JP3692736B2

JP3692736B2 - Monitoring device

Info

Publication number: JP3692736B2
Application number: JP30001297A
Authority: JP
Inventors: 久幸迎
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 1997-10-31
Filing date: 1997-10-31
Publication date: 2005-09-07
Anticipated expiration: 2017-10-31
Also published as: JPH11136661A

Description

【０００１】
【発明の属する技術分野】
この発明は地球の上空を所定の高度で航行する空間航行体に搭載した撮像機を地上局で運用制御して、災害発生地域や監視を要する建造物や車両等の監視目標の画像情報を取得する監視装置に関するものである。
【０００２】
【従来の技術】
図５は従来の監視装置を説明するための図であり、図において１は地球２の上空を所定の高度で航行する人工衛星や航空機ないしは飛行船などのいわゆる空間航行体、３は地上に設置されて上記空間航行体１の地表高度、進行方向及び姿勢角度などの運用条件を設定したり、上記空間航行体１と信号やデータなどの情報授受をする地上局、４は上記地上局３から上記空間航行体１に送信される運用制御用のコマンド等の信号、５は上記空間航行体１から上記地上局３に対して送信される観測画像情報等のデータ、６は災害発生地域や監視を要する人造建造物や車両等の監視目標である。災害が発生して所定の地域の情報が必要になったような場合、地上局３から運用制御用の信号４を上記空間航行体１に送信し、次に上記空間航行体１が上記監視目標６を観測して画像情報を取得してデータ５として地上局３に送信する。
【０００３】
次に動作の詳細について図６を用いて説明する。図において１から５は図５と同様であり、７は上記地上局３に設置されて上記空間航行体１の軌道条件を計算する軌道計算機、８は冊子として装丁されて上記地上局３に常備された地図、９は上記空間航行体１に地球を指向して搭載され、地球表面の画像データを取得する撮像機である。図の如く構成された従来の監視装置においては、災害等が発生するとまず地上局３に待機している作業者が該当地域を上記地図８の中から探し、該当地域を監視目標として経度、緯度情報を上記地図８から読みとる。次に作業者は上記空間航行体１が監視目標の上空を通過する時刻と軌道条件を上記軌道計算機７を用いて算出する。次に作業者は撮像機９が監視目標を指向するために適した撮像時刻と軌道条件及び撮像機の指向方向決定して運用制御信号を作成し、次に図示されていない送信機を介して信号４として空間航行体１に送信する。一方上記空間航行体１においては取得した信号４に応じて撮像機９を動作して監視目標の両像情報を取得し、次に取得した画像情報を図示されていない送信機を介してデータ５として地上局３に送信していた。
【０００４】
【発明が解決しようとする課題】
従来の監視装置では、監視目標６を作業者が地図８で探索し、緯度、経度情報を調査した後に空間航行体１の軌道と撮像機９の視野方向を軌道計算機７で解析し、更に撮像機９の視野が監視目標６を捉える範囲と時刻を作業者が予測して空間航行体に撮像指示をするため、監視目標６の探索と、空間航行体１の軌道及び撮像機９の視野範囲を解析する手間がかかり、緊急時や災害発生時に即応するのが難しいという課題があった。また撮像条件の設定を特定の地上局３のみでしか実施できないので、監視目標を選択できる作業者と作業場所が限定されるという制約があった。また火山など長期的かつ高頻度で監視を要する監視目標の画像を取得するために、空間航行体１が監視目標６の上空を通過する時刻を前もって調べて、監視目標６を撮像するのに適した時刻及び撮像機の視野方向や視野範囲を予め予約することは従来からできたが、作業者が予約を受けた個々の撮像条件を上記の如き手順で設定するため、多数の予約が発生すると、予約してから撮像するまでに長い時間を要するという課題があった。単一の空間航行体しか航行していない場合には、任意の監視目標を撮像するための待ち時間が長くなったり、同時に複数の監視目標を撮像できないという課題があった。
【０００５】
この発明は上記のような課題を改善するためになされたものであり、いつでも、どこでも、誰でも端末にアクセスするだけで監視目標の探索及び決定と、撮像機の撮像条件設定が可能となり、迅速な撮像が可能な監視装置を提供するものである。
【０００６】
【課題を解決するための手段】
第１の発明による監視装置は地球の上空を所定の高度で航行する複数の空間航行体と、上記空間航行体に地球を指向するように搭載され、地球表面の画像データを取得する撮像機と、上記空間航行体の運用条件解析と上記撮像機の撮像条件を解析する運用計画機、上記空間航行体と情報授受して空間航行体と撮像機を運用制御する運用管制装置、及び上記撮像機の撮像した画像データを受信し記録するレコーダとを備えた第１の地上局と、地球上各地の地理情報及び位置情報を記述した地理情報データベースを格納した第１のメモリ、空間航行体の軌道条件や地上通過時刻及び撮像機の視野範囲を記述した空間航行体情報データベースを格納した第２のメモリ、及び監視目標を設定して撮像予約したデータを記述する撮像予約データベースを格納した第３のメモリ、及び上記第１から第３のメモリの格納するデータベースにアクセスして情報を処理するソフトウェアを格納した第４のメモリを備えた第２の地上局と、パーソナルコンピュータ等の計算機、及び上記第２の地上局の有するデータベースや第４のメモリにアクセスして上記計算機上で動作させるソフトウェアを格納した第５のメモリを備えた第３の地上局及び第４の地上局とにより構成され、上記第１から第４の地上局同士が互いに通信回線で接続されており、かつ上記運用計画機が、上記複数の空間航行体の中から、上記第３のメモリに格納された撮像予約データに対して最も近い距離を航行する空間航行体を選択して上記撮像機に撮像指示を与える手段を有するものである。
【０００７】
第２の発明による監視装置は、空間航行体として飛行船、気球または航空機を使用し、かつ空間航行体情報データベースを格納した第２のメモリが任意の日付、時刻における上記空間航行体の予定運行場所と撮像可否条件を記述する手段を有したものである。
【０００８】
第３の発明による監視装置は、撮像予約登録後に最も早く監視目標を撮像可能な条件を満足した空間航行体の有する撮像機で撮像するよう運用条件を設定する運用計画機を有したものである。
【０００９】
第４の発明による監視装置は、撮像予約データベースを格納した第３のメモリが監視目標場所と日付を記述する手段を有し、かつ記述された日に監視目標を撮像するよう運用条件を設定する運用計画機を有したものである。
【００１０】
第５の発明による監視装置は、撮像予約データベースを格納した第３のメモリが監視目標場所と空間航行体の識別と撮像時刻を記述する手段を有し、かつ記述された空間航行体で指定時刻に監視目標を撮像するよう運用条件を設定する運用計画機を有したものである。
【００１１】
第６の発明による監視装置は、撮像予約データベースを格納した第３のメモリが撮像予約した依頼者のアドレスと課金手段を記述する手段を有し、かつレコーダが撮像予約した依頼者に対して課金して画像情報を配布する手段を有したものである。
【００１２】
第７の発明による監視装置は、撮像予約データベースを格納した第３のメモリが希望購入価格を記述する手段を有し、かつレコーダが撮像予約データベースに記述された希望購入価格に相当する課金をして画像情報を配布する手段を有したものである。
【００１３】
第８の発明による監視装置は、撮像予約データベースを格納した第３のメモリが希望購入価格を記述する手段を有し、かつ同一時刻に複数の異なる監視目標の撮像予約が登録された場合に、運用計画機が希望購入価格を比較して価格の高い方の監視目標を撮像するよう運用条件を設定する運用計画機を有したものである。
【００１４】
【発明の実施の形態】
実施の形態１．
