WO2013094526A1 - Appareil, procédé et programme de commande - Google Patents

Appareil, procédé et programme de commande Download PDF

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Publication number
WO2013094526A1
WO2013094526A1 PCT/JP2012/082449 JP2012082449W WO2013094526A1 WO 2013094526 A1 WO2013094526 A1 WO 2013094526A1 JP 2012082449 W JP2012082449 W JP 2012082449W WO 2013094526 A1 WO2013094526 A1 WO 2013094526A1
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WIPO (PCT)
Prior art keywords
unmanned airplane
traveling direction
traveling
scanning
sea
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PCT/JP2012/082449
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English (en)
Japanese (ja)
Inventor
林　辰憲
良太 齋藤
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三菱重工業株式会社
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Publication of WO2013094526A1 publication Critical patent/WO2013094526A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to a control device, method, and program suitable for use in, for example, control of an aircraft that searches for an object at sea.
  • an unmanned aerial vehicle system including an unmanned airplane that is unmanned and a ground control system (hereinafter referred to as “GCS”) is an unmanned aircraft that is installed on a ground base or a navigation system such as a marine vehicle.
  • GCS ground control system
  • This technique is known as a technique for controlling an airplane, flying a desired flight path, and performing a search on the ground or the sea.
  • Patent Document 1 a reconnaissance system mounted on an unmanned airplane is directed in an arbitrary direction, and a captured image of an arbitrary region of interest is obtained, thereby searching for a target that is an object of interest of the operator. Techniques to do this have been proposed.
  • the flight path of the unmanned airplane is designated by the operator via the GCS, and the search range of the reconnaissance system is determined according to the flight path.
  • the search range is a limited range along the flight path, and the target cannot be found if the flight path is not properly selected.
  • the operator can also indicate the viewing direction of the optical sensor and the zoom amount in order to search for a wider range, but in order to manually indicate sequentially, the operator always operates a driving device such as a joystick. There was a need to do. For this reason, the operator's workload was excessive.
  • the present invention has been made in view of such circumstances, and an object of the present invention is to provide a control device, method, and program that can easily improve the discovery rate of objects at sea.
  • the present invention employs the following means.
  • a control device for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, and having a predetermined width over a direction intersecting the traveling direction of the marine navigation body.
  • the unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • the imaging direction of the optical sensor provided in the unmanned airplane is set to the traveling direction of the unmanned airplane.
  • Route determining means for calculating the predetermined distance so that a path offset which is a distance in the traveling direction between the body and the unmanned airplane is constant, and determining a flight path of the unmanned airplane based on the calculated predetermined distance Is provided.
  • the unmanned airplane is advanced in a direction intersecting the traveling direction of the marine navigation body in a predetermined width in a direction intersecting the traveling direction of the marine navigation body.
  • the optical system provided in the unmanned aerial vehicle during a period in which the unmanned airplane travels in the direction crossing the traveling direction of the marine navigational body after traveling a predetermined distance toward the traveling direction of the marine navigational body.
  • the predetermined distance calculated so that the path offset, which is the distance in the direction of travel between the maritime navigation body and the unmanned airplane, is constant based on the speed of the unmanned airplane, the speed of the marine navigation body, and the length of the predetermined width. Based on the above, the flight path of the unmanned airplane is determined. In this way, during the period when the unmanned airplane travels a predetermined width, the sea is scanned in the left-right direction with respect to the traveling direction of the unmanned airplane, thereby enabling a wide range of scanning and improving the discovery rate of targets at sea. Is done.
  • the predetermined distance is calculated so that the path offset is constant and the unmanned airplane flies along the flight path determined based on the predetermined distance
  • the setting by the operator such as the input of the flight path can be simplified.
  • the distance of the route offset is kept constant, for example, the seagoing body uses an escort ship to escort the escort ship, and even if the speed of the escort ship and the speed of the unmanned airplane are not constant, time elapses. This can prevent the distance between the destroyer and the unmanned airplane. For this reason, it is possible to prevent an attack or the like by a suspicious ship that is expected to be encountered when the deviation distance increases.
  • control device includes an acquisition unit that acquires information on an imaging range designated by an operator and outputs the acquired information to the maritime scanning unit.
  • acquisition unit that acquires information on an imaging range designated by an operator and outputs the acquired information to the maritime scanning unit.
  • the operator can directly specify the imaging range.
  • the route determination means of the control device uses as an error the difference between the target route offset information, which is the route offset information acquired as a target value, and the measured route offset, which is the route offset information acquired as a measured value.
