JP5616069B2 - Image transmission system from aircraft - Google Patents
Image transmission system from aircraft Download PDFInfo
- Publication number
- JP5616069B2 JP5616069B2 JP2010009583A JP2010009583A JP5616069B2 JP 5616069 B2 JP5616069 B2 JP 5616069B2 JP 2010009583 A JP2010009583 A JP 2010009583A JP 2010009583 A JP2010009583 A JP 2010009583A JP 5616069 B2 JP5616069 B2 JP 5616069B2
- Authority
- JP
- Japan
- Prior art keywords
- transmission
- image
- aircraft
- transmission path
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims description 169
- 238000004891 communication Methods 0.000 claims description 48
- 238000012545 processing Methods 0.000 claims description 47
- 238000000034 method Methods 0.000 claims description 12
- 230000002441 reversible effect Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 description 8
- 238000007906 compression Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010191 image analysis Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 2
- 239000005433 ionosphere Substances 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005549 size reduction Methods 0.000 description 1
Images
Landscapes
- Compression Or Coding Systems Of Tv Signals (AREA)
- Detection And Prevention Of Errors In Transmission (AREA)
- Communication Control (AREA)
- Mobile Radio Communication Systems (AREA)
Description
本発明は、航空機が取得した画像を地上の基地局等へ無線伝送する航空機からの画像伝送システムに関する。 The present invention relates to an image transmission system from an aircraft that wirelessly transmits an image acquired by an aircraft to a ground base station or the like.
特許文献１にも記載されるように、従来、画像を効率的に伝送表示する方法には、表示画像を中心部分から周辺に順次送る方法や全体画像を低解像度の画像から高解像度の画像へ次第に解像度を上げて伝送表示する方法があった。
特許文献１に係る発明にあっては、受信者の指示で画像における重要な部分についての効率的な伝送を可能とするために、受信側における視点を中心とする部分の画像を走査し優先的に符号化して伝送することを行う。
As described in
In the invention according to
しかし、航空機が取得した画像を地上の基地局等へ無線伝送する航空機からの画像伝送システムにおいては、以下のような問題がある。
航空機から地上、海上等の基地局へ画像を伝送する場合、航空機の位置及び基地局の位置により、航空機から基地局、基地局から航空機の見通しが利く場合（見通し内）と、見通しが利かない（見通し外）とで、使用できる伝送路が異なる場合がある。
見通し内では、航空機と基地局との間で各種電波による一対一の無線通信が可能であり、通信衛星を介した通信も、電離層で反射させる短波通信も使用できる。
見通し外では、通信衛星を介した通信や、電離層で反射させる短波通信などを使用することとなる。
また、電波取得上の制約から、限定された通信回線しか使用できないという事情もある。
したがって、航空機と基地局との位置関係等の状況に応じて使用できる伝送路が異なり、その伝送路の伝送速度がそれぞれ異なるから、送信データの伝送速度が異なることとなる。
このように使用できる伝送路の伝送速度が変化する条件下で、観測や監視のために航空機において取得した画像を基地局等に伝送するにあたっては、伝送速度が十分に高速であれば、視点周辺部や中央部等の一部に限定された画像や低解像度化した画像でなく、全体の高解像度画像を伝送することが可能かつ有効である一方、伝送速度が低速になれば、一画像のデータ量を落してでも、基地局での画像の受信ができるだけ遅れないように、すなわち、撮像から受信までの時間差の長時間化を抑えて、画像から得られえる情報を迅速に伝える必要がある。
However, an image transmission system from an aircraft that wirelessly transmits an image acquired by an aircraft to a ground base station or the like has the following problems.
When transmitting aircraft or al ground, an image to the base station of the sea or the like, the position and location of the base station of an aircraft, the base station from the aircraft, and if the sight of the aircraft from the base station is sharp (in sight), prospects There are cases where the usable transmission path is different depending on whether it is not effective (out of sight).
Within line-of-sight, one-to-one wireless communication with various radio waves is possible between the aircraft and the base station, and communication via a communication satellite or shortwave communication reflected by the ionosphere can be used.
Outside the line of sight, communication via communication satellites, short wave communication reflected by the ionosphere, etc. will be used.
There is also a circumstance that only limited communication lines can be used due to restrictions on radio wave acquisition.
Therefore, the transmission paths that can be used differ depending on the situation such as the positional relationship between the aircraft and the base station, and the transmission speeds of the transmission paths are different, so the transmission speeds of the transmission data are different.
When transmitting images acquired on an aircraft for observation or monitoring to a base station, etc. under conditions where the transmission speed of the usable transmission path changes in this way, if the transmission speed is sufficiently high, It is possible and effective to transmit the entire high-resolution image, not an image limited to a part such as the central portion or the central portion, or a reduced-resolution image. Even if the amount of data is reduced, it is necessary to promptly convey information that can be obtained from images so that the reception of images at the base station is not delayed as much as possible, that is, the time difference between imaging and reception is prolonged. .
