JP7026729B2 - Control support equipment, control support methods and control support programs - Google Patents

Description

The present disclosure relates to techniques for generating images to assist in the control of moving objects.

In principle, air traffic control operations are visually confirmed. However, it is assumed that there are cases where the view is physically obstructed due to airport expansion or maintenance work, and cases where visual confirmation is difficult due to distant places, clouds, bad weather, or the like. Therefore, in order to improve the airport processing capacity, it is necessary to support the visual confirmation of the controller.

In Patent Document 1, a display image for displaying a part of a shooting range in a color smaller than that of other areas is generated and displayed based on a shot image of a place where aircraft to be controlled come and go. Is described. Further, Patent Document 1 describes that a tag including an identifier is displayed next to an aircraft in a display image. By displaying the displayed image, Patent Document 1 supports the controller for visual confirmation.

Japanese Patent Application No. 2019-022178

In the image data of the place where the controlled aircraft come and go, the size of the displayed aircraft changes as the aircraft moves. In addition, the image data may include a plurality of aircraft. Therefore, the tag displayed next to the aircraft is difficult to see, and it may take time to grasp the content indicated on the tag.
It is an object of the present disclosure to enable the generation of image data suitable for supporting visual confirmation to air traffic controllers and the like.

The control support device related to this disclosure is
A distance calculation unit that calculates the distance to the moving object to be controlled, which was shot by the shooting device,
A length determination unit that determines the length of the leader line according to the distance calculated by the distance calculation unit, and a length determination unit.
The leader line of the length determined by the length determining unit is superimposed and displayed on the image data obtained by being photographed by the photographing device from the position of the moving body in the image data, and the leader line is displayed. It is provided with a superimposed image generation unit that generates a superimposed image in which a tag indicating information about the moving body is superimposed and displayed.

In the present disclosure, the tag is displayed using a leader line having a length corresponding to the distance to the moving body. As a result, the tag is easy to see even when the moving body moves and the size of the moving body displayed in the image changes. Therefore, it is possible to generate image data suitable for supporting the visual confirmation of the controller.

The block diagram of the control support device 10 which concerns on Embodiment 1. FIG. The flowchart which shows the operation of the control support apparatus 10 which concerns on Embodiment 1. An explanatory diagram of the operation of the control support device 10 according to the first embodiment. The block diagram of the control support device 10 which concerns on modification 1. FIG. The block diagram of the control support device 10 which concerns on Embodiment 2. The flowchart which shows the operation of the control support apparatus 10 which concerns on Embodiment 2. The figure which shows the information stored in the tag information storage part 61 which concerns on Embodiment 2. FIG. An explanatory diagram of the operation of the control support device 10 according to the second embodiment. An explanatory diagram of the operation of the control support device 10 according to the third embodiment. The block diagram of the control support device 10 which concerns on Embodiment 4. The flowchart which shows the operation of the control support apparatus 10 which concerns on Embodiment 4. An explanatory diagram of the operation of the control support device 10 according to the fourth embodiment. The flowchart of the superimposition image generation processing which concerns on Embodiment 4. The block diagram of the control support device 10 which concerns on Embodiment 5. The flowchart which shows the operation of the control support apparatus 10 which concerns on Embodiment 5. An explanatory diagram of the operation of the control support device 10 according to the fifth embodiment. The explanatory view of the operation of the control support device 10 which concerns on modification 3. FIG.

Embodiment 1.
*** Explanation of configuration ***
The configuration of the control support device 10 according to the first embodiment will be described with reference to FIG.
The control support device 10 is a computer.
The control support device 10 includes hardware such as a processor 11, a memory 12, a storage 13, and a communication interface 14. The processor 11 is connected to other hardware via a signal line and controls these other hardware.

The processor 11 is an IC (Integrated Circuit) that performs processing. Specific examples of the processor 11 are a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a GPU (Graphics Processing Unit).

The memory 12 is a storage device that temporarily stores data. As a specific example, the memory 12 is a SRAM (Static Random Access Memory) or a DRAM (Dynamic Random Access Memory).

The storage 13 is a storage device for storing data. As a specific example, the storage 13 is an HDD (Hard Disk Drive). The storage 13 includes SD (registered trademark, Secure Digital) memory card, CF (CompactFlash, registered trademark), NAND flash, flexible disk, optical disk, compact disk, Blu-ray (registered trademark) disk, DVD (Digital Versaille Disk), and the like. It may be a portable recording medium.

The communication interface 14 is an interface for communicating with an external device such as an input device and an output device. As a specific example, the communication interface 14 is a port of Ethernet (registered trademark), USB (Universal Serial Bus), HDMI (registered trademark, High-Definition Multimedia Interface).
The control support device 10 is connected to the sensor 41, the plurality of photographing devices 42, and the display device 43 via the communication interface 14.

The control support device 10 has a sensor acquisition unit 21, a tag generation unit 22, a distance calculation unit 23, a length determination unit 24, an image acquisition unit 25, a panorama generation unit 26, and a target detection as functional components. A unit 27 and a superimposed image generation unit 28 are provided. The functions of each functional component of the control support device 10 are realized by software.
The storage 13 stores a program that realizes the functions of each functional component of the control support device 10. This program is read into the memory 12 by the processor 11 and executed by the processor 11. As a result, the functions of each functional component of the control support device 10 are realized.

In FIG. 1, only one processor 11 is shown. However, the number of processors 11 may be plural, and the plurality of processors 11 may execute programs that realize each function in cooperation with each other.

*** Explanation of operation ***
The operation of the control support device 10 according to the first embodiment will be described with reference to FIGS. 2 and 3.
The operation procedure of the control support device 10 according to the first embodiment corresponds to the control support method according to the first embodiment. Further, the program that realizes the operation of the control support device 10 according to the first embodiment corresponds to the control support program according to the first embodiment.

(Step S11 in FIG. 2: Sensor acquisition process)
The sensor acquisition unit 21 acquires the sensor information generated by the sensor 41 via the communication interface 14.
The sensor information includes an identifier of each moving body 51 detected by the sensor 41, position information indicating the position and speed of the moving body 51, and moving body information regarding the moving body 51 transmitted from the moving body 51. In the first embodiment, the mobile body 51 is an aircraft. However, the moving body 51 may include a vehicle traveling at the airport or the like in addition to the aircraft.

(Step S12 in FIG. 2: Tag generation process)
The tag generation unit 22 generates a tag 52 for the target mobile body 51 from the sensor information acquired in step S11 for each mobile body 51 detected by the sensor 41.
The tag 52 indicates at least one of an identifier, position information, and mobile information about the target moving object 51, and is an image surrounded by a frame. In the first embodiment, the tag 52 includes an identifier, position information, and mobile information.

(Step S13 in FIG. 2: Distance calculation process)
The distance calculation unit 23 calculates the distance to the moving object 51 to be controlled, which is photographed by any of the photographing devices 42. Here, the distance calculation unit 23 calculates the distance to the target moving body 51 for each moving body 51 detected by the sensor 41.
Specifically, the distance calculation unit 23 identifies the main imaging device, which is the main imaging device 42, from the plurality of imaging devices 42 for the target moving body 51. When there is only one photographing device 42 that is photographing the target moving body 51, the distance calculation unit 23 specifies the photographing device 42 that is photographing the target moving body 51 as the main photographing device. When there are a plurality of photographing devices 42 that are photographing the target moving body 51, the distance calculation unit 23 has the highest priority shooting among the plurality of photographing devices 42 that are photographing the target moving body 51. The device 42 is specified as the main photographing device. For example, the higher the priority, the smaller the index is assigned to each photographing device 42. Then, the distance calculation unit 23 specifies the imaging device 42 having the smallest index among the plurality of imaging devices 42 that are photographing the target moving body 51 as the main photographing device.
The distance calculation unit 23 calculates the distance from the position of the main photographing device to the position of the target moving body 51 as the distance to the target moving body 51. The coordinate values indicating the positions of the imaging devices 42 are specified in advance. The coordinate value indicating the position of the target moving body 51 is specified from the position information included in the sensor information acquired in step S11.

(Step S14 in FIG. 2: Length determination process)
The length determining unit 24 determines the length of the leader line 53 for the moving body 51 to be controlled according to the distance calculated in step S13. Here, the length determining unit 24 determines the length of the leader line 53 for the target moving body 51 according to the distance to the target moving body 51 for each moving body 51 detected by the sensor 41. do.
Specifically, the length determining unit 24 increases the length of the leader line 53 for the target moving body 51 as the distance to the target moving body 51 is shorter. Here, the length l of the leader line 53 is calculated by the equation 1.
(Equation 1) l = L × (1- (d / D))
L is the maximum length of the leader wire 53. d is the distance to the target moving body 51. D is a threshold. Here, d ≦ D. The condition of d ≦ D may be eliminated, and l may be set as the minimum value when d> D. The minimum value is, for example, 0.

(Step S15 in FIG. 2: Image acquisition process)
The image acquisition unit 25 acquires image data obtained by being photographed by each photographing device 42 via the communication interface 14. Each photographing device 42 is installed so as to photograph the airport and the vicinity of the airport. Each photographing device 42 is installed so that the photographing area is slightly shifted so that a part of the photographing area overlaps.

(Step S16 in FIG. 2: Panorama generation process)
The panorama generation unit 26 synthesizes the image data acquired in step S15 to generate a panoramic image which is image data obtained by photographing the entire photographing area of each photographing apparatus 42. As a method of synthesizing image data, an existing method may be used.

(Step S17 in FIG. 2: Target detection process)
The target detection unit 27 detects the moving body 51 to be controlled from the panoramic image generated in step S16.
Specifically, the target detection unit 27 detects the moving object 51 to be controlled from the panoramic image by a method such as using template matching or using an object detection model using a neural network.

(Step S18 in FIG. 2: Superimposed image generation process)
The superimposed image generation unit 28 superimposes and displays a leader line 53 having a length determined in step S14 from the position of the moving body 51 in the image data on the image data photographed by the photographing apparatus 42. A superimposed image is generated in which the tag 52 generated in step S12 is superimposed and displayed at the tip of the leader line 53.
Specifically, the superimposed image generation unit 28 targets each moving body 51 detected by the sensor 41, and panoramics the position indicated by the position information of the target moving body 51 included in the sensor information acquired in step S11. It is converted into pixel information indicating the position of a pixel on the image. The superimposed image generation unit 28 sets the root of the leader line 53 at the position indicated by the pixel information, and superimposes and displays the leader line 53 having the length determined in step S14 on the panoramic image. The superimposed image generation unit 28 sets the tip of the leader line 53 so that the reference point of the tag 52 generated in step S12 overlaps, and displays the tag 52 superimposed on the panoramic image.
Then, the superimposed image generation unit 28 outputs the superimposed image to the display device 43 and displays it via the communication interface 14.

As shown in FIG. 3, the shorter the distance from the photographing device 42, the longer the length of the leader line 53 for indicating the tag 52.

*** Effect of Embodiment 1 ***
As described above, the control support device 10 according to the first embodiment generates a superimposed image in which the tag 52 is displayed by using the leader line 53 having a length corresponding to the distance to the moving body 51. As a result, the tag 52 is easy to see even when the moving body 51 moves and the size of the moving body 51 displayed in the image changes. Therefore, it is possible to generate image data suitable for supporting the visual confirmation of the controller.

The moving body 51 is moving. When the moving body 51 is moving at the same speed, the closer the moving body 51 is, the larger the movement is in the image data. Therefore, an error is likely to occur in the position indicated by the position information included in the sensor information. If the length of the leader line 53 is short when an error occurs in the position indicated by the position information, the moving body 51 and the tag 52 may overlap with each other. On the other hand, the farther the moving body 51 is, the smaller it is displayed in the image data. Therefore, if the length of the leader wire 53 is long, it may be difficult to understand the correspondence between the moving body 51 and the tag 52.
In the control support device 10 according to the first embodiment, the shorter the distance to the moving body 51, the longer the length of the lead wire. Therefore, for the moving body 51 where the distance is short and the position error is likely to occur, a long leader line is used to prevent the moving body 51 and the tag 52 from overlapping with each other. On the other hand, for the moving body 51 which is displayed at a long distance and a small distance, a short leader line is used, which makes it easy to understand the correspondence between the moving body 51 and the tag 52.
As a result, it is possible to shorten the time for gazing at each moving body 51, and it is possible to improve the work efficiency of the visual confirmation of the controller.

*** Other configurations ***
<Modification 1>
In the first embodiment, each functional component is realized by software. However, as a modification 1, each functional component may be realized by hardware. The difference between the first modification and the first embodiment will be described.

The configuration of the control support device 10 according to the first modification will be described with reference to FIG. 4.
When each functional component is realized by hardware, the control support device 10 includes an electronic circuit 15 instead of the processor 11, the memory 12, and the storage 13. The electronic circuit 15 is a dedicated circuit that realizes the functions of each functional component, the memory 12, and the storage 13.