  • the predetermined distance is calculated by correcting the error.
  • the predetermined distance is calculated taking into account the error.
  • An appropriate flight path can be determined.
  • the sea scanning means of the control device adjusts the zoom amount of the optical sensor based on the distance between the unmanned airplane and the sea surface, and images a subject imaged by the optical sensor with a substantially constant size. It is preferable to include zoom adjusting means.
  • the zoom amount is constant, if the distance between the unmanned airplane and the sea surface is relatively long, the subject is imaged small, and if the distance between the unmanned airplane and the sea surface is relatively short, the subject is imaged large. In this mode, the zoom amount is increased when the distance between the unmanned airplane and the sea surface is relatively long, and the zoom amount is decreased when the distance is relatively short. To do. Thereby, when a subject exists, it becomes easy for a monitoring operator or the like to visually recognize the subject imaged from the unmanned airplane.
  • the zoom adjusting means of the control device includes an imaging area that is a tangent to the sea surface at an upper end in an imaging area that is a tangential plane that is in contact with the sea surface in a viewing range that is an area that is viewed by the optical sensor.
  • the zoom amount may be adjusted based on the flight altitude of the airplane.
  • the subject can be imaged with a substantially constant size.
  • the sea scanning means of the control device preferably scans the imaging direction of the optical sensor from the first direction to the second direction among the left and right directions with respect to the traveling direction of the unmanned airplane.
  • the scanning position of the optical sensor is returned to the first direction (left or right), and the first direction (left or right) To the second direction (right or left).
  • a control device for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, and having a predetermined width across a direction intersecting the traveling direction of the marine navigation body.
  • the unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • the imaging direction of the optical sensor provided in the unmanned airplane is set to the traveling direction of the unmanned airplane.
  • a speed at which the optical sensor scans the sea based on the distance between the unmanned airplane and the sea surface; Adjust ⁇ degree control apparatus having a scanning speed adjustment means for an imaging result obtained by the scanning is presented at a constant speed is provided.
  • the unmanned airplane is caused to travel in a direction intersecting with the traveling direction of the marine navigation body in a predetermined width across the direction intersecting with the traveling direction of the marine navigation body.
  • the optical system provided in the unmanned aerial vehicle during a period in which the unmanned airplane travels in the direction crossing the traveling direction of the marine navigational body after traveling a predetermined distance toward the traveling direction of the marine navigational body.
  • the optical sensor of the unmanned airplane scans the sea.
  • the scanning speed at which the optical sensor scans the sea is adjusted based on the distance between the unmanned airplane and the sea surface, and the imaging result obtained by the scanning is presented at a constant speed.
  • the scanning speed of the optical sensor is constant, if the distance between the unmanned airplane and the sea surface is relatively long, the area imaged by the optical sensor changes significantly, and if the distance between the unmanned airplane and the sea surface is relatively short, The change in the area imaged by the sensor is reduced.
  • the scanning speed by adjusting the scanning speed to increase when the distance between the unmanned airplane and the sea surface is relatively long, and to decrease the scanning speed when the distance is relatively short, the imaging result can be obtained at a constant speed. To do.
  • the scanning speed adjusting means of the control device may calculate a time during which the subject is presented in the imaging region when the subject is included in the imaging region that is a tangential plane in contact with the sea surface in the viewing direction range of the optical sensor. It is also possible to set the time when the operator can visually recognize the subject and adjust the scanning speed based on the time.
  • a control method for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, in a predetermined width across a direction intersecting the traveling direction of the marine navigation body The unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • an imaging direction of an optical sensor provided in the unmanned airplane is set with respect to a traveling direction of the unmanned airplane.
  • Route determination for calculating the predetermined distance so that a path offset which is a distance in the traveling direction between the navigation body and the unmanned airplane is constant, and determining a flight path of the unmanned airplane based on the calculated predetermined distance A control method is provided.
  • a control program for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, and having a predetermined width across a direction intersecting the traveling direction of the marine navigation body.
  • the unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • an imaging direction of an optical sensor provided in the unmanned airplane is set with respect to a traveling direction of the unmanned airplane.
  • the predetermined distance is calculated so that a path offset that is a distance in the traveling direction between the marine navigation vehicle and the unmanned airplane is constant, and a flight path of the unmanned airplane is determined based on the calculated predetermined distance.
  • a control program for causing a computer to execute a route determination process is provided.
  • a control method for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, and having a predetermined width over a direction intersecting the traveling direction of the marine navigation body The unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • an imaging direction of an optical sensor provided in the unmanned airplane is set with respect to a traveling direction of the unmanned airplane.