本発明は以上の従来技術における問題に鑑みてなされたものであって、伝送速度の異なる複数の伝送路が選択的に使用可能となる条件下において、使用できる伝送路により航空機から画像を航空機外の通信装置へ無線伝送するにあたり、伝送速度がより高速であればより詳細な画像を伝送することができ、伝送速度がより低速であれば、撮像から受信までの時間差の長時間化を抑えつつ、観測、監視等の目的に応じた重要な情報を迅速に伝送することができる航空機からの画像伝送システムを提供することを課題とする。 It is those the invention has been made in view of the problems in the above prior art, under conditions where a plurality of transmission paths having different transmission rates is selectively enabled, aircraft skin images from the aircraft by the transmission path that can be used When wirelessly transmitting to other communication devices, more detailed images can be transmitted if the transmission speed is higher, and if the transmission speed is lower, the time difference from imaging to reception can be reduced. It is an object of the present invention to provide an image transmission system from an aircraft that can quickly transmit important information according to the purpose of observation, monitoring and the like.
以上の課題を解決するための請求項１記載の発明は、航空機上の画像取得装置が取得した画像を同航空機から同航空機外の、地上又は海上の基地局に設置されている通信装置に無線伝送する航空機からの画像伝送システムにおいて、
前記航空機に、
前記航空機及び前記通信装置の位置情報、及び地形情報に基づいて、前記航空機から前記通信装置を見通せるか否か、又は前記通信装置から前記航空機を見通せるか否か判別する見通し内外判別手段と、
伝送速度が異なる複数の伝送路から使用する伝送路を設定する伝送路設定手段と、
前記画像取得装置が取得した画像のデータ量を小規模化する画像処理手段と、
を備え、
前記複数の伝送路は、見通し内通信に対応する伝送路と、見通し外通信に対応する伝送路とを含み、
前記伝送路設定手段は、前記見通し内外判別手段により見通し内と判別された場合、見通し内通信に対応する伝送路を設定し、前記見通し内外判別手段により見通し外と判別された場合、見通し外通信に対応する伝送路を設定し、
前記画像処理手段は、前記伝送路設定手段により設定された伝送路の伝送速度が所定値よりも低い場合に、当該伝送速度が前記所定値よりも高い場合に比較して、伝送する画像のデータ量が少なくなるようにデータ量を小規模化することを特徴とする航空機からの画像伝送システムである。
Invention according to
On the aircraft ,
Based on the position information of the aircraft and the communication device, and the terrain information, and prospects outdoors discrimination means whether foreseeable the communication device from the aircraft, or to determine whether foreseeable said aircraft from said communication device,
A transmission path setting means for setting a transmission path to be used from a plurality of transmission paths having different transmission speeds;
Image processing means for reducing the amount of image data acquired by the image acquisition device;
With
The plurality of transmission lines include a transmission line corresponding to line-of-sight communication and a transmission line corresponding to non-line-of-sight communication,
The transmission path setting means sets the transmission path corresponding to the line-of-sight communication when the line-of-sight determination means determines that the line-of-sight communication is within the line-of-sight communication. Set the transmission path corresponding to
The image processing means transmits image data to be transmitted when the transmission speed of the transmission path set by the transmission path setting means is lower than a predetermined value, compared to when the transmission speed is higher than the predetermined value. An image transmission system from an aircraft , characterized in that the amount of data is reduced so that the amount is reduced.
請求項２記載の発明は、前記画像処理手段は、前記画像取得装置が取得した画像中の目標物を含み画像全体より狭い範囲の画像を抽出することによりデータ量を小規模化処理する機能を有し、
前記複数の伝送路は、第１の伝送速度を有する第１の伝送路と、第１の伝送速度より遅い第２の伝送速度を有する第２の伝送路とを含み、
前記伝送路設定手段により第１の伝送路が設定された場合、前記画像取得装置が取得した画像全体を第１の伝送路で無線伝送し、
前記伝送路設定手段により第２の伝送路が設定された場合、前記画像処理手段が抽出した画像を第２の伝送路で無線伝送することを特徴とする請求項１に記載の航空機からの画像伝送システムである。
According to a second aspect of the present invention, the image processing means has a function of reducing the amount of data by extracting an image in a range narrower than the entire image including the target in the image acquired by the image acquisition device. Have
The plurality of transmission lines include a first transmission line having a first transmission rate and a second transmission line having a second transmission rate that is slower than the first transmission rate,
When the first transmission path is set by the transmission path setting means, the entire image acquired by the image acquisition device is wirelessly transmitted through the first transmission path,
The image from the aircraft according to
請求項３記載の発明は、前記画像取得装置が取得した画像中の目標物を特定する目標物特定情報を生成する目標物特定手段を前記航空機に備え、
前記複数の伝送路は、第２の伝送速度より遅い第３の伝送速度を有する第３の伝送路を含み、
前記伝送路設定手段により第３の伝送路が設定された場合、前記目標物特定手段が生成した目標物特定情報を第３の伝送路で無線伝送することを特徴とする請求項２に記載の航空機からの画像伝送システムである。
Invention of Claim 3 equips the said aircraft with the target object specific means which produces | generates the target object specific information which pinpoints the target object in the image which the said image acquisition apparatus acquired,
The plurality of transmission lines include a third transmission line having a third transmission speed slower than the second transmission speed,
3. The wireless communication apparatus according to claim 2, wherein when the third transmission path is set by the transmission path setting means, the target specifying information generated by the target specifying means is wirelessly transmitted through the third transmission path. This is an image transmission system from an aircraft .
