JP2000180100A - Nighttime unmanned reconnaissance device - Google Patents

Abstract

(57) [Summary] [Problem] To provide a nighttime unmanned reconnaissance device that can accurately grasp the three-dimensional shape of an object without requiring expensive electronic equipment. [Solution] Fly unmanned reconnaissance aircraft 1 while maintaining altitude H,
Active distance measuring means consisting of a pulse laser oscillator 5 and a beam scanner 6 measures the separation distance (T / 2) C from the ground, and finds the ground height Z at that point from the relationship with the flight altitude H, Ground control device 2 with current position data X and Y of GPS device 3
Is repeatedly executed in a predetermined cycle. The ground controller receives the (X, Y, Z) data in real time, generates a curve connecting successively sent coordinate values (X, Y, Z) one after another, Is displayed on a monitor in real time as a wireframe model representing

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned reconnaissance device, and more particularly to an improvement of a nighttime unmanned reconnaissance device.

[0002]

2. Description of the Related Art There is known an unmanned reconnaissance device including an unmanned reconnaissance aircraft wirelessly controlled by a ground control device and a ground control device for collecting, analyzing, and displaying information acquired by the unmanned reconnaissance aircraft. In the case of an unmanned reconnaissance device for daytime, as a means for collecting information such as terrain, it is common to use a radar device, a television camera, or the like mounted on an unmanned reconnaissance aircraft.

[0003]

However, in the case of an unmanned reconnaissance device for night use, there is a problem such as insufficient light quantity, and even if a television camera or the like is mounted on the unmanned reconnaissance device, it cannot be put to practical use. Of course, if an unmanned reconnaissance aircraft equipped with a radar device is used, it can withstand practical use as an unmanned reconnaissance device for night use, but because the equipment is expensive, if the place with high risk is a reconnaissance area, There is a drawback that the economic burden increases if the aircraft or equipment is damaged. In particular, if this is to be used for civil research such as academic research and disaster relief, economic problems will be at a standstill, and a problem arises in that the nighttime unmanned reconnaissance device cannot be fully utilized.

Although a relatively inexpensive nighttime unmanned reconnaissance device using an infrared sensor or the like for detecting a heat source is also known, in this kind of conventional technology, an object having no heat source or an object having heat shut off is known. Cannot be detected. Even if the heat source could be detected, only the direction in which the heat source was located would be clarified, and information on the distance would be lacking, which was useful for grasping the three-dimensional shape of the object. There is a problem that there is no.

[0005]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to eliminate the disadvantages of the prior art, eliminate the need for expensive electronic equipment such as a radar device, and accurately grasp the three-dimensional shape of an object. A nighttime unmanned reconnaissance device.

[0006]

SUMMARY OF THE INVENTION The present invention provides a flight altitude adjusting means for flying while maintaining a set altitude, a current position detecting means for detecting a current flight position, and a predetermined distance from the ground. Active distance measuring means for measuring at every cycle, calculating means for calculating the height of the ground surface based on the separation distance measured by the distance measuring means and the set altitude, and detected by the current position detecting means. A wireless transmitting means for transmitting the information of the current flight position and the ground surface height calculated by the arithmetic means to the ground control device in real time, and the wireless control means on the side of the ground control device. Receiving means for receiving the information on the current flight position and the ground surface height transmitted from the computer, and calculates the contour of the terrain in real time based on the information on the current flight position and the ground surface height received by the receiving means An image processing means, to achieve the above objects by structure, characterized in that a and terrain display means for three-dimensionally graphically displays the contour of the terrain, which is calculated by the image processing means (claim 1).

[0007] Further, a calculation means for calculating the height of the ground surface based on the separation distance and the set altitude is provided on the ground control device side, and information on the separation distance is transmitted from the unmanned reconnaissance aircraft to the ground control device. Thus, the ground control device may execute the arithmetic processing of the ground surface height (claim 2).

An inexpensive distance measuring means such as a pulse laser oscillator or a beam scanner is used as an active distance measuring means mounted on an unmanned reconnaissance aircraft.

Further, information relating to the speed and attitude of the unmanned reconnaissance aircraft may be fed back from the unmanned reconnaissance aircraft to the ground control device and transmitted, and correction processing may be performed by flight control of the unmanned reconnaissance aircraft by the ground control device. (Claims 5 and 6). As a result, the accuracy of the position and altitude of the drone itself improves, so that the measurement accuracy of the ground level height calculated based on such information can also be proportionately improved.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a functional block diagram schematically showing a main part of the drone 1 and FIG. 2 is a functional block diagram schematically showing a main part of the ground control device 2.

As shown in FIG. 1, the unmanned reconnaissance aircraft 1 constitutes a GPS device (Global Positioning System) 3 as current position detecting means for detecting its own current flight position and a part of flight altitude adjusting means. Barometric altimeter 4, and pulse laser oscillator 5 and beam scanner 6, which constitute an active type distance measuring means, the distance between the ground surface measured by pulse laser oscillator 5 and beam scanner 6, and flight set by barometric altimeter 4. An arithmetic unit 7 as arithmetic means for calculating the ground height based on altitude, and a transponder 8 for transmitting and receiving information and control signals between the unmanned reconnaissance aircraft 1 and the ground control device 2 The transponder 8 also functions as a wireless transmission unit for transmitting information on the current flight position and the ground level to the ground control device 2 in real time.

As is well known, the GPS device 3 is a device for acquiring the current position of the unmanned reconnaissance aircraft 1 as information of latitude (X) and longitude (Y) using satellite communication. A receiving antenna 9 is provided.

The altimeter 4 is preset with a flight altitude (H) at which the unmanned reconnaissance aircraft 1 is to fly.
The lift system is automatically controlled with the set flight altitude (H) as the target value, and the flight is maintained at the set flight altitude (H). The barometric altimeter 4 that detects the flight altitude detects altitude based on the atmospheric pressure at the current flight position until it gets tired, so the unmanned reconnaissance aircraft 1 always goes from the ground surface reference level (standard point) regardless of the unevenness of the ground surface. The aircraft will fly while keeping the altitude at the set flight altitude (H).