  • a control program for controlling an unmanned airplane flying in front of a traveling direction of a marine navigation body, and having a predetermined width over a direction intersecting the traveling direction of the marine navigation body.
  • the unmanned airplane travels in a direction crossing the traveling direction of the marine navigation body, and after the unmanned airplane travels the predetermined width, the unmanned airplane travels a predetermined distance toward the traveling direction of the marine navigation body.
  • an imaging direction of an optical sensor provided in the unmanned airplane is set with respect to a traveling direction of the unmanned airplane.
  • the present invention has an effect of easily improving the discovery rate of objects on the sea.
  • FIG. 1 is a diagram showing a relationship among the unmanned airplane 103, the escort ship (ocean navigational body) 101, and the control device 10.
  • the escort ship 101 is located in front of the escort ship 102 in the traveling direction, travels away from the escort ship 102 at a predetermined interval, and escorts the escort ship 102.
  • the escort ship 101 includes a water radar, and searches for surrounding suspicious ships 112 using the water radar. For example, as shown in FIG. 1, an area searched for by the surface radar provided in the escort ship 101 is an escort ship surface area 113 that covers the 360 ° direction of the escort ship 101.
  • the unmanned airplane 103 flies forward in the traveling direction of the escort ship 101, scans the sea by moving the imaging direction of the optical sensor provided to the left and right with respect to the traveling direction (details will be described later), and searches for the suspicious ship 112. To do.
  • the optical sensor is, for example, a visible light image sensor or an infrared image sensor.
  • the distance in the advancing direction between the escort ship 101 and the unmanned airplane 103 is a path offset R, and the unmanned airplane 103 is controlled to fly away from the escort ship 101 at an interval of the path offset R. Further, the scanning area A ′ scanned by the optical sensor of the unmanned airplane 103 and the escort ship surface radar coverage area 113 searched by the surface radar of the escort ship 101 are controlled so as not to overlap by providing a path offset R. Yes.
  • the control device 115 is communicably connected to the unmanned airplane 103, exchanges information with the unmanned airplane 103 (for example, information such as the speed and position of the unmanned airplane 103), and controls the unmanned airplane 103.
  • control device 115 will be described as being provided on the destroyer 101.
  • control device 115 includes sensing means such as GPS, and acquires information on the position and speed of the escort ship 101 by the sensing means of the control device 115.
  • control device 115 includes the control device 10.
  • FIG. 2 is a block diagram showing a schematic configuration of the control device 10 according to the first embodiment of the present invention.
  • the control device 10 is a computer system (computer system), a main storage device 12 such as a CPU (Central Processing Unit) 11, a RAM (Random Access Memory), an HDD ( An auxiliary storage device 13 such as Hard Disk Drive), an input device 14 such as a keyboard and a mouse, an output device 15 such as a monitor and a printer, and a communication device 16 that exchanges information by communicating with external devices are provided.
  • Various programs (control programs) are stored in the auxiliary storage device 13, and the CPU 11 reads various programs from the auxiliary storage device 13 to the main storage device 12 such as a RAM and executes them to implement various processes.
  • FIG. 3 is a functional block diagram showing the functions provided in the control device 10 in an expanded manner.
  • the control device 10 includes a route control unit (route control unit) 20, an acquisition unit (acquisition unit) 21, a sea scan unit (sea scan unit) 22, and a route determination unit (route determination unit) 23.
  • a zoom adjustment unit (zoom adjustment means) 24 The route control unit 20 advances the unmanned airplane 103 in a direction intersecting the traveling direction of the escort ship 101 in a predetermined width W across the direction intersecting the traveling direction of the escort ship 101, and after the unmanned airplane 103 travels the predetermined width W
  • the unmanned airplane 103 is advanced by a predetermined distance S toward the traveling direction of the escort ship 101.
  • the direction intersecting the traveling direction is a direction perpendicular to the traveling direction.
  • the acquisition unit 21 acquires information on an imaging range designated by an operator who operates and monitors the control device 115 and outputs the information to the maritime scanning unit 22.
  • the acquisition unit 21 acquires various parameter information input via the input device 14 or the like.
  • the marine scanning unit 22 sets the imaging direction of the optical sensor provided in the unmanned airplane 103 in the left-right direction with respect to the traveling direction of the unmanned airplane 103 during the period in which the unmanned airplane 103 is traveling in the direction perpendicular to the traveling direction of the destroyer 101. And the sea is scanned (see scanning area A ′ in FIG. 1). Specifically, the sea scanning unit 22 determines the entire total imaging region based on the information of the imaging length 111 and the predetermined width W input by the operator to the acquisition unit 21, and scans the sea.