請求項４記載の発明は、前記画像処理手段は、直前の一定情報量の伝送時間を監視して当該伝送時間が所定の基準より短くなれば、前記第１の伝送速度、前記第２の伝送速度、前記第３の伝送速度の順に順次伝送速度を落とすように変更設定し、反対に、直前の一定情報量の伝送時間を監視して当該伝送時間が所定の基準より長くなれば前記とは逆の順に伝送速度を上げるように変更設定することを特徴とする請求項３に記載の航空機からの画像伝送システムである。 According to a fourth aspect of the present invention, the image processing means monitors the transmission time of the immediately preceding fixed amount of information, and if the transmission time is shorter than a predetermined reference, the first transmission speed and the second transmission If the transmission time of the predetermined information amount is monitored and the transmission time becomes longer than a predetermined reference, the above is changed. 4. The image transmission system from an aircraft according to claim 3, wherein the setting is changed so as to increase the transmission speed in the reverse order.
請求項５記載の発明は、前記画像処理手段は、前記目標物特定手段による目標物特定処理の結果、目標物が画像中にあると判断した場合に、前記画像全体を第１の伝送路で無線伝送し、前記抽出した画像を第２の伝送路で無線伝送し、または、前記目標物特定情報を第３の伝送路で無線伝送することを特徴とする請求項３または請求項４に記載の航空機からの画像伝送システムである。 According to a fifth aspect of the present invention, when the image processing means determines that the target is in the image as a result of the target specifying process by the target specifying means, the entire image is transmitted through the first transmission path. and wireless transmission, an image the extracted radio transmission in a second transmission path, or claim 3 or claim 4, characterized in that wirelessly transmits the target identification information in the third transmission path It is an image transmission system from the aircraft .
本発明によれば、伝送速度が異なる複数の伝送路から使用する伝送路を設定する伝送路設定手段を備え、さらに航空機に、画像取得装置と、画像取得装置が取得した画像のデータ量を小規模化する画像処理手段とを備え、画像処理手段は、伝送路設定手段により設定された伝送路の伝送速度が所定値よりも低い場合に、伝送速度が所定値よりも高い場合に比較して、伝送する画像のデータ量が少なくなるようにデータ量を小規模化するので、伝送速度の異なる複数の伝送路が選択的に使用可能となる条件下において、使用する伝送路により航空機から画像を地上等に設置される航空機外の通信装置へ無線伝送するにあたり、伝送速度がより高速であればより詳細な画像を伝送することができ、伝送速度がより低速であれば、データ量が小規模化された画像を伝送することで、撮像から受信までの時間差の長時間化を抑えつつ、観測、監視等の目的に応じた重要な情報を迅速に伝送することができるという効果がある。 According to the present invention, the transmission path setting means for setting a transmission path to be used from a plurality of transmission paths having different transmission speeds is provided, and the image acquisition apparatus and the image data acquired by the image acquisition apparatus are reduced in the aircraft. Image processing means for scaling the image processing means, the image processing means, when the transmission speed of the transmission path set by the transmission path setting means is lower than a predetermined value, compared to when the transmission speed is higher than a predetermined value Since the amount of data is reduced so that the amount of image data to be transmitted is reduced, images can be taken from the aircraft by the transmission path to be used under the condition that a plurality of transmission paths having different transmission speeds can be selectively used. aircraft outside of the communication device installed on the ground, etc. Upon wireless transmission, it is possible the transmission rate to transmit a more detailed images if faster, if the slower transmission rate, the data amount is small By transmitting the image, while suppressing the lengthening of the time difference to the reception from the imaging, observation, there is an effect that important information according to the purpose of monitoring the like can be quickly transmitted.