Examples of the electronic circuit 15 include a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA (Gate Array), an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable Gate Array). is assumed.
Each functional component may be realized by one electronic circuit 15, or each functional component may be distributed and realized by a plurality of electronic circuits 15.

<Modification 2>
As a modification 2, some functional components may be realized by hardware, and other functional components may be realized by software.

The processor 11, the memory 12, the storage 13, and the electronic circuit 15 are referred to as a processing circuit. That is, the function of each functional component is realized by the processing circuit.

Embodiment 2.
The second embodiment is different from the first embodiment in that the information shown on the tag 52 is determined according to the distance to the moving body 51. In the second embodiment, these different points will be described, and the same points will be omitted.

*** Explanation of configuration ***
The configuration of the control support device 10 according to the second embodiment will be described with reference to FIG.
The control support device 10 differs from the control support device 10 shown in FIG. 1 in that it includes an information determination unit 29 as a functional component. The information determination unit 29 is realized by software or hardware like other functional components.
Further, the control support device 10 is different from the control support device 10 shown in FIG. 1 in that the storage 13 realizes the tag information storage unit 61. The tag information storage unit 61 stores the information indicated by the tag 52 for each distance to the moving body 51.

*** Explanation of operation ***
The operation of the control support device 10 according to the second embodiment will be described with reference to FIGS. 6 to 8.
The operation procedure of the control support device 10 according to the second embodiment corresponds to the control support method according to the second embodiment. Further, the program that realizes the operation of the control support device 10 according to the second embodiment corresponds to the control support program according to the second embodiment.

The process of step S21 of FIG. 6 is the same as the process of step S11 of FIG. The process from step S23 to step S24 in FIG. 6 is the same as the process from step S13 to step S14 in FIG. The process from step S26 to step S28 in FIG. 6 is the same as the process from step S15 to step S17 in FIG.

(Step S22 in FIG. 6: Tag generation process)
Similar to step S12 in FIG. 2, the tag generation unit 22 generates a tag 52 for each moving body 51 for each moving body 51. At this time, the tag generation unit 22 generates a tag 52 indicating information according to the distance of the target moving body 51 for each distance to the moving body 51.

For example, as shown in FIG. 7, it is assumed that the distance to the moving body 51 is divided into three patterns in the tag information storage unit 61, and the information indicated by the tag 52 is set for each pattern. In this case, the tag generation unit 22 generates tags 52 for each of the three patterns for the target mobile body 51.
In FIG. 7, in the case of pattern 1, a tag 52 indicating information in which 1 is set in the pattern is displayed, and in the case of pattern 2, a tag 52 indicating information in which 1 or 2 is set in the pattern is displayed. Is displayed, and in the case of the pattern 3, it is assumed that the tag 52 indicating the information in which 1, 2 or 3 is set in the pattern is displayed. In FIG. 7, the distance is pattern 1 <pattern 2 <pattern 3. Therefore, the closer the distance to the moving body 51, the more information the tag 52 will show.

(Step S25 in FIG. 6: Information determination process)
The information determination unit 29 determines the information indicated by the tag 52 for the mobile body 51 to be controlled according to the distance calculated in step S23.
Specifically, the information determination unit 29 refers to the tag information storage unit 61 and identifies the information corresponding to the distance calculated in step S23. When the information shown in FIG. 7 is stored in the tag information storage unit 61, the information determination unit 29 specifies the information corresponding to the distance by specifying the pattern corresponding to the distance calculated in step S23. do.

(Step S29 in FIG. 6: Superimposed image generation process)
Similar to step S18 in FIG. 2, the superimposed image generation unit 28 superimposes and displays the leader line 53 on the image data, and generates a superimposed image in which the tag 52 is superimposed and displayed on the tip of the leader line 53. At this time, the superimposed image generation unit 28 superimposes and displays the tag 52 indicating the information determined in step S25 among the tags 52 generated for the target moving body 51.

For example, as shown in FIG. 8, the shorter the distance to the moving body 51, the more information is displayed.

*** Effect of Embodiment 2 ***
As described above, the control support device 10 according to the second embodiment displays information according to the distance to the moving body 51. This makes it possible to generate image data suitable for assisting the visual confirmation of the controller.
Here, the amount of information that the user wants to use differs depending on the distance to the moving body 51. For example, when the distance to the moving body 51 is short, there is a high possibility that the landing is approaching or is in the process of landing. Therefore, the controller is likely to want to know a lot of information about the mobile 51. The control support device 10 according to the second embodiment can display information in line with the request of the controller.

Embodiment 3.
The third embodiment is different from the first and second embodiments in that the tag 52 for the moving body 51 having a short distance is displayed on the front surface when the tags 52 overlap in the image data. In the third embodiment, these different points will be described, and the same points will be omitted.
In the third embodiment, a case where a function is added to the first embodiment will be described. However, it is also possible to add a function to the second embodiment.

*** Explanation of operation ***
The operation of the control support device 10 according to the third embodiment will be described with reference to FIGS. 2 and 9.
The operation procedure of the control support device 10 according to the third embodiment corresponds to the control support method according to the third embodiment. Further, the program that realizes the operation of the control support device 10 according to the third embodiment corresponds to the control support program according to the third embodiment.

The processes from step S11 to step S17 in FIG. 2 are the same as those in the first embodiment.

(Step S18 in FIG. 2: Superimposed image generation process)
Similar to the first embodiment, the superimposed image generation unit 28 generates a superimposed image in which the leader line 53 is superimposed and displayed on the image data and the tag 52 is superimposed and displayed on the tip of the leader line 53. At this time, the superimposed image generation unit 28 superimposes and displays the leader line 53 and the tag 52 on the target moving body 51 in order from the moving body 51 having the longest distance calculated in step S13. The later it is superimposed and displayed, the higher the display layer is and the more it is displayed on the front side.

As a result, as shown in FIG. 9, the tag 52 for the moving body 51 having a short distance is displayed on the front side.

*** Effect of Embodiment 3 ***
As described above, the control support device 10 according to the third embodiment displays the tag 52 for the close mobile body 51 on the front side. As a result, it becomes possible to easily recognize the perspective, and it is possible to suppress the occurrence of erroneous recognition.

Embodiment 4.
The fourth embodiment is different from the first to third embodiments in that when the emergency information regarding the moving body 51 is acquired, the mark 54 corresponding to the emergency information is superimposed and displayed. In the fourth embodiment, these different points will be described, and the same points will be omitted.
In the fourth embodiment, a case where a function is added to the first embodiment will be described. However, it is also possible to add functions to embodiments 2 and 3.

*** Explanation of configuration ***
The configuration of the control support device 10 according to the fourth embodiment will be described with reference to FIG. 10.
The control support device 10 differs from the control support device 10 shown in FIG. 1 in that the control support device 10 includes an emergency information acquisition unit 30 as a functional component. The emergency information acquisition unit 30 is realized by software or hardware like other functional components.

*** Explanation of operation ***
The operation of the control support device 10 according to the fourth embodiment will be described with reference to FIGS. 11 to 13.
The operation procedure of the control support device 10 according to the fourth embodiment corresponds to the control support method according to the fourth embodiment. Further, the program that realizes the operation of the control support device 10 according to the fourth embodiment corresponds to the control support program according to the fourth embodiment.

The process from step S31 to step S37 in FIG. 11 is the same as the process from step S11 to step S17 in FIG.

(Step S38 in FIG. 11: Emergency information acquisition process)
The emergency information acquisition unit 30 acquires emergency information about the mobile body 51 via the communication interface 14.
Specifically, the emergency information acquisition unit 30 acquires emergency information issued from the mobile body 51 or emergency information issued from an external system of the control support device 10. The emergency information includes the content and the identifier of the mobile body 51.

(Step S39 in FIG. 11: Superimposed image generation process)
Similar to step S18 in FIG. 2, the superimposed image generation unit 28 superimposes and displays the leader line 53 on the image data, and generates a superimposed image in which the tag 52 is superimposed and displayed on the tip of the leader line 53. At this time, the superimposed image generation unit 28 superimposes and displays the mark 54 corresponding to the urgent information on the tag 52 of the moving body 51 for which the urgent information was received in step S38.

For example, as shown in FIG. 12, the superimposed image generation unit 28 superimposes and displays a mark 54 indicating emergency information in the vicinity of the tag 52. The superimposed image generation unit 28 may add a mark 54 indicating emergency information to the tag 52.

The superimposed image generation process (step S39 in FIG. 11) according to the fourth embodiment will be described with reference to FIG.
(Step S391: Target selection process)
The superimposed image generation unit 28 selects the moving body 51 to be processed from each moving body 51 detected by the sensor 41. The superimposed image generation unit 28 ends the processing when there is no unprocessed moving body 51.