  • the sea scanning unit 22 scans the imaging direction of the optical sensor from the first direction to the second direction among the left and right directions with respect to the traveling direction of the unmanned airplane 103. Specifically, when the first direction is left (right) and the second direction is right (left), after scanning from left (right) to right (left), the scanning position of the optical sensor is set to the left ( Return to the right) and repeat the scan from left (right) to right (left). Thereby, the scanning overlap can be reduced as compared with the case of scanning while returning the position of the optical sensor from the right (left) to the left (right) after scanning from the left (right) to the right (left).
  • the suspicious ship 112 can be searched efficiently.
  • the marine scanning unit 22 provides the operator with the captured image by causing the output device 15 to output the captured image from the unmanned airplane 103 obtained through the optical sensor.
  • the route determination unit 23 Based on the speed of the unmanned airplane 103, the speed of the escort ship 101, and the length of the predetermined width W, the route determination unit 23 makes the path offset R that is the distance in the traveling direction between the escort ship 101 and the unmanned airplane 103 constant. Thus, the predetermined distance S is calculated, and the flight path P of the unmanned airplane 103 is determined based on the calculated predetermined distance S.
  • the route determination unit 23 also sets information on the set route offset Rs, which is information on the route offset R set as the target value, and observation route offset, which is information on the route offset R acquired as a measured value by a measuring device such as GPS.
  • the difference from Ro is taken as an error, and the predetermined distance S is calculated by correcting the error.
  • the position of the unmanned airplane 103 is 103a
  • the position of the unmanned airplane 103 is 103b
  • the position of the unmanned airplane 103 is 103c.
  • the flight path P of the unmanned airplane 103 travels a predetermined width W in a direction perpendicular to the traveling direction of the escort ship 101, then travels by a predetermined distance S in the traveling direction of the escort ship 101, and is predetermined from a position after the predetermined distance S travels.
  • Advance width W that is, as shown in FIG. 4, after a predetermined width W travels from right to left, it travels a predetermined distance S1 in the traveling direction of the escort ship 101, and after traveling a predetermined width W from left to right, the traveling direction of the escort ship 101 Advance by a predetermined distance S2 and advance a predetermined width W from right to left.
  • the flight path P is calculated by the sum of the predetermined width W and the predetermined distance S.
  • W is the search width [m: m]
  • S is the travel distance [m]
  • Va is the speed of the unmanned airplane 103 [m / s]
  • Vd is the speed of the destroyer 101 [m / s]
  • Vrt is the turning radius
  • ⁇ R is the difference Ro ⁇ Rs [m] between the observation path offset Ro [m] and the set path offset Rs [m].
  • the zoom adjustment unit 24 adjusts the zoom amount of the optical sensor based on the distance between the unmanned airplane 103 and the sea surface, and selects a subject imaged by the optical sensor (for example, a marine target of interest of the operator). Images are taken at a substantially constant size. Specifically, as illustrated in FIG. 6, the zoom adjustment unit 24 is connected to the sea surface at the upper end of the imaging region A that is a tangential plane that is in contact with the sea surface of the viewing range that is the region that is viewed by the optical sensor.
  • the zoom amount is adjusted based on d, the horizontal resolution dh of the optical sensor, and the flight altitude h of the unmanned airplane 103. Specifically, the zoom amount is adjusted by adjusting the horizontal angle of view ⁇ h.
  • FIG. 6 is a diagram illustrating a situation in which the unmanned airplane 103 is looking at the optical sensor in the lateral direction at the flight altitude h [m].
  • the zoom amount of the optical sensor that is, the horizontal angle of view ⁇ h [rad: radians]
  • the horizontal angle of view ⁇ h and the vertical angle of view ⁇ v of the optical sensor are in a constant ratio, and therefore the vertical angle of view ⁇ v [rad] is It is dependent.
  • the width of the imaging area A is the horizontal visual field width b [m: meter]
  • the horizontal distance from the unmanned airplane 103 to the imaging area upper end 203a is the horizontal distance L [m]
  • the unmanned airplane 103 to the imaging area upper end 203a is defined as a linear distance l [m]
  • the elevation angle of the optical sensor is defined as an elevation angle ⁇ s [rad].
  • FIG. 7 shows a conceptual diagram of the imaging area A by the optical sensor.
  • the optical sensor has resolutions in the horizontal direction and the vertical direction, and each of them has a horizontal resolution dh [pixel] and a vertical resolution dv [pixel].
  • the horizontal visual field width b is determined according to the horizontal distance L to the imaging region upper end 203a, and on the captured image shown in FIG. 7, the image having the physical length b is a pixel having the horizontal resolution dh.
  • the horizontal visual field width b increases, and as the horizontal field angle ⁇ h decreases, the horizontal visual field width b decreases.
  • the horizontal angle of view ⁇ h when the horizontal angle of view ⁇ h is increased, the physical length corresponding to one pixel is increased, so that it is difficult to identify a small target on the video. Conversely, if the horizontal angle of view ⁇ h is reduced, the physical length corresponding to one pixel becomes smaller, so that it becomes easier to identify a small target, but the imaging area A in FIG. It is unsuitable.
  • the control device 115 sets an assumed suspicious ship (assumed target size M) and a setting value (imaginary target imaging pixel number d) of how many pixels the target size is imaged on the video.
  • the horizontal angle of view ⁇ h is controlled according to the set value. For example, when a target with a size of 5 meters can be imaged with 10 pixels, a target with a size of 5 meters is always imaged with a size of 10 pixels corresponding to the elevation angle ⁇ s of the optical sensor.
  • the horizontal angle of view ⁇ h is represented by a trigonometric function as shown in the following equation (4) according to the horizontal visual field width b of FIG. It is.
  • ⁇ h is the horizontal field angle [rad]
  • M is the assumed target size [m: meter]
  • d is the assumed target number of imaging pixels [pixel]
  • dh is the horizontal resolution [pixel] of the optical sensor
  • h is the flight.
  • the altitude [m] and L are the horizontal distance [m: meter] from the unmanned airplane to the upper end of the imaging area.
  • the horizontal visual field width b is expressed by the following equation (6) according to the assumed target imaging pixel number d, the assumed target size M, and the horizontal resolution dh.
  • b (M / d) ⁇ dh (6)
  • the amount of zoom is determined by calculating the horizontal angle of view ⁇ h from the equation (8) by numerical analysis such as a bisection method or a Newton method.
  • the zoom amount (horizontal angle of view ⁇ h) is determined according to the elevation angle ⁇ s, that is, determined according to the distance linear distance l between the unmanned airplane 103 and the sea surface. It becomes.
  • the horizontal angle of view ⁇ h can be calculated by the Newton method will be described using an example of specific numerical values.
  • the object on the sea is set to a substantially constant size. Now take an image. This makes it easier for an operator or the like who monitors the subject imaged from the unmanned airplane 103 to visually recognize the subject when it exists.
  • FIGS. 1-7 Parameter information such as the search width W, the imaging range designated by the operator, the set route offset Rs, and the turning radius rt are input via the acquisition unit 21.
  • the unmanned airplane 103 is controlled to maintain the distance of the route offset R from the escort ship 101 and to be positioned above the escort ship 101 in the traveling direction. (Time t1).
  • Information and observation path offset Ro information are input to the control device 10.
  • the ratio Vrt between the speed Va and the speed Vd is calculated from the speed Va of the unmanned airplane 103 and the speed Vd of the destroyer 101, and the difference ⁇ R of the path offset is calculated based on the observation path offset Ro and the set path offset Rs. Is done.
  • the speed Va of the unmanned airplane 103 thus obtained, the speed Vd of the destroyer 101, the ratio Vrt of the speed Va speed Vd, the turning radius rt, and the path offset difference ⁇ R, that is, the distance of the unmanned airplane 103, ie, the unmanned airplane 103
  • the position at time t2 is calculated.
  • the route determination unit 23 performs the flight route based on the predetermined distance S calculated according to the position of the unmanned airplane 103 at the time t (n + 1) calculated at the time tn and the predetermined width W. P is determined.
  • the unmanned airplane 103 is flight-controlled by the route controller 20 based on the determined flight path P. Further, when the unmanned airplane 103 advances a distance of a predetermined width W, the route control unit 20 advances the unmanned airplane 103 by a predetermined distance S1 in the traveling direction of the escort ship 101, and further, from the position of the advance, The predetermined width W is advanced in a direction opposite to the predetermined width W.
  • the imaging direction of the optical sensor is set in the left-right direction of the traveling direction of the unmanned airplane 103, and within the total imaging area that is the entire area to be imaged The sea is scanned so as to include the imaging area designated by the operator.
  • the horizontal angle of view ⁇ h of the captured video is obtained based on the above-described equation (8). Is calculated.
  • the zoom adjustment unit 24 adjusts the zoom amount of the imaging area based on the calculated horizontal angle of view ⁇ h and the captured image shown in the output device 15 includes the target, the target is a certain size. Will be presented.
  • the output device 15 may not only indicate the target on the captured image but also add an emphasis display such as a frame line around the target. Furthermore, the output device 15 not only presents an image via a display or the like, but also adds audio information such as a warning sound via a speaker or the like to notify the presence of the target, making it easier for the operator to find it. May be. Thereby, even if the operator does not always keep an eye on the display, the situation of missing the target object is reduced, and the workload such as the operator's work load is reduced.
  • the unmanned airplane 103 is perpendicular to the traveling direction of the escort ship 101 in a predetermined width W that extends in a direction perpendicular to the traveling direction of the escort ship 101.
  • the unmanned airplane 103 is advanced in the direction perpendicular to the traveling direction of the escort ship 101.
  • the sea is scanned by the optical sensor of the unmanned aerial vehicle 103 by moving the imaging direction of the optical sensor provided to the left and right with respect to the traveling direction.
  • the path offset R that is the distance in the traveling direction between the escort ship 101 and the unmanned airplane 103 is calculated to be constant.
  • the flight path P of the unmanned airplane 103 is determined.
  • the sea is scanned in the horizontal direction with respect to the traveling direction of the unmanned airplane 103, so that a wide range of scanning is possible, and discovery of a target on the sea The rate is improved.
  • the predetermined distance S is calculated so that the path offset R becomes constant, and the unmanned airplane 103 flies on the flight path determined based on the predetermined distance S, so that the operator can easily set the flight path and the like.
  • the distance of the path offset R is kept constant, even if the speed of the escort ship 101 and the speed of the unmanned airplane 103 are not constant, the distance between the escort ship 101 and the unmanned airplane 103 as time elapses. Since the divergence can be prevented, it is possible to prevent an attack by a suspicious ship that is assumed to be encountered when the divergence distance increases.
  • the imaging area designated by the operator can be directly designated via the input device 14 or the like, it is possible to search the sea with the desired imaging area surely included in the total imaging area.
  • the horizontal angle of view ⁇ h of the above equation (8) is obtained by the Newton method. From the equation (8), it is assumed that a function f ( ⁇ h) is used, and a derivative function f ′ ( ⁇ h) of the function f ( ⁇ h) is a function using a trigonometric differentiation formula.
  • Flight altitude h 914.4 [m]
  • Assumed target size M 5 [m]
  • Assumed target imaging pixel number d 10 [pixel]
  • Optical sensor horizontal resolution dh 640 [pixels]
  • 0th time ⁇ h (0) 0.500 rad
  • f ( ⁇ h (0)) 0.170
  • First time ⁇ h (1) 0.212 rad
  • f ( ⁇ h (1)) 0.005
  • Second time ⁇ h (2) 0.203 rad
  • f ( ⁇ h (2)) 0.000
  • the horizontal angle of view ⁇ h can be easily calculated, so that the horizontal angle of view ⁇ h can be controlled according to various parameters.
  • control device according to a second embodiment of the present invention will be described with reference to FIG.
  • the control device according to the present embodiment is different from the first embodiment described above in that in addition to the configuration in the first embodiment, an optical sensor adjusts the speed of scanning the sea.
  • an optical sensor adjusts the speed of scanning the sea.
  • the scanning speed adjustment unit adjusts the scanning speed ⁇ s, which is the speed at which the optical sensor scans the sea, based on the distance between the unmanned airplane and the sea surface, and obtains the imaging result obtained by scanning at a constant speed.
  • ⁇ s the speed at which the optical sensor scans the sea
  • the scanning speed adjustment unit can visually recognize the subject when the subject is presented in the imaging region. The expected time is set, and the scanning speed is adjusted based on the time.
  • FIGS. 8 to 11 are diagrams for explaining a control method of an optical sensor that captures an image of a stationary target 303 at a speed at which an operator can recognize a stationary target 303 in one scene with a search.
  • the pointing direction and imaging area of the optical sensor of the unmanned airplane 103 during imaging flight are shown, and it is assumed that the unmanned airplane 103 is flying in the depth direction of the page.
  • FIG. 9 shows a captured image acquired from the unmanned airplane 103.
  • 10 and 11 are diagrams when the elevation angle of the optical sensor is changed from the diagrams of FIGS. 8 and 9 and the target 303 is moved by one pixel.
  • the imaging time that is assumed to allow the operator to recognize the target 303 on the captured video is defined as a necessary imaging time T.