画像のデータ量の小規模化処理は、画像取得装置が取得した画像中の目標物を含み画像全体より狭い範囲の画像を抽出する処理が好ましい。目標物であるための要件は予め設定して画像から目標物を探索する処理手段を上記航空機上に構成する。これにより、観測、監視等の目的に応じた重要な情報を伝送することができる。小規模化処理を、中央部や視点中心などの他の基準による部分抽出処理としたり、部分抽出処理とせずに解像度を落す処理としたり、フレームレートを落す処理、画質の劣化を伴う圧縮率の高い圧縮処理としてもよい。
また、伝送路設定手段により設定された伝送路の伝送速度が、さらに低い場合には、目標物特定手段が生成した目標物特定情報を無線伝送することが有効となる。目標物特定情報は、厳密に個体まで特定する情報でなくとも、認識した物体の分類、種別等でよく、大まかに特定する情報であるほど迅速に情報を伝えることができる。
The image data size reduction processing is preferably processing for extracting an image in a range narrower than the entire image including the target in the image acquired by the image acquisition device. The requirements for being a target are set in advance, and processing means for searching for a target from an image is configured on the aircraft . Thereby, important information according to the purpose of observation, monitoring, etc. can be transmitted. The scale-down process is a partial extraction process based on other criteria such as the center and the center of the viewpoint, a process that reduces the resolution without using the partial extraction process, a process that reduces the frame rate, and a compression rate that degrades the image quality. High compression processing may be used.
In addition, when the transmission speed of the transmission path set by the transmission path setting unit is lower, it is effective to wirelessly transmit the target specifying information generated by the target specifying unit. The target specifying information does not have to strictly specify the individual, but may be the classification, type, etc. of the recognized object, and can be transmitted more quickly as the information is roughly specified.
以下に本発明の一実施形態につき図面を参照して説明する。以下は本発明の一実施形態であって本発明を限定するものではない。 An embodiment of the present invention will be described below with reference to the drawings. The following is one embodiment of the present invention and does not limit the present invention.
図１に示すように、本実施形態の画像伝送システムは、移動体としての航空機ａと、地上の基地局に設置された地上装置ｂとを備える。
航空機ａは、画像取得装置としての画像センサとａ１と、情報記憶部ａ２と、データ処理部ａ３と、画像処理部ａ４と、画像圧縮部ａ５と、符号化部ａ６と、無線受信/復調機ａ７と、データ/指令復号化部ａ８と、無線送信機ａ９と、デジタル変調部ａ１０と、機体データバスａ１１とを備える。
地上装置ｂは、無線受信機ｂ１と、デジタル復調部ｂ２と、復号化部ｂ３と、画像/機体情報分割部ｂ４と、画像伸張/画像解析/加工部ｂ５と、表示部ｂ６、地上データバスｂ７と、機体オペレーションシステム部ｂ８と、機体指令符号化/変調部ｂ９と、無線送信機ｂ１０とを備える。
As shown in FIG. 1, the image transmission system of the present embodiment includes an aircraft a as a moving body and a ground device b installed in a ground base station.
The aircraft a includes an image sensor as an image acquisition device, a1, an information storage unit a2, a data processing unit a3, an image processing unit a4, an image compression unit a5, an encoding unit a6, and a wireless receiver / demodulator. a7, a data / command decoding unit a8, a wireless transmitter a9, a digital modulation unit a10, and a body data bus a11.
The ground device b includes a radio receiver b1, a digital demodulation unit b2, a decoding unit b3, an image / airframe information division unit b4, an image expansion / image analysis / processing unit b5, a display unit b6, and a terrestrial data bus. b7, an aircraft operation system unit b8, an aircraft command encoding / modulating unit b9, and a wireless transmitter b10.
航空機ａと地上装置ｂとは無線通信を行う。地上装置ｂの機体オペレーションシステム部ｂ８の航空機ａに対する指令等が機体指令符号化/変調部ｂ９で符号化され、変調されて無線送信機ｂ１０により無線伝送される。
無線送信機ｂ１０から伝送された無線信号を航空機ａの無線受信/復調機ａ７が受信し、復調してデータ/指令復号化部ａ８が複合化して、機体オペレーションシステム部ｂ８からの指令等を読み出し、機体データバスａ１１を介してデータ処理部ａ３に提供する。データ処理部ａ３は、機体オペレーションシステム部ｂ８からの指令その他の提供されたデータを必要により情報記憶部ａ２に保存したり、以下に述べるような必要な処理を行ったりする。
The aircraft a and the ground device b perform wireless communication. A command to the aircraft a of the aircraft operation system unit b8 of the ground device b is encoded by the aircraft command encoding / modulating unit b9, modulated, and wirelessly transmitted by the wireless transmitter b10.
The radio receiver / demodulator a7 of the aircraft a receives the radio signal transmitted from the radio transmitter b10, demodulates it, and the data / command decoding unit a8 combines to read out the command from the machine operation system unit b8. And provided to the data processing unit a3 via the machine data bus a11. The data processing unit a3 stores instructions and other provided data from the machine operation system unit b8 in the information storage unit a2 as necessary, or performs necessary processing as described below.
