JPH113490A - Monitoring device - Google Patents

Abstract

(57) [Summary] [Problem] When an abnormality is estimated to be monitored, a plurality of sensors are efficiently distributed, a movement plan such as a movement route of a platform equipped with the sensors is created, and an operator's decision is made. To help. A plurality of platforms each including a plurality of sensors for monitoring a monitoring target and outputting monitoring information,
A base for outputting a movement plan of the platform, wherein the base is provided with comprehensive information to be monitored based on the monitoring information;
It outputs and displays a platform movement plan for arranging and moving the platform according to the abnormal information on the monitored area or the monitored object.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring device for mounting a sensor for monitoring a state of a monitoring target, a monitoring area or a monitoring target on a moving platform, and particularly to presuming an abnormality in the monitoring target. In this case, the present invention relates to a monitoring plan for using a plurality of sensors and a decision support of an operator who prepares a movement plan such as a movement route of a platform.

[0002]

2. Description of the Related Art Conventionally, as a main monitoring device, there is, for example, an "approaching tree device" disclosed in Japanese Patent Application No. 07-43109. This is to monitor the separation distance of an obstacle such as a tree approaching a transmission line and output a warning signal of an abnormally approaching location. GPS (Global Positioning System) section that measures the flight position of aircraft such as laser ranging section and TV camera section, helicopter as sensors as onboard equipment,
An abnormal approach location alarm that captures the distance data and scan angle data output by the laser ranging device and generates an alarm signal when the distance between the power transmission line and the approaching tree is abnormally approaching beyond a certain set value. And a generator. Then, distance data around the transmission line is acquired while flying over the transmission line, and the data is processed by the data processing analysis unit of the ground equipment.

As another conventional device, Imai, Kaneko, et al., “Tokyo Metropolitan Disaster Prevention Information System” (Mitsubishi Electric Technical Report, Vol.
6, No. 5 (1992)) is shown as "Earthquake Disaster Interpretation System." This apparatus includes a helicopter-mounted system for collecting video and position information from the sky, and a reading processing system for searching a predetermined map from the collected information and displaying the helicopter position and video simultaneously. The helicopter-mounted system is composed of devices such as a camera device as a sensor, a GPS unit for detecting the position of the helicopter, and a video transmitting device for transmitting video. The interpretation processing system organizes information collected by the helicopter-mounted system, provides video and map information simultaneously, and assists the operator in interpreting the damage situation.

The outline of the main part of the apparatus shown above is shown in FIG.
Is shown in In FIG. 13, 1-1-1A, 1-1-2A, 1-2
1A is a monitoring area to be monitored, and 2A is a monitoring target that collectively monitors the monitoring area. Reference numeral 3B denotes a moving platform such as an aircraft, a helicopter, and an unmanned aerial vehicle. Also,
In the mobile platform 3B, 4B is a sensor that senses the state of the monitored area and outputs a sensor signal.
Is a signal / information processing means for performing signal processing and information processing of the sensor signal output by the sensor 4B and outputting data relating to the state of a monitoring target and abnormal data relating to a monitoring area having an abnormality among them; 6B is display means for displaying the target data and abnormal data output by 6B.

[0005]

The conventional monitoring apparatus is configured as described above, and when monitoring a monitoring target using a sensor mounted on a moving body such as an aircraft, a helicopter, an unmanned aerial vehicle, etc. In some cases, the presence or absence of an abnormality in the monitoring target is determined based on the sensor signal obtained by sensing the state of the target, and danger avoidance is performed based on the distance measurement result. I didn't output a plan. Also, it was assumed that one sensor and one mobile platform were used. That is, when it is assumed that an abnormality is estimated in a monitoring target, it is usually considered that the abnormality can be recognized by one sensing with one sensor. There is a problem in that a method and a movement plan such as a movement route of a platform are not prepared to support the decision making of the operator, and the workload of the operator is increased.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems, and when a plurality of sensors or a plurality of platforms are used to estimate an abnormality in a monitoring target, a plurality of sensors can be efficiently used. In order to allocate and check the monitoring target in more detail, reallocate the sensors, prepare a movement plan such as a movement route of the platform based on the sensor, and obtain a monitoring device that supports an operator's decision making With the goal.