  • the scanning speed ⁇ s of the optical sensor is controlled to be slow, the movement of the target 303 presented on the picked-up image is also slowed, and the target 303 can be imaged for the necessary imaging time T or longer. Searching efficiency decreases because the scanning (imaging) in the left-right direction is delayed. Therefore, in the control device of the present embodiment, the scanning speed ⁇ s of the optical sensor that is the fastest among the scanning speeds ⁇ s of the optical sensor that allows the operator to recognize the target 303 is set.
  • the scanning speed ⁇ s is the fastest is a case where the target 303 moves the pixel dv from the lower end to the upper end on the captured image in the period (time) of the necessary image capturing time T, that is, the target 303 captures an image.
  • the time required for moving one pixel on the video is T / dv (see the following equation (9)).
  • the vertical angle of view ⁇ v is constant regardless of the elevation angle ⁇ s of the optical sensor
  • ⁇ s is the optical sensor scanning speed [rad / s]
  • ⁇ h is the horizontal angle of view [rad]
  • ⁇ v is the vertical angle of view [rad.
  • Dh are the horizontal resolution [pixels]
  • dv is the vertical resolution [pixels]
  • T is the imaging time [s] required for the operator to recognize the target on the video. Time required for the target to move one pixel on the captured image: T / dv [s] (9)
  • the amount of change in the elevation angle ⁇ s of the optical sensor is the vertical field angle ⁇ v. It is equal to the angle of view per pixel. That is, the change amount of the elevation angle ⁇ s of the optical sensor is ⁇ v / dv (the following equation (10)). Amount of change in the elevation angle of the optical sensor when the target moves one pixel in the captured image: ( ⁇ v / dv) [rad] (10)
  • the scanning speed ⁇ s of the optical sensor changes in the elevation angle ⁇ s of the optical sensor by an amount by which the target 303 moves by one pixel in the required time when the target 303 moves by one pixel on the captured image. Therefore, the following equation (11) is obtained.
  • the ratio between the vertical angle of view ⁇ v and the horizontal angle of view ⁇ h is equal to a certain ratio (usually about 4: 3) between the horizontal resolution dh and the vertical resolution dv
  • the vertical angle of view ⁇ v is It is expressed by equation (13).
  • the equation (14) is derived based on the equations (12) and (13), and the scanning speed ⁇ s is obtained.
  • the horizontal angle of view ⁇ v slightly changes before and after the target 303 moves one pixel on the picked-up video, but if the vertical resolution dv of the equation (11) is considered sufficiently large, the target 303 is one pixel on the picked-up video.
  • the horizontal angle of view ⁇ v can be regarded as constant before and after the movement, and the result is the expression (12), and the scanning speed ⁇ s is finally expressed by the expression (14).
  • FIG. 12 shows an example of calculation results of the scanning speed ⁇ s and the horizontal angle of view ⁇ h that are sequentially calculated according to the elevation angle ⁇ s of the optical sensor given the following various parameter setting values.
  • the angle unit is deg instead of rad, and every time the elevation angle ⁇ s of the optical sensor changes by 1 deg, the horizontal angle of view ⁇ h and the scanning speed ⁇ s of the optical sensor are calculated.
  • the range of the elevation angle ⁇ s of the optical sensor is ⁇ 80 deg to 80 deg ( ⁇ 1.396 rad to 1.396 rad)
  • the flight altitude is 1,000 [m: meter]
  • the horizontal resolution is 640 pixels
  • the vertical resolution is 480 pixels
  • the assumed target size is 5 [m]
  • the assumed target number of pixels is 10 pixels
  • the imaging time T required for the operator to recognize the target on the captured image is 0.333 seconds (1 / 3 seconds).
  • the optical when the elevation angle ⁇ s (the absolute value of ⁇ s) is large and the horizontal angle of view ⁇ h is small (for example, the distance between the unmanned airplane and the sea surface is long like the side of the unmanned airplane), the optical When the scanning speed of the sensor is controlled to be low, the elevation angle ⁇ s is small ( ⁇ s is near zero), and the horizontal angle of view ⁇ h is large (for example, the distance between the unmanned airplane and the sea surface is close, such as near the unmanned airplane) The scanning speed ⁇ s is controlled at a high speed.
  • the time that the subject is presented in the imaging area is set as the time that the operator can visually recognize the subject, and based on this time.
  • the scanning speed is set even when the subject moves from the lower end (upper end) to the upper end (lower end) of the imaging region by moving the imaging region by scanning. Since the speed is set so that the operator who monitors the captured image can easily see the target, the discovery rate of objects on the sea is improved.