本実施形態において見通し内外判別手段はデータ処理部ａ３に構成され、データ処理部ａ３がＧＰＳ等による航空機ａ及び地上装置ｂの位置情報及び地形情報に基づき、航空機ａから地上装置ｂを見通せるか否か判別する。 In this embodiment, the line-of-sight discrimination means is configured in the data processing unit a3, and the data processing unit a3 can see the ground device b from the aircraft a based on the positional information and the terrain information of the aircraft a and the ground device b by GPS or the like. To determine.
本実施形態においては画像伝送システムが最大限利用可能な伝送路として、通信衛星ｃを介した衛星通信伝送路を含む伝送速度が１（低），２（中），３（高）の伝送路が存在する状況にある。また、伝送速度１，２，３のそれぞれに、航空機ａ・地上装置ｂ間の見通し内でのみ伝送可能な見通し内通信と、航空機ａ・地上装置ｂ間の見通し外で伝送可能な見通し外通信とが含まれる状況にある。 In the present embodiment, transmission lines having a transmission speed of 1 (low), 2 (medium), and 3 (high) including satellite communication transmission lines via the communication satellite c are used as transmission lines that can be used to the maximum extent by the image transmission system. There is a situation that exists. In addition, the line-of-sight communication that can be transmitted only within the line-of-sight between the aircraft a and the ground device b and the line-of-sight communication that can be transmitted outside the line-of-sight between the aircraft a and the ground device b at each of the transmission speeds 1, 2, and 3. Is in a situation that includes.
本実施形態において伝送路設定手段はデータ処理部ａ３に構成され、データ処理部ａ３は、初期的には伝送速度３（高）の伝送路を使用する伝送路として設定するとともに、直前の一定情報量の伝送時間を監視して、その伝送時間が所定の基準より短くなれば順次伝送速度を落す、すなわち、伝送速度を３（高）→伝送速度２（中）→伝送速度１（低）と変更設定する。反対に、データ処理部ａ３は、直前の一定情報量の伝送時間を監視して、その伝送時間が所定の基準より長くなれば伝送速度を上げる。
それとともにデータ処理部ａ３は、見通し内外判別に基づき、見通し内通信又は見通し外通信を選択設定する。
In the present embodiment, the transmission path setting means is configured in the data processing unit a3, and the data processing unit a3 initially sets a transmission path using a transmission speed of 3 (high) as the transmission path, and the constant information just before it. If the transmission time is shorter than a predetermined standard, the transmission speed is decreased sequentially. That is, the transmission speed is changed from 3 (high) to 2 (medium) to 1 (low). Change settings. On the other hand, the data processing unit a3 monitors the transmission time of a certain amount of information immediately before and increases the transmission speed if the transmission time becomes longer than a predetermined reference.
At the same time, the data processing unit a3 selects and sets the line-of-sight communication or the line-of-sight communication based on the line-of-sight discrimination.
本実施形態において目標物特定手段はデータ処理部ａ３に構成される。情報記憶部ａ２には、あらゆる物体の外観を立体的に表す３Ｄデータ、特徴、種別、名称その他属性を表すデータが蓄積されている。機体オペレーションシステム部ｂ８は、目標物設定を航空機ａに送信し、航空機ａの情報記憶部ａ２に目標物設定が保持される。目標物設定としては、例えば、航空機、船舶等の分類や、機種、船種等の種別である。 In the present embodiment, the target specifying means is configured in the data processing unit a3. The information storage unit a2 stores 3D data that represents the appearance of every object in three dimensions, data that represents features, types, names, and other attributes. The body operation system unit b8 transmits the target setting to the aircraft a, and the target setting is held in the information storage unit a2 of the aircraft a. Examples of the target setting include classification such as aircraft and ship, and types such as model and ship type.
次に、処理の流れに沿って説明する。
まず、機体オペレーションシステム部ｂ８が、撮影画像の伝送処理を、航空機ａによるオート処理に任せるか、機体オペレーションシステム部ｂ８から撮影画像の伝送に関する選択（伝送路、圧縮方法、伝送対象画像部位の選択など）を指令するマニュアル処理とするかの指令を航空機ａに送信する。
オート処理が選択されると（図２ ステップＳ１で「オート」）、データ処理部ａ３は、画像センサａ１の撮像した画像から、移動物等の物体を認識し、情報記憶部ａ２に記憶されている目標物設定に当てはまる物体のデータと照合して目標物に該当するか否か判別する（ステップＳ２）。
Next, it demonstrates along the flow of a process.
First, the aircraft operation system unit b8 leaves the captured image transmission process to automatic processing by the aircraft a, or selection related to transmission of the captured image from the aircraft operation system unit b8 (selection of transmission path, compression method, transmission target image part) Etc.) is transmitted to the aircraft a.