[0007]

A monitoring device according to the present invention comprises:
A plurality of platforms each having at least one sensor for monitoring a monitoring target and outputting monitoring information;
A base for inputting the monitoring information and outputting a movement plan of the platform, wherein the base receives the monitoring information and outputs monitoring processing data; Data integration means for outputting the general information of the monitoring target, reference data for storing reference information for comparison with the general information, and inputting the general information and the reference information to the monitoring target. Condition evaluation means for outputting the abnormal condition of the sensor, allocating means for inputting the abnormal condition and outputting the allocation information of the sensor to the monitored object, and a platform for inputting the allocation information and outputting the movement plan of the platform And a movement plan creating means.

The monitoring device of the present invention includes one or more sensors for monitoring a monitoring target and outputting monitoring information, and signal / information processing means for inputting the monitoring information and outputting monitoring processing data. A plurality of platforms, and a base for inputting the monitoring processing data and outputting a movement plan of the platform, wherein the base inputs the monitoring processing data and outputs comprehensive information of the monitoring target. Integration means, reference data for storing reference information for comparison with the comprehensive information, and situation evaluation means for inputting the comprehensive information and the reference information and outputting an abnormal situation of the monitoring target; Allocating means for inputting an abnormal situation and outputting allocation information of the sensor with respect to the monitoring target; and inputting the allocation information to execute a movement plan of the platform. And it is characterized in that it comprises a platform moving plan creating means for force.

Further, the monitoring device of the present invention includes the monitored data storing the monitored information in the base, and the status evaluation means inputs the comprehensive information, the reference information, and the monitored information. Outputting an abnormal state of the monitoring target.

[0010] Further, the monitoring device of the present invention is provided with display means at the base for inputting and displaying at least one of the comprehensive information, the abnormal situation, the allocation information, and the movement plan. It is characterized by the following.

The monitoring apparatus according to the present invention further comprises a monitoring priority evaluation means for outputting the priority of a monitoring area or a monitoring target at the base with the abnormal situation as an input, wherein the allocating means includes the abnormal situation and the abnormal condition. And inputting a priority and outputting information on assignment of the sensor to the monitoring area or the monitoring target.

Further, the monitoring device of the present invention provides a sensor for indicating the effectiveness of a sensor according to a monitored area or a monitored object.
A monitoring effect file for storing a monitoring type effect, a monitoring effect evaluating means for inputting the abnormal situation and the sensor-monitoring type effect and outputting a sensor-monitoring area effect indicating the effectiveness of the sensor according to the monitoring area; At the base, wherein the allocating means inputs the abnormal situation and the sensor-monitoring area effect and outputs allocation information of the sensor to the monitoring area or the monitoring target.

[0013] The monitoring device of the present invention further comprises altitude determining means for inputting the allocation information and outputting altitude information for the sensor at the base, wherein the platform movement plan creating means includes the allocation information and the altitude information. The present invention is characterized in that altitude information is input and a movement plan of the platform is output.

Further, the monitoring device of the present invention includes a platform position / state detecting means for detecting the platform and outputting the position / state of the platform at the base, wherein the platform movement plan creating means stores the allocation information and The position and state of the platform are input and a movement plan of the platform is output.

The monitoring apparatus according to the present invention further comprises a travel time determination means for inputting the allocation information and the position and state of the platform and outputting a movable time of the platform at the base, wherein the platform movement plan is provided. The present invention is characterized in that a creation means inputs the allocation information, the position / state of the platform, and the movable time, and outputs a movement plan of the platform.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. The monitoring device in each of these embodiments is provided with a plurality of platforms each having one or more, usually a plurality of sensors, and monitors a monitoring target, a monitoring area, or a monitoring target by using these platforms. is there. In the drawings, the same reference numerals are used.
Indicates the same or corresponding parts.