A pulse laser oscillator serving as a distance measuring means
5 and the beam scanner 6, the flight attitude of the drone 1,
For example, regardless of the tilt in the machine axis direction when ascending or descending or the roll angle when turning, the optical axis is always on the ground surface (reference plane).
The attitude is controlled so that it is perpendicular to the
The distance measurement operation is performed in response to a command from the device.

In the concrete distance measurement of the distance to the ground using the pulse laser oscillator 5 and the beam scanner 6, the laser beam emitted from the pulse laser oscillator 5 toward the ground is reflected by the ground and detected by the beam scanner 6. This is done by measuring the required time (T) until the start. In other words, the time required for the laser beam to reach the surface of the ground is half of the round-trip time, that is, (T / 2), so if the propagation speed of the laser beam is C, the separation distance between the unmanned reconnaissance aircraft 1 and the ground surface Is
(T / 2) ・ C, and since the flight altitude (H) of the drone 1 is constant, the height (Z) of the ground point targeted for ranging at that time
Assuming that the height of the reference plane is altitude 0, as shown in FIG.
H− (T / 2) · C. This processing is performed by the arithmetic unit 7, and the arithmetic unit 7 further reads the latitude (X) and longitude (Y) coordinates, which are the current position information of the unmanned reconnaissance aircraft 1 at the time of ranging, from the GPS device 3, and reads the ground surface. Point height (Z)
Encoding with the calculation result of transponder 3
Then, the signal is wirelessly transmitted to the ground control device 2 via the onboard transmitting / receiving antenna 10.

In this embodiment, the current flight speed value is further obtained from a speedometer or an attitude meter provided as standard equipment in the drone 1.
(V), inclination of machine axis with respect to horizontal plane (P) and roll angle
(R) and other data that can be obtained are read, and the latitude (X)
The data is transmitted to the ground control device 2 in real time, together with the data of the longitude (Y) and the ground surface height (Z).

On the other hand, on the side of the ground control device 2, the latitude (X) and longitude transmitted from the transponder 8 of the drone 1
(Y), Surface Height (Z), Current Flight Speed (V), Inclination in Axial Direction
(P), a transmitting / receiving unit 11 also serving as a receiving means for receiving various information such as a roll angle (R) and a ground transmitting / receiving antenna 12 are provided, and an encoder / decoder unit for encryption and decryption at the time of transmission / reception is further provided. 13, and the latitude (X), longitude (Y), image processing unit 14 also serving as image processing means and terrain display means to calculate the contour of the terrain in real time based on each information of the ground surface (Z), and A control unit 15 for navigation control is provided. The image processing unit 14 is provided with a monitor for graphic display, and the control unit 15 is provided with a CPU for flight control and RAM for temporary storage of data, and an unmanned reconnaissance aircraft via the transmission / reception unit 11. Latitude (X), longitude received from 1
Non-volatile storage means for storing data such as (Y) and ground surface height (Z) is provided, for example, a hard disk.

In the case of this embodiment, no program relating to the flight path is stored on the unmanned reconnaissance aircraft 1 side, and guidance control to the reconnaissance area is performed by a flight program stored in advance in the control unit 15 of the ground control device 2. The control of the flight route in the reconnaissance area and the guidance control from the reconnaissance area to the collection point are performed. Therefore, drone 1
Even if the information is collected by a third party due to a crash or other circumstances, information on the coordinates of the reconnaissance area does not leak to the third party. Also, the terrain information acquired by the drone 1 is not stored in the drone 1 itself, but is immediately deleted after being transferred to the ground control device 2 in real time. The terrain information will not be extracted even if you retrieve the.

The guidance control to the reconnaissance area, the control of the flight path in the reconnaissance area, and the guidance control from the reconnaissance area to the collection point are performed by various data acquired by the ground control device 2 in communication with the unmanned reconnaissance aircraft 1. That is, the current flight speed (V), the inclination of the aircraft axis
(P), the control unit 15 performs based on the data such as the roll angle (R) and the flight program described above, and the reconnaissance aircraft control signal for flight control generated by the control unit 15 is transmitted to the encoder / decoder unit 13. The encoded data is sent to the drone 1 via the transmitting / receiving unit 11 and the ground transmitting antenna 12. Upon receiving this, the unmanned reconnaissance aircraft 1 decodes the signal with the transponder 8, and performs only adaptive control of the steering system and the engine output system according to the reconnaissance aircraft control signal. Signals sent from the ground control device 2 to the unmanned reconnaissance aircraft 1 include, in addition to a reconnaissance aircraft control signal for flight control, a scan start signal for starting a ranging operation by the pulse laser oscillator 5 and the beam scanner 6, And a scan completion signal for completing the distance measuring operation.

FIGS. 7 and 8 are plan views conceptually showing an example of a flight path programmed in the control unit 15. FIG. 7 and 8, the point Q0 is the flight start position, and the point Q0
The section from point Q1 is the approach route to the reconnaissance area, the section from point Q1 to point Q2 is the flight path in the reconnaissance area, the section from point Q2 to point Q3 is the recovery flight path for unmanned reconnaissance aircraft 1, Q3
The point is the recovery target point of the drone 1. Of course, Q0 point and Q
The three points may have the same coordinates. It does not matter what route the drone 1 flies in the section from the point Q1 to the point Q2, for example, as shown in FIG. 7 or FIG.
It is necessary to fly in such a way that the flight path of the drone 1 covers the reconnaissance area. Further, within the reconnaissance area where the ranging operation using the pulse laser oscillator 5 and the beam scanner 6 is performed, as described above, the flight altitude of the unmanned reconnaissance aircraft 1 is set to the flight altitude (H) set by the barometric altimeter 4.
Need to be kept. However, it is possible to treat the set value (H) itself as a parameter.
(H) can be changed to H1, H2, H3, ...
If, for example, 1, H2, H3, ..., etc. are sent to the calculation unit 4 in real time to execute the above-described calculation formula of Z = H− (T / 2) · C, no measurement problem occurs. . In other words, even if the value of the altitude (H), which is the measurement reference in FIG. That is, no trouble occurs.