When auto processing is selected ("auto" in step S1 in FIG. 2), the data processing unit a3 recognizes an object such as a moving object from the image captured by the image sensor a1, and is stored in the information storage unit a2. It is determined whether or not the target object is matched with the data of the object corresponding to the target object setting (step S2).
データ処理部ａ３は、ステップＳ２の処理の結果、目標物が画像中にあるか否か判断する（ステップＳ３）。
データ処理部ａ３は、ステップＳ３でＮＯの場合、「目標物未発見」を示す信号を地上装置ｂに発信し（ステップＳ４）、次に撮影される画像に対するステップＳ２に移行する。
The data processing unit a3 determines whether or not the target is in the image as a result of the processing in step S2 (step S3).
If NO in step S3, the data processing unit a3 transmits a signal indicating “target not found” to the ground device b (step S4), and proceeds to step S2 for the next photographed image.
データ処理部ａ３は、ステップＳ３でＹＥＳの場合、使用する伝送路について伝送速度１，２，３の別、見通し内通信・見通し外通信の別を判断する（ステップＳ５）。
If YES in step S3, the data processing unit a3 determines whether the transmission speed to be used is different between
データ処理部ａ３は、伝送速度が３で見通し内通信又は見通し外通信の場合、画像処理部ａ４により画像センサａ１が撮像した画像の全体を取り出させて時分割伝送するための画像分割を行わせ（ステップＳ６）、目標物を中心に優先度を高めて伝送する分割画像部位の優先順位を決め（ステップＳ７）、その順位に従って順次分割画像を画像圧縮部ａ５によりＪＰＥＧやＪＰＥＧ２０００等の方式で圧縮させ（ステップＳ８）、画像圧縮部ａ５で圧縮された画像を符号化部ａ６により符号化させる。
符号化部ａ６が符号化した画像データを、デジタル変調部ａ１０が変調し、無線送信機ａ９が無線伝送する（ステップＳ９）。
When the transmission speed is 3 and the line-of-sight communication or the non-line-of-sight communication, the data processing unit a3 causes the image processing unit a4 to extract the entire image captured by the image sensor a1 and perform image division for time-division transmission. (Step S6), the priority order of the divided image parts to be transmitted with a higher priority centered on the target is determined (Step S7), and the divided images are sequentially compressed by the image compression unit a5 by a method such as JPEG or JPEG2000 according to the order. (Step S8), and the image compressed by the image compression unit a5 is encoded by the encoding unit a6.
The image data encoded by the encoding unit a6 is modulated by the digital modulation unit a10 and wirelessly transmitted by the wireless transmitter a9 (step S9).
データ処理部ａ３は、伝送速度が２で見通し内通信又は見通し外通信の場合、画像処理部ａ４により画像センサａ１が撮像した画像全体から目標物のみの画像又は目標物を含み画像全体より狭い範囲の画像を抽出させ、さらに時分割伝送するための画像分割を行わせ（ステップＳ１０）、目標物を中心に優先度を高めて伝送する分割画像部位の優先順位を決め（ステップＳ７）、その順位に従って順次分割画像を画像圧縮部ａ５によりＪＰＥＧやＪＰＥＧ２０００等の方式で圧縮させる（ステップＳ８）、画像圧縮部ａ５で圧縮された画像を符号化部ａ６により符号化させる。
符号化部ａ６が符号化した画像データは、デジタル変調部ａ１０が変調し、無線送信機ａ９が無線伝送する（ステップＳ９）。
When the transmission speed is 2 and the line-of-sight communication or the non-line-of-sight communication is used, the data processing unit a3 includes only the target image or the target image from the entire image captured by the image sensor a1 by the image processing unit a4. Are extracted, and further, image division for time-division transmission is performed (step S10), the priority order of the divided image parts to be transmitted with a higher priority around the target is determined (step S7), and the order Then, the divided images are sequentially compressed by the image compression unit a5 using a method such as JPEG or JPEG2000 (step S8), and the image compressed by the image compression unit a5 is encoded by the encoding unit a6.
The image data encoded by the encoding unit a6 is modulated by the digital modulation unit a10 and wirelessly transmitted by the wireless transmitter a9 (step S9).
データ処理部ａ３は、伝送速度が１で見通し内通信又は見通し外通信の場合、情報記憶部ａ２に記憶されている物体のデータに基づき、ステップＳ２で認識した目標物の目標物特定情報（例えば種別）を判定し（ステップＳ１１）、この目標物特定情報を符号化部ａ６により符号化させる。
符号化部ａ６が符号化した目標物特定情報は、デジタル変調部ａ１０が変調し、無線送信機ａ９が無線伝送する（ステップＳ９）。
When the transmission speed is 1 and the line-of-sight communication or the non-line-of-sight communication is performed, the data processing unit a3 uses the object identification information (for example, the target object recognized in step S2) based on the object data stored in the information storage unit a2. Type) is determined (step S11), and the target specifying information is encoded by the encoding unit a6.