Embodiment 1 FIG. 1 is a block diagram showing a configuration of the monitoring device according to the first embodiment of the present invention. In FIG. 1, 1-1-1-1, 1-1-2, and 1-2-1 are monitoring areas to be monitored (hereinafter, when any of the monitoring areas is generally referred to, reference numeral 1 is used), Reference numeral 2 denotes a monitoring target including these monitoring areas, and reference numerals 3-1, 3-2,..., 3-n each move a monitoring target 2 for monitoring, for example, an aircraft, a helicopter, or an unmanned aerial vehicle. Platform (hereinafter, when any of the platforms is generally referred to, reference numeral 3 is used). 4-1-1, 4-1-2,... 4-n-nm are sensors for sensing the state of the monitoring area and outputting monitoring information (sensor signal), and one or more sensors are provided for each mobile platform 3. Usually, a plurality of sensors are provided (hereinafter, when any of the sensors is generally referred to, reference numeral 4 is used).

Reference numeral 5 denotes a base for inputting the monitoring information and outputting a movement plan and the like of the movement platform 3.
In the base 5, 6-1-1, 6-1-2,..., 6-n-mn are signal / information processing means for inputting the monitoring information and outputting monitoring processing data (hereinafter referred to as any one of Reference numeral 6 is used to generally indicate signal / information processing means), 7 is a data integration means for inputting the monitoring processing data and outputting comprehensive information of the monitoring target 2, and 8 is a Situation evaluation means 9 for inputting and outputting an abnormal situation, 9 is reference data storing monitoring data of a long time ago as reference information for comparison with general information, and 10 is another reference data for comparing with general information. Is the monitored data obtained by collecting the monitoring data at the time of the monitoring in chronological order; 11 is an allocating means for inputting the abnormal situation and outputting sensor allocation information;
Is a platform movement plan creating means for inputting the allocation information and outputting a movement plan of the platform 3, and 13 is a display means for displaying the movement plan and the like.

FIG. 2 shows the plurality of mobile platforms 3.
FIG. 3 is a representative diagram for explaining the configuration and operation of the signal / information processing means 6, and is represented by a subscript A. That is, as a representative, a block diagram showing details of the mobile platform 3-A and the signal / information processing means 6-A-1, 6-A-2,. -A-1,4-A-2, ..., 4-A-mA are sensors.

Next, the operation of the monitoring device according to the first embodiment will be described. In FIG. 1, a monitoring area 1 is an area to be monitored, for example, an area where a disaster such as a river or a cliff may occur, and includes a monitoring target such as a building. The monitoring target 2 is the entire area in which these are put together. Each of the platforms 3 is, for example, a helicopter, a satellite, an automobile, or the like, and moves to monitor the monitoring target 2. The sensor 4 in the platform 3-A in FIG.
Monitor by -A-1,4-A-2, ..., 4-A-mA. Here, the sensors 4-A-1, 4-A-2,..., 4-A-mA are sensors such as a TV, an IR imaging device, a radar, and a synthetic aperture radar, and sense a state of a monitoring target. And outputs monitoring information (sensor signal). In FIG. 1, the sensor 4-1-1 is the monitoring area 1
-1-1 and 1-1-2, sensor 4-n-mn is monitored area 1-1
2 and outputs monitoring information (sensor signal) as a result of the monitoring. The base 5 inputs the monitoring information and performs data integration, sensor assignment, platform movement plan creation, abnormal situation display, and the like.

The operation of the base 5 will be described in more detail. The signal / information processing means 6 inputs the monitoring information (sensor signal) and outputs monitoring processing data. That is, it performs signal processing such as noise removal and information processing such as target feature extraction, and outputs data relating to the state of the monitoring target 2 and abnormal data of the monitoring area 1 or the monitoring target having an abnormality therein. For example, when the sensor 4 is an IR imaging device, the signal / information processing unit 6 divides a two-dimensional image output from the IR imaging device into several regions, and outputs feature data or the like obtained by extracting features in each region. It becomes monitoring processing data (monitoring information).

The data integration means 7 integrates the monitoring processing data of the monitoring target 2 output from the plurality of signal / information processing means 6, sorts the monitoring target data for each monitoring area 1 or monitoring target, and sends it to the status evaluation means 8. Outputs general information to the user. The situation evaluation means 8 receives the comprehensive information output from the data integration means 7 as input, compares it with the reference data file 9 and the already monitored data 10, and evaluates the degree of the situation with respect to the monitoring area 1 or the monitoring target. And output the abnormal situation. Here, the reference data 9 is a collection of data to be referred to in data monitored a long time ago, and the already-monitored data is a time-series collection of data monitored in the current monitoring. .

FIG. 3 shows an example of general information and reference data. Here, data obtained from a sensor capable of acquiring an image, such as an IR imaging device, is divided into several regions, the values in each region are averaged, and the color density is changed according to the values. It is an example. In FIG. 3, the color change is represented by numerals 1 to 5. In FIG. 3, when the general information and the reference data are compared, in this case, the monitoring area 1-1-2
Since the data E and the data K in the data have a large difference from the reference data, the location where these data are obtained is abnormal data. The condition evaluation means 8 outputs, for example, such a difference in data as an abnormal condition.

The allocating means 11 controls the sensor 4 to monitor the monitoring area 1 or the monitoring target in which the abnormality is observed in more detail based on the abnormal situation (evaluation information) output from the situation evaluating means 8. 1 and outputs the result of the determination to the platform movement plan creating means 12 and the display means 13 as assignment information. As an assignment method, for example, when an abnormality occurs, a method of sequentially assigning sensors 4 applicable to the abnormality or the like is available.

FIG. 4 shows an example of the assignment information. This assignment information is a matrix in which the number of sensors 4 and the number of monitoring areas 1 are the number of rows and the number of columns, for example, and each of these elements takes a value of 0 or 1. 0 means that the sensor is not assigned to the monitoring area 1, 1 means that the sensor 4 is assigned to the monitoring area 1. In the example of the assignment information shown in FIG. 4, the sensor 4 is taken in the row direction and the monitoring area 1 is taken in the column direction. For "sensor 4-1-1", "monitoring area 1-1-1,
The elements of the monitoring area 1-1-2, monitoring area 1-2-1 are "1,1,
0 "," 0,0,1 "for" sensor 4-2-2 ", and" 0,1,0 "for" sensor 4-n-mn ". -1-1 is assigned to the monitoring area 1-1-1 and 1-1-2, and the sensor 4-2-2 is assigned to the monitoring area 1-2-1 and the sensor 4
-n-mn is assigned to the monitoring area 1-2-1.

The platform movement plan creating means 12 comprises:
The assignment information is input, a movement plan of the platform 3 is created to realize this, and the resulting movement plan information is output. For example, assume that the sensor 4-1-1 is assigned to the monitoring areas 1-1-1, 1-1-2. At this time, the mobile platform 3-1 goes to both the monitoring area 1-1-1 and 1-1-2.
It determines whether or not the area of -1-1 and 1-1-2 can be quickly sensed, and outputs a travel plan information such as a travel plan before actual monitoring using an algorithm of the shortest path problem or the like.

The display means 13 outputs the general information output from the data integration means 7, the abnormal situation output from the situation evaluation means 8, the allocation information output from the allocation means 11, and the platform movement plan preparation means 12. One or more or all of the movement plan information is input and displayed on the screen.

As described above, according to the first embodiment, it is possible to perform effective monitoring of a monitoring target by using a plurality of moving platforms having a plurality of sensors. That is, when an abnormality is estimated in a monitoring target using a plurality of sensors or a plurality of platforms, monitoring can be performed by efficiently allocating a plurality of sensors or a plurality of platforms. In addition, in order to check the monitoring target in more detail, a sensor can be reassigned to a monitoring area or a monitoring target, and a movement plan such as a movement route of a platform can be created based on the reallocation. In addition, it is possible to show the movement plan to the operator and to assist the operator in making a decision, thereby allowing the operator to concentrate on maneuvering in the visible range such as avoiding dangerous materials.
There is an effect that the burden can be reduced.