図１はこの発明の実施の形態１を示す構成図であり、図において１ａは地球の上空を所定の高度で航行する第１の空間航行体、１ｂは地球の上空を所定の高度で航行する第２の空間航行体、２は地球、３は地上に設置されて上記空間航行体１の地表高度、進行方向及び姿勢角度などの運用条件を設定したり、上記空間航行体１と信号やデータなどの情報授受をする地上局、４は上記地上局３から上記空間航行体１に送信される運用制御用のコマンド等の信号、５は上記空間航行体１から上記地上局３に対して送信される観測画像情報等のデータ、６ａは災害発生地域や監視を要する建造物や車両等の第１の監視目標、６ｂは第２の監視目標、１０は上記複数の地上局３同士を接続して信号やデータ授受の伝搬経路となる通信回線を示す。また複数の地上局の構成要素として、３ａは運用管制と撮像指示を行う第１の地上局、３ｂは地理情報や衛星軌道情報情報などの情報蓄積を行う第２の地上局、３ｃは監視目標設定をする第３の地上局、３ｄは監視目標設定をする第４の地上局である。この発明による監視装置は図の如く構成されており、災害が発生して所定の地域の情報が必要になったような場合、第３の地上局３ｃや第４の地上局３ｄで作業中の作業者は第２の地上局３ｂに蓄積された地理情報を通信回線１０を経由して参照し、監視目標６を設定し、設定情報を通信回線１０を経由して撮像予約情報として第２の地上局３ｂに蓄積する。撮像予約情報としては監視目標６の位置情報や、空間航行体１が監視目標６の上空を通過する時刻、及び監視目標６を撮像するための撮像機の視野方向や視野範囲などの情報を含んでいる。次に第１の地上局３ａでは通信回線１０を経由して第２の地上局３ｂに蓄積された撮像予約情報を参照して、複数の空間航行体の中から、撮像予約された場所に対して最も近い距離を航行する空間航行体を選択して撮像機の運用計画を立て、運用制御用の信号４を上記空間航行体１に送信する。図の例では第１の監視目標６ａを撮像する場合には第１の空間航行体１ａの方が第２の空間航行体１ｂよりも第１の監視目標６ａに近い距離を航行しているため、第１の地上局において第１の空間航行体１ａを選択し、監視目標６を撮像するよう運用制御用信号４を送信する。次に上記第１の空間航行体１ａが上記監視目標６を観測して画像情報を取得してデータ５として地上局３に送信する。また第２の監視目標６ｂを撮像する場合には第２の空間航行体を選択して同様に動作させる。
【００１５】
図において上記空間航行体１は低軌道で地球を周回する観測衛星や静止軌道から地球を観測する気象衛星等の人工衛星や、航空機、気球ないしは飛行船等であり、数量は２つに限定せずいくらでもよい。また撮像機９は視覚画像を取得する可視光学センサや合成開口レーダのようなイメージングレーダ、マイクロ波放射計、赤外線センサ、紫外線センサなどが使用可能である。また第１の地上局３ａとしては人工衛星や航空機の追跡管制局が候補となるが、第２の地上局３ｂ、第３の地上局３ｃ、第４の地上局３ｄとしては衛星信号受信局、地方自治体組織、企業、個人宅、野営地など計算機を通信回線１０に接続可能な条件を満足すればいずれでもよく、更に地上局は４つに限定せず数量はいくらでもよい。また第２の地上局３ｂが第１の地上局３ａや第３の地上局３ｃに包含されてもよい。
【００１６】
次に各地上局の動作の詳細について図２を用いて説明する。図において１ａは地球の上空を所定の高度で航行する第１の空間航行体、１ｂは地球の上空を所定の高度で航行する第２の空間航行体、３ａは運用管制と撮像指示を行う第１の地上局、３ｂは地理情報や衛星軌道情報情報などの情報蓄積を行う第２の地上局、３ｃは監視目標設定をする第３の地上局、３ｄは監視目標設定をする第４の地上局、４は上記地上局３から上記空間航行体１に送信される運用制御用のコマンド等の信号、５は上記空間航行体１から上記地上局３に対して送信される観測画像情報等のデータ、９は上記空間航行体１に地球を指向して搭載され、地球表面の画像データを取得する撮像機、１０は上記複数の地上局３同士を接続して信号やデータ授受の伝搬経路となる通信回線、１１は上記第１の地上局３ａに設置され、上記空間航行体１の軌道情報と撮像機９の指向方向を解析し、撮像機９が任意の監視目標を撮像できる運用条件を設定する運用計画機、１２は上記第１の地上局３ａに設置され、上記空間航行体１とデータ授受し、軌道及び姿勢を制御し、かつ撮像機９に撮像指示を発信する運用管制装置、１３は上記第１の地上局３ａに設置され、上記撮像機９の撮像した画像データを受信し記録するレコーダ、１４は上記第２の地上局３ｂに設置され、地球上各地の地理情報及び位置情報を記述した地理情報データベースを格納した第１のメモリ、１５は上記第２の地上局３ｂに設置され、衛星の軌道条件、地上通過時刻、飛行船や航空機の航行場所と予定通過時刻を記した運行計画、撮像機の視野範囲などを記述した空間航行体情報データベースを格納した第２のメモリ、１６は上記第２の地上局３ｂに設置され、監視目標を設定して撮像予約したデータを記述する撮像予約データベースを格納した第３のメモリ、１７ａは上記第２の地上局３ｂに設置され、上記地理情報データベースを格納した第１のメモリ１４にアクセスして監視目標を探索するルーチンと、監視目標を撮像可能な空間航行体情報を上記空間航行体情報データベースを格納した第２のメモリ１５で検索するルーチンと、撮像条件の予約を上記撮像予約データベースを格納した第３のメモリ１６に登録するルーチンを備えた探索予約ソフトウェアを格納した第４のメモリ、１７ｂは上記第３の地上局３ｃないし第４の地上局３ｄに設置され、上記第２の地上局の備える各データベースを格納したメモリ及び第４のメモリ１７ａにアクセスして計算機で動作させる第２のソフトウェアを格納したメモリ、１８は上記第３の地上局３ｃないし第４の地上局３ｄに設置され、上記通信回線１０を経由して上記第２の地上局３ｂにアクセスするパーソナルコンピュータなどの計算機である。
【００１７】
運用管制と撮像指示を行う第１の地上局３ａにおいては、運用計画機１１が上記第１の空間航行体１ａ及び第２の空間航行体１ｂの軌道情報を解析し、特定の監視目標に対して最も近い距離を航行する空間航行体を選択する。次に選択した空間航行体１の軌道情報と搭載する撮像機９の指向方向を解析し、上記撮像機９が上記監視目標を撮像できる運用条件を設定する。次に運用管制装置１２は上記運用計画機１１が設定した運用条件を信号４として上記空間航行体１に送信し、空間航行体１の軌道及び姿勢を制御すると共に、上記撮像機９に対する撮像指示を発信する。上記空間航行体１は上記運用管制装置１２から受信した信号４に基づき運用制御されると共に、それぞれに搭載する撮像機９で監視目標の撮像情報を取得してデータ５として上記第１の地上局３ａに送信する。次に第１の地上局３ａが具備するレコーダ１３において伝送されたデータ５を受信し、記録する。
【００１８】
一方第２の地上局３ｂは情報蓄積をしており、通信回線１０を経由して他の地上局からデータを参照したり、データを書き込むことが可能となっている。第２の地上局３ｂが備える第１のメモリ１４に格納された地理情報データベースにおいて地球上各地の地理情報及び位置情報を記録している。上記地理情報データベースは、地上各地の地理情報を位置情報と共に記述したものであり、データベース化された地図情報でもよいし、ＧＩＳ（ＧｅｏｇｒａｐｈｉｃＩｎｆｏｒｍａｔｉｏｎＳｙｓｔｅｍ）などのデータベースを使用することも可能である。この際位置情報は航法衛星で利用しているＷｏｒｌｄＧｅｏｄｅｔｉｃＳｙｓｔｅｍ８４と呼ばれる測地座標系の位置座標であるか、または緯度／経度情報でもよい。更に監視予定地については予め航法衛星を用いて位置座標を測定して上記地理情報データベースに記録しておいてもよいし、人工衛星や航空機から空間三角測量により実測した結果を地理情報データベースに記録しておいてもよい。また第２のメモリ１５に格納された空間航行体情報情報データベースは空間航行体１の軌道条件や地上通過時刻及び撮像機の視野範囲を記録している。また第３のメモリ１６に格納された撮像予約データベースは監視目標を設定して撮像予約したデータを記録している。更にソフトウェアを格納した第４のメモリ１７ａには地理情報データベースを格納した第１のメモリ１４にアクセスして監視目標を探索するルーチンと、監視目標を撮像可能な空間航行体情報を第２のメモリ１５に格納された空間航行体情報データベースで検索するルーチンと、撮像条件の予約を第３のメモリ１６に格納された撮像予約データベースに登録するルーチンを具備する探索予約ソフトウェアを格納している。
【００１９】
次に第３の地上局３ｃや第４の地上局３ｄにおいて監視目標設定をする手順について説明する。作業者はパーソナルコンピュータ等の計算機１８を動作させて、第５のメモリ１７ｂに格納されたソフトウェアを利用して、通信回線１０を経由して第２の地上局３ｂにアクセスする。次に第２の地上局３ｂの具備する第４のメモリ１７ａに格納された探索予約ソフトウェアを上記計算機１８にダウンロードする。次に探索予約ソフトウェアの具備する監視目標探索ルーチンを利用して上記地理情報データベースを格納した第１のメモリ１４にアクセスし、監視目標を探索して対象を選択する。監視目標の探索方法としては、視覚イメージとして地図をめくるように場所を探索するサブルーチンと、キーワード検索して探索するサブルーチン、及び緯度と経度の組合せで探索するサブルーチンを具備した監視目標探索ルーチンをプログラムする。探索して監視目標６が決定した後に、計算機１８の具備するポインティングデバイスで画面上の決定した場所をダブルクリックして該当個所が選択される。次に探索予約ソフトウェアの具備する空間航行体情報検索ルーチンを利用して空間航行体情報データベースを格納した第２のメモリ１４にアクセスし、上記目標探索ルーチンで選択した監視目標を撮像可能な空間航行体１の通過時刻や撮像機９の撮像可能範囲を調査し決定する。目標探索ルーチンでは該当監視目標を撮像するための空間航行体１の通過時刻や指向角度情報を一覧表示する。更に探索予約ソフトウェアの具備する撮像予約登録ルーチンを利用して撮像予約データベースを格納した第３のメモリ１５にアクセスして、撮像を希望する監視目標と撮像時刻を予約登録する。第３の地上局３ｃや第４の地上局３ｄにおける一連の監視目標設定手続きは、あたかも航空機の搭乗予約する際のフライト便検索と同様の手続きであり、計算機１８を用いて所望の撮像条件を設定した後に、撮像予約データベースを格納した第３のメモリ１６にアクセスして予約情報を登録する。なお計算機１８は電話回線や衛星回線などの通信回線１０と接続していれば、砂漠やジャングル、海上等の建屋の存在しない条件下でも利用可能である。また第５のメモリ１７ｂが予め第４のメモリ１７ａに格納された探索予約ソフトウェアを格納していてもよい。
