JP2001025584A - System for preventing false start - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a false start by predicting the position of a motorboat concerning a start line at a start time and issuing alarm to the player of the motorboat when the boat makes a false start based on the comparison result of the predicted position with the start line. SOLUTION: A position predicting device 12 predicts a position from the start line at the start time, that is, an arrival position from the relation of the time with the position from the start line in each motorboat through the use of data which is stored in a storage device 11 by a plurality of times. When the predicted position from the start line comes out of the start line, a false start judging means 3 judges that the motorboat makes the false start. Alarm is transmitted to the player of the judged boat by radio wave, a receiving device 14 receives the alarm to issue alarm sound from a headphone and the player is noticed that he makes the false start.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flying prevention system that predicts the arrival position of each boat at the start time immediately before the start time in a boat race and gives an alarm to a boat that may fly.

[0002]

2. Description of the Related Art In a boat race, six boats compete, and two minutes before the start time, each boat leaves the pitch. To run the race to the advantage, you need to be as close to the start line as possible at the maximum speed at the start time. The athlete measures the dash timing while watching the hands of the competition clock, and enters the start line at high speed. However, how fast you can approach the start line at the start time depends on the experience and feeling of the players, and at the start time you fly beyond the start line,
Disqualified boats did not stop. For this reason, this type of apparatus has been proposed in JP-A-7-642 and JP-A-9-84920 as an apparatus for preventing flying beforehand.

[0003] The principle of this type of device will be described with reference to FIGS. In FIG. 19, a first laser irradiator 26 and a second laser irradiator 27 are installed diagonally on a course and irradiate pulse laser light in a fan-like manner at a high repetition rate. Is formed. On the other hand, each boat
When each boat crosses the irradiation area of the first laser irradiator 26, the light receiving device 28 receives the pulsed laser light and starts the clock in the light receiving device 28. Next, when the boat crosses the irradiation area of the second laser irradiator 27, the light receiving device 28 receives the pulse laser beam and stops the clock in the light receiving device 28. The light receiving device 28 determines the time when the clock has moved and the first laser irradiator 26.
And the distance between the irradiation areas of the second laser irradiator 27,
Calculate the boat speed. Then, the second laser irradiator 27
Assuming that the boat advances at the calculated speed from the irradiation area to the start line, the time when the boat reaches the start line is predicted. If the predicted time is less than the start time, the light receiving device 28 gives a warning to the player wirelessly.

In addition, the above-mentioned flying warning device for a boat race uses three laser irradiators and provides three irradiation areas, whereby the speed can be obtained twice by the light receiving device 28, and the acceleration is calculated from the difference between the speeds. It is possible to do. In this case, the light receiving device 28 predicts the time when the boat reaches the start line, assuming that the boat advances at the calculated acceleration.

[0005]

A conventional apparatus of this kind is:
As described above, it is necessary to receive the pulsed laser beam by the light receiving device 28, and at the moment when the light passes through the irradiation area of the first laser irradiator 26 and the second laser irradiator 27, the light receiving device 28 If the pulse laser beam is splashed or the pulse laser beam is blocked by the splash, there is a problem that the pulse laser beam cannot be received and the device does not function.

Further, in this type of conventional apparatus, the light receiving device 28 needs to be installed on the boat as described above, and the light receiving device 28 is about several kg. There is a problem in that it is necessary to avoid adding extra parts as much as possible in a boat race that wants to be done, and furthermore, it is necessary to additionally work a mounting part on the boat.

Further, in this kind of conventional apparatus, since the first laser irradiator 26 and the second laser irradiator 27 use the laser which is an active element as described above, the output decreases due to the deterioration with time. I do. For this reason, although the first laser irradiator 26 and the second laser irradiator 27 are installed at a high place where handling is difficult, there is a problem that output confirmation before use and frequent maintenance are required. .

In addition, this type of conventional apparatus requires at least two laser irradiators to determine the speed, and at least three laser irradiators to determine the acceleration, and furthermore, the time until the acceleration changes with time. At least four laser irradiators are required for this. However, it is practically impossible to increase the number of laser irradiators in a limited installation place, and it is not possible to install at most three lasers to determine the acceleration, There is no other choice but to predict the time of arrival at the start line assuming constant speed motion or constant acceleration motion, and it is difficult to increase the prediction accuracy.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and accurately predicts the arrival position of each boat at the start time immediately before the start time without being affected by the splashes of other boats. The present invention proposes an anti-flying system that alerts athletes who may fly to encourage deceleration, thereby preventing flying. Furthermore, the present invention proposes an anti-flying system in which no devices are added on a boat without providing active elements at high places.

[0010]

A flying prevention system according to a first aspect of the present invention extracts a known characteristic amount for each boat from an acquired image of a course just before a start line in a boat race course, and based on the extraction result, each boat has a characteristic value. Means for identifying the arrangement order in the course width direction, and extracting the positions of a plurality of images showing the boat from the acquired image in the course before the start line,
From the extracted positions, the arrangement order of the images representing the boats in the course width direction is obtained, and the arrangement order of the images representing the boats is associated with the arrangement order of the boats identified by the above-mentioned means for obtaining the arrangement order. A position calculating means for calculating the position, and a position of the boat relative to the start line at the start time is predicted from the position of each boat obtained by the position calculating means for each elapsed time from the start of the competition, and the predicted position and the start line Flying judgment means for judging whether or not the boat will fly based on the result of comparison with the above, and flying notification means for issuing an alarm to a player of the boat determined to fly by the flying judgment means.