Embodiment 2 FIG. 5 is a block diagram showing a configuration of the monitoring device according to the second embodiment of the present invention. In FIG. 5, the signal / information processing means 6-1-1,..., 6-n-nm, which were components of the base 5 in FIG. 1, are arranged in the platforms 3A-1,. , 3A-n (hereinafter, any one of the platforms is generally denoted by reference numeral 3A). Therefore, the base 5A in this case does not include the signal / information processing means 6. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. Each sensor 4 in the platform 3A monitors each monitoring area 1 and the like, and outputs monitoring information obtained as a result to the signal / information processing means 6 provided in the platform 3A.
The operation of the signal / information processing means 6 is basically the same as that of the first embodiment, and outputs monitoring processing data to the data integration means 7 provided at the base 5A. After that, base 5
Since the information processing in A is the same as that described in the first embodiment, detailed description is omitted.

As described above, according to the second embodiment of the present invention, the same effects as those described in the first embodiment can be obtained. Further, in the second embodiment, since the signal / information processing means 6 is provided in the moving platform 3A, the movement of data between the platform 3A and the base 5A can be reduced. As understood from the first and second embodiments, the components of these monitoring apparatuses and the information processing are basically common. The accommodation of other parts such as signal / information processing means in the moving platform can be selected depending on the situation in consideration of convenience of movement, convenience of signal transmission, and the like.

Embodiment 3 FIG. FIG. 6 is a block diagram showing a configuration of the monitoring device according to the third embodiment of the present invention. In FIG. 6, reference numeral 14 denotes a monitoring priority evaluation unit, which is added as one of the components of the base 5 and is one of the inputs of the allocation determining unit 11A. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. The monitoring priority evaluation means 14 receives the abnormal situation (abnormality information) output from the situation evaluation means 8 and determines the priority of the monitoring area 1 or the monitoring target to be monitored based on the degree of the abnormality and the urgency, The priority is output to the allocating means 11A.
For example, if it is recognized in the first monitoring that a disaster is occurring at the same time, the next monitoring will preferentially assign sensors to areas with higher urgency. Alternatively, it is conceivable to manually specify the monitoring area 1. The allocating unit 11A receives the abnormal situation from the situation evaluating unit 8 and the priority from the monitoring priority evaluating unit 14 as inputs, performs allocation in consideration of the priority, and outputs allocation information of the sensor 4. Other operations are the same as those in the first embodiment, and thus description thereof is omitted.

As described above, according to the third embodiment of the present invention, in addition to the same effects as in the first embodiment, monitoring is performed in consideration of the priority of a monitoring area or a monitoring target to be monitored. be able to. That is, a sensor can be preferentially assigned to an area with a higher degree of urgency, and the platform can be moved, so that effective monitoring corresponding to the situation can be performed.

Embodiment 4 FIG. FIG. 7 is a block diagram showing a configuration of the monitoring device according to the fourth embodiment of the present invention. In FIG. 7, 15 is a monitoring evaluation file, 16 is a monitoring effect evaluation means, which is added as one of the components of the base 5 and is one of the inputs of the allocating means 11B. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. The monitoring effect file 15 stores sensor-monitoring type effects. Here, the sensor-monitoring type effect indicates which sensor is effective for which monitoring in consideration of the type of the sensor and the type of the monitoring target. Here, the type of the monitoring target is, for example,
It is a type of disaster such as a building fire, river flood, or landslide. The monitoring effect evaluation means 16 uses the abnormal situation output by the situation evaluation means 8 and the sensor-monitoring type effect stored in the monitoring effect file 15 to generate the sensor 4.
, The sensor-monitoring area effect when monitoring the monitoring area 1 is evaluated and determined, and output to the allocating means 11B.

FIG. 8 shows an example of the sensor-monitoring zone effect. The sensor-monitoring area effect is, for example, a matrix in which the number of sensors 4 and the number of monitoring areas 1 are the number of rows and the number of columns, and each of these elements is a numerical value. In the example of the sensor-monitoring area effect shown in FIG. 8, the sensor 4 is taken in the row direction and the number of the monitoring areas 1 is taken in the column direction. For example, when the monitoring area 1-1-1 is monitored with respect to the sensor 4-1-1, the sensor-monitoring area effect is 3. In the allocating means 11B,
The abnormal situation from the situation evaluation means 8 and the monitoring effect evaluation means 1
6, the assignment is performed in consideration of the sensor-monitoring area effect, and the assignment information of the sensor 4 is output. Other operations are the same as those in the first embodiment, and thus description thereof is omitted.

As described above, according to the fourth embodiment of the present invention, in addition to the same effects as those of the first embodiment,
The monitoring can be performed while taking into account the difference in the effects caused by the difference in the type of. That is, it is possible to select the sensor 4 most suitable for the object to be monitored, move the platform 3 having the sensor, and perform effective monitoring according to the object.

Embodiment 5 FIG. 9 is a block diagram showing a configuration of the monitoring device according to the fifth embodiment of the present invention. In FIG. 9, reference numeral 17 denotes altitude determination means for inputting allocation information and outputting altitude information for the sensor 4, which is added as one of the components of the base 5, and which is included in the platform movement plan creation means 12B. This is one of the inputs. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. The altitude determination means 17 is suitable for the sensor 4 to monitor the mobile platform 3 such as a helicopter, an airplane, a satellite or the like having the sensor 4 to which the allocation information output from the allocation means 11 is input and assigned. Is determined and output to the platform movement plan creation means 12B. As a determination method, for example, the altitude is set high to roughly monitor the state of the monitoring area 1, and the altitude is set low when detailed monitoring is required.
The platform movement plan creating means 12B receives the allocation information from the allocating means 11 and the altitude information from the altitude determining means 17 and takes into account the altitude information to create a movement plan for the platform 3 taking into account changes in altitude. Other operations are the same as those in the first embodiment, and thus description thereof is omitted.

As described above, according to the fifth embodiment of the present invention, in addition to the same effects as in the first embodiment, the monitoring is performed by changing the altitude of the platform 3, so that the monitoring area 1 or the monitoring target is The sensor 4 can be used effectively depending on the details required for monitoring the object.

Embodiment 6 FIG. FIG. 10 is a block diagram showing a configuration of a monitoring device according to Embodiment 6 of the present invention.
In FIG. 10, reference numeral 18 denotes a platform position / state detecting means, which is added as one of the constituent elements of the base 5 and its output is output to the platform movement plan creating means 12B.
Is input. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. The platform position / state detecting means 18 detects the position / state of the platform 3 and outputs the position / state of the platform 3. Alternatively, a signal relating to the position / state is input to the platform position / state detecting means 18 from each platform 3. Platform movement plan creation means 1
In 2B, in addition to the input of the allocating means 11, the position / state of the platform 3 from the platform position / state detecting means 18 is input, and the movement plan of the platform 3 is created in consideration of the position / state of the platform 3. I do.

For example, in FIG. 10, it is assumed that the mobile platform 3-1 having the sensor 4-1-1 is in the monitoring area 1-2-1 and is heading toward the monitoring area 1-1-1. At this time, the platform position / state detecting means 18 determines that the platform 3-1 is in the monitoring area 1-2-1, and that the monitoring area 1-1-1
Detects that you are heading for. Further, in the platform movement plan determining means 12B, for example, when the platform 3-1 is moving toward the monitoring area 1-1-1, how to move the monitoring area 1-1-1 and the monitoring area 1 Decide whether to sense -1-2 quickly and output a travel plan. This movement plan is different from the first embodiment and is performed after the position and state of the sensor are grasped. Other operations are the same as those in the first embodiment, and thus description thereof is omitted.

As described above, according to the sixth embodiment of the present invention, in addition to the same effects as those of the first embodiment,
Since the planning is performed while detecting the position and the state of the system, the moving path of the platform 3 or the sensor 4 can be monitored while easily changing in real time.

Embodiment 7 FIG. FIG. 11 is a block diagram showing a configuration of a monitoring device according to Embodiment 7 of the present invention.
In FIG. 11, reference numeral 19 denotes a movement time determination means, which is added as one of the components of the base 5 and is one of the inputs of the platform movement plan creation means 12C. Other configurations are the same as those described with reference to FIG.

Next, the operation will be described. The movement time determination means 19 receives the output of the platform position / state detection means 18 as an input, and calculates and outputs a possible movement time to the destination based on the current state of each platform 3. The movable time is calculated in consideration of the dynamic characteristics of the platform 3 and the like. FIG. 12 shows an example of a platform movement plan.
In this example, it is assumed that it is detected that the platform 3 is located in the monitoring area 1-2-1 and is moving rightward as indicated by an arrow. In this case, for example, the required time when the platform 3 goes straight ahead is 1 unit time, when it goes diagonally forward is 1.5 unit time, and when it goes straight ahead in the straight direction is 2 unit time. , And calculate that it cannot proceed otherwise. The platform movement plan creation means 12C creates a movement plan by using the output of the possible movement time as one of the inputs. At this time, in this platform 3, for example, as shown in FIG.
Cannot be executed, and a plan such as plan 2 is created.

As described above, according to the seventh embodiment of the present invention, the dynamic time of each platform 3 is calculated based on the current state of each platform 3 in order to calculate the movable time of each platform 3 to the destination. Consideration can be made in real time in planning a trip.

[0049]

As described above, according to the present invention, 1
Since the monitoring target is monitored by moving a plurality of platforms having a plurality of sensors or more, and at the base, the movement plan of the platform is output based on the monitoring information from the sensor, so that the monitoring target is monitored. Effective monitoring can be performed. In addition, the movement plan can be shown to the operator, and the operator can concentrate on maneuvering in the visible range, such as avoiding dangerous objects, so that there is an effect that the burden can be reduced.

According to another aspect of the present invention, a plurality of platforms each including one or more sensors and signal / information processing means for processing monitoring information of the sensors and outputting monitoring processing data. Are moved, and the monitoring target is monitored, and at the base, the movement plan of the platform is output based on the monitoring processing data from the signal / information processing means. It can be carried out. Further, since the signal / information processing means is provided on the moving platform, there is an effect that the movement of data between the platform and the base can be reduced.

According to another aspect of the present invention, platform movement plan information and the like are displayed at the base, so that the movement plan can be shown to the operator, and the operator can view the visible range such as avoiding dangerous objects. Since it is possible to concentrate on the operation of the vehicle, there is an effect that the burden can be reduced. According to another aspect of the present invention, the base is provided with the monitoring priority determining means for outputting the priority of the monitoring area or the monitoring target, so that the monitoring area or the monitoring target is monitored. There is an effect that monitoring can be performed while considering the priority.

According to another aspect of the present invention, a sensor indicating the effectiveness of a sensor according to a monitored area or a monitored object.
-Store the file of the monitoring type effect and output the sensor-monitoring area effect indicating the effectiveness of the sensor according to the monitoring area,
Since the sensors are assigned in consideration of these factors, the monitoring can be performed while considering the difference in the effect caused by the difference in the type of the sensor. According to another aspect of the present invention, an optimum sensor altitude is output as sensor altitude information according to a monitoring area or a monitoring target, and a platform movement plan is output in consideration of the altitude. There is an effect that the sensor can be effectively used depending on the required detail of the monitoring of the area.

According to another aspect of the present invention, the moving platform is detected, the position and the state of the platform are output, and the movement plan of the platform is output in consideration of the detected platform. There is an effect that monitoring can be performed while changing the movement route of the platform. According to the other invention of the present application, the position / state of the moving platform is input, the movable time of the platform is output, and the moving plan of the platform is output in consideration of the dynamic characteristics of the platform. There is an effect that a movement plan can be created in real time.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a monitoring device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing details of a moving platform and signal / information processing means of the monitoring device according to the first embodiment of the present invention.

FIG. 3 is a diagram showing an example of general information and reference data output from a data integration unit in the monitoring device according to the first embodiment of the present invention.

FIG. 4 is a diagram showing an example of monitoring device assignment information according to the first embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a monitoring device according to a second embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of a monitoring device according to a third embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a monitoring device according to a fourth embodiment of the present invention.

FIG. 8 is a diagram showing a sensor-monitoring area effect in the monitoring device according to the fourth embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of a monitoring device according to a fifth embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of a monitoring device according to a sixth embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a monitoring device according to a seventh embodiment of the present invention.

FIG. 12 is a diagram showing an example of a platform plan according to a seventh embodiment of the present invention.

FIG. 13 is a block diagram showing a conventional monitoring device.

[Explanation of symbols]

1 monitoring area, 2 monitoring target, 3 mobile platform, 4 sensors, 5 bases, 6 signal / information processing means, 7 data integration means, 8 situation evaluation means,
9 Reference data, 10 Monitoring data, 1
1 allocation means, 12 platform movement plan creation means, 13 display means, 14 monitoring priority evaluation means, 15 monitoring effect file, 16 monitoring effect evaluation means, 17 altitude determination means, 18 platform position / state detection means, 19 travel time judgment means.

Claims (9)

[Claims] 1. A plurality of platforms each including at least one sensor for monitoring a monitoring target and outputting monitoring information, and a base for inputting the monitoring information and outputting a movement plan of the platform. The base includes a signal / information processing unit that inputs the monitoring information and outputs monitoring processing data, a data integration unit that inputs the monitoring processing data and outputs comprehensive information of the monitoring target, Reference data for storing reference information for comparison with information, status evaluation means for inputting the comprehensive information and the reference information and outputting an abnormal status of the monitoring target, and inputting the abnormal status Allocating means for outputting allocation information of the sensor with respect to the monitoring target, and a platform for inputting the allocation information and outputting a movement plan of the platform Monitoring apparatus characterized by and a movement plan creating means. 2. A plurality of platforms each comprising one or more sensors for monitoring a monitoring target and outputting monitoring information, and signal / information processing means for inputting the monitoring information and outputting monitoring processing data, A base that inputs the monitoring processing data and outputs a movement plan of the platform; the base is a data integration unit that inputs the monitoring processing data and outputs comprehensive information of the monitoring target; Reference data for storing reference information for comparison with, a condition evaluation means for inputting the comprehensive information and the reference information and outputting an abnormal condition of the monitoring target, and inputting the abnormal condition and Allocating means for outputting allocation information of the sensor to a monitoring target, and platform movement for inputting the allocation information and outputting a movement plan of the platform Monitoring apparatus characterized by and a picture producing means. 3. The base is provided with already-monitored data for storing already-monitored information, and the status evaluation means inputs the general information, the reference information, and the already-monitored information to determine an abnormal status of the monitored object. The monitoring device according to claim 1, wherein the monitoring device outputs the output. 4. The base according to claim 1, further comprising a display unit for inputting and displaying at least one of the general information, the abnormal situation, the allocation information, and the movement plan. The monitoring device according to any one of claims 1 to 3. 5. A monitoring priority evaluation means for outputting a priority of a monitoring area or a monitoring target with the abnormal situation as an input, wherein the assigning means inputs the abnormal situation and the priority. The monitoring device according to any one of claims 1 to 4, wherein information on the assignment of the sensor to the monitoring area or the monitoring target is output. 6. A monitoring effect file for storing a sensor-monitoring effect indicating the effectiveness of a sensor according to a monitoring area or an object to be monitored, and a monitoring area by inputting the abnormal situation and the sensor-monitoring effect. A monitoring effect evaluating means for outputting a sensor-monitoring area effect indicating the effectiveness of the sensor according to the above-mentioned condition, wherein the allocating means inputs the abnormal situation and the sensor-monitoring area effect and outputs the monitoring area. The monitoring device according to any one of claims 1 to 5, wherein information on assignment of the sensor to a monitoring target is output. 7. An altitude determining means for inputting the allocation information and outputting altitude information for the sensor is provided at the base, and the platform movement plan creating means inputs the allocation information and the altitude information and outputs the altitude information. 7. The system according to claim 1, further comprising outputting a movement plan of the platform.
The monitoring device according to any one of the above. 8. A platform position / state detecting means for detecting the platform and outputting the position / state of the platform at the base, wherein the platform movement plan creating means includes the allocation information and the position / state of the platform. The monitoring device according to any one of claims 1 to 7, wherein the monitoring device outputs a movement plan of the platform by inputting the movement plan. 9. The base further comprising a travel time determining means for inputting the allocation information and the position / state of the platform and outputting a movable time of the platform at the base, wherein the platform movement plan creating means includes the allocation information and 9. The monitoring apparatus according to claim 8, wherein a position / state of the platform and the movable time are input to output a movement plan of the platform.