The unmanned reconnaissance aircraft 1 repeatedly executes a distance measurement process for obtaining the ground surface height (Z) at predetermined intervals while flying in the reconnaissance area. Therefore, as shown in FIG. 7 and FIG. For each unspecified number of measurement locations scattered in the reconnaissance area, the value of the ground height (Z) is obtained, and the latitude (X) corresponding to the measurement point
The coordinates and the longitude (Y) are transmitted to the ground control device 2 in real time. Upon receiving this, the ground control device 2 connects the points specified by the three-dimensional coordinates (X, Y, Z) one after another, and obtains a trajectory such as a Bezier curve or a cubic curve using these points as anchor points. The image is displayed on a monitor of the image processing unit 14 in real time as a wire frame model or a surface model showing the contour of the terrain. FIG. 9 shows an example of a wireframe model generated in real time when the drone 1 flies along the flight program of FIG. 7, and the drone 1 flies along the flight program of FIG. FIG. 10 shows an example of a wire frame model generated in real time.

On the side of the ground controller 2, the values of the three-dimensional coordinates (X, Y, Z) transmitted by the unmanned reconnaissance aircraft 1 one after another are stored in a file in a non-volatile storage means such as a hard disk. After the flight in the reconnaissance area by the UAV 1 is completed,
By performing record sorting based on the plane coordinates of the (Y, Z) data field, the latitude axis X
It is also possible to generate and display a mesh-like wireframe model as shown in FIG. 11, which simultaneously shows a change in the contour of the terrain along the longitudinal axis and a change in the contour of the terrain along the longitude axis Y. Further, a publicly-known rendering process may be performed on the mesh-shaped wire frame model once displayed to draw a more realistic surface model.

Although there is a possibility that a certain degree of tolerance may be generated between the drone 1 and the flight path by the flight program due to the flow of the drone due to the influence of the airflow or the like, even if the drone 1 goes off the course, Since the current position of the drone 1 itself acquired by the GPS device 3 is sent to the ground control device 2 in real time together with the ground height (Z) as the coordinates of the latitude (X) and longitude (Y), The correspondence between the height (Z) and the latitude (X) and longitude (Y) that are the measurement points is unmanned reconnaissance aircraft
Independent of the flight error of 1, the terrain wireframe is always displayed along the actual terrain surface. In short, even if the drone 1 goes off the course, only the sampling position of the anchor point of the curve forming the wire frame shifts, and the three-dimensional shape indicated by the plurality of curves forming the wire frame does not change. That's what it means.

FIGS. 3 and 4 are flow charts showing the outline of flight control by the CPU provided on the ground control device 2, and FIGS. 5 and 6 are flow charts showing the measurement by the CPU provided on the unmanned reconnaissance aircraft 1. It is a flowchart which shows the outline of distance processing. Hereinafter, the overall processing flow of the night unmanned reconnaissance device including the unmanned reconnaissance aircraft 1 and the ground control device 2 will be described with reference to FIGS.

The ground control device 2 which has started flight control in accordance with the processing of FIGS. 3 and 4 first sets 0 to a flight status storage flag F for confirming the flight status of the unmanned reconnaissance aircraft 1, and performs the first reconnaissance. Encodes the machine control signal and sends and receives
And transmitting to the drone 1 via the ground transmitting antenna 12 (step a1), and the signal from the drone 1
It is determined whether it has been received in step 1 (step a2). Here, the reconnaissance aircraft control signal is exclusively information relating to the control of the steering system of the unmanned reconnaissance aircraft 1, the engine output, and the like, and the contents thereof are stored in advance in the control unit 15 as a flight program. The setting process of the flight state storage flag F will be described later in detail, but as a result, if the value of the flight state storage flag F is 0, the unmanned reconnaissance aircraft 1 will approach the route from the point Q0 to the point Q1. Means that the unmanned reconnaissance aircraft 1 is in Q1 if the value of the flight state storage flag F is 1.
It means that you are flying in the reconnaissance area in the section from point to point Q2. If the value of the flight state storage flag F is 2, the unmanned reconnaissance aircraft 1 is flying on the recovery flight route in the section from the point Q2 to the point Q3 (see FIG. 5).

If the result of the determination in step a2 is false, that is, if there is no response from the unmanned reconnaissance aircraft 1, the ground control device 2 repeatedly executes the determination process in step a2 as it is. Enters a waiting state waiting for a signal from the drone 1.

On the other hand, a CPU provided on the side of the drone 1
Starts the process shown in FIGS. 5 and 6 simultaneously with the start of the flight, first sets the flight status storage flag F 'to 0 (step b1), and the signal from the ground control device 2 8 to determine if it is received
(Step b2). The setting process of the flight state storage flag F 'will be described in detail later, but as a result, the flight state storage flag
If the value of F 'is 0, it means that drone 1 is flying on the approach route in the section from Q0 to Q1 or on the recovery flight path in the section from Q2 to Q3. Also, if the value of the flight state storage flag F 'is 1, the unmanned reconnaissance aircraft 1 will have a reconnaissance area in the section from the point Q1 to the point Q2, in short,
This means that the user is flying in an area where distance measurement using the pulse laser oscillator 5 and the beam scanner 6 is required (see FIGS. 7 and 8).

Here, if the determination result of step b2 is false, that is, if the signal from the ground control device 2 has not been received, the CPU of the unmanned reconnaissance aircraft 1 performs the determination process in step b5. It is determined whether or not the data transmission cycle has been reached for each predetermined cycle that has been set in advance, but if the data transmission cycle has not been reached, the determination process of step b2 and step b5 is repeatedly executed and the process waits. The first signal transmitted from the ground control device 2 in the process of step a1 described above is received in the process of step b2.

Next, the CPU of the UAV 1 determines the type of the received signal (step b3). In this case, since the received signal is the reconnaissance aircraft control signal transmitted from the ground control device 2 in the process of step a1, the determination result of step b3 is true, and the CPU of the unmanned reconnaissance device 1 Two
Flies along the approach route along the flight route stored in the control unit 15 of the ground control device 2 based on the reconnaissance aircraft control signal related to the steering system control, the engine output, etc. transmitted first in the process of step a1. To this end, adaptive control of the steering system components such as aileron, rudder, elevator, etc., engine output, and the like is performed (step b4).