(Step S392: Information determination process)
The superimposed image generation unit 28 determines whether or not emergency information has been acquired in step S38 for the target moving body 51 selected in step S391.
Specifically, when the superimposed image generation unit 28 acquires the emergency information including the same identifier as the identifier of the target moving body 51 included in the sensor information, the emergency information is acquired for the target moving body 51. It is determined that it is. On the other hand, if this is not the case, the superimposed image generation unit 28 determines that emergency information has not been acquired for the target moving object 51.
If the urgent information has been acquired, the superimposed image generation unit 28 advances the process to step S393. On the other hand, if the superimposed image generation unit 28 has not acquired the emergency information, the process proceeds to step S394.

(Step S393: Tag processing)
The superimposed image generation unit 28 changes the design of the tag 52 for the target moving body 51 according to the content of the emergency information acquired for the target moving body 51.
Specifically, the superimposed image generation unit 28 adds the mark 54 to the tag 52 according to the content of the emergency information. The mark 54 may be added as additional information to the outside of the tag 52.

(Step S394: Superimposed display process)
The superimposed image generation unit 28 converts the position indicated by the position information of the target moving body 51 into the pixel information indicating the position of the pixel on the panoramic image. Then, the superimposed image generation unit 28 superimposes and displays the leader line 53 and the tag 52 on the panoramic image.

*** Effect of Embodiment 4 ***
As described above, the control support device 10 according to the fourth embodiment superimposes and displays the mark 54 according to the emergency information. This makes it easy to recognize the occurrence of an emergency.

Embodiment 5.
The fifth embodiment is different from the first to fourth embodiments in that the tag 52 is superimposed and displayed in the direction corresponding to the traveling direction of the moving body 51. In the fifth embodiment, these different points will be described, and the same points will be omitted.
In the fifth embodiment, a case where a function is added to the first embodiment will be described. However, it is also possible to add functions to the second to fourth embodiments.

*** Explanation of configuration ***
The configuration of the control support device 10 according to the fifth embodiment will be described with reference to FIG.
The control support device 10 is different from the control support device 10 shown in FIG. 1 in that the control support device 10 includes a traveling direction specifying unit 31 as a functional component. The traveling direction specifying unit 31 is realized by software or hardware like other functional components.

*** Explanation of operation ***
The operation of the control support device 10 according to the fifth embodiment will be described with reference to FIGS. 15 to 16.
The operation procedure of the control support device 10 according to the fifth embodiment corresponds to the control support method according to the fifth embodiment. Further, the program that realizes the operation of the control support device 10 according to the fifth embodiment corresponds to the control support program according to the fifth embodiment.

The processing of steps S41 to S44 of FIG. 15 is the same as the processing of steps S11 to S14 of FIG. Further, the process from step S46 to step S48 in FIG. 15 is the same as the process from step S15 to step S17 in FIG.

(Step S45 in FIG. 15: Travel direction specifying process)
The traveling direction specifying unit 31 specifies the traveling direction of the moving body 51 to be controlled. Here, the traveling direction specifying unit 31 specifies the traveling direction for each moving body 51 detected by the sensor 41 from the history of the position indicated by the position information of the target moving body 51 included in the sensor information.

(Step S49 in FIG. 15: Superimposed image generation process)
Similar to the first embodiment, the superimposed image generation unit 28 generates a superimposed image in which the leader line 53 is superimposed and displayed on the image data and the tag 52 is superimposed and displayed on the tip of the leader line 53. At this time, as shown in FIG. 16, the superimposed image generation unit 28 superimposes and displays the leader line 53 from the position of the target moving body 51 in the image data in the direction corresponding to the traveling direction specified in step S45. .. In FIG. 16, the leader line 53 is superimposed and displayed in the traveling direction from the position of the target moving body 51. Then, the tag 52 is superimposed and displayed at the tip of the leader line 53.

*** Effect of Embodiment 5 ***
As described above, the control support device 10 according to the fifth embodiment superimposes and displays the tag 52 in the direction corresponding to the traveling direction of the moving body 51. Thereby, the traveling direction of the moving body 51 can be easily specified.

*** Other configurations ***
<Modification 3>
When the moving body 51 is an aircraft, the traveling direction specifying unit 31 may specify the approaching direction in which the aircraft enters the runway as the traveling direction. Then, the superimposed image generation unit 28 may superimpose and display the leader line 53 in the direction corresponding to the approach direction from the position of the aircraft in the image data. For example, as shown in FIG. 17, the superimposed image generation unit 28 may superimpose and display the leader line 53 on the side opposite to the approaching runway.

The embodiments and modifications of the present disclosure have been described above. Some of these embodiments and modifications may be combined and carried out. In addition, any one or several may be partially carried out. The present disclosure is not limited to the above embodiments and modifications, and various modifications can be made as necessary.

10 Control support device, 11 Processor, 12 Memory, 13 Storage, 14 Communication interface, 15 Electronic circuit, 21 Sensor acquisition unit, 22 Tag generation unit, 23 Distance calculation unit, 24 Length determination unit, 25 Image acquisition unit, 26 Panorama Generation unit, 27 target detection unit, 28 superimposed image generation unit, 29 information determination unit, 30 emergency information acquisition unit, 31 traveling direction identification unit, 41 sensor, 42 imaging device, 43 display device, 51 moving object, 52 tag, 53 Leader line, 54 marks, 61 tag information storage.

Claims (9)

A distance calculation unit that calculates the distance to the moving object to be controlled, which was shot by the shooting device,
A length determination unit that determines the length of the leader line according to the distance calculated by the distance calculation unit, and a length determination unit.
The leader line of the length determined by the length determining unit is superimposed and displayed on the image data obtained by being photographed by the photographing device from the position of the moving body in the image data, and the leader line is displayed. A control support device including a superimposed image generation unit that generates a superimposed image in which a tag indicating information about the moving body is superimposed and displayed at the tip of the above. The control support device according to claim 1, wherein the length determining unit increases the length as the distance becomes shorter. The control support device further
It is provided with an information determination unit that determines the information indicated by the tag according to the distance.
The control support device according to claim 1, wherein the superimposed image generation unit superimposes and displays the tag indicating the information determined by the information determination unit. The image data includes a plurality of moving objects, and the image data includes a plurality of moving objects.
The distance calculation unit calculates the distance to the target moving body by using each of the plurality of moving bodies as the target moving body.
The length determining unit determines the length of the target moving body according to the distance to the target moving body, with each of the plurality of moving bodies as the target moving body.
The superimposed image generation unit uses each of the plurality of moving objects as the target moving object, and has the length of the target moving object from the position of the target moving object in the image data with respect to the image data. A superimposed image is generated in which a leader line is superimposed and displayed, and a tag indicating information about the target moving object is superimposed and displayed at the tip of the leader line so that the tag indicating information about the moving object closer to the distance is in front of the tag. The control support device according to any one of claims 1 to 3. The control support device further
It is equipped with an emergency information acquisition unit that acquires emergency information about the moving object.
The superimposed image generation unit is any one of claims 1 to 4 for generating the superimposed image in which the mark corresponding to the emergency information acquired by the emergency information acquisition unit is superimposed and displayed on the image data. The control support device according to item 1. The control support device further
A traveling direction specifying portion for specifying the traveling direction of the moving body is provided.
The superimposed image generation unit superimposes and displays the leader line in a direction corresponding to the traveling direction specified by the traveling direction specifying unit from the position of the moving body in the image data according to claims 1 to 5. The control support device according to any one of the items. The moving body is an aircraft.
The traveling direction specifying unit specifies the approach direction in which the aircraft enters the runway as the traveling direction.
The control according to claim 6, wherein the superimposed image generation unit superimposes and displays the leader line in a direction corresponding to the approach direction specified by the traveling direction specifying unit from the position of the aircraft in the image data. Support device. The distance calculation unit calculates the distance to the moving object to be controlled, which is captured by the imaging device.
The length determination unit determines the length of the lead wire according to the distance.
The superimposed image generation unit superimposes and displays a leader line of the length from the position of the moving body in the image data on the image data obtained by being photographed by the photographing device, and at the tip of the leader line. A control support method for generating a superimposed image in which a tag indicating information about a moving object is superimposed and displayed. Distance calculation processing that calculates the distance to the moving object to be controlled taken by the photographing device,
A length determination process for determining the length of the leader line according to the distance calculated by the distance calculation process, and a length determination process.
The leader line of the length determined by the length determination process is superimposed and displayed on the image data obtained by being photographed by the photographing device from the position of the moving body in the image data, and the leader line is displayed. A control support program that causes a computer to function as a control support device that performs a superimposed image generation process that generates a superimposed image in which a tag indicating information about the moving object is superimposed and displayed.

Images