The target specifying information encoded by the encoding unit a6 is modulated by the digital modulation unit a10 and wirelessly transmitted by the wireless transmitter a9 (step S9).
一方、地上装置ｂにおいては、画像及び目標物特定情報を無線受信機ｂ１、デジタル復調部ｂ２、複合化部ｂ３によって受信、復調、複合化し、画像/機体情報分割部ｂ４によって画像と目標物特定情報とに分割する。画像伸張/画像解析/加工部ｂ５は、必要に応じて圧縮画像に対する伸張処理、目標物の距離、移動方向等を特定するための画像解析、画像を見易くするための画質調整等の加工処理を行う。表示部ｂ６は画像や目標物特定情報を表示する。 On the other hand, in the ground device b, the image and target specifying information are received, demodulated and combined by the radio receiver b1, the digital demodulating unit b2, and the combining unit b3, and the image / target information dividing unit b4 specifies the image and target specifying unit. Divide into information. The image expansion / image analysis / processing unit b5 performs processing such as expansion processing on the compressed image, image analysis for specifying the distance and moving direction of the target, and image quality adjustment for making the image easy to read as necessary. Do. The display part b6 displays an image and target specific information.
ａ 航空機（移動体）
ｂ 地上装置（移動体外の通信装置）
ｃ 通信衛星
a Aircraft (moving object)
b Ground device (communication device outside the moving body)
c Communication satellite
Claims (5)
前記航空機に、
前記航空機及び前記通信装置の位置情報、及び地形情報に基づいて、前記航空機から前記通信装置を見通せるか否か、又は前記通信装置から前記航空機を見通せるか否か判別する見通し内外判別手段と、
伝送速度が異なる複数の伝送路から使用する伝送路を設定する伝送路設定手段と、
前記画像取得装置が取得した画像のデータ量を小規模化する画像処理手段と、
を備え、
前記複数の伝送路は、見通し内通信に対応する伝送路と、見通し外通信に対応する伝送路とを含み、
前記伝送路設定手段は、前記見通し内外判別手段により見通し内と判別された場合、見通し内通信に対応する伝送路を設定し、前記見通し内外判別手段により見通し外と判別された場合、見通し外通信に対応する伝送路を設定し、
前記画像処理手段は、前記伝送路設定手段により設定された伝送路の伝送速度が所定値よりも低い場合に、当該伝送速度が前記所定値よりも高い場合に比較して、伝送する画像のデータ量が少なくなるようにデータ量を小規模化することを特徴とする航空機からの画像伝送システム。 In an image transmission system from an aircraft that wirelessly transmits an image acquired by an image acquisition device on an aircraft from the aircraft to a communication device installed on a ground or sea base station outside the aircraft ,
On the aircraft ,
Based on the position information of the aircraft and the communication device, and the terrain information, and prospects outdoors discrimination means whether foreseeable the communication device from the aircraft, or to determine whether foreseeable said aircraft from said communication device,
A transmission path setting means for setting a transmission path to be used from a plurality of transmission paths having different transmission speeds;
Image processing means for reducing the amount of image data acquired by the image acquisition device;
With
The plurality of transmission lines include a transmission line corresponding to line-of-sight communication and a transmission line corresponding to non-line-of-sight communication,
The transmission path setting means sets the transmission path corresponding to the line-of-sight communication when the line-of-sight determination means determines that the line-of-sight communication is within the line-of-sight communication. Set the transmission path corresponding to
The image processing means transmits image data to be transmitted when the transmission speed of the transmission path set by the transmission path setting means is lower than a predetermined value, compared to when the transmission speed is higher than the predetermined value. An image transmission system from an aircraft , characterized in that the amount of data is reduced so that the amount is reduced.
前記複数の伝送路は、第１の伝送速度を有する第１の伝送路と、第１の伝送速度より遅い第２の伝送速度を有する第２の伝送路とを含み、
前記伝送路設定手段により第１の伝送路が設定された場合、前記画像取得装置が取得した画像全体を第１の伝送路で無線伝送し、
前記伝送路設定手段により第２の伝送路が設定された場合、前記画像処理手段が抽出した画像を第２の伝送路で無線伝送することを特徴とする請求項１に記載の航空機からの画像伝送システム。 The image processing means has a function of reducing the amount of data by extracting an image in a range narrower than the entire image including the target in the image acquired by the image acquisition device,
The plurality of transmission lines include a first transmission line having a first transmission rate and a second transmission line having a second transmission rate that is slower than the first transmission rate,
When the first transmission path is set by the transmission path setting means, the entire image acquired by the image acquisition device is wirelessly transmitted through the first transmission path,
The image from the aircraft according to claim 1, wherein when the second transmission path is set by the transmission path setting means, the image extracted by the image processing means is wirelessly transmitted through the second transmission path. Transmission system.