C of drone 1 after completion of step b4
The PU thereafter repeatedly executes the determination processing of step b2 and step b5, and waits until a new signal is sent from the ground control device 2 or the data transmission cycle of the unmanned reconnaissance aircraft 1 is reached. . However, ground control device 2
From the next reconnaissance aircraft control signal, the unmanned reconnaissance aircraft 1 executes the processing of step b12 described below and transmits various data to the ground controller 2, and the ground controller 2 receiving the Since the data is processed and then transmitted in the process of a6, the unmanned reconnaissance aircraft 1 does not execute the process of step b12. Will not be sent. That is, in the repetition of the above-described determination processing of step b2 and step b5, the determination result of step b5 always becomes true first.

Then, when the data transmission cycle is reached,
When the determination result of b5 becomes true, the CPU of the UAV 1 first determines whether or not 1 is set in the flight state storage flag F '(step b6). Since the value of the flight state storage flag F 'is held at the value 0 as set in step b1, the determination result in step b6 is necessarily false. This determination result indicates that the drone 1 is flying on a path other than the reconnaissance area, and steps b7 to b10 for distance measurement processing using the pulse laser oscillator 5 and the beam scanner 6
Means that the processing of is unnecessary. Therefore, the CPU of the drone 1 sets the sky data in the register Z that temporarily stores the ground surface height (step b19), and the latitude data (X) and the longitude data (Y) related to the current flight position from the GPS device 3. And the current speed (V) and inclination (P) of the aircraft axis from the speedometer and attitude meter that are standard equipment on the UAV 1.
And read the actual measured values such as the roll angle (R) and the flight altitude (H) (step b11), encode these data and transmit it to the ground control device 2 via the transponder 8 and the onboard transmitting / receiving antenna 10 ( Step b12). At this stage, since the distance measurement process has not been started,
The value of (Z) has no meaning.

Next, the CPU of the drone 1 goes to the processing of step b2 again, repeatedly executes the determination processing of step b2 and step b5, and receives a new signal from the ground control device 2. Or, it waits until the next data transmission cycle of the drone 1 is reached. However, since the time interval of the data transmission cycle is set to be longer than the required response time from the ground control device 2, at this stage immediately after performing the processing of step b12, the steps b2 and b5 In the repetitive determination processing, the determination result of step b2 always becomes true first.

On the other hand, the values of the various data X, Y, Z, H, V, P, and R transmitted from the unmanned reconnaissance aircraft 1 in the process of step b12 are based on the ground control device executing the standby process of step a2. Detected by two. After detecting this, the ground control device 2 executes the data decoding process (step a3), and then outputs the latitude data.
(X), longitude data (Y), surface height (Z), flight altitude (H), flight speed
(V), various data of the inclination (P) in the machine axis direction and the roll angle (R) are temporarily stored, and displayed on the monitor of the image processing unit 4 as the latest data such as the flight attitude (step a4). However, at the present stage when the drone 1 is flying on the approach route, the ranging process has not been performed on the drone 1
Since the content of (Z) has been set to null data in the processing of step b19 described above, there is no actual display of this item.

Next, the ground controller 2 includes various current value data X, Y, H, V, P, and R directly related to the flight among the data received from the drone 1, and the controller of the ground controller 2. Based on the flight program stored in 15 and perform appropriate correction processing such as trim adjustment to fly the UAV 1 along a predetermined course, and perform reconnaissance related to steering system control and engine output etc. A new machine control signal (step a
5), encode this signal and transmit it to the UAV 1 via the transmitting / receiving unit 11 and the ground transmitting antenna 12 (step
a6).

Then, the ground control device 2 determines whether or not 0 is set in the flight state storage flag F (step a7). At this stage immediately after the start of flight, the value of the flight state storage flag F is set to step Since the value is set to 0 as set in a1, the determination result in step a7 is necessarily true. Since this determination result indicates that the drone 1 is flying on the approach route, the ground control device 2 then transmits the current flight position data (X, Y) received in step a2 and the control The data of the scan start position Q1 stored in the unit 15 is compared with the data to determine whether the current flight position has reached the scan start position Q1, in other words, whether the UAV 1 needs to start the ranging operation. It is determined whether or not it is (step a8). The current flight position is the scan start position Q1
If it has not reached, it is not necessary to cause the drone 1 to start the ranging operation, so the ground controller 2 goes to the process of step a2 again and waits for the signal transmitted by the drone 1 in the data transmission cycle. Enter the state.

On the other hand, the ground control device 2
Is detected by the unmanned reconnaissance aircraft 1 executing the standby process of step b2 and step b5 in the process of step b2. Since this signal is a reconnaissance aircraft control signal, the determination result in step b3 is true,
The CPU of the unmanned reconnaissance aircraft 1 executes the process of step b4 in the same manner as described above, and according to the new reconnaissance aircraft control signal sent from the ground control device 2, controls the steering system parts such as aileron, rudder, elevator, etc., the engine and the like. Perform adaptive control.

Hereinafter, while the drone 1 flies along the approach path, the ground controller 2 and the drone 1 repeatedly execute the above-described processing operations. In other words, drones 1
Is fed back and transmits various current value data X, Y, H, V, P, R directly related to the flight to the ground control device 2 for each predetermined data transmission cycle (step b5, step b6, step b19, step b11, step b12), and the ground controller 2 that receives it, based on the current value data X, Y, H, V, P, R and the flight program stored in the controller 15, performs unmanned reconnaissance. Machine
A reconnaissance aircraft control signal for properly flying the aircraft 1 is generated and transmitted to the unmanned reconnaissance aircraft 1 (step a2 to step a6), and further, the drone reconnaissance aircraft 1 receiving the signal controls the aileron, rudder, elevator, etc. Adaptively control system parts, engines, etc.
(Steps b2 to b4) are repeatedly executed. During this time, the flight status storage flag
Since the updating process related to F and the flight state storage flag F ′ is not performed, all the flags are kept at 0.

While such processing is repeatedly executed, the unmanned reconnaissance aircraft flies along the approach path.
When 1 reaches the scan start position Q1, the determination result of step a8 becomes true in the processing of the ground control device 2 side, the ground control device 2 outputs a scan start signal to the unmanned reconnaissance aircraft 1 (step a9), a value 1 indicating that the vehicle has entered the reconnaissance area is set in the flight state storage flag F (step a10), and the apparatus enters a standby state again waiting for transmission from the unmanned reconnaissance aircraft 1 (step a2).