【００２０】
次に第１の地上局３ａの具備する運用計画機１１が通信回線１０を経由して第２の地上局３ｂにアクセスし、撮像予約データベースを格納した第３のメモリ１６及び空間航行体情報データベースを格納した第２のメモリ１５にアクセスして、撮像予約状況を把握し、撮像予約された監視目標６に対して最も近い距離を航行する空間航行体１を選択した後に、空間航行体１に搭載した撮像機９を動作させる時刻及び撮像条件を計画及び決定する。この際撮像予約データベースに登録された複数の予約を同時に実現できない場合は優先順位を設定して予約の取捨選択を実施する。次に運用計画機１１は決定した空間航行体１の運用条件及び撮像条件を運用管制装置１２に送信する。運用管制装置１２では受信した空間航行体１の運用条件及び撮像条件に基づき空間航行体１に運用制御用の信号を送信し、所定の時刻に空間航行体１や撮像機９の指向方向を制御して監視目標の撮像を実施する。取得された画像情報は空間航行体１から第１の地上局３ａに設置されたレコーダ１３に送信される。レコーダ１３は通信回線１０に接続されているので、地理情報データベースを格納した第１のメモリ１４に取得した画像データを登録すると共に、撮像予約したユーザに対して画像データを送信する。
【００２１】
図３はこの発明による監視装置の第２のメモリ１５に格納された空間航行体情報データベースの例を示す図であり、図において１９は複数の空間航行体を識別するために付与した空間航行体ＩＤ、２０は日付、２１は時刻、２２は上記日付２０及び時刻２１において空間航行体ＩＤ１９を付与された空間航行体が位置する位置座標、２３は姿勢角度、２４は速度ベクトル、２５は角速度ベクトル、２６は上記空間航行体が滞留状態か移動状態かメンテナンス中かなどの状態を示す状態定義、２７は上記空間航行体が搭載する撮像機が撮像可能な場合に○を付与して示す撮像可否をそれぞれ示す。図において空間航行体ＩＤ［Ａ−１］号機は１９９８年１月８日０：００から１０日１８：００まで位置座標（Ｘ１、Ｙ１、Ｚ１）で停留して撮像可能状態にある。この際の上記空間航行体の姿勢角度２３が示されているので、撮像機の視野方向が把握可能となっている。その後１１日の早朝６：００までの間に位置座標（Ｘ２、Ｙ２、Ｚ２）を経由して位置座標（Ｘ３、Ｙ３、Ｚ３）まで移動することがわかる。この間夜間のため撮像は不可となっている。一方空間航行体ＩＤ［Ａ−２］号機は１９９８年１月８日０：００から１０日６：００まで位置座標（Ｘ４、Ｙ４、Ｚ４）で停留して撮像可能状態にあり、その後１０日の夕刻１８：００までの間に位置座標（Ｘ５、Ｙ５、Ｚ５）を経由して位置座標（Ｘ６、Ｙ６、Ｚ６）まで移動する。この間撮像可能状態なので任意の時刻の位置座標を速度ベクトルで計算して撮像指示をすることができる。また空間航行体ＩＤ［Ｂ−１］号機は１９９８年１月１１日６：００以降はメンテナンスのため撮像不可であることがわかる。
【００２２】
図４はこの発明による監視装置の第３のメモリに格納された撮像予約データベースの例を示す図であり、図において２８は撮像予約Ｎｏ．２９は予約登録された撮像希望する監視目標の位置座標、３０は予約登録された撮像予約日付、３１は予約登録された撮像予約時刻、３２は予め第２のメモリに格納された空間航行体情報データベースを参照した後に予約登録された空間航行体条件、３３は予め第２のメモリに格納された空間航行体情報データベースを参照した後に予約登録された撮像機条件、３４は予約登録者取得データを購入する条件として設定した希望購入価格、３５は画像取得の優先度などを規定する特記事項、３６は取得データの配信を希望するメールアドレスなどのアドレス、３７は課金用カード情報、３８は予約登録日をそれぞれ示す。図において撮像予約Ｎｏ．１００１に、第３の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を示す。撮像予約Ｎｏ．１００１には撮像予約する監視目標の位置座標だけが記載されており、運用計画機では撮像予約登録後に最も早く監視目標を撮像可能な条件を満足した空間航行体の有する撮像機で撮像するよう運用条件を設定する。監視目標を撮像可能な条件の具体例としては、監視目標が撮像機の視野範囲入る条件があり、例えば空間航行体として地球を周回する人工衛星を利用した場合に、監視目標の上空から離れた軌道を航行している場合は、撮像機の視野範囲に監視目標が入らず、撮像不可能となる。また人工衛星の姿勢角度や撮像機の視野方向角度を変更する機能を有する場合でも、角度の変更可能限界値を超える範囲では撮像不可能となる。また撮像予約は基本的に予約登録日３Ｂの早い順に実施するよう運用計画機において運用計画を設定する。
【００２３】
実施の形態４．
第４の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を図４を用いて説明する。図において撮像予約Ｎｏ．１００２には撮像予約する監視目標の位置座標２９と撮像予約日付３０が記載されており、運用計画機では登録された日付において監視目標を撮像可能な条件を満足した空間航行体の有する撮像機で撮像するよう運用条件を設定する。監視目標を撮像可能な条件の具体例は第３の発明と同様である。
【００２４】
実施の形態５．
第５の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を図４を用いて説明する。図において撮像予約Ｎｏ．１００３には撮像予約する監視目標の位置座標２９、撮像予約日付３０、撮像予約時刻３１、空間航行体条件３２、及び撮像機条件３３が記載されており、運用計画機では登録された撮像予約日付３０、撮像予約時刻３１において登録された空間航行体ＩＤを有する空間航行体で、登録された撮像機ＩＤを有する撮像機を稼働して監視目標を撮像するよう運用条件を設定する。上記空間航行体条件３２、及び撮像機条件３３と時刻情報についてはソフトウェアを格納した第４のメモリに格納された、監視目標を撮像可能な空間航行体情報を上記空間航行体情報データベースを格納した第２のメモリで検索するルーチンによって、空間航行体情報データベースの中から撮像可能条件を満足する空間航行体の識別、撮像可能時刻、撮像機の視野方向、及び撮像機から監視目標までの距離などの情報を表示し、撮像予約をする依頼者が選択肢の中から希望する条件を選択して撮像予約データベースに登録する。この手続きはあたかも航空機や鉄道の搭乗依頼をする際に、搭乗者が希望する行先まで到達可能な複数の選択肢を表示し、搭乗者が搭乗便を選択するのと同様である。
【００２５】
実施の形態６．
第６の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を図４を用いて説明する。図において撮像予約Ｎｏ．１００４には撮像予約する監視目標の位置座標２９、撮像予約日付３０、撮像予約時刻３１、空間航行体条件３２、撮像機条件３３、メールアドレス３６、及び課金用カード情報３７が記載されており、運用計画機では登録された撮像予約日付３０、撮像予約時刻３１において登録された空間航行体ＩＤを有する空間航行体で、登録された撮像機ＩＤを有する撮像機を稼働して監視目標を撮像するよう運用条件を設定し、撮像した画像データをレコーダに記録する。次にレコーダでは撮像予約した依頼者の課金カード情報３７に記載されたカード番号に課金手続きをした上で、メールアドレス３６に対して取得画像を伝送する。
【００２６】
実施の形態７．
第７の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を図４を用いて説明する。図において撮像予約Ｎｏ．１００５には撮像予約する監視目標の位置座標２９、撮像予約日付３０、撮像予約時刻３１、空間航行体条件３２、撮像機条件３３、希望購入価格３４、メールアドレス３６、及び課金用カード情報３７が記載されており、運用計画機では登録された撮像予約日付３０、撮像予約時刻３１において登録された空間航行体ＩＤを有する空間航行体で、登録された撮像機ＩＤを有する撮像機を稼働して監視目標を撮像するよう運用条件を設定し、撮像した画像データをレコーダに記録する。次にレコーダでは撮像予約した依頼者の課金カード情報３７に記載されたカード番号に希望購入価格３４に応じた課金手続きをした上で、メールアドレス３６に対して取得画像を伝送する。この際希望購入価格３４に応じてレコーダにおいて画像サイズを縮小するような圧縮処理やデータ間引き手続きを実施すれば、画像データ量が低減可能となる。
【００２７】
実施の形態８．
第８の発明による監視装置の第３のメモリに格納された撮像予約データベースの例を図４を用いて説明する。図において撮像予約Ｎｏ．１００６には撮像予約する監視目標の位置座標２９、撮像予約日付３０、撮像予約時刻３１、空間航行体条件３２、撮像機条件３３、希望購入価格３４、メールアドレス３６、及び課金用カード情報３７が記載されており、運用計画機では登録された撮像予約日付３０、撮像予約時刻３１において登録された空間航行体ＩＤを有する空間航行体で、登録された撮像機ＩＤを有する撮像機を稼働して監視目標を撮像するよう運用条件を設定しようとする。しかるに撮像予約Ｎｏ．１００５に登録された予約内容が、撮像予約Ｎｏ．１００６と全く同じ撮像予約日付３０の撮像予約時刻３１に同一の空間航行体ＩＤの撮像機ＩＤによる撮像を指定している。そこで次に希望購入価格３４を参照して、より高価な値を指定している撮像予約Ｎｏ．１００６を優先的に設定して運用計画機において運用計画を設定する。
【００２８】
【発明の効果】
第１の発明によれば、複数の空間航行体を同時に運用できるので、任意の監視目標を迅速かつ良好な撮像条件で監視可能となるという効果がある。また同時に複数の監視目標を撮像可能となるという効果がある。また監視目標を迅速に設定できるという効果がある。また監視目標を撮像機の視野が捉えるための空間航行体の位置、軌道及び撮像条件を調査する作業を人手を介して実施する必要がないので、作業が省力化され、迅速な撮像が可能な監視が可能となり、災害発生時や緊急事態に対応して即座にデータを取得できるという効果がある。また各家庭や企業等に設置された計算機にアクセスするだけで監視目標の探索及び決定と、撮像機の撮像条件設定が可能となり、作業が身近でかつ直感的になるという効果がある。また通信回線さえ確保されていれば、地球上のいかなる地域からでも撮像予約が可能なので、未開地域等で緊急に近隣状況を知る必要がある場合などに即座に的確な情報を入手可能となるという効果がある。
【００２９】
また、第２の発明によれば空間航行体が任意の日付、時刻における航行位置を定式化できないような動作をする飛行船や航空機であっても、運用計画機が任意の時間における空間航行体の航行予定場所を把握でき、人手を介さずに運用計画を設定できるという効果がある。
【００３０】
また、第３の発明によれば撮像予約登録後に複数の空間航行体の中で最も早く撮像可能条件を満足した空間航行体の撮像機で撮像するので、監視目標の画像を迅速に取得出来るという効果がある。
【００３１】
また、第４の発明によれば建築物の竣工記念写真や、学校の開校記念日の写真などの記念写真としての画像取得が可能となるという効果がある。
【００３２】
また、第５の発明によれば撮像予約をする依頼者が撮像条件を選択できるので、依頼者が希望する日照条件となる時刻に、希望する監視目標の見込み角度で撮像可能となるという効果がある。
【００３３】
また、第６の発明によれば、取得した画像データを予約登録者が撮像データを改めてダウンロードしなくても予約登録者に対して有償配布することが可能になるという効果がある。また画像データの価格を設定すれば自動で処理可能となるという効果がある。
【００３４】
また、第７の発明によれば、撮像依頼者の購入希望価格に応じた画像データ量、画像品質でデータ提供可能となり、データ伝送時間が低減できるという効果がある。
【００３５】
また、第８の発明によれば、複数撮像予約が同時に重複した場合に自動でプライオリティを設定可能となるという効果がある。
【図面の簡単な説明】
【図１】この発明による監視装置の実施の形態を示す構成図である。
【図２】この発明による監視装置の動作を説明する図である。
【図３】第２の発明による監視装置の第２のメモリに格納された空間航行体情報データベースの例を示す図である。
【図４】この発明による監視装置の第３のメモリに格納された撮像予約データベースの例を示す図である。
【図５】従来の監視装置を示す図である。
【図６】従来の監視装置の動作を説明する図である。
【符号の説明】
１空間航行体、２地球、３地上局、４信号、５データ、６監視目標、７軌道計算機、８地図、９撮像機、１０通信回線、１１運用計画機、１２運用管制装置、１３レコーダ、１４第１のメモリ、１５第２のメモリ、１６第３のメモリ、１７メモリ、１８計算機、１９空間航行体ＩＤ、２０日付、２１時刻、２２位置座標、２３姿勢角度、２４速度ベクトル、２５角速度ベクトル、２６状態定義、２７撮像可否、２８撮像予約Ｎｏ、２９監視目標位置座標、３０撮像予約日付、３１撮像予約時刻、３２空間航行体条件、３３撮像機条件、３４希望購入価格、３５特記事項、３６メールアドレス、３７課金用カード情報、３８予約登録日付。[0001]
BACKGROUND OF THE INVENTION
This invention obtains image information of disaster targets, monitoring targets such as buildings and vehicles that require monitoring, by operating and controlling an imager mounted on a spacecraft that sails over the earth at a predetermined altitude. It relates to a monitoring device.
[0002]
[Prior art]
FIG. 5 is a diagram for explaining a conventional monitoring device. In FIG. 5, 1 is a so-called space navigation body such as an artificial satellite, an aircraft or an airship which navigates the earth 2 at a predetermined altitude, and 3 is installed on the ground. The ground station 4 for setting operational conditions such as the ground altitude, traveling direction, and attitude angle of the spatial navigation body 1 and for exchanging information such as signals and data with the spatial navigation body 4 is described above. Signals such as operation control commands transmitted to the spatial navigation vehicle 1, 5 is data such as observation image information transmitted from the spatial navigation vehicle 1 to the ground station 3, and 6 is a disaster occurrence area and monitoring It is a monitoring target for man-made buildings and vehicles. When a disaster occurs and information on a predetermined area is required, the ground station 3 transmits an operation control signal 4 to the spatial navigation body 1, and then the spatial navigation body 1 transmits the monitoring target. 6 is observed and image information is acquired and transmitted to the ground station 3 as data 5.
[0003]
Next, details of the operation will be described with reference to FIG. In the figure, 1 to 5 are the same as those in FIG. 5, 7 is a trajectory calculator that is installed in the ground station 3 and calculates the trajectory conditions of the spacecraft 1, 8 is bound as a booklet and is always in the ground station 3. The map 9 is an image pickup device that is mounted on the space navigation body 1 so as to face the earth and acquires image data of the earth surface. In the conventional monitoring apparatus configured as shown in the figure, when a disaster or the like occurs, an operator waiting at the ground station 3 first searches for the corresponding area from the map 8, and uses the corresponding area as a monitoring target for longitude, latitude. Information is read from the map 8. Next, the operator uses the trajectory calculator 7 to calculate the time and trajectory conditions when the space navigation body 1 passes over the monitoring target. Next, the operator creates an operation control signal by determining the imaging time and trajectory conditions suitable for the imaging device 9 to point the monitoring target and the orientation direction of the imaging device, and then via an unshown transmitter. The signal 4 is transmitted to the space navigation body 1. On the other hand, in the spatial navigation vehicle 1, the image pickup device 9 is operated in accordance with the acquired signal 4 to acquire both image information of the monitoring target, and the acquired image information is then transmitted to the data 5 via a transmitter not shown. To the ground station 3.
[0004]
[Problems to be solved by the invention]
In the conventional monitoring device, the operator searches for the monitoring target 6 on the map 8 and examines the latitude and longitude information, and then analyzes the trajectory of the spatial navigation body 1 and the visual field direction of the imaging device 9 by the trajectory computer 7 and further performs imaging. Since the operator predicts the range and time in which the field of view of the aircraft 9 captures the monitoring target 6 and instructs the spatial navigation body to image, the search for the monitoring target 6, the trajectory of the spatial navigation body 1, and the visual field range of the imaging device 9 There is a problem that it is difficult to immediately respond to an emergency or disaster. In addition, since the imaging condition can be set only by a specific ground station 3, there is a restriction that workers and work places where the monitoring target can be selected are limited. In addition, in order to acquire an image of a monitoring target such as a volcano that requires monitoring over a long period of time, it is suitable for imaging the monitoring target 6 by checking in advance the time when the space vehicle 1 passes over the monitoring target 6. In the past, it was possible to reserve in advance the time of day and the viewing direction and range of the image pickup device. There is a problem that it takes a long time to make an image after making a reservation. When only a single space navigation object is navigating, there is a problem that the waiting time for imaging an arbitrary monitoring target becomes long, or a plurality of monitoring targets cannot be imaged simultaneously.
[0005]
The present invention has been made to improve the above-described problems. Anytime, anywhere, anyone can access and search for a monitoring target and set an imaging condition of an imaging device by simply accessing the terminal. It is an object of the present invention to provide a monitoring device that can perform accurate imaging.
[0006]
[Means for Solving the Problems]
A monitoring device according to a first aspect of the present invention is a plurality of spatial navigation bodies that navigate over the earth at a predetermined altitude, and an imaging device that is mounted on the spatial navigation body so as to face the earth and acquires image data of the surface of the earth. An operation planning machine for analyzing operational conditions of the spatial navigation body and an imaging condition of the imaging device, an operational control device for exchanging information with the spatial navigation body and controlling the operation of the spatial navigation body and the imaging machine, and the imaging machine A first ground station provided with a recorder for receiving and recording captured image data; a first memory storing a geographic information database describing geographic information and location information for various locations on the earth; and a trajectory of a spatial navigation object A second memory storing a spatial navigation body information database describing conditions, time of ground passage, and field of view of the imaging device, and an imaging reservation database describing data reserved for imaging by setting a monitoring target A second ground station provided with a third memory stored therein, and a fourth memory storing software for processing information by accessing a database stored in the first to third memories, a personal computer, etc. A third ground station and a fourth ground station provided with a computer and a fifth memory storing software for accessing the database and the fourth memory of the second ground station and operating on the computer; The first to fourth ground stations are connected to each other via a communication line, and the operation planning machine is stored in the third memory from the plurality of space navigation bodies. Means for selecting a spatial navigation body that travels the closest distance to the imaging reservation data and giving an imaging instruction to the imaging device.
[0007]
According to a second aspect of the present invention, there is provided a monitoring device using an airship, a balloon, or an aircraft as a space navigation body, and a second memory storing a space navigation body information database is a scheduled operation place of the space navigation body at an arbitrary date and time. And means for describing the imaging availability condition.
[0008]
A monitoring apparatus according to a third aspect of the invention has an operation planning machine that sets operation conditions so that an imaging device of a spatial vehicle that satisfies a condition capable of imaging a monitoring target earliest after registration of imaging reservation is taken. .
[0009]
According to a fourth aspect of the present invention, the third memory storing the imaging reservation database has means for describing the monitoring target location and date, and sets the operation condition so that the monitoring target is imaged on the described date. It has an operation planning machine.
[0010]
In the monitoring device according to the fifth invention, the third memory storing the imaging reservation database has means for describing the identification of the monitoring target location and the spatial navigation object and the imaging time, and the specified time in the described spatial navigation object And an operation planning machine for setting operation conditions so as to image the monitoring target.
[0011]
According to a sixth aspect of the present invention, there is provided a monitoring apparatus comprising: a third memory storing an imaging reservation database having means for describing an address of a requester who made an imaging reservation and a charging means; Thus, a means for distributing image information is provided.
[0012]
In the monitoring device according to the seventh aspect of the invention, the third memory storing the imaging reservation database has means for describing the desired purchase price, and the recorder charges for the desired purchase price described in the imaging reservation database. And a means for distributing image information.
[0013]
In the monitoring device according to the eighth invention, when the third memory storing the imaging reservation database has means for describing the desired purchase price, and when imaging reservations of a plurality of different monitoring targets are registered at the same time, The operation planning machine has an operation planning machine for setting operation conditions so as to capture a higher price monitoring target by comparing the desired purchase price.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a block diagram showing Embodiment 1 of the present invention. In the figure, 1a is a first space navigation body that navigates over the earth at a predetermined altitude, and 1b navigates over the earth at a predetermined altitude. The second spatial navigation body, 2 is the earth, 3 is installed on the ground, and sets operational conditions such as the ground altitude, traveling direction and attitude angle of the spatial navigation body 1, or the spatial navigation body 1 and signals and data 4 is a signal for operation control commands transmitted from the ground station 3 to the space navigation body 1, and 5 is transmitted from the space navigation body 1 to the ground station 3. Data such as observed image information, 6a is a first monitoring target of a disaster occurrence area, a building or a vehicle that requires monitoring, 6b is a second monitoring target, and 10 is a connection between the plurality of ground stations 3. Communication lines that serve as propagation paths for signal and data exchange. Further, as constituent elements of a plurality of ground stations, 3a is a first ground station that performs operation control and imaging instructions, 3b is a second ground station that accumulates information such as geographic information and satellite orbit information, and 3c is a monitoring target A third ground station 3d for setting is a fourth ground station for setting a monitoring target. The monitoring apparatus according to the present invention is configured as shown in the figure, and when a disaster occurs and information on a predetermined area is required, the third ground station 3c and the fourth ground station 3d are working. The operator refers to the geographical information stored in the second ground station 3b via the communication line 10, sets the monitoring target 6, and sets the setting information as the imaging reservation information via the communication line 10. Accumulate in ground station 3b. The imaging reservation information includes information on the position of the monitoring target 6, the time when the spatial navigation body 1 passes over the monitoring target 6, and the field of view direction and field of view of the imaging device for imaging the monitoring target 6. It is out. Next, the first ground station 3a refers to the imaging reservation information stored in the second ground station 3b via the communication line 10, and from among a plurality of spatial navigation objects, the imaging reservation location is determined. Then, a space navigation body that navigates the closest distance is selected to make an operation plan for the image pickup device, and an operation control signal 4 is transmitted to the space navigation body 1. In the example shown in the figure, when the first monitoring target 6a is imaged, the first spatial navigation body 1a is traveling a distance closer to the first monitoring target 6a than the second spatial navigation body 1b. The first ground station 1a is selected at the first ground station, and the operation control signal 4 is transmitted so as to image the monitoring target 6. Next, the first spacecraft 1 a observes the monitoring target 6 to acquire image information and transmits it as data 5 to the ground station 3. When imaging the second monitoring target 6b, the second spatial navigation object is selected and operated in the same manner.
[0015]
In the figure, the space vehicle 1 is an artificial satellite such as an observation satellite that orbits the earth in a low orbit, a meteorological satellite that observes the earth from a geosynchronous orbit, an aircraft, a balloon or an airship, etc. The number is not limited to two. It doesn't matter how much. The imaging device 9 can be a visible optical sensor that acquires a visual image, an imaging radar such as a synthetic aperture radar, a microwave radiometer, an infrared sensor, an ultraviolet sensor, or the like. The first ground station 3a is a candidate for a satellite or aircraft tracking control station, but the second ground station 3b, the third ground station 3c, and the fourth ground station 3d are satellite signal receiving stations, Any number may be used as long as the conditions for connecting a computer to the communication line 10 such as a local government organization, a company, a private house, and a camp are satisfied, and the number of ground stations is not limited to four and any number may be used. Further, the second ground station 3b may be included in the first ground station 3a or the third ground station 3c.
[0016]
Next, details of the operation of each ground station will be described with reference to FIG. In the figure, 1a is a first space navigation body that navigates over the earth at a predetermined altitude, 1b is a second space navigation body that navigates over the earth at a predetermined altitude, and 3a is a first space navigation body that performs operational control and imaging instructions. 1 ground station, 3b is a second ground station that accumulates information such as geographic information and satellite orbit information, 3c is a third ground station that sets a monitoring target, and 3d is a fourth ground station that sets a monitoring target. Stations 4 and 4 are signals for operation control commands transmitted from the ground station 3 to the spatial navigation vehicle 1, and 5 is observation image information transmitted from the spatial navigation vehicle 1 to the ground station 3. The data 9 is mounted on the space navigation body 1 so as to face the earth, and the imaging device 10 acquires the image data of the surface of the earth. The reference numeral 10 denotes a propagation path for transmitting and receiving signals and data by connecting the plurality of ground stations 3 to each other. The communication line 11 is installed in the first ground station 3a, An operation planning machine that analyzes the trajectory information of the spacecraft 1 and the pointing direction of the image pickup device 9 and sets operation conditions that allow the image pickup device 9 to pick up an image of an arbitrary monitoring target, and 12 is installed in the first ground station 3a An operational control device 13 is provided in the first ground station 3a for exchanging data with the spacecraft 1, controlling the trajectory and attitude, and transmitting an imaging instruction to the imaging device 9, and the imaging device 9 A recorder 14 for receiving and recording the image data captured in the first memory, which is installed in the second ground station 3b, stores a geographic information database describing geographic information and location information of various places on the earth, 15 Spatial navigation information database that is installed in the second ground station 3b and describes the orbital conditions of the satellite, the ground passage time, the operation plan describing the navigation location and the planned passage time of the airship or the aircraft, the field of view of the imaging device Store The second memory 16 is installed in the second ground station 3b. The third memory 16a stores the imaging reservation database describing the data reserved for imaging by setting the monitoring target, and 17a is the second ground. A routine for searching for a monitoring target by accessing the first memory 14 stored in the station 3b and storing the geographic information database, and a spatial navigation information capable of imaging the monitoring target stored in the spatial navigation information database. A fourth memory 17b for storing search reservation software, including a routine for searching in the second memory 15 and a routine for registering a reservation for imaging conditions in the third memory 16 storing the imaging reservation database, And a fourth memory 17a installed in each of the third ground station 3c to the fourth ground station 3d and storing each database included in the second ground station. A memory 18 for storing the second software for accessing the computer and operating on the computer is installed in the third ground station 3c to the fourth ground station 3d, and is connected to the second ground via the communication line 10. A computer such as a personal computer that accesses the station 3b.
[0017]
In the first ground station 3a that performs operation control and imaging instruction, the operation planner 11 analyzes the trajectory information of the first space navigation body 1a and the second space navigation body 1b, and performs a specific monitoring target. Select the spacecraft that navigates the closest distance. Next, the trajectory information of the selected spatial navigation body 1 and the pointing direction of the image pickup device 9 to be mounted are analyzed, and the operation condition that allows the image pickup device 9 to image the monitoring target is set. Next, the operation control device 12 transmits the operation conditions set by the operation planner 11 as a signal 4 to the spatial navigation body 1 to control the trajectory and attitude of the spatial navigation body 1 and to provide an imaging instruction to the imaging device 9. To send. The space navigation body 1 is operated and controlled based on the signal 4 received from the operation control device 12, and acquires imaging information of a monitoring target by the image pickup device 9 mounted on each of the space navigation body 1 as the data 5 to obtain the first ground station. Send to 3a. Next, the data 5 transmitted by the recorder 13 provided in the first ground station 3a is received and recorded.
[0018]
On the other hand, the second ground station 3b stores information, and data can be referred to or written from other ground stations via the communication line 10. In the geographic information database stored in the first memory 14 provided in the second ground station 3b, geographic information and location information of each place on the earth are recorded. The geographic information database describes geographic information of places on the ground together with position information, and may be map information in a database, or a database such as GIS (Geographic Information System) can be used. At this time, the position information may be position coordinates of a geodetic coordinate system called World Geodetic System 84 used in the navigation satellite, or may be latitude / longitude information. Furthermore, for the planned monitoring location, the position coordinates may be measured in advance using a navigation satellite and recorded in the above-mentioned geographic information database, or the results measured by space triangulation from an artificial satellite or aircraft are recorded in the geographic information database. You may keep it. The spatial navigation object information database stored in the second memory 15 records the orbital conditions of the spatial navigation object 1, the ground passage time, and the field of view of the imaging device. Further, the imaging reservation database stored in the third memory 16 records data for which an imaging target is set by setting a monitoring target. Furthermore, the fourth memory 17a that stores software stores a routine for searching for a monitoring target by accessing the first memory 14 that stores a geographic information database, and spatial navigation object information that can image the monitoring target in the second memory. 15 stores search reservation software including a routine for searching in the spatial navigation body information database stored in 15 and a routine for registering the reservation of imaging conditions in the imaging reservation database stored in the third memory 16.
[0019]
Next, a procedure for setting a monitoring target in the third ground station 3c and the fourth ground station 3d will be described. The operator operates the computer 18 such as a personal computer, and accesses the second ground station 3b via the communication line 10 using the software stored in the fifth memory 17b. Next, the search reservation software stored in the fourth memory 17a of the second ground station 3b is downloaded to the computer 18. Next, the monitoring target search routine provided in the search reservation software is used to access the first memory 14 storing the geographic information database, search for the monitoring target, and select the target. As a monitoring target search method, a monitoring target search routine including a subroutine for searching for a place so as to turn a map as a visual image, a subroutine for searching by keyword search, and a subroutine for searching by a combination of latitude and longitude is programmed. To do. After searching and determining the monitoring target 6, the determined location is selected by double-clicking the determined location on the screen with the pointing device of the computer 18. Next, the space navigation information search routine provided in the search reservation software is used to access the second memory 14 storing the space navigation information database, and the space navigation capable of imaging the monitoring target selected in the target search routine. The passage time of the body 1 and the imageable range of the imaging device 9 are investigated and determined. In the target search routine, a list of passage times and pointing angle information of the spatial navigation body 1 for imaging the corresponding monitoring target is displayed. Further, the imaging reservation registration routine provided in the search reservation software is used to access the third memory 15 in which the imaging reservation database is stored to reserve and register the monitoring target and imaging time for which imaging is desired. A series of monitoring target setting procedures in the third ground station 3c and the fourth ground station 3d are the same procedures as the flight flight search when making an aircraft boarding reservation, and a desired imaging condition is set using the computer 18. After setting, the reservation information is registered by accessing the third memory 16 storing the imaging reservation database. As long as the computer 18 is connected to the communication line 10 such as a telephone line or a satellite line, the computer 18 can be used under conditions where there are no buildings such as deserts, jungles, and the sea. The fifth memory 17b may store search reservation software stored in the fourth memory 17a in advance.
[0020]
Next, the operation planner 11 provided in the first ground station 3a accesses the second ground station 3b via the communication line 10, and the third memory 16 and the spatial navigation information database storing the imaging reservation database. 2 is stored, the imaging reservation status is grasped, and the spatial navigation body 1 that navigates the closest distance to the monitoring target 6 reserved for imaging is selected. The time and imaging conditions for operating the mounted imaging device 9 are planned and determined. At this time, if a plurality of reservations registered in the imaging reservation database cannot be realized at the same time, priority is set and selection of the reservations is performed. Next, the operation planning machine 11 transmits the determined operation condition and imaging condition of the space navigation body 1 to the operation control device 12. The operation control device 12 transmits a signal for operation control to the spatial navigation body 1 based on the received operational conditions and imaging conditions of the spatial navigation body 1 and controls the directivity directions of the spatial navigation body 1 and the imaging device 9 at a predetermined time. Then, the monitoring target is imaged. The acquired image information is transmitted from the space navigation body 1 to the recorder 13 installed in the first ground station 3a. Since the recorder 13 is connected to the communication line 10, the acquired image data is registered in the first memory 14 storing the geographic information database, and the image data is transmitted to the user who reserved the imaging.
[0021]
FIG. 3 is a diagram showing an example of a spatial navigation object information database stored in the second memory 15 of the monitoring apparatus according to the present invention, in which 19 is a spatial navigation object assigned to identify a plurality of spatial navigation objects. ID, 20 is a date, 21 is a time, 22 is a position coordinate where a spatial navigation body to which a spatial navigation body ID 19 is assigned at the above date 20 and time 21 is located, 23 is a posture angle, 24 is a velocity vector, and 25 is an angular velocity vector , 26 is a state definition that indicates whether the space navigation object is in a staying state, a moving state, or under maintenance, and 27 is an image availability that is indicated by a circle when the image pickup device mounted on the space navigation object can capture images. Respectively. In the figure, the spacecraft ID [A-1] is stopped at position coordinates (X1, Y1, Z1) from 8:00 on January 8, 1998 to 18:00 on January 10, and is in an imageable state. Since the attitude angle 23 of the space navigation body at this time is shown, the visual field direction of the imaging device can be grasped. Then, it can be seen that it moves to the position coordinates (X3, Y3, Z3) via the position coordinates (X2, Y2, Z2) by 6:00 on the morning of the 11th. During this time, imaging is impossible at night. On the other hand, the spacecraft ID [A-2] is stopped at the position coordinates (X4, Y4, Z4) from 8:00 on January 8, 1998 to 6:00 on the 10th, and is ready for imaging on the 10th. Until 18:00 in the evening, it moves to position coordinates (X6, Y6, Z6) via position coordinates (X5, Y5, Z5). Since the imaging is possible during this period, it is possible to instruct imaging by calculating the position coordinates at an arbitrary time using the velocity vector. It can also be seen that the spacecraft ID [B-1] No. cannot be imaged after 6:00 on January 11, 1998 for maintenance.
[0022]
4 is a diagram showing an example of the imaging reservation database stored in the third memory of the monitoring apparatus according to the present invention. 29 is the position coordinate of the monitoring target desired to be imaged that is reserved and registered, 30 is the imaging reservation date that is reserved and registered, 31 is the imaging reservation time that is reserved and registered, and 32 is the spatial navigation information previously stored in the second memory Spatial navigation vehicle conditions that are reserved and registered after referring to the database, 33 is an imaging device condition that is reserved and registered after referring to the spatial vehicle information database stored in the second memory in advance, and 34 is the reservation registrant acquisition data. Desired purchase price set as a purchase condition, 35 is a special note that prescribes the priority of image acquisition, 36 is an address such as an e-mail address for which distribution of acquired data is desired, 37 is billing card information, and 38 is reserved registration Show each day. In FIG. 1001 shows an example of an imaging reservation database stored in the third memory of the monitoring apparatus according to the third invention. Imaging reservation No. Only the position coordinates of the monitoring target to be reserved for imaging are described in 1001, and the operation planning machine is operated so as to capture images with the imaging device of the space navigation body that satisfies the conditions capable of imaging the monitoring target earliest after registration of imaging reservation. Set conditions. As a specific example of the conditions for imaging the monitoring target, there is a condition that the monitoring target enters the field of view of the imaging device. For example, when using an artificial satellite that orbits the earth as a space navigation object, the monitoring target is separated from the sky. When navigating the orbit, the monitoring target does not enter the field of view of the imager, and imaging is impossible. Even in the case where it has a function of changing the attitude angle of the artificial satellite or the viewing direction angle of the image pickup device, it is impossible to pick up an image within a range exceeding the changeable limit value of the angle. In addition, an operation plan is set in the operation planner so that the imaging reservation is basically performed in the order from the reservation registration date 3B.
[0023]
Embodiment 4 FIG.
An example of the imaging reservation database stored in the third memory of the monitoring device according to the fourth invention will be described with reference to FIG. In FIG. Reference numeral 1002 describes the position coordinates 29 and the imaging reservation date 30 of the monitoring target to be reserved for imaging. The operation planning machine is an imaging apparatus that has a spatial navigation body that satisfies the conditions for imaging the monitoring target on the registered date. Set operating conditions to capture images. A specific example of the condition under which the monitoring target can be imaged is the same as that in the third invention.
[0024]
Embodiment 5 FIG.
An example of the imaging reservation database stored in the third memory of the monitoring device according to the fifth invention will be described with reference to FIG. In FIG. Reference numeral 1003 describes the position coordinates 29 of the monitoring target to be reserved for imaging, the imaging reservation date 30, the imaging reservation time 31, the spatial navigation object condition 32, and the imaging device condition 33, and the imaging reservation date registered in the operation planning machine. 30. The operating condition is set so that the imaging object having the registered imaging device ID is operated to image the monitoring target by operating the imaging vehicle having the registered navigation vehicle ID at the imaging reservation time 31. The spatial navigation object information 32 stored in the fourth memory storing software for the spatial navigation object condition 32, the imaging device condition 33, and the time information is stored in the spatial navigation object information database. The identification of the space navigation object that satisfies the imaging conditions from the space navigation object information database, the imageable time, the viewing direction of the imaging device, the distance from the imaging device to the monitoring target, etc. The requester who makes the imaging reservation selects the desired condition from the options and registers it in the imaging reservation database. This procedure is similar to displaying a plurality of options that can be reached by the passenger when he / she makes a boarding request for an airplane or railroad, and selecting the boarding flight.
[0025]
Embodiment 6 FIG.
An example of the imaging reservation database stored in the third memory of the monitoring device according to the sixth invention will be described with reference to FIG. In FIG. Reference numeral 1004 describes the position coordinates 29 of the monitoring target to be reserved for imaging, the imaging reservation date 30, the imaging reservation time 31, the spatial navigation condition 32, the imaging device condition 33, the mail address 36, and the billing card information 37. In the operation planning machine, the imaging target having the registered imaging device ID is operated by the spatial navigation object having the registered spatial navigation object ID registered at the imaging reservation date 30 and the imaging reservation time 31 to image the monitoring target. The operation conditions are set so that the captured image data is recorded on the recorder. Next, the recorder performs a charging procedure for the card number described in the charging card information 37 of the client who made the imaging reservation, and then transmits the acquired image to the mail address 36.
[0026]
Embodiment 7 FIG.
An example of the imaging reservation database stored in the third memory of the monitoring device according to the seventh invention will be described with reference to FIG. In FIG. In 1005, there are a position coordinate 29 of a monitoring target to be reserved for imaging, an imaging reservation date 30, an imaging reservation time 31, a spacecraft condition 32, an imager condition 33, a desired purchase price 34, an e-mail address 36, and billing card information 37. The operation planning machine operates an imaging machine having a registered imaging device ID in a spatial navigation body having a registered imaging imaging date 30 and a registered spatial navigation body ID at an imaging reservation time 31. Operation conditions are set so as to image the monitoring target, and the captured image data is recorded in the recorder. Next, the recorder performs a charging procedure corresponding to the desired purchase price 34 on the card number described in the charging card information 37 of the client who made the imaging reservation, and transmits the acquired image to the mail address 36. At this time, the amount of image data can be reduced by performing a compression process or a data thinning procedure for reducing the image size in the recorder in accordance with the desired purchase price 34.
[0027]
Embodiment 8 FIG.
An example of the imaging reservation database stored in the third memory of the monitoring device according to the eighth invention will be described with reference to FIG. In FIG. 1006 includes the position coordinates 29 of the monitoring target to be reserved for imaging, the imaging reservation date 30, the imaging reservation time 31, the spacecraft condition 32, the imaging device condition 33, the desired purchase price 34, the mail address 36, and the billing card information 37. The operation planning machine operates an imaging machine having a registered imaging device ID in a spatial navigation body having a registered imaging imaging date 30 and a registered spatial navigation body ID at an imaging reservation time 31. Try to set operating conditions to image the monitoring target. However, the imaging reservation No. The reservation content registered in 1005 is the imaging reservation number. The imaging with the imaging machine ID of the same spatial navigation ID is designated at the imaging reservation time 31 on the imaging reservation date 30 that is exactly the same as 1006. Then, referring to the desired purchase price 34, the imaging reservation No. which specifies a more expensive value is referred to. An operation plan is set in the operation planner by setting 1006 preferentially.
[0028]
【The invention's effect】
According to the first invention, since a plurality of spatial navigation bodies can be operated simultaneously, there is an effect that any monitoring target can be monitored quickly and under good imaging conditions. Moreover, there is an effect that a plurality of monitoring targets can be imaged simultaneously. In addition, there is an effect that the monitoring target can be set quickly. In addition, since it is not necessary to manually perform the work of investigating the position, trajectory, and imaging conditions of the space navigation body in order to capture the surveillance target from the field of view of the imaging device, the work is labor-saving and rapid imaging is possible. Monitoring is possible, and there is an effect that data can be acquired immediately in response to a disaster or emergency. In addition, it is possible to search and determine the monitoring target and set the imaging condition of the imaging device only by accessing a computer installed in each home, company, etc., and there is an effect that the work is familiar and intuitive. In addition, as long as the communication line is secured, imaging reservations can be made from any region on the earth, so accurate information can be obtained immediately when there is an urgent need to know the state of the neighborhood in an undeveloped region, etc. effective.
[0029]
Further, according to the second invention, even if the spacecraft is an airship or an aircraft that operates such that the navigation position at an arbitrary date and time cannot be formulated, the operation planning machine can There is an effect that it is possible to grasp a planned navigation place and to set an operation plan without human intervention.
[0030]
In addition, according to the third invention, the image of the surveillance target can be quickly acquired because the image is taken by the imaging device of the space navigation body that satisfies the imaging conditions first among a plurality of space navigation bodies after the imaging reservation registration. effective.
[0031]
In addition, according to the fourth invention, there is an effect that it is possible to obtain an image as a commemorative photo such as a commemorative photo of the completion of a building or a photo of the school opening anniversary.
[0032]
In addition, according to the fifth aspect, since the client who makes a reservation for imaging can select the imaging condition, it is possible to perform imaging at the expected angle of the desired monitoring target at the time when the requester wishes for the sunshine condition. is there.
[0033]
According to the sixth aspect of the invention, the acquired image data can be distributed for a fee to the reservation registrant without the reservation registrant downloading the image data again. Also, if the price of the image data is set, there is an effect that the processing can be automatically performed.
[0034]
Further, according to the seventh invention, it is possible to provide data with image data amount and image quality corresponding to the purchase request price of the imaging client, and there is an effect that the data transmission time can be reduced.
[0035]
Further, according to the eighth invention, there is an effect that it is possible to automatically set priority when a plurality of imaging reservations are simultaneously overlapped.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing an embodiment of a monitoring device according to the present invention.
FIG. 2 is a diagram for explaining the operation of the monitoring device according to the present invention.
FIG. 3 is a diagram showing an example of a spatial navigation object information database stored in a second memory of the monitoring apparatus according to the second invention.
FIG. 4 is a diagram showing an example of an imaging reservation database stored in a third memory of the monitoring apparatus according to the present invention.
FIG. 5 is a diagram showing a conventional monitoring device.
FIG. 6 is a diagram for explaining the operation of a conventional monitoring device.
[Explanation of symbols]
1 Spacecraft, 2 Earth, 3 Ground Station, 4 Signals, 5 Data, 6 Monitoring Target, 7 Orbit Calculator, 8 Map, 9 Imager, 10 Communication Line, 11 Operation Planning Machine, 12 Operation Control Device, 13 Recorder, 14 1st memory, 15 2nd memory, 16 3rd memory, 17 memory, 18 computer, 19 spacecraft ID, 20 date, 21 time, 22 position coordinate, 23 attitude angle, 24 velocity vector, 25 angular velocity Vector, 26 State definition, 27 Imaging availability, 28 Imaging reservation No, 29 Monitoring target position coordinates, 30 Imaging reservation date, 31 Imaging reservation time, 32 Spatial navigation object conditions, 33 Imaging machine conditions, 34 Desired purchase price, 35 Special notes , 36 Email address, 37 Billing card information, 38 Booking registration date.

Claims

A plurality of spatial navigation bodies that navigate the sky above the earth at a predetermined altitude, an imaging device that is mounted on the spatial navigation body so as to be directed to the earth, and that acquires image data of the earth's surface, and operating conditions of the spatial navigation body An operation planning machine that analyzes and analyzes the imaging conditions of the imaging device, an operation control device that controls the operation of the spatial navigation body and the imaging device by exchanging information with the spatial navigation body, and image data captured by the imaging device is received. A first ground station having a recorder for recording, a first memory storing a geographic information database describing geographic information and location information of various places on the earth, orbital conditions of a spacecraft, ground passage time, and an imaging device A second memory that stores a spatial navigation object information database that describes the field of view of the camera, a third memory that stores an imaging reservation database that describes the data that is set for the surveillance target and reserved for imaging, and A second ground station comprising a fourth memory storing software for processing information by accessing databases stored in the first to third memories, a computer such as a personal computer, and the second memory A third ground station and a fourth ground station, each of which includes a fifth memory storing software for accessing the database and the fourth memory of the ground station and operating software on the computer, and The first to fourth ground stations are connected to each other via a communication line, and the operation planning machine uses the imaging reservation data stored in the third memory from the plurality of spatial navigation bodies. A monitoring device comprising means for selecting a spatial navigation body that travels the closest distance to give an imaging instruction to the imaging device.

An airship, a balloon, or an aircraft is used as the space navigation body, and the second memory having the space navigation body information database has means for describing the scheduled operation location of the space navigation body at any date and time and imaging availability conditions. The monitoring apparatus according to claim 1.

The monitoring apparatus according to claim 1, further comprising an operation planner that sets operation conditions so that an imaging device included in a spatial navigation body that satisfies a condition capable of imaging the monitoring target earliest after registration of imaging reservation is satisfied.

The third memory having the imaging reservation database has means for describing the monitoring target location and date, and has an operation planning machine for setting operation conditions so as to image the monitoring target on the described date. The monitoring device according to claim 1.

The third memory having the imaging reservation database has means for identifying the monitoring target location and the spatial navigation object and describing the imaging time, and sets the operation conditions so that the monitoring target is imaged at the specified time with the described spatial navigation object. The monitoring apparatus according to claim 1, further comprising an operation planning machine to be set.

The third memory having the imaging reservation database has means for describing the address of the requester who made the imaging reservation and the charging means, and has means for charging the client who made the imaging reservation and distributing the image information The monitoring apparatus according to claim 1.

The third memory having the imaging reservation database has means for describing the desired purchase price, and the recorder has means for distributing image information by charging for the desired purchase price described in the imaging reservation database. The monitoring apparatus according to claim 1.

When the third memory having the imaging reservation database has means for describing the desired purchase price, and the imaging reservations for a plurality of different monitoring targets are registered at the same time, the operation planner compares the desired purchase prices. The monitoring apparatus according to claim 1, further comprising an operation planning machine that sets operation conditions so as to image a higher price monitoring target.