JPH1123197A - Target selector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make missiles individually hit a plurality of targets by a method wherein a moving direction vector of the centers of gravity in a plurality of areas as a whole is rotated in a screen to rearrange the areas in the order of crossing and position coordinates of the areas are outputted corresponding to the previously set order. SOLUTION: A direction vector 12 is rotated by a direction vector rotating means 38 within a screen and a direction vector 39 for numbering the areas is outputted sequentially. With the rotation of the direction vector 39 for numbering the areas, the numbers of the areas crossed are outputted as numbers 16 of the areas rearranged in the order of crossing to be stored into an area number table 18. The numbers of the areas are selected corresponding to the order 17 of the targets to be locked on, for which a different value is previously set for each apparatus to be outputted as number 19 of the area for the target to be locked on. The position coordinate corresponding to the area is selected to be outputted from the numbers of the areas and the position coordinates 6 by a position coordinate selection means 20.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target selecting device mounted on a missile or the like.

[0002]

2. Description of the Related Art FIG. 14 shows, for example, Japanese Patent Application No. 7-239762.
FIG. 1 is a configuration diagram showing a conventional target selection device described in the specification and drawings, wherein 1 is an infrared image sensor, 2 is an image signal, 3 is a binarizing means, 4 is a binary image signal, and 5 is an area. Detecting means, 6 is the number and position coordinates of each area, 7 is the barycentric point calculating means, 8 is the barycentric point coordinates of the entire screen, 9 is the barycentric point storing means, 10 is the barycentric point coordinates of the entire screen in the previous frame,
11 is a direction vector detecting means, 12 is a direction vector, 1
3 is a direction vector shift means, 14 is a direction vector for area numbering, 15 is intersection detection means, 16 is the number of each reordered area, 17 is the number of the area corresponding to the target to be locked on, and 18 is the area number Table, 19 is a target number to be locked on, 20 is position coordinate selection means, 21
Is the position coordinates of the target to be locked on.

A conventional target selection device is configured as described above, and an infrared image sensor 1 detects infrared rays emitted from a target as an image and outputs an image signal 2. The binarizing means 3 binarizes the image signal 2 and outputs a binary image signal 4.
The area detecting means 5 detects a plurality of areas from the binary image signal 4, assigns numbers to them in the order of detection within one frame, calculates position coordinates for each area, and outputs the result as the number and the number of each area. Output as position coordinates 6. Center of gravity calculation means 7
Calculates the center-of-gravity point coordinates obtained by combining the position coordinates of all the areas detected by the area detection means 5 from the number and position coordinates 6 of each area, and outputs this as the center-of-gravity point coordinates 8 of the entire screen.

The center-of-gravity point storage means 9 stores the center-of-gravity point coordinates 8 of the entire screen calculated in the previous frame, and outputs this as the center-of-gravity point coordinates 10 of the entire screen in the previous frame. The direction vector detecting means 11 calculates a direction in which the center of gravity of the entire screen moves by taking the difference between the center of gravity point coordinates 8 of the entire screen and the center of gravity coordinates 10 of the entire screen in the previous frame. Output. The direction vector shift means 13 gradually translates the direction vector 12 from the edge of the screen, and sequentially outputs the direction vector 14 as a region numbering direction vector 14. The intersection detection means 15 outputs the numbers of the areas where the area numbering direction vectors 14 intersect with the parallel movement, as the numbers 16 of the rearranged areas in the order of intersection. The area number table 18 stores the rearranged area numbers 16 in order, and selects the number of the area corresponding to the target rank 17 to be locked on in which a different value is set in advance for each device. Is output as the number 19 of the area corresponding to the target to be locked on. The position coordinate selection means 20 includes:
A position coordinate corresponding to the area number 19 corresponding to the target to be locked on is selected from the number and position coordinate 6 of each area,
This is output as the position coordinates 21 of the lock-on target.

FIG. 15 is a screen view showing an example of area number rearrangement by the conventional target selection device. Reference numeral 22 denotes a screen, 23 denotes an area to which an area number 1 is assigned, and 24 denotes an area to which an area number 2 is assigned. 25, an area assigned area number 4; 26, an area assigned area number 3; 27, a moving direction of the area numbering direction vector; 28, an initial position of the area numbering direction vector; Is an area numbering direction vector that intersects with the area numbered 1 by parallel movement, and 30 is an area number that intersects the area numbered 2 and the area numbered 4 by parallel movement. Direction vector, 31 is an area numbering direction vector that intersects the area numbered 3 by translation, 32 is the center of gravity of the area numbered 1, 33 is the area number The center of gravity of the granted area, 34 the center of gravity of the area that is granted area number 3, 35 area number 4
, The center of gravity of the area given with 101, the center of gravity of the entire screen 101,
Reference numeral 102 denotes the center of gravity of the entire screen in the previous frame.

In the figure, a direction vector 12 is obtained by taking the difference between the center of gravity 101 of the entire screen and the center of gravity 102 of the entire screen in the previous frame. The direction vector 12 moves in parallel as the area numbering direction vector 14 from the initial position 28 of the area numbering direction vector in the direction indicated by the moving direction 27 of the area numbering direction vector. At first, the area numbering direction vector 14 is first set to the area numbering direction vector 29 at the position of the area numbering direction vector 29 that intersects the area numbered by the parallel movement. 23, and then reaches the position of the region numbering direction vector 30 that intersects with the region assigned with the region number 2 and the region assigned with the region number 4 by parallel movement, and further with the region number 3 It reaches the position of the region numbering direction vector 31 that intersects the region that has been crossed. This allows
The direction vector 14 for area numbering includes an area 23 to which area number 1 is assigned, an area 24 to which area number 2 is assigned, an area 25 to which area number 4 is assigned, and an area 26 to which area number 3 is assigned. Intersect.

In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 14 intersect, and if they intersect at the same time, the area numbers are sequentially arranged from the area near the rear end of the area numbering direction vector 14. The number is stored. Therefore, in the area number table 18, the area number 1,
Area numbers 2, 4, and 3 are stored in this order. In each of the target selection devices mounted on the plurality of missiles, a different value “1”, “2”, “3”, or
“4” is set respectively. Therefore, the target selecting device having the target ranking 17 to be locked on is “1” is located in the area 23 to which the area number 1 is assigned, and the target selecting device having the target ranking 17 being locked on is “2” is located in the region 23. Number 2
In the region 24 to which the target is to be locked on, the target order 17 to be locked on is “3”, and in the region 25 to which the region number 4 is added, the target order 17 to be locked on is “4”. A certain target selecting device locks on each of the areas 26 to which the area number 3 is assigned.

[0008]

The above-described conventional target selection device has the following problems. That is, when the missile body equipped with the conventional target selection device rolls, since the positional relationship between the initial position 28 of the region numbering direction vector and the region in the screen is different for each missile, a plurality of targets When multiple missiles were fired, multiple missiles could not concentrate on the same target and hit other targets, preventing efficient fire.

FIG. 16 is a screen diagram when the missile body rolls 180 degrees with respect to FIG. In FIG. 16, the initial position 28 of the area numbering direction vector is
5 is the upper left of the screen, but the area in the screen is rotated by 180 degrees by the roll. Therefore, the area numbering direction vector 14 is assigned to the area 26 to which the area number 3 is assigned, and the area number 2 to the area numbering. The region 24, the region 25 given the region number 4 and the region 23 given the region number 1 intersect in this order. Therefore, in the area number table 18, as the number 19 of each reordered area, the area number 3,
Area number 2, area number 4, and area number 1 are stored in this order. That is, in the screen state of FIG. 7, the target selecting device in which the rank 17 of the target to be locked on is “1” locks on the area 23 to which the area number 1 is assigned, and the screen state of FIG. Since the target selecting device having the target ranking 17 of “4” also locks on to the region 23 to which the region number 1 is assigned, all the missiles equipped with these target selecting devices are assigned the region number 1. Focus on area 23.

The present invention has been made in order to solve such a problem, and an object of the present invention is to provide a device which enables a missile to hit each of a plurality of targets, thereby enabling efficient shooting.

[0011]

According to a first aspect of the present invention, there is provided a target selecting apparatus for calculating a moving direction vector of a center of gravity of a plurality of areas detected from an image signal of an infrared image sensor; It is provided with means for rotating in the screen and reordering the areas in the order in which they are intersected, and means for outputting the position coordinates of the area corresponding to a preset order.

[0012] Further, a target selection device according to a second aspect of the present invention includes:
Means for calculating a gravitational direction vector in the screen from the attitude angle of the infrared image sensor, and means for rotating the gravitational direction vector in the screen and arranging a plurality of areas detected from the image signal of the infrared image sensor in the order crossing the vector And means for outputting position coordinates of an area corresponding to a preset order.

According to a third aspect of the present invention, there is provided a target selecting apparatus for calculating a moving direction vector of a maximum luminance point detected from an image signal of an infrared image sensor, and for rotating the moving direction vector in a screen and intersecting the rotating direction vector. The apparatus includes means for arranging a plurality of areas detected from the image signal of the infrared image sensor, and means for outputting position coordinates of an area corresponding to a predetermined order.

[0014] The target selection device according to a fourth aspect of the present invention includes:
Means for calculating a moving direction vector of a region where the average luminance detected from the image signal of the infrared image sensor is maximum, and the moving direction vector is detected from the image signal of the infrared image sensor in the order in which the moving direction vector is rotated in the screen and intersects it. The apparatus includes means for arranging a plurality of areas and means for outputting position coordinates of an area corresponding to a predetermined order.

According to a fifth aspect of the present invention, there is provided a target selecting apparatus for calculating a direction vector connecting a center of gravity of a plurality of areas detected from an image signal of an infrared image sensor and a maximum luminance point in a screen; It comprises means for rotating in the screen and reordering a plurality of areas detected from the image signal of the infrared image sensor in the order of intersection with the means, and means for outputting position coordinates of an area corresponding to a preset order. is there.

Further, a target selecting device according to a sixth aspect of the present invention includes:
Means for calculating a direction vector connecting the center of gravity of a plurality of regions detected from the image signal of the infrared image sensor and the center of gravity of the region where the average luminance is maximum, and rotating the direction vector in the screen to intersect with the direction vector And a means for arranging a plurality of areas detected from the image signals of the infrared image sensor in the order in which they have been performed, and a means for outputting position coordinates of an area corresponding to a predetermined order.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is a block diagram showing a first embodiment of the present invention. In FIG.
This is the same as the conventional device shown in FIG. 38 is a direction vector rotating means, 39 is a direction vector for area numbering, and 40 is an intersection detecting means.

In the target selecting device constructed as described above, the infrared image sensor 1 detects infrared rays radiated from the target as an image, outputs an image signal 2 and outputs the image signal 2 to the binarizing means 3.
Binarizes the image signal 2 and outputs it as a binary image signal 4,
The area detecting means 5 detects a plurality of areas from the binary image signal 4, assigns numbers to the areas in the order of detection within one frame, calculates position coordinates for each area, and outputs the result as the number and position of each area. The coordinates are output as coordinates 6, and the center-of-gravity point calculating means 7 calculates the center-of-gravity point coordinates obtained by combining the position coordinates of all the areas detected by the area detecting means 5 from the number and position coordinates 6 of each area. The coordinates are output as coordinates 8, the center-of-gravity point storage means 9 stores the center-of-gravity point coordinates 8 of the entire screen calculated in the previous frame, and outputs this as the center-of-gravity point coordinates 10 of the entire screen in the previous frame. By calculating the difference between the barycentric point coordinates 8 of the entire screen and the barycentric point coordinates 10 of the entire screen in the previous frame, the direction in which the barycentric point of the entire screen moves is calculated and output as a direction vector 12. Rukoto is exactly the same as the conventional apparatus.

The direction vector rotating means 38 rotates the direction vector 12 in the screen, and sequentially outputs the rotated direction vector 39 as a region numbering direction vector 39. Intersection detection means 4
0 outputs the number of the area where the area numbering direction vector 39 intersects with the rotation as the number 16 of each reordered area in the order of intersection. The area number table 18 stores the rearranged area numbers 16 in order, and selects the number of the area corresponding to the target rank 17 to be locked on in which a different value is set in advance for each device. Is output as the number 19 of the area corresponding to the target to be locked on. Position coordinate selection means 20
Selects the position coordinates corresponding to the region number 19 corresponding to the target to be locked on from the number of each region and the position coordinates 6 and outputs this as the position coordinates 21 of the target to be locked on.

FIG. 7 is a screen view showing an example of reordering of area numbers according to the present invention, wherein 22 is a screen, 23 is an area to which area number 1 is assigned, 24 is an area to which area number 2 is assigned, 25 is an area assigned area number 4, 26
Is an area numbered area number 3; 41 is a rotation direction of the area numbering direction vector; 42 is an initial position of the area numbering direction vector; 43 is an area numbered by rotation and an area number; An area numbering direction vector that intersects with the area numbered 4, 44 is an area numbering direction vector that intersects with the area numbered 3 by rotation, and 45 is an area numbering number 1 that is rotated. , An area numbering direction vector intersecting with the area number, 32 is the center of gravity of the area given the area number 1, 33 is the center of gravity of the area given the area number 2, 34 is the center of gravity of the area given the area number 3, 35 Is the center of gravity of the area assigned area number 4,
101 is the center of gravity of the entire screen, and 102 is the center of gravity of the entire screen in the previous frame.

In the figure, the direction vector 12 is obtained by taking the difference between the center of gravity 101 of the entire screen and the center of gravity 102 of the entire screen in the previous frame. The direction vector 12 rotates as an area numbering direction vector 39 from the initial position 42 of the area numbering direction vector in the direction indicated by the rotation direction 41 of the area numbering direction vector. By this rotation, the region numbering direction vector 39 first intersects with the region 24 given by region number 2 and the region 25 given by region number 4 at the position of the region numbering direction vector 43 by rotation. Then, the rotation reaches the position of the region numbering direction vector 44 intersecting with the region 26 given the region number 3 by rotation, and further reaches the position of the region numbering direction vector 44 intersecting with the region 23 given the region number 1. Reach position 45.
As a result, the area numbering direction vector 39 includes the area 24 to which the area number 2 is assigned, the area 25 to which the area number 4 is assigned, the area 26 to which the area number 3 is assigned, and the area to which the area number 1 is assigned. Cross in the order of 23. In the area number table 18, the area numbering direction vector 3
9 are stored in the order in which they intersect, and when they intersect at the same time, the area numbers are stored in order from the area near the rear end of the area numbering direction vector 39.

Therefore, in the area number table 18,
As the number 19 of each rearranged area, the area number 2, the area number 4, the area number 3, and the area number 1 are stored in this order. Since the order of these area numbers is determined based on the moving direction of the center of gravity position of all areas, the order of the area numbers is hardly affected by the position and the direction of the infrared image sensor 1. Therefore, the area numbers are mounted on a plurality of missiles. The order of these area numbers is the same for each target selection device. In each of the target selection devices, a different value “1”, “2”,
“3” and “4” are set respectively. Therefore, the target selection device having the target ranking 17 to be locked on is “1” is located in the region 24 given the region number 2, and the target selection device having the target ranking 17 to be locked on is located in the region 24. In the area 25 to which the number 4 is assigned, the target selecting device in which the rank 17 of the target to be locked on is “3” is the area number 3
The target selection device in which the rank 17 of the target to be locked on is “4” in the area 26 to which the “1” is assigned, locks on the area 23 to which the area number 1 is assigned. Thus, each target selector can lock on a different area.

FIG. 8 shows that the missile body is 18
It is a screen figure at the time of rolling 0 degrees. In FIG. 8, the area numbering direction vector 39 includes the area 24 assigned with the area number 2, the area 25 assigned with the area number 4, the area 26 assigned with the area number 3, and the area number 1. They intersect in the order of the area 23. Therefore, the area number table 1
In area 8, area number 2, area number 4, area number 3, and area number 1
Are stored in this order. That is, FIG. 1 rolled 180 degrees
Even in the screen state of 0, the order of the area numbers stored in the area number table 18 is the same as that in the screen state of FIG. 9, so that missiles equipped with these target selection devices concentrate on a specific area. There is no.

Embodiment 2 FIG. FIG. 2 is a block diagram showing a second embodiment of the present invention, wherein 1, 2, 3, 4, 5, 6, 3
8, 39, 40, 16, 17, 18, 19, 20, 21
Are infrared image sensors, image signals, binarizing means, binary image signals, area detecting means, number and position coordinates of each area, direction vector rotating means, area numbering direction vector, which are equivalent to those of the first embodiment, The intersection detection means, the number of each arranged area, the order of the target to be locked on, the area number table, the number of the area corresponding to the target to be locked on, the position coordinate selection means, the position coordinates of the target to be locked on. , 48 are attitude angle sensors, 49 is an attitude angle change amount of the infrared image sensor, 50 is a gravity direction vector calculating means,
1 is a gravitational direction vector.

In the target selecting device according to the second embodiment, the attitude angle sensor 48 is attached so as to detect the attitude angle of the infrared image sensor 1. Attitude angle sensor 48
Is output to the gravitational direction vector calculating means 50. The gravitational direction vector calculation means 50 calculates the attitude angle change amount 4 of the infrared image sensor.
9, the direction of gravity is calculated, converted into the direction of gravity in the screen of the infrared image sensor, and output to the direction vector rotating means 38 as the direction vector of gravity 51. The direction vector rotating means 38 includes a gravity direction vector 51.
Are rotated, and this is sequentially turned into a direction vector 3 for region numbering.
9 is output. The subsequent operations up to the output of the target position coordinates 21 are the same as in the first embodiment.

FIG. 9 is a screen view showing an example of reordering of area numbers according to the present invention, wherein 22 is a screen, 23 is an area assigned area number 1, 24 is an area assigned area number 2, 25 is an area assigned area number 4, 26
Is an area to which the area number 3 is assigned, 41 is a rotation direction of the area numbering direction vector, 42 is an initial position of the area numbering direction vector, 43 is an area to which the area number 2 is assigned by rotation and an area number 4 , An area numbering direction vector that intersects with the area numbered by rotation, 44 is an area numbering direction vector that intersects with the area numbered by rotation, 45 is an area numbering area vector that is rotated. The intersecting area numbering direction vector, 49 is the attitude angle change amount of the infrared image sensor, 51 is the gravity direction vector,
32 is the center of gravity of the area given area number 1, 33 is the center of gravity of the area given area number 2, 34 is the center of gravity of the area given area number 3, and 35 is the center of gravity of the area given area number 4. The center of gravity, 52, is a vertical vector of the screen.

In the figure, before the missile equipped with the target selection device is launched, the gravitational direction vector 51 coincides with the vertical direction vector 52 on the screen, but after the missile is launched, the gravity direction vector changes due to the change in the missile attitude angle. Direction vector 5
1 is a direction different from the vertical vector 52 of the screen. The gravitational direction vector 51 is obtained by rotating the vertical direction vector 52 of the screen by the attitude angle change amount 49 of the infrared image sensor with respect to before the missile launch. The gravity direction vector 51 rotates as the area numbering direction vector 39 from the initial position 42 of the area numbering direction vector in the direction indicated by the rotation direction 41 of the area numbering direction vector. By this rotation, the direction vector 39 for area numbering is first
By rotation, at the position of the region numbering direction vector 43,
The region intersects with the region 24 given with the region number 2 and the region 25 given with the region number 4, and then reaches the position of the region numbering direction vector 44 which intersects with the region 26 given with the region number 3 by rotation. And an area numbering direction vector 45 intersecting with the area 23 to which the area number 1 is assigned.
Reach the position. As a result, the area numbering direction vector 39 includes the area 24 to which the area number 2 is assigned, the area 25 to which the area number 4 is assigned, the area 26 to which the area number 3 is assigned, and the area to which the area number 1 is assigned. Cross in the order of 23.

In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 39 intersect, and when they intersect simultaneously, the area numbers are sequentially arranged from the area near the rear end of the area numbering direction vector 39. The number is stored. Therefore, in the area number table 18, as the number 19 of each rearranged area, the area number 2,
The area number 4, the area number 3, and the area number 1 are stored in this order. Since the order of these area numbers is determined based on the direction of gravity in the screen, it is hard to be affected by the position and the direction of the infrared image sensor 1, so that each target selection device mounted on a plurality of missiles The order of these area numbers is the same. In each target selection device,
Different values “1”, “2”, “3”, and “4” are set in advance for each device as the rank 17 of the target to be locked on. Therefore, the target selection device in which the rank 17 of the target to be locked on is “1” is placed in the area 24 to which the area number 2 is assigned in order 1 of the target to be locked on.
The target selection device with 7 being “2” is in the region 25 with the region number 4 assigned, and the target selection device with the target ranking 17 to be locked on with “3” is in the region 26 with the region number 3 assigned. , The target selection device whose rank 17 of the target to be locked on is “4” is the area 23 to which the area number 1 is assigned.
Then, each is locked on. Thus, each target selector can lock on a different area.

Embodiment 3 FIG. 3 is a configuration diagram showing a third embodiment of the present invention, in which 1, 2, 3, 4, 5, 6, 1
1,12,38,39,40,16,17,18,1
Reference numerals 9, 20, and 21 denote infrared image sensors, image signals, binarization means, binary image signals, area detection means, number and position coordinates of each area, direction vector detection means, and direction vector equivalent to those of the first embodiment. , Direction vector rotating means, direction vector for area numbering, intersection detection means, number of each rearranged area, order of target to be locked on, area number table, number and position of area corresponding to target to be locked on Coordinate selection means, position coordinates of a target to be locked on, 53 is the brightness and position coordinates of each area, 54 is the maximum brightness point calculation means, 55 is the maximum brightness point coordinates, 56 is the maximum brightness point storage means, and 57 is the previous This is the maximum luminance point coordinate in the frame.

In the target selecting apparatus according to the third embodiment, the maximum luminance point calculating means 54 detects the maximum luminance point coordinates 55 from the luminance and position coordinates 53 of each area and outputs them to the direction vector detecting means 11. The maximum luminance point storage means 56 stores the maximum luminance point coordinates 55 calculated in the previous frame, and outputs this as the maximum luminance point coordinates 57 in the previous frame. The direction vector detecting means 11 calculates the direction in which the maximum luminance point moves by taking the difference between the maximum luminance point coordinate 55 and the maximum luminance point coordinate 57 in the previous frame,
This is output as the direction vector 12. The direction vector rotating means 38 rotates the direction vector 12 and sequentially outputs the rotated direction vector 39 as a region numbering direction vector 39. Hereinafter, the operation until the output of the target position coordinates 21 is described in the first embodiment.
Is equivalent to

FIG. 10 is a screen diagram showing an example of area number change according to the present invention.
Is an area assigned area number 1, 24 is an area assigned area number 2, 25 is an area assigned area number 4, 2
Reference numeral 6 denotes an area to which the area number 3 is assigned, 41 denotes a rotation direction of the area numbering direction vector, 42 denotes an initial position of the area numbering direction vector, and 43 denotes an area and an area number to which the area number 2 is assigned by rotation. An area numbering direction vector that intersects with the area numbered 4, 44 is an area numbering direction vector that intersects with the area numbered 3 by rotation, and 45 is an area numbering number 1 that is rotated. Direction vector for numbering, 32 is the center of gravity of the area given area number 1, 33 is the center of gravity of the area given area number 2, 34 is the center of gravity of the area given area number 3, 35
Is the center of gravity of the area assigned area number 4, 103 is the maximum luminance point, and 104 is the maximum luminance point in the previous frame.

In the figure, the direction vector 12 is obtained by taking the difference between the maximum luminance point 103 and the maximum luminance point 104 in the previous frame. Direction vector 12
Rotates as the region numbering direction vector 39 from the initial position 42 of the region numbering direction vector in the direction indicated by the rotation direction 41 of the region numbering direction vector. By this rotation, the area numbering direction vector 3
9 first intersects the region 24 assigned with the region number 2 and the region 25 assigned with the region number 4 at the position of the direction vector 43 for region numbering by rotation, and then rotates the region number 3 by rotation. Reaches the position of the region numbering direction vector 44 that intersects with the region 26 to which the region number 1 has been assigned, and further reaches the position of the region numbering direction vector 45 that intersects the region 23 to which the region number 1 has been assigned. As a result, the area numbering direction vector 39 includes the area 24 to which the area number 2 is assigned, the area 25 to which the area number 4 is assigned, the area 26 to which the area number 3 is assigned, and the area to which the area number 1 is assigned. Cross in the order of 23. In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 39 intersect, and when they intersect at the same time, the area numbers are stored in order from the area near the rear end of the area numbering direction vector 39. Is done.

Therefore, in the area number table 18,
As the number 19 of each rearranged area, the area number 2, the area number 4, the area number 3, and the area number 1 are stored in this order. Since the order of these area numbers is determined based on the maximum luminance point in the screen, it is hard to be affected by the position and the directional direction of the infrared image sensor 1, so that each target selection device mounted on a plurality of missiles The order of these area numbers is the same every time. In each target selecting device, different values “1”, “2”, “3”, and “4” are set in advance as the ranking 17 of the target to be locked on for each device. Therefore, the target selecting device in which the rank 17 of the target to be locked on is “1” is placed in the area 24 to which the area number 2 is assigned.
Is “2”, the ranking 17 of the target to be locked on is “3” in the area 25 to which the area number 4 is assigned.
Is the area 26 to which the area number 3 is assigned.
In addition, the target selecting device in which the rank 17 of the target to be locked on is “4” locks on the area 23 to which the area number 1 is assigned. Thus, each target selector can lock on a different area.

Embodiment 4 FIG. 4 is a configuration diagram showing a fourth embodiment of the present invention, in which 1, 2, 3, 4, 5, 6, 1
1,12,38,39,40,16,17,18,1
Reference numerals 9, 20, and 21 denote infrared image sensors, image signals, binarization means, binary image signals, area detection means, number and position coordinates of each area, direction vector detection means, and direction vector equivalent to those of the first embodiment. , Direction vector rotating means, direction vector for area numbering, intersection detection means, number of each rearranged area, order of target to be locked on, area number table, number and position of area corresponding to target to be locked on Coordinate selection means, position coordinates of a target to be locked on, 53 is luminance and position coordinates of each area, 60 is average luminance calculation means for each area, 61 is average luminance for each area, 62
Is the barycentric point calculating means of the area where the average luminance is maximum, 63 is the barycentric point coordinate of the area where the average luminance is maximum, 64 is the barycentric point storage means of the area where the average luminance is maximum, and 65 is the average luminance in the previous frame. Are the coordinates of the center of gravity of the region where the maximum is obtained.

In the target selecting apparatus according to the fourth embodiment, the average luminance calculating means 60 for each area calculates and outputs the average luminance 61 for each area from the luminance of each area and the position coordinates 53. The center-of-gravity point calculating means 62 for the region where the average luminance is the maximum calculates the barycentric point coordinates of the region where the average luminance 61 for each region takes the maximum value, and sets this as the barycentric point coordinate 63 of the region where the average luminance is the maximum. Output to the vector detecting means 11. The center-of-gravity point storage unit 64 for the region where the average luminance is the maximum stores the barycentric point coordinates 63 of the region where the average luminance calculated in the previous frame is the maximum, and stores this in the center of the region where the average luminance in the previous frame is the maximum. Output as point coordinates 65. The direction vector detecting means 11 calculates the difference between the barycentric point coordinates 63 of the region where the average luminance is the maximum and the barycentric points coordinates 65 of the region where the average luminance in the previous frame is the maximum, thereby obtaining the center of the region where the average luminance is the maximum. The direction in which the point moves is calculated, and this is output as the direction vector 12. The direction vector rotating means 38 rotates the direction vector 12,
These are sequentially output as a direction vector 39 for area numbering. The subsequent operations up to the output of the target position coordinates 21 are the same as in the first embodiment.

FIG. 11 is a screen diagram showing an example of changing the area number according to the present invention.
Is an area assigned area number 1, 24 is an area assigned area number 2, 25 is an area assigned area number 4, 2
Reference numeral 6 denotes an area to which the area number 3 is assigned, 41 denotes a rotation direction of the area numbering direction vector, 42 denotes an initial position of the area numbering direction vector, and 43 denotes an area and an area number to which the area number 2 is assigned by rotation. An area numbering direction vector that intersects with the area numbered 4, 44 is an area numbering direction vector that intersects with the area numbered 3 by rotation, and 45 is an area numbering number 1 that is rotated. , An area numbering direction vector intersecting with the area number, 32 is the center of gravity of the area given the area number 1, 33 is the center of gravity of the area given the area number 2, 34 is the center of gravity of the area given the area number 3, 35 Is the center of gravity of the area assigned area number 4,
Reference numeral 105 denotes the center of gravity of the area assigned area number 4 in the previous frame.

In the figure, the average brightness of each area is maximum in the area 25 to which the area number 4 is assigned. The direction vector 12 is obtained by calculating the difference between the center of gravity 35 of the area assigned with the area number 4 and the center of gravity 105 of the area assigned with the area number 4 in the previous frame. The direction vector 12 rotates as an area numbering direction vector 39 from the initial position 42 of the area numbering direction vector in the direction indicated by the rotation direction 41 of the area numbering direction vector. By this rotation, the region numbering direction vector 39 first intersects with the region 24 assigned with region number 2 and the region 25 assigned with region number 4 at the position of the region numbering direction vector 43 by rotation. Then, the rotation reaches the position of the region numbering direction vector 44 intersecting with the region 26 given the region number 3 by rotation, and further reaches the position of the region numbering direction vector 44 intersecting with the region 23 given the region number 1. Reach position 45.

As a result, the area numbering direction vector 39 includes the area 24 assigned with the area number 2, the area 25 assigned with the area number 4, the area 26 assigned with the area number 3, and the area number 1 assigned. Intersects in the order of the regions 23. In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 39 intersect,
If they intersect at the same time, area numbers are stored in order from the area near the rear end of the area numbering direction vector 39. Therefore, in the area number table 18, the area numbers 2, 4, 3, and 1 are stored as numbers 19 of the rearranged areas. Since the order of these area numbers is determined based on the maximum luminance area in the screen, it is hard to be affected by the position and the directional direction of the infrared image sensor 1, so that each target selection device mounted on a plurality of missiles The order of these area numbers is the same every time. In each target selecting device, different values “1”, “2”, “3”, and “4” are set in advance as the ranking 17 of the target to be locked on for each device.

Therefore, the ranking 17 of the target to be locked on
Is “1”, the ranking 17 of the target to be locked on is set to “2” in the area 24 to which the area number 2 is assigned.
Is a region 25 to which the region number 4 is assigned.
The target selection device having the target rank 17 to be locked on is “3” in the region 26 given the region number 3, and the target selection device having the target rank 17 to be locked on is “4” in the region 26. Lock-on is performed on each of the areas 23 to which the number 1 is assigned. Thus, each target selector can lock on a different area.

Embodiment 5 FIG. 5 is a block diagram showing a fifth embodiment of the present invention.
7, 8, 11, 12, 38, 39, 40, 16, 17,
Reference numerals 18, 19, 20, and 21 denote infrared image sensors, image signals, binarization means, binary image signals, area detection means, number and position coordinates of each area, barycentric point calculation means equivalent to those of the first embodiment, Coordinates of the center of gravity of the entire screen, direction vector detecting means, direction vector, direction vector rotating means, direction vector for area numbering, crossing detecting means, number of each rearranged area, order of target to be locked on, area number Table, area number corresponding to the goal to lock on,
Position coordinate selecting means, position coordinates of a target to be locked on, 53 are the luminance and position coordinates of each area, 54 is the maximum luminance point calculating means, and 55 is the maximum luminance point coordinates.

In the target selecting apparatus according to the fifth embodiment, the center-of-gravity point calculating means 7 calculates the center-of-gravity point coordinates obtained by combining the position coordinates of all the areas detected by the area detecting means 5 from the number and position coordinates 6 of each area. Is calculated and output to the direction vector detecting means 11 as the barycentric point coordinates 8 of the entire screen.
The maximum luminance point calculation means 54 calculates the luminance and position coordinates 5 of each area.
The maximum luminance point coordinate 55 is detected from the position No. 3 and output to the direction vector detecting means 11. The direction vector detecting means 11 calculates and outputs the direction vector 12 by calculating the difference between the barycentric point coordinates 8 of the entire screen and the maximum luminance point coordinates 55. The direction vector rotating means 38 rotates the direction vector 12 and sequentially outputs the rotated direction vector 39 as a region numbering direction vector 39. The subsequent operations up to the output of the target position coordinates 21 are the same as in the first embodiment.

FIG. 12 is a screen diagram showing an example of area number change according to the present invention.
Is an area assigned area number 1, 24 is an area assigned area number 2, 25 is an area assigned area number 4, 2
Reference numeral 6 denotes an area to which the area number 3 is assigned, 41 denotes a rotation direction of the area numbering direction vector, 42 denotes an initial position of the area numbering direction vector, and 43 denotes an area and an area number to which the area number 2 is assigned by rotation. An area numbering direction vector that intersects with the area numbered 4, 44 is an area numbering direction vector that intersects with the area numbered 3 by rotation, and 45 is an area numbering number 1 that is rotated. , An area numbering direction vector intersecting with the area number, 32 is the center of gravity of the area given the area number 1, 33 is the center of gravity of the area given the area number 2, 34 is the center of gravity of the area given the area number 3, 35 Is the center of gravity of the area assigned area number 4,
101 is the center of gravity of the entire screen, and 103 is the maximum luminance point.

In the figure, the direction vector 12 is obtained by taking the difference between the center of gravity 101 of the entire screen and the maximum luminance point 103. The direction vector 12 rotates as an area numbering direction vector 39 from the initial position 42 of the area numbering direction vector in the direction indicated by the rotation direction 41 of the area numbering direction vector. By this rotation, the region numbering direction vector 39 first becomes the region 24 given region number 2 and the region number 4 at the position of the region numbering direction vector 43 by rotation.
Crosses the region 25 assigned with the region number 3 and then reaches the position of the region numbering direction vector 44 intersecting with the region 26 assigned with the region number 3 by rotation. The position of the intersecting region numbering direction vector 45 is reached.

As a result, the area numbering direction vector 39 includes the area 24 to which the area number 2 is assigned, the area 25 to which the area number 4 is assigned, the area 26 to which the area number 3 is assigned, and the area number 1 to be assigned. Intersects in the order of the regions 23. In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 39 intersect,
If they intersect at the same time, area numbers are stored in order from the area near the rear end of the area numbering direction vector 39. Therefore, in the area number table 18, the area numbers 2, 4, 3, and 1 are stored as numbers 19 of the rearranged areas. Since the order of these area numbers is determined based on the direction vector connecting the center of gravity of the entire screen and the maximum luminance point in the screen, the order of the area numbers is not easily affected by the position or the directional direction of the infrared image sensor 1. The order of these area numbers is the same for each target selection device mounted on a plurality of missiles.

In each target selecting device, different values "1", "2", "3", and "4" are set in advance as the order 20 of the target to be locked on for each device. Therefore, the target selection device having the target ranking 17 to be locked on is “1” is located in the region 24 given the region number 2, and the target selection device having the target ranking 17 to be locked on is located in the region 24. Area 25 numbered 4
The target selection device having the target rank 17 to be locked on is “3” in the region 26 given the region number 3, and the target selection device having the target rank 17 to be locked on is “4” in the region 26. Lock-on is performed on each of the areas 23 to which the number 1 is assigned. Thus, each target selector can lock on a different area.

Embodiment 6 FIG. FIG. 6 is a block diagram showing a sixth embodiment of the present invention.
7, 8, 11, 12, 38, 39, 40, 16, 17,
Reference numerals 18, 19, 20, and 21 denote infrared image sensors, image signals, binarization means, binary image signals, area detection means, number and position coordinates of each area, barycentric point calculation means equivalent to those of the first embodiment, Coordinates of the center of gravity of the entire screen, direction vector detecting means, direction vector, direction vector rotating means, direction vector for area numbering, crossing detecting means, number of each rearranged area, order of target to be locked on, area number Table, area number corresponding to the goal to lock on,
Position coordinate selection means, position coordinates of a target to be locked on, 53 is the luminance and position coordinates of each area, 60, 61, 6
Reference numerals 2 and 63 denote average luminance calculation means for each area equivalent to that of the fourth embodiment, average luminance for each area, barycentric point calculation means for the area where the average luminance is maximum, and barycentric point coordinates of the area where the average luminance is maximum. It is.

In the target selecting apparatus according to the sixth embodiment, the center-of-gravity point calculating means calculates the center-of-gravity point coordinates obtained by combining the position coordinates of all the areas detected by the area detecting means 5 from the number and position coordinates 6 of each area. The calculated value is output to the direction vector detecting means 11 as the barycentric point coordinates 8 of the entire screen.
The average luminance calculating means 60 for each area calculates and outputs an average luminance 61 for each area from the luminance of each area and the position coordinates 53.
The center-of-gravity point calculating means 62 for the region where the average luminance is the maximum calculates the barycentric point coordinates of the region where the average luminance 61 for each region takes the maximum value, and calculates the barycentric point coordinates 6 of the region where the average luminance is the maximum.
3 is output to the direction vector detecting means 11. The direction vector detecting means 11 calculates and outputs the direction vector 12 by calculating the difference between the barycentric point coordinates 8 of the entire screen and the barycentric point coordinates 63 of the region where the average luminance is maximum. The direction vector rotating means 38 rotates the direction vector 12 and sequentially outputs the rotated direction vector 39 as a region numbering direction vector 39. Hereinafter, the operation until the output of the target position coordinates 21 is described in the first embodiment.
Is equivalent to

FIG. 13 is a screen diagram showing an example of changing the area number according to the present invention.
Is an area assigned area number 1, 24 is an area assigned area number 2, 25 is an area assigned area number 4, 2
Reference numeral 6 denotes an area to which the area number 3 is assigned, 41 denotes a rotation direction of the area numbering direction vector, 42 denotes an initial position of the area numbering direction vector, and 43 denotes an area and an area number to which the area number 2 is assigned by rotation. An area numbering direction vector intersecting with the area numbered 4, an area numbering direction vector 44 intersecting with an area numbered 3 area by parallel movement, and an area numbering 1 number 45 being rotated An area numbering direction vector intersecting with the area, 32 is the center of gravity of the area given area number 1, and 33 is area number 2
Is the center of gravity of the area given area number 3, 34 is the center of gravity of the area given area number 4, and 101 is the center of gravity of the entire screen.

In the figure, the average brightness of each area is maximum in the area 25 to which the area number 4 is assigned. The direction vector 12 is obtained by calculating the difference between the area 25 assigned with the area number 4 and the center of gravity 101 of the entire screen. The direction vector 12 is the initial position 4 of the region numbering direction vector as the region numbering direction vector 39.
The rotation from 2 is performed in the direction indicated by the rotation direction 41 of the area numbering direction vector. By this rotation, the region numbering direction vector 39 first becomes the region 24 to which the region number 2 is assigned and the region 2 to which the region number 4 is assigned at the position of the region numbering direction vector 43 by the rotation.
5, the rotation reaches the position of the region numbering direction vector 44 which intersects the region 26 assigned with the region number 3 by rotation, and further, the region numbering which intersects the region 23 assigned with the region number 1 It reaches the position of the use direction vector 45. As a result, the area numbering direction vector 39
Are the region 24 given the region number 2, the region 25 given the region number 4, and the region 2 given the region number 3.
6. Intersect in the order of the areas 23 to which the area numbers 1 are assigned.
In the area number table 18, the area numbers are stored in the order in which the area numbering direction vectors 39 intersect, and if they intersect simultaneously, the area numbering direction vector 3
The area numbers are stored in order from the area near the rear end of No. 9.

Therefore, in the area number table 18,
As the number 16 of each rearranged area, the area number 2, the area number 4, the area number 3, and the area number 1 are stored in this order. Since the order of these area numbers is determined based on the direction vector connecting the center of gravity of the entire screen and the maximum luminance area in the screen, the order of the area numbers is not easily affected by the position or the directional direction of the infrared image sensor 1. The order of these area numbers is the same for each target selection device mounted on a plurality of missiles. In each target selecting device, different values “1”, “2”, “3”, and “4” are set in advance as the ranking 17 of the target to be locked on for each device. Therefore, the target selection device having the target ranking 17 to be locked on is “1” is located in the region 24 given the region number 2, and the target selection device having the target ranking 17 to be locked on is located in the region 24. Area 25 numbered 4
The target selection device having the target rank 17 to be locked on is “3” in the region 26 given the region number 3, and the target selection device having the target rank 17 to be locked on is “4” in the region 26. Lock-on is performed on each of the areas 23 to which the number 1 is assigned. Thus, each target selector can lock on a different area.

[0051]

According to the first aspect of the present invention, as described above, the order of the area numbers is obtained based on the moving direction vector of the center of gravity of a plurality of areas calculated from the image signal of the infrared image sensor. Since the moving direction vector indicates a fixed direction in the absolute space, the order of the area numbers is hardly affected by the position and the direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Even if the missile is fired at a plurality of targets, the target selection devices mounted on each missile can be locked on to different targets. That is, since each missile can hit a different target, there is an effect that the shooting efficiency of the missile system can be improved.

According to the second aspect of the present invention, as described above, the order of the region numbers is obtained based on the gravitational direction vector in the screen calculated from the attitude angle of the infrared image sensor. Since a certain direction is indicated in the absolute space, the order of the region numbers is hardly affected by the position or the direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Even if the missile is fired at a plurality of targets, the target selection devices mounted on each missile can be locked on to different targets. That is, each missile can hit a different goal,
There is an effect that the shooting efficiency of the missile system can be improved.

According to the third aspect, as described above,
The order of the region numbers is determined based on the moving direction vector of the maximum luminance point calculated from the image signal of the infrared image sensor, and this moving direction vector indicates a fixed direction in the absolute space. It is hardly affected by the position and the direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Even if the missile is fired at a plurality of targets, the target selection devices mounted on each missile can be locked on to different targets. That is, each missile can hit a different goal,
There is an effect that the shooting efficiency of the missile system can be improved.

According to the fourth aspect, as described above, the order of the area numbers is obtained based on the moving direction vector of the area where the average luminance calculated from the image signal of the infrared image sensor is the maximum. Since the moving direction vector indicates a fixed direction in the absolute space, the order of the area numbers is hardly affected by the position and the direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Even if the missile is fired at a plurality of targets, the target selection devices mounted on each missile can be locked on to different targets. That is, since each missile can hit a different target, there is an effect that the shooting efficiency of the missile system can be improved.

According to the fifth aspect, as described above,
The order of the region numbers is determined based on a direction vector connecting the center of gravity of the entire plurality of regions calculated from the image signal of the infrared image sensor and the maximum luminance point calculated from the image signal of the infrared image sensor. Since the vector indicates a certain direction in the absolute space, the order of the region numbers is hardly affected by the position and the directional direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Even if the missile is fired at a plurality of targets, the target selection devices mounted on each missile can be locked on to different targets.
That is, since each missile can hit a different target, there is an effect that the shooting efficiency of the missile system can be improved.

According to the sixth aspect of the present invention, as described above, the order of the area numbers is calculated from the center of gravity of a plurality of areas calculated from the image signals of the infrared image sensor and the image signal of the infrared image sensor. The direction vector connecting the center of gravity of the region where the average luminance is the maximum is determined based on the direction vector, and since this direction vector indicates a fixed direction in the absolute space,
The order of the area numbers is hardly affected by the position and the directional direction of the infrared image sensor. Therefore, the order of the region numbers can be made common among the target selection devices mounted on a plurality of missiles located at different positions. In order to select, as a target, an area number of a rank that matches a rank of a target to be locked on, which is set to a different value in advance by each device from among these area numbers, a plurality of target numbers equipped with the target selection device according to the present invention are used. Missile,
Even if fired at a plurality of targets, there is an effect that the target selection devices mounted on each missile can be locked on to different targets. That is, since each missile can hit a different target, there is an effect that the shooting efficiency of the missile system can be improved.

[Brief description of the drawings]

FIG. 1 is a first embodiment of a target selection device according to the present invention;
FIG.

FIG. 2 is a second embodiment of the target selecting apparatus according to the present invention;
FIG.

FIG. 3 is a third embodiment of the target selecting apparatus according to the present invention;
FIG.

FIG. 4 is a fourth embodiment of the target selecting apparatus according to the present invention;
FIG.

FIG. 5 is a fifth embodiment of the target selecting apparatus according to the present invention;
FIG.

FIG. 6 shows a sixth embodiment of the target selecting apparatus according to the present invention;
FIG.

FIG. 7 is a screen diagram showing an example of changing an area number according to the first embodiment of the present invention.

FIG. 8 is a screen diagram showing an example of changing an area number according to the first embodiment of the present invention.

FIG. 9 is a screen diagram showing an example of changing an area number according to the second embodiment of the present invention.

FIG. 10 is a screen diagram showing an example of changing an area number according to Embodiment 3 of the present invention.

FIG. 11 is a screen diagram showing an example of changing an area number according to Embodiment 4 of the present invention.

FIG. 12 is a screen diagram showing an example of changing area numbers according to Embodiment 5 of the present invention.

FIG. 13 is a screen diagram showing an example of changing an area number according to the sixth embodiment of the present invention.

FIG. 14 is a configuration diagram showing a conventional target selection device.

FIG. 15 is a screen diagram showing an example of target selection by a conventional target selection device.

FIG. 16 is a screen diagram showing an example of target selection by a conventional target selection device.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 infrared image sensor, 2 binarization means, 5 area detection means, 7 center of gravity calculation means, 9 center of gravity point storage means, 11
Direction vector detecting means, 18 area number table, 2
0 position coordinate selecting means, 38 direction vector rotating means,
40 intersection detection means, 48 attitude angle sensor, 50 gravity direction vector calculation means, 54 maximum brightness point calculation means, 5
6 maximum luminance point storage means, 60 average luminance calculation means for each area, 62 centroid point calculation means for the area where the average luminance is maximum, 64 centroid point storage means for the area where the average luminance is maximum.

Claims (6)

[Claims] 1. An infrared image sensor for detecting an infrared ray emitted from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binarizing means for outputting a binary signal outputted from the binarizing means. Area detecting means for detecting the area from the value image signal and calculating the position coordinates of the area; centroid point calculating means for calculating the barycentric point coordinates of the entire screen from the position coordinates of all the areas in the screen; Barycentric point storage means for storing the barycentric point coordinates of the entire screen, and calculating the difference between the barycentric point coordinates of the entire screen and the barycentric point coordinates of the entire screen in the previous frame output by the barycentric point storage means to obtain the barycentric point of the entire screen A direction vector detecting means for calculating a direction vector of the moving speed of the point, and a direction vector for rotating the direction vector in the screen and outputting this as a direction vector for region numbering Rotation means, intersection detection means for outputting the number of each area in the order in which the area numbering direction vector intersects with the position coordinates of the area with rotation, and the number of each area output by the intersection detection means Are stored in the order in which they are output, and an area number table that outputs the number of an area corresponding to a preset order, and a position that selects and outputs the position coordinates of the area corresponding to the number of the area output from the area number table A target selection device comprising: coordinate selection means. 2. An infrared image sensor for detecting infrared rays radiated from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binary signal outputted by the binarizing means. Area detection means for detecting the area from the value image signal to calculate the position coordinates of the area, an attitude angle sensor for detecting the attitude angle of the infrared image sensor, and indicating the direction of gravity in the screen from the attitude angle of the infrared image sensor Gravity direction vector calculation means for calculating a gravity direction vector, direction vector rotation means for rotating the gravity direction vector in the screen and outputting the rotation direction vector as a region numbering direction vector, Intersection detection means for outputting the number of each area in the order in which the direction vector and the position coordinates of the area intersect, and output the number of each area output by the intersection detection means An area number table that stores the order of input and outputs the number of the area corresponding to the preset order, and a position coordinate that selects and outputs the position coordinates of the area corresponding to the number of the area output from the area number table A target selection device comprising: a selection unit. 3. An infrared image sensor for detecting infrared rays radiated from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binary signal outputted from the binarizing means. Area detection means for detecting the area from the value image signal and calculating the position coordinates of the area, and maximum luminance point calculation means for calculating the maximum luminance point coordinates in the screen from the luminance and position coordinates of all the areas in the screen, Maximum luminance point storage means for storing the maximum luminance point coordinates in the screen in the previous frame, and maximum luminance point coordinates in the screen and maximum luminance point coordinates in the screen in the previous frame output by the maximum luminance point storage means. Direction vector detecting means for calculating the direction vector of the moving speed of the maximum luminance point of the entire screen by taking the difference of Direction vector rotating means for outputting as a vector, intersection detecting means for outputting the number of each area in the order in which the area numbering direction vector and the position coordinates of the area intersect with rotation, and the intersection detecting means An area number table that stores the numbers of the areas to be output in the order in which they are output and outputs the numbers of the areas corresponding to a preset order, and the position coordinates of the areas corresponding to the numbers of the areas output from the area number table. A target selecting device comprising: a position coordinate selecting means for selecting and outputting. 4. An infrared image sensor for detecting infrared rays radiated from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binary signal outputted from the binarizing means. Area detection means for detecting the area from the value image signal and calculating the position coordinates of the area, average luminance calculation means for each area to calculate the average luminance for each area from the luminance and position coordinates of all the areas in the screen, The means for calculating the center of gravity of the region where the average luminance for each region output by the average luminance calculation unit for each region is the maximum, and the average luminance for storing the center of gravity of the region where the average luminance in the previous frame is the maximum are The center-of-gravity point storage means of the region having the maximum, and the difference between the coordinates of the center of gravity of the region where the average luminance in the previous frame is the maximum and the coordinates of the center of gravity of the region where the average luminance is the maximum is calculated. Direction vector detecting means for calculating a direction vector of the moving speed of the center of gravity of the region having the maximum value, direction vector rotating means for rotating the direction vector in the screen and outputting this as a direction vector for region numbering, The intersection detection means outputs the number of each area in the order in which the direction vector for area numbering and the position coordinates of the area intersect, and the order in which the number of each area output by the intersection detection means is output An area number table for storing and outputting a number of an area corresponding to a preset order; and a position coordinate selecting means for selecting and outputting position coordinates of an area corresponding to an area number output from the area number table. A target selection device, comprising: 5. An infrared image sensor for detecting infrared rays radiated from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binary signal outputted from the binarizing means. Area detecting means for detecting the area from the value image signal and calculating the position coordinates of the area; centroid point calculating means for calculating the coordinates of the center of gravity of the entire screen from the position coordinates of all the areas in the screen; Maximum luminance point calculating means for calculating the maximum luminance point coordinates in the screen from the luminance and position coordinates of the area, and a direction for calculating the direction vector by calculating the difference between the barycentric point coordinates of the entire screen and the maximum luminance point coordinates Vector detecting means, direction vector rotating means for rotating the direction vector in the screen and outputting this as a direction vector for area numbering, and direction vector rotating means for rotating the area vector with rotation. Intersection detection means for outputting the number of each area in the order in which the vector and the position coordinates of the area intersect,
An area number table for storing the numbers of the areas output by the intersection detecting means in the order of output and outputting the numbers of the areas corresponding to a preset order; and an area number table for outputting the numbers of the areas in the area number table. A target selecting device for selecting and outputting position coordinates of an area. 6. An infrared image sensor for detecting infrared rays radiated from a target as an image, a binarizing means for binarizing an image signal output from the infrared image sensor, and a binary signal outputted from the binarizing means. Area detecting means for detecting the area from the value image signal and calculating the position coordinates of the area; centroid point calculating means for calculating the coordinates of the center of gravity of the entire screen from the position coordinates of all the areas in the screen; Average brightness calculation means for each area for calculating the average brightness of each area from the brightness and the position coordinates of the area, and the center of gravity of the area where the average brightness for each area output by the average brightness calculation means for each area is maximum. Means for calculating, a direction vector detecting means for calculating a direction vector by calculating a difference between the coordinates of the center of gravity of the entire screen and the coordinates of the center of gravity of the region where the average luminance is maximum, and the direction vector is rotated in the screen. A direction vector rotating means for rotating and outputting this as a region numbering direction vector, and outputting the number of each region in the order in which the region numbering direction vector and the position coordinates of the region intersect with the rotation Intersection detection means, an area number table for storing the numbers of the areas output by the intersection detection means in the order in which they are output, and outputting the numbers of the areas corresponding to a predetermined order; and an area for outputting the area number table A position coordinate selecting means for selecting and outputting position coordinates of an area corresponding to the number of the target.