  • Control Device 20 Route Control Unit (Route Control Unit) 21 Acquisition unit (acquisition means) 22 Marine scanning unit (sea scanning means) 23 route determination unit (route determination means) 24 Zoom adjustment unit (zoom adjustment means)

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un appareil de commande qui comprend : une unité de commande de route maritime (20) qui fait qu'un aéronef sans pilote parcourt, dans une direction coupant la direction de déplacement d'un navire d'escorte, une largeur de zone de recherche prescrite dans la direction coupant la direction de déplacement du navire d'escorte, et qui, une fois que l'aéronef sans pilote a parcouru la largeur prescrite, fait que l'aéronef sans pilote parcourt une distance prescrite dans la direction de déplacement du navire d'escorte ; une unité de balayage de surface de la mer (22) qui balaye la surface de la mer en se déplaçant, pendant que l'aéronef sans pilote parcourt, dans la direction coupant la direction de déplacement du navire d'escorte, la direction de capture d'image d'un capteur optique installé sur l'aéronef sans pilote dans le sens gauche-droite par rapport à la direction de déplacement de l'aéronef sans pilote ; et une unité de détermination de trajectoire (23) qui calcule, sur la base des vitesses du navire d'escorte et de l'aéronef sans pilote et de la largeur prescrite, la distance prescrite de manière à ce qu'un décalage de trajectoire, correspondant à la distance entre le navire d'escorte et l'aéronef sans pilote dans la direction de déplacement du navire d'escorte, reste constant, et qui détermine la trajectoire de vol de l'aéronef sans pilote sur la base de la distance prescrite calculée.
PCT/JP2012/082449 2011-12-19 2012-12-14 Appareil, procédé et programme de commande WO2013094526A1 (fr)

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JP2016088337A (ja) * 2014-11-06 2016-05-23 株式会社Ｉｈｉエアロスペース 宇宙機の探索回収システム
JP2017522621A (ja) * 2015-06-26 2017-08-10 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モバイルプラットフォームの動作モードを選択する方法、システム、コンピュータプログラム製品及び装置
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CN110362115A (zh) * 2019-07-31 2019-10-22 中国人民解放军总参谋部第六十研究所 一种时间约束同时到达多无人机路径规划算法
JP2020042854A (ja) * 2019-11-29 2020-03-19 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モバイルプラットフォームの動作モードを選択するシステム及び方法
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JP6482854B2 (ja) * 2014-12-22 2019-03-13 セコム株式会社 画像取得装置
WO2017051961A1 (fr) * 2015-09-25 2017-03-30 엘지전자 주식회사 Appareil terminal et procédé de commande associé
CN105303899A (zh) * 2015-11-12 2016-02-03 范云生 无人水面艇与无人飞行器联合的子母式机器人协作系统
CN106595666B (zh) * 2016-11-30 2020-04-28 中国航空工业集团公司沈阳飞机设计研究所 一种无人机远距航路规划方法
CN112631331A (zh) * 2020-12-24 2021-04-09 西安羚控电子科技有限公司 一种基于移动通信的多无人机搜救系统及搜救方法

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JP2016088337A (ja) * 2014-11-06 2016-05-23 株式会社Ｉｈｉエアロスペース 宇宙機の探索回収システム
JP2017522621A (ja) * 2015-06-26 2017-08-10 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モバイルプラットフォームの動作モードを選択する方法、システム、コンピュータプログラム製品及び装置
US10730618B2 (en) 2015-06-26 2020-08-04 SZ DJI Technology Co., Ltd. System and method for selecting an operation mode of a mobile platform
US11465743B2 (en) 2015-06-26 2022-10-11 SZ DJI Technology Co., Ltd. System and method for selecting an operation mode of a mobile platform
US9994329B2 (en) 2016-03-25 2018-06-12 Cloudminds (Shenzhen) Robotics Systems Co., Ltd. Method and apparatus for controlling aircraft
US10630877B2 (en) 2017-02-28 2020-04-21 Optim Corporation System, method, and program for calculating distance
CN110362115A (zh) * 2019-07-31 2019-10-22 中国人民解放军总参谋部第六十研究所 一种时间约束同时到达多无人机路径规划算法
CN110362115B (zh) * 2019-07-31 2022-02-18 中国人民解放军总参谋部第六十研究所 一种时间约束同时到达多无人机路径规划算法
JP2020042854A (ja) * 2019-11-29 2020-03-19 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ モバイルプラットフォームの動作モードを選択するシステム及び方法

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