前記複数の伝送路は、第２の伝送速度より遅い第３の伝送速度を有する第３の伝送路を含み、
前記伝送路設定手段により第３の伝送路が設定された場合、前記目標物特定手段が生成した目標物特定情報を第３の伝送路で無線伝送することを特徴とする請求項２に記載の航空機からの画像伝送システム。 The aircraft is provided with target specifying means for generating target specifying information for specifying a target in an image acquired by the image acquisition device,
The plurality of transmission lines include a third transmission line having a third transmission speed slower than the second transmission speed,
3. The wireless communication apparatus according to claim 2, wherein when the third transmission path is set by the transmission path setting means, the target specifying information generated by the target specifying means is wirelessly transmitted through the third transmission path. Image transmission system from aircraft .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010009583A JP5616069B2 (en) | 2010-01-20 | 2010-01-20 | Image transmission system from aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010009583A JP5616069B2 (en) | 2010-01-20 | 2010-01-20 | Image transmission system from aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2011151503A JP2011151503A (en) | 2011-08-04 |
| JP5616069B2 true JP5616069B2 (en) | 2014-10-29 |
Family
ID=44538118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2010009583A Active JP5616069B2 (en) | 2010-01-20 | 2010-01-20 | Image transmission system from aircraft |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5616069B2 (en) |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001127990A (en) * | 1999-11-01 | 2001-05-11 | Mega Chips Corp | Information communication system |
| JP4190157B2 (en) * | 2001-02-26 | 2008-12-03 | 三洋電機株式会社 | Image data transmitting apparatus and image data receiving apparatus |
| JP2004364088A (en) * | 2003-06-06 | 2004-12-24 | Matsushita Electric Ind Co Ltd | Image communication apparatus |
| WO2007066577A1 (en) * | 2005-12-08 | 2007-06-14 | Sharp Kabushiki Kaisha | Radio communication system, and radio communication method |
| JP4377875B2 (en) * | 2005-12-09 | 2009-12-02 | 株式会社東芝 | Wireless communication apparatus and method for determining necessity of relay of wireless communication apparatus |
| JP2008042338A (en) * | 2006-08-02 | 2008-02-21 | Oki Electric Ind Co Ltd | Error correction method for vehicle-to-vehicle communication, and vehicle-to-vehicle communication system |
-
2010
- 2010-01-20 JP JP2010009583A patent/JP5616069B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2011151503A (en) | 2011-08-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200236276A1 (en) | Method, system, device for video data transmission and photographing apparatus | |
| US11024092B2 (en) | System and method for augmented reality content delivery in pre-captured environments | |
| US10077109B2 (en) | First-person viewer for unmanned vehicles | |
| EP3133819A1 (en) | Image delivery method, image reception method, server, terminal apparatus, and image delivery system | |
| EP2833562B1 (en) | Helicopter satellite communication system, helicopter-mounted communication apparatus, terrestrial station communication apparatus, communication method, and computer program | |
| WO2019054070A1 (en) | Image processing device | |
| CN108701419B (en) | Unmanned aerial vehicle control method and control equipment, unmanned aerial vehicle supervision method and supervision equipment | |
| EP2031771A3 (en) | Communication system and method of receiving high priority signals and low priority signals | |
| US10917604B2 (en) | Captured image display device, captured image display method, and captured image display program | |
| US20220006962A1 (en) | Coordinated Multi-viewpoint Image Capture With A Robotic Vehicle | |
| CN104517294A (en) | Method and device for acquiring type-B ultrasonic image as well as remote diagnosis method and system | |
| JP2010092245A (en) | Safety navigation network system for vessel | |
| JP7082538B2 (en) | Image processing equipment and programs | |
| CN111295331A (en) | System and method for synchronizing a plurality of control devices with a movable object | |
| JP5616069B2 (en) | Image transmission system from aircraft | |
| JP6539122B2 (en) | INFORMATION PROCESSING APPARATUS, CONTROL METHOD FOR INFORMATION PROCESSING APPARATUS, AND PROGRAM | |
| KR101404689B1 (en) | Vessel monitoring system and method thereof | |
| JP5021081B2 (en) | Helicopter satellite communication system and helicopter-mounted communication device used therefor | |
| JP2019043473A (en) | Flight device, management device, photographing control method, and photographing control program | |
| JP2010016493A (en) | Radio equipment | |
| CN103957382A (en) | Method and system for achieving wireless video transmission on objects relatively moving at high speed | |
| JP4627171B2 (en) | Inter-vehicle communication system and inter-vehicle communication method | |
| JP2010011414A (en) | Radio device | |
| JP4906745B2 (en) | Helicopter satellite communication system and helicopter-mounted communication device used therefor | |
| KR20150049544A (en) | Black Box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20120927 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130531 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130611 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20130809 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20140218 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140407 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140909 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140911 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 5616069 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |