from the training machine. The landing position of each simulated bullet can be accurately obtained by the method.

FIG. 4 shows a method of detecting the landing position. When four simulated bullets (a), (b), (c), and (c) are dropped into the target 1 at substantially the same time, smoke from each simulated bullet is captured by three fixed cameras 2, 3, and 4, respectively. Assuming that the position of the center of gravity of the image data at the smoke emitting position {see FIG. 3 (e) above} respectively, the position of the center of gravity of the image data captured by the first fixed camera 2 and the position of the second fixed camera The point of coincidence between the position of the center of gravity of the image data captured by the third camera 3 and the position of the center of gravity of the image data captured by the third fixed camera 4 is the true landing point of the simulation bullet A. The true landing points of other simulation bullets can be similarly obtained from the data shown in FIG.

Hereinafter, other embodiments of the present invention will be described.

(1) In the above embodiment, three fixed cameras 2, 3, and 4 are provided around the target 1, but one simulation bullet is dropped from the training machine for one training. In such a case, the number of fixed cameras arranged around the target 1 can be two.

(2) In the above-mentioned embodiment, two image data are taken into the analysis device 11 at short time intervals from each fixed camera, and the smoke position is extracted by performing image processing on the image data. It is also possible to take in only one piece of image data for the camera and extract the smoke position by image processing.

(3) In the above embodiment, the difference image 1
After calculating (= AB) and the difference image 2 (= BA), a smoke position was extracted by further calculating a difference image 3 (= difference image 1 + difference image 2). = AB) or the difference image 2 (= BA), the smoke emission position can be extracted.

(4) In the above-described embodiment, the impulsive sound when the simulated ammunition lands is captured by the acoustic sensor 5 to trigger the image capture. However, the simulated ammunition is released from the training machine in synchronization with the simulated ammunition release operation. A signal may be wirelessly input to the analyzer 11, and image data may be captured using the signal as a trigger. Another method is to take an image of the training aircraft approaching the target with an imaging device that is arranged separately from the fixed camera for smoke detection, and take a special posture in synchronization with the simulated bullet release. It is also possible to generate a simulated bullet release signal from the image data at the time of image processing by image processing and use this as a trigger to capture the image data. For example, when a simulated bullet is dropped, as shown in FIG. 5, the motion vector of the training machine changes greatly. Therefore, a simulated bullet drop signal can be generated by logic using this. Of course, in these cases, it is also possible to delay the simulated bullet release signal in consideration of the flight time of the simulated bullet, and to input the simulated bullet release signal to the analyzer 11 upon impact.

[0031]

As described above, according to the present invention,
The ability to automatically monitor the location of the dropped bombs reduces or eliminates surveillance personnel, and also allows the location of the dropped bombs to be calculated in real time, providing immediate feedback on the firing results to the trainees. Can be achieved. In addition, since a simulated bullet release signal is generated and the imaging device is started using the signal as a trigger, there is no room for an individual error at the time of measurement, and highly accurate landing position detection can be realized.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an impact position detection device according to an embodiment.

FIG. 2 is a flowchart of a landing position detection method according to the embodiment.

FIG. 3 is an explanatory diagram schematically showing an image processing method according to the embodiment.

FIG. 4 is an explanatory diagram showing a landing position detection method of four simulated bullets dropped at the same time.

FIG. 5 is an explanatory diagram showing a track of a training machine and a drop timing of a simulation bullet.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Target 2, 3, 4 Fixed camera (imaging device) 5 Acoustic sensor 6 Preamplifier 7 Computer system 11 Analysis device 12 Display device 13 Printing device 14 Signal discriminator 15 Image processing related equipment 16 Power supply

Claims (8)

[Claims] 1. A plurality of imaging devices installed around a target, a computer that performs image processing on image data taken from each of these imaging devices to calculate a landing position of a simulated bullet, and a simulated bullet release A signal generator that detects time and outputs a simulated bullet release signal, and activates the plurality of image pickup devices with the simulated bullet release signal from the signal generator as a trigger to convert target and surrounding image data. An impact position detecting device for a dropped bomb, which is loaded into the computer and automatically calculates the impact position of the simulated dropped bomb by image processing. 2. The apparatus according to claim 1, wherein the signal generator includes an acoustic sensor embedded around the target, and an output signal value of the acoustic sensor is greater than a predetermined reference signal value. And a signal discriminator for outputting a simulated bomb release signal when the bomb has dropped. 3. The apparatus according to claim 1, wherein the signal generator is configured to capture an image of an aircraft of a training machine approaching the vicinity of the target, and to perform image processing on image data from the image capturing apparatus. And an image processing device that detects when a simulated bullet is released from the position, attitude, or track of the training machine, and outputs a simulated bullet release signal in synchronization therewith. 4. The apparatus according to claim 1, wherein the signal generator comprises a wireless transmitter mounted on the training machine and wirelessly transmitting a simulated bullet release signal in synchronization with a simulated bullet release operation. Characteristic device for detecting the position of a dropped bomb. 5. The apparatus according to claim 1, wherein three image pickup devices are provided at substantially equal intervals around the target, and landing positions of a plurality of simulated projectiles dropped simultaneously in the target are recorded on the computer. A drop bomb landing position detection device that automatically obtains the position. 6. A simulated ammunition dropping signal is emitted from a signal generator that emits a simulated ammunition that emits smoke simultaneously with impact on a target having a plurality of imaging devices installed around the same, and detects when the simulated ammunition is dropped. When the signal is output, the signal is used as a trigger to operate the plurality of imaging devices, capture the target and surrounding image data into the computer, calculate the coordinates of the smoke emission position on the image data, and then calculate the coordinate information. And determining a landing position of the simulation bomb based on the set position information of the plurality of imaging devices. 7. The method according to claim 6, wherein a plurality of image data captured at a shorter time interval than each of the plurality of image capturing devices is taken into the computer, and each of the image data having a different image capturing time is taken. A method for detecting a landing position of a dropped bomb, comprising calculating coordinates of a smoking position from difference data. 8. The method according to claim 7, wherein when two image data taken at short time intervals are A and B, respectively, the difference data of (A−B) and (B)
-A method for detecting the landing position of a dropped bomb, wherein the difference data of (A) is obtained, and then the difference data is added to extract all movements of smoke as a subject.