As described above, the scan start signal transmitted from the ground control device 2 is detected by the CPU of the unmanned reconnaissance aircraft 1 executing the standby process of step b2 and step b5 in the process of step b2. Since the signal is not a reconnaissance aircraft control signal but a scan start signal, the determination result of step b3 is false, the determination result of step b13 is true, and the CPU of the unmanned reconnaissance aircraft 1 sets the flight state storage flag F ′ to 1 Is set to memorize that the vehicle has entered the reconnaissance area (step b14).

Next, the CPU of the UAV 1 determines whether or not the next data transmission cycle has been reached, in other words, in this case, whether or not the first data transmission cycle after entering the reconnaissance area has been reached. (Step b5), but if not reached, step b2 and step
The determination process of b5 is repeatedly executed, and the process waits until the next data transmission cycle is reached. As already mentioned, drone 1
Since there is no transmission from the ground control device 2 unless there is new data transmission from, the determination result of step b5 always becomes true first in the repeated determination processing of step b2 and step b5 in this case.

Then, when the next data transmission cycle is reached and the result of the determination at step b5 becomes true, the CPU of the unmanned reconnaissance aircraft 1 determines whether or not 1 is set in the flight state storage flag F '(FIG. Step b6), at this stage already step b14
Is executed and 1 is set in the flight state storage flag F ', so that the determination result in step b6 is true. Then, the CPU of the unmanned reconnaissance aircraft 1 outputs a drive command to the pulse laser oscillator 5 to start the laser irradiation and the timer T to start the distance measurement processing (step b).
7), and enters a standby state waiting for the detection of reflected light by the beam scanner 6 (step b8). When the reflected light is detected by the beam scanner 6, the CPU of the drone 1 immediately reads the current value of the timer T and stops the laser oscillation (step b9), and sets the flight altitude (H) Z based on the required round trip time (T) of the laser beam and the propagation speed (C) of the laser beam
= H− (T / 2) · C is executed to calculate the value of the ground surface height (Z) at the distance measuring point (step b10).

Next, the CPU of the unmanned reconnaissance aircraft 1 sends the current flight position from the GPS device 3, ie, the latitude data relating to the ranging point.
(X) and longitude data (Y) are read, and the current flight speed value is obtained from the speedometer and attitude meter provided as standard equipment on the UAV 1.
(V), the inclination in the machine direction (P), the roll angle (R), the flight altitude (H), and other measured values are read (step b11).
Encoding data with the value of the ground surface height (Z) calculated in the process of b10 and transmitting it to the ground control device 2 via the transponder 8 and the onboard transmitting / receiving antenna 10 (step b12),
The discriminating process of step b2 and step b5 is started again, and the process enters a standby state waiting for transmission from the ground control device 2.

The various data X, Y, Z, H, V, P, and R transmitted in the process of step b12 are detected by the ground control device 2 executing the standby process of step a2, and are detected. The ground control device 2 performs data decoding, monitor display processing of various data, and generation and transmission processing of a new reconnaissance aircraft control signal in the same manner as described above (steps a3 to a6). Also, at this stage, the unmanned reconnaissance aircraft 1 has already entered the reconnaissance area, the ranging processing of the unmanned reconnaissance aircraft 1 is executed, and the value of the ground surface height (Z) is significant by the processing of step b10 described above. Therefore, unlike the case of flying on the approach route, the value of the ground surface height (Z) is also displayed on the monitor together with other current value data.

Next, the ground control device 2 determines whether or not the flight state storage flag F is set to 0 (step a7). At this stage, the processing of step a10 has already been executed and the flight state storage flag has been set. Since 1 is set in F, the result of the determination in step a7 is false, and the result of the determination in step a11 is true. Therefore, the ground control device 2 performs various current value data directly related to the terrain among the data received from the unmanned reconnaissance aircraft 1 in the process of step a2 in this processing cycle, that is, latitude (X) and longitude (Y) and The ranging point
The value of the ground surface height (Z) corresponding to (X, Y) is added to the last record position of the data file of the non-volatile storage means such as a hard disk and stored, and is stored in each record of this data file. Coordinate data (X, Y, Z)
Are sequentially read in order from the top of the file to generate a Bezier curve or a cubic curve with these coordinate points as anchor points, and use this curve as a wireframe model or a surface model representing the contour of the terrain, for example, Graphically displayed on the monitor of the image processing unit 4 in the form shown in FIG. 9 or FIG. 10 (step a12). The coordinate data (X, Y, Z) serving as the anchor point of the curve forming the wire frame is transmitted each time the unmanned reconnaissance aircraft 1 performs the distance measurement process, and the ground control device 2 receiving this receives the data. Since the processing of step a12 is executed every time, the graphic display relating to the contour of the terrain is performed substantially in real time.

Next, the ground control device 2 compares the data (X, Y) of the current flight position received in the processing of step a2 in this processing cycle with the data of the scan completion position Q2 stored in the control unit 15. Then, whether the current flight position has reached the scan completion position Q2, in short, the drone 1
To determine if it is necessary to end the distance measurement process
(Step a13). If the current flight position has not reached the scan completion position Q2, it is not necessary for the drone 1 to terminate the distance measurement process, so the ground controller 2 proceeds to the process of step a2 again and transmits from the drone 1 Enter a waiting state.

Hereinafter, while the unmanned reconnaissance aircraft 1 flies in the reconnaissance area, the ground control device 2 and the unmanned reconnaissance aircraft 1 repeatedly execute the above-described processing operations. That is, the drone 1 performs the ranging process of step b5 to step b10 every predetermined data transmission cycle to obtain the value of the ground surface height (Z) at the coordinates (X, Y), and Is transmitted to the ground control device 2 together with various current value data H, V, P, R relating to the direct flight (step b11, step b12). Then, on the side of the ground control device 2 receiving this, as in the case of flying on the approach route, various reception data H, V, P, R related to direct flight
A reconnaissance aircraft control signal is generated and transmitted to the unmanned reconnaissance aircraft 1 based on the value of the flight program of the control unit 5 (step a2 to step a6), and further, in addition to these processes, the process of step a12 is performed. By executing, based on the (X, Y, Z) coordinate data transmitted from the drone 1, generate a Bezier curve or cubic curve in real time, wireframe model or surface model representing the contour of the terrain Is successively updated while drawing on the monitor. On the other hand, on the unmanned reconnaissance aircraft 1 side, regardless of the value of the flight state storage flag F ′, the process of step b4 is performed each time the reconnaissance aircraft control signal is received from the ground control device 2, so that the aileron, rudder, The adaptive control of the steering system components such as the elevator and the engine output and the like is continuously performed without any trouble as in the case of flying on the approach route. During this time, the update process relating to the flight state storage flag F and the flight state storage flag F ′ is not performed, so that both flags are kept in the 1 state.

When the unmanned reconnaissance aircraft 1 flying in the reconnaissance area reaches the scan completion position Q2 while such processing is repeatedly executed, the determination result of step a13 in the processing of the ground control device 2 is performed. Is true, the ground controller 2 outputs a scan completion signal to the UAV 1 (step a14), and sets the value 2 indicating that the UAV 1 has entered the recovery flight path to the flight state storage flag. It is set to F (step a15), and enters a standby state of waiting for transmission from the drone 1 (step a2).

On the other hand, the scan completion signal transmitted from the ground control device 2 is detected by the CPU of the unmanned reconnaissance aircraft 1 executing the standby process of step b2 and step b5 in the process of step b2 in the same manner as described above. However, since this signal is neither a reconnaissance aircraft control signal nor a scan start signal but a scan completion signal, the determination results in step b3 and step b13 are both false, and the determination result in step b15 is true. Therefore, the CPU of the drone 1
F ′ is set to 0 to memorize that the drone 1 has left the reconnaissance area (step b16).

Next, the CPU of the drone 1 determines whether or not the next data transmission cycle has been reached (step b).
5) If not reached, the determination processing of step b2 and step b5 is repeatedly executed in the same manner as described above, and waits until the next data transmission cycle is reached.

When the next data transmission cycle is reached and the result of the determination in step b5 becomes true, the CPU of the unmanned reconnaissance aircraft 1
It is determined whether or not the flight state storage flag F 'is set to 1 (step b6).
Step 6 is executed and the flight state memory flag F 'is renewed.
Since a value of 0 has been set, the determination result of step b6 is false. Therefore, as in the case of the flight on the approach route described above, the CPU of the unmanned reconnaissance aircraft 1 does not execute the distance measurement processing of Step b7 to Step b10 for obtaining the ground surface height (Z), and executes Step b19 and Step b19. Step b11 and step
Execute only the process of b12.

The values of the various current value data X, Y, H, V, P, and R transmitted from the unmanned reconnaissance aircraft 1 in the processing of step b12 are stored in step a.
2 is detected by the ground control device 2 executing the standby process, and the detected ground control device 2 performs decoding of data and monitor display processing of various data in the same manner as in the case of flight on the approach route. A new reconnaissance aircraft control signal is generated and transmitted (step a3 to step a6). Also, at this stage, since the drone 1 has already left the reconnaissance area and the ranging process on the drone 1 has not been executed,
The value of the ground height (Z) is not displayed on the monitor.

Next, the ground control device 2 determines whether or not the flight state storage flag F is set to 0 (step a7). At this stage, the processing of step a15 has already been executed, and the flight state storage flag has been set. Since 2 is set in F, the determination results in step a7 and step a11 are false. Therefore, the ground control device 2 receives the current flight position data (X,
Y) and the data of the recovery target point Q3 stored in the control unit 15 to determine whether the current flight position has reached the recovery target point Q3, in other words, it is necessary to land or land the drone 1 It is determined whether or not there is (step a16). If the current flight position has not reached the recovery target point Q3, there is no need to land or land the drone 1; therefore, the ground controller 2 proceeds to the process of step a2 again, and the transmission from the drone 1 Enter the waiting state to wait.

Hereinafter, while the unmanned reconnaissance aircraft 1 flies on the recovery flight path, the ground controller 2 and the unmanned reconnaissance aircraft 1 repeatedly execute the above-described processing operations. Its contents are substantially the same as the processing when flying on the approach route described above,
The only difference is that the determination process of step a11 and step a16 is performed in the process of the ground control device 2 instead of the determination process of step a8.

Finally, the drone 1 arrives at the recovery target point Q3, and the data (X, Y) of the current flight position and the position data of the recovery target point Q3 stored in the control unit 15 are obtained. If they match and the result of the determination in step a16 becomes true, the ground control device 2 outputs a flight program completion signal to the unmanned reconnaissance aircraft 1 and ends the process (step a17). The unmanned reconnaissance aircraft 1 that has received the flight program completion signal in the standby process of step b2 performs step b3, step b13, and step b1.
After execution of the discriminating process of Step 5 and Step b17, the steering angle control and throttle control required for landing or landing are performed and all the processes are completed (Step b18), and the unmanned reconnaissance aircraft 1 returns to the collection target point Q3 Landing or landing on

In FIGS. 3 to 6, as one embodiment,
The case where the unmanned reconnaissance aircraft 1 executes the equation of Z = H− (T / 2) · C and transmits the value of the ground surface height (Z) to the ground control device 2 has been described. Only the processing of the part of the separation distance (T / 2) / C between 1 and the ground surface is performed on the unmanned reconnaissance aircraft 1 side, the value is transmitted to the ground control device 2 together with other data, and the ground control device 2 The final surface height Z = H− (T /
2) The value of C may be obtained, and further, the raw data of the flight altitude (H) and the required round-trip time (T) of the laser light may be directly transferred to the ground control device 2 and Z = H− (T / 2) · All the arithmetic processing of C can be executed on the ground control device 2 side.

As the value of the flight altitude (H), the set target value of the flight altitude may be used as it is. However, the measured altitude (H) of the altitude is read from the barometric altimeter 4 and Z = H− (T / 2) -If it is used for the calculation process of C, the value of the ground surface height (Z) can be calculated more accurately.

In the above-described embodiment, for simplification of the control program, the distance measurement processing cycle of the ground surface height (Z) is set to be in accordance with the communication cycle. If accepted, it is technically easy to carry out the processing operation by setting the distance measurement processing cycle and the communication cycle to individual values. However, if the distance measurement processing cycle is set shorter than the communication cycle, it is necessary to transmit some distance measurement data in one communication, so that complete real-time display is not performed.

In addition, when used for civilian purposes, it is not necessary to pay special attention to the security of the target which is a reconnaissance area, so that the program related to the flight plan is stored in the unmanned reconnaissance aircraft 1 and becomes independent. A configuration may be adopted in which a flight is performed and the ground control device 2 is used only as a processing unit for processing terrain data and a monitor device for display.

As described above, the simplest embodiment covers the reconnaissance area by the flight path of the unmanned reconnaissance aircraft 1 with the pulse laser oscillator 5 and the beam scanner 6 held vertically to the ground surface (reference plane). Although the example of grasping the shape has been described, if the distance measurement process is performed while swinging the pulse laser oscillator 5 and the beam scanner 6 left and right with respect to the flight direction, a single flight path can cover a wider range. You can scout the reconnaissance area. When the distance measurement process is performed while oscillating the pulse laser oscillator 5 and the beam scanner 6, the overall processing flow is the same as in the examples of FIGS.
Here, only the working principle of the distance measurement processing by the swing scan will be briefly described.

FIGS. 13 and 14 show pulse laser oscillators.
FIG. 13 is an operation principle diagram showing a distance measuring principle when performing a distance measuring process while swinging the beam scanner 5 and the beam scanner 6 right and left with respect to the flight direction. In FIG. 13, the unmanned reconnaissance aircraft 1 is positioned at (X, Y). Assuming that it is flying at the height of the altitude (H), the state where the unmanned reconnaissance aircraft 1 is viewed from behind the axle is indicated by a point P (X, Y),
In FIG. 14, the point P is seen when the drone 1 is viewed from above vertically.
The position of (X, Y) is shown.

First, in this state, the unmanned reconnaissance aircraft 1 swings the optical axis of the pulse laser oscillator 5 left and right by α degrees with respect to the vertical axis as shown in FIG. Assuming that the processing has been performed, the laser beam is reflected at point A on the ground surface, and the linear separation distance between the unmanned reconnaissance aircraft 1 and point A is determined by (T / 2) · C in the same manner as described above. Further, assuming that the laser beam reaches the point B on the reference plane without being reflected by the terrain, the flying altitude of the UAV 1 at that time is (H)
Therefore, the linear separation distance between the drone 1 and the point B on the reference plane is represented by H / cosα as shown in FIG. Therefore, the linear separation distance Z ′ between the point A on the terrain and the point B on the reference plane is H / cosα− (T / 2) · C. Further, as shown in FIG. 13, the ground surface height (Z) of the point A is the length of the hypotenuse AB, Z ′.
Needless to say, the value is Z ′ · cos α, that is, Z = H− (T / 2) · C · cos α (1).

However, when the distance measurement is performed by swinging the optical axis of the pulse laser oscillator 5 laterally with respect to the flight direction, the surface height immediately below the drone 1 is measured. Therefore, as shown in FIG.
X, Y coordinate values P '(X', Y ') and the current flight position of the drone 1
Since the X and Y coordinate values P (X, Y) do not match, the value of the ground surface height (Z) cannot be treated as the ground surface height corresponding to the current flight position P (X, Y). Therefore, in this embodiment, the true coordinate value P ′ (X ′, Y ′) corresponding to the distance-measuring point A is obtained, and the ground surface height (Eq. The value of Z) is transmitted to the ground control device 2.

The true coordinate value P ′ (X ′,
Y ′) and the current flight position P (X, Y), as is clear from FIG. 13, the side of the unmanned reconnaissance aircraft 1, that is, in the direction orthogonal to the flight direction (T / 2)・ There is a magnitude of C ・ sinα. Further, since the flight direction of the unmanned reconnaissance aircraft 1 can be detected by a standard attitude meter or the like, for example, FIG.
As shown in FIG. 2, if the drone 1 is flying at an angle of β degrees with respect to the latitude axis X, the true coordinate value P ′ (X ′, Y ') is the value of (T / 2)
・ The deviation of C ・ sin α is the current flight position P (X, Y) of the drone 1
X ′ = X + (T / 2) ・ C ・ sinα ・ sinβ ・ ・ ・ (2) Y ′ = Y + (T / 2)・ C ・ sinα ・ cosβ ・ ・ ・ Equation (3)

Therefore, when performing the distance measurement process while swinging the pulse laser oscillator 5 and the beam scanner 6 sideways with respect to the flight direction, (X), (Y), (H ),
(T), in addition to the data of (C), read the current value of the oscillation angle of the optical axis of the pulse laser oscillator 5 (α) and the current value of the flight direction (β), as described above (1), Execute each equation of (2) and (3)
The data of (X ′, Y ′, Z) may be obtained, and the values may be transmitted to the ground control device 2 in the process of step b12 in FIG.

More specifically, between the processing of step b6 and the processing of step b7, it is determined whether or not the swing angle α of the pulse laser oscillator 5 and the beam scanner 6 has reached the swing limit. A process for reversing the designation of the swing direction when the result of the determination becomes true, and a process for swinging and stopping the optical axis of the pulse laser oscillator 5 by a small amount according to the designated direction. Processing and insert. Further, in the process of step b10, the swing angle (α), the flight altitude (H), the required round trip time of the laser beam (T), and the current flight position (X, Y)
And the value of the flight direction (β) are read, and the arithmetic expressions of (1), (2), and (3) are executed to obtain the values of X ′, Y ′, and Z, and X, The values of Y, X ', Y', Z, H, V, P, and R will be transmitted. Although the data of the current flight positions X and Y are not directly related to the shape of the terrain, they are data relating to the flight path itself, and thus are shown in steps a4 to a6 shown in FIGS.
In addition, it is necessary when the ground control device 2 performs the navigation control or the determination process of the current flight position in the processes of the steps a8, a13, and a16. Step a12
In the processing (1), it is necessary to perform the calculation and drawing processing and the data storage processing using the data (X ′, Y ′, Z) instead of the data (X, Y, Z).

[0066]

According to the nighttime unmanned reconnaissance device of the present invention,
Even if expensive electronic equipment such as radar equipment is not installed, night reconnaissance work can be easily performed using inexpensive active distance measuring means composed of pulse laser oscillators and beam scanners, and contours of terrain etc. The shape can be displayed in real time.

Unlike an unmanned night-time reconnaissance device using an infrared sensor or the like, the shape of a non-heated object can be reliably grasped, so that night-time reconnaissance of a terrain or a building can be easily performed. It is.

Furthermore, unlike the one using expensive electronic equipment such as a radar device, the economic burden is greatly reduced, so that it is widely used for civilian uses such as investigation of disaster sites and rescue work in case of distress. Can be easily used.

[Brief description of the drawings]

FIG. 1 is a simplified functional block diagram showing a main part of an unmanned reconnaissance aircraft constituting a part of a night unmanned reconnaissance device according to an embodiment of the present invention.

FIG. 2 is a functional block diagram schematically showing a main part of a ground control device constituting another part of the night unmanned reconnaissance device of the embodiment.

FIG. 3 is a flowchart illustrating an outline of a process performed by a CPU provided on a ground control device side;

FIG. 4 is a flowchart showing an outline of a process performed by a CPU provided on the ground control device side.

FIG. 5 is a flowchart showing an outline of processing by a CPU provided on the side of the unmanned reconnaissance aircraft.

FIG. 6 is a flowchart showing an outline of processing by a CPU provided on the side of the unmanned reconnaissance aircraft.

FIG. 7 is a plan view conceptually showing an example of a flight path programmed in a control unit.

FIG. 8 is a plan view conceptually showing an example of a flight path programmed in a control unit.

FIG. 9 is a conceptual diagram illustrating an example of a wireframe model showing a contour of a terrain.

FIG. 10 is a conceptual diagram showing an example of a wireframe model showing a contour of terrain.

FIG. 11 is a conceptual diagram showing an example of a mesh-shaped wire frame model showing the contour of the terrain.

FIG. 12 is a graph showing a part of the contour of the terrain in FIG. 11;

FIG. 13 is an operation principle diagram showing an example of a method for measuring a separation distance between the drone and the ground using a pulse laser oscillator and a beam scanner.

FIG. 14 is an operation principle diagram showing an example of a method of measuring a separation distance between the drone and the ground using a pulse laser oscillator and a beam scanner.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Unmanned reconnaissance aircraft 2 Ground control device 3 GPS device (current position detecting means) 4 Barometric altimeter (flight altitude adjusting means) 5 Pulse laser oscillator (part of active distance measuring means) 6 Beam scanner (active distance measuring means) 7 part of means 7 arithmetic part (arithmetic means) 8 transponder (radio transmitting means) 9 receiving antenna 10 on-board transmitting / receiving antenna 11 transmitting / receiving part (receiving means) 12 terrestrial transmitting / receiving antenna 13 encoder / decoder part 14 image processing part (image processing) (Means, terrain display means)

Claims (6)

[Claims] An unmanned reconnaissance device radio-controlled by a ground control device and a ground control device for collecting, analyzing, and displaying information acquired by the unmanned reconnaissance device, the altitude of which is set at night. Flight altitude adjusting means for maintaining and flying, current position detecting means for detecting the current flight position, active distance measuring means for measuring the distance from the ground surface at predetermined intervals, and this distance measuring means Calculating means for calculating the height of the ground surface based on the separation distance measured by the means and the set altitude, and the current flight position detected by the current position detecting means and the ground surface height calculated by the calculating means. A wireless transmitting means for transmitting information to the ground control device in real time is provided in the unmanned reconnaissance aircraft, and the ground control device has a current flight position transmitted from the wireless transmitting means and Receiving means for receiving the information on the table height, image processing means for calculating the contour of the terrain in real time based on the information on the current flight position and the surface height received by the receiving means, and the image processing means A nighttime unmanned reconnaissance device, comprising: terrain display means for graphically displaying the calculated terrain contour in a three-dimensional manner. 2. A nighttime unmanned reconnaissance device comprising an unmanned reconnaissance aircraft wirelessly controlled by a ground control device and a ground control device for collecting, analyzing and displaying information acquired by the unmanned reconnaissance aircraft, Flight altitude adjustment means for maintaining and flying, current position detection means for detecting the current flight position, active distance measurement means for measuring the distance from the ground at predetermined intervals, and the current position A radio transmitting means for transmitting information on the current flight position detected by the detecting means and the distance measured by the distance measuring means to the ground control device in real time is provided in the unmanned reconnaissance aircraft, and the ground control device is Receiving means for receiving the information of the current flight position and the separation distance transmitted from the wireless transmission means, and the separation distance and the set altitude received by the receiving means. Calculating means for calculating the surface of the height Zui,
Image processing means for calculating the contour of the terrain in real time based on the information on the current flight position and the ground surface height calculated by the calculating means; and three-dimensionally converting the contour of the terrain calculated by the image processing means. An unmanned reconnaissance device for night use, comprising terrain display means for displaying a graphic. 3. The night unmanned reconnaissance apparatus according to claim 1, wherein said active distance measuring means comprises a pulse laser oscillator and a beam scanner. 4. The night unmanned reconnaissance apparatus according to claim 2, wherein said active distance measuring means comprises a pulse laser oscillator and a beam scanner. 5. The unmanned reconnaissance aircraft sends information related to the speed and attitude of the unmanned reconnaissance aircraft together with information on the current flight position and the ground height or the separation distance from the unmanned reconnaissance aircraft to the ground control device, and transmits the information. The night unmanned reconnaissance device according to claim 1 or 2, wherein the correction process is performed by flight control of the unmanned reconnaissance aircraft. 6. The unmanned reconnaissance aircraft sends information related to the speed and attitude of the unmanned reconnaissance aircraft together with information on the current flight position and the ground height or the separation distance from the unmanned reconnaissance aircraft to the ground control device, and transmits the information. The night unmanned reconnaissance device according to claim 3 or 4, wherein the correction process is performed by flight control of the unmanned reconnaissance aircraft.