To perform a highly accurate tracking flight by estimating a distance to a target from image information of a target unmanned aircraft captured by an imaging device mounted on a video tracking device.SOLUTION: An unmanned aircraft coping system comprises: a video tracking device having an imaging device and flying; and a ground control device detecting an unmanned aircraft and controlling the video tracking device. The ground control device acquires and transmits position information of the flying unmanned aircraft as first position information. The video tracking device has a video tracking unit which transmits video information acquired by the imaging device to a ground control unit, generates an aircraft control command to track the unmanned aircraft and instructs an aircraft control unit on the basis of the first position information or a distance from an onboard sensor received from the ground control unit. The video tracking unit calculates second position information from a direction and a distance of the unmanned aircraft from a position and a size of the unmanned aircraft in an image of the imaging device so that the unmanned aircraft is tracked, and if the image cannot be acquired, the unmanned aircraft is tracked from the first position information.SELECTED DRAWING: Figure 1
【課題】映像追尾装置に搭載された撮影装置で撮影された対象の無人航空機の画像情報から対象までの距離を推定することで高精度で追尾飛行を行う。【解決手段】撮影装置を有して飛行する映像追尾装置と、無人航空機を検出して前記映像追尾装置を制御する地上制御装置は、飛来する無人航空機の位置情報を第1の位置情報として取得して送信し、映像追尾装置は撮影装置が取得した映像情報を地上管制部へ送信し、地上管制部から受信した前記第1の位置情報又は前記機上センサからの距離に基づいて前記無人航空機を追尾する機体制御コマンドを生成して前記機体制御部に指令する映像追尾部と、を有し、映像追尾部は、撮影装置の画像内の無人航空機の位置と大きさから当該無人航空機の方向と距離から第2の位置情報を算出して無人航空機を追尾させ、画像が取得できない場合には第1の位置情報から無人航空機を追尾させる。【選択図】図1
UNMANNED AIRCRAFT COPING SYSTEM AND VIDEO TRACKING DEVICE
無人航空機対処システム及び映像追尾装置
2024-01-31
Patent
Electronic Resource
Japanese
IPC: | F41H Panzerung , ARMOUR / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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