The anti-flying system according to the second aspect of the present invention extracts a known characteristic amount for each boat from an acquired image of a course just before a start line in a boat race course, and arranges each boat in the course width direction based on the extraction result. Means for identifying the order, and extracting the positions of a plurality of images showing the boat from the acquired image on the course before the start line, obtaining the arrangement order of the images showing the boat in the course width direction from the extracted positions, Position calculating means for calculating the position of each boat by associating the arrangement order of the images indicating the arrangement order with the arrangement order of each boat identified by the means for obtaining the arrangement order, and the position calculation means for each elapsed time from the start of the competition. The passing time of the start line of the boat is predicted from the obtained positions of the boats, and a flag for determining whether or not the boat will fly based on the result of comparison between the predicted time and the start time. A ring determining means, in which a flying notification means for issuing an alarm players boats is determined that the flying above Flying determination means.

In the anti-flying system according to a third aspect of the present invention, the means for determining the arrangement order acquires an image of a course before a start line by a color camera, and uses a unique image previously assigned to each boat or player from the acquired image. A means for extracting a color and identifying the arrangement order of the boats based on the extracted unique color, wherein the position calculating means acquires an image of a course just before the start line by an infrared camera, and acquires the acquired image. And means for extracting an image showing the boat from a heat source provided on the boat in advance.

According to a fourth aspect of the present invention, there is provided a flying prevention system, comprising: a means for obtaining an arrangement order comprising a first imaging device and an arrangement order estimation device; a timer; a second imaging device; a position calculation device; a boat number identification device; It comprises an arrival position estimating means comprising a device and a position estimating device, a flying determining means, and a flying notifying means comprising a transmitting device, a receiving device and an alarm sound generating means.

Further, in the flying prevention system according to the fifth invention, the lens of the camera constituting the first image pickup device is a zoom lens.

In the anti-flying system according to the sixth aspect of the present invention, the first image pickup device is constituted by a color camera, and the arrangement order estimating device extracts the color of the upper surface of the boat or the helmet and clothes of the player or the flag of the boat. It is configured as follows.

Further, in the anti-flying system according to the seventh invention, the first image pickup device is constituted by a color camera, and the color of the sheet or the visible light source which is color-coded for each boat attached to the upper surface of the boat in the arrangement estimating device. It is configured to perform extraction processing.

Further, in the anti-flying system according to the eighth invention, the first imaging device is constituted by a camera having sensitivity in the visible region, and the seat having a different shape for each boat mounted on the upper surface of the boat in the arrangement estimating device. Alternatively, it is configured to recognize the shape of the visible light source.

Further, in the anti-flying system according to the ninth aspect, the first imaging device is constituted by a camera having sensitivity in an infrared region, and the infrared ray having a different shape for each boat mounted on the upper surface of the boat in the arrangement order estimation device. It is configured to recognize the shape of the light emitting source.

In the anti-flying system according to the tenth aspect, the first imaging device is constituted by a camera having sensitivity in the near-infrared region, and the infrared light emitting source has a wavelength of 0.8 μm to 1 μm.
LEDs near m are arranged in a required shape, and the camera is further provided with a filter that transmits only light near the wavelength of the LEDs.

Further, in the anti-flying system according to the eleventh aspect, the first imaging device is constituted by a camera having sensitivity in the near-infrared region, and a diffuser plate having an infrared light emitting source formed in a required shape has a wavelength of 0.8 μm. The camera is configured to be illuminated with an LED or a semiconductor laser having a wavelength of about 1 to 1 μm, and the camera is provided with a filter that transmits only the light having a wavelength of about 8 to 1 μm.

In a twelfth aspect of the present invention, the first anti-flying system comprises a camera having sensitivity in the mid-infrared range or far-infrared range, and a heat source or a micro-shaped infrared light source having a required shape. The heat source is arranged in a required shape, and the camera is provided with a filter for blocking light having a wavelength of 4 μm or less in the mid-infrared region.

Further, in the anti-flying system according to the thirteenth aspect, the camera constituting the second image pickup device is an aspect ratio conversion lens, and picks up an image with a narrow field of view in the course direction and a wide field of view in the course width direction. It is configured as follows.

Also, in the flying prevention system according to the fourteenth aspect, the second imaging device is constituted by a color camera,
The position calculating device is configured to extract the color of the upper surface of the boat, the helmet and clothes of the player, or the color of the boat flag.

Also, in the flying prevention system according to a fifteenth aspect, the second imaging device is constituted by a color camera,
The position calculating device is configured to extract the color of the sheet or visible light source attached to the upper surface of the boat.

Also, in the flying prevention system according to the sixteenth aspect, the second imaging device is constituted by a camera having sensitivity in a visible range, and the position calculation device recognizes the shape of a sheet or a visible light source mounted on the upper surface of the boat. It is configured to do so.

Further, in the flying prevention system according to the seventeenth aspect, the second imaging device is constituted by a camera having sensitivity in an infrared region, and the position calculation device is configured to extract an infrared light source.

Further, in the anti-flying system according to the eighteenth aspect of the present invention, the position of the boat to be extracted by the position calculation device is predicted by using the time stored up to the previous extraction processing and the position of the boat from the start line. It is configured to be limited to the area.

Further, in the anti-flying system according to the nineteenth aspect, means for approximating a function of a relationship between a time at which the position predicting device is stored for each boat and a position from the start line, and a start time of each boat using this function And means for calculating the arrival position at the point.

Further, the flying prevention system according to the twentieth aspect is configured such that the second imaging device is shared by the first imaging device after the arrangement order is estimated by the arrangement order estimation device.

Further, in the anti-flying system according to the twenty-first aspect, the second imaging device is constituted by a camera having sensitivity in the near-infrared region, and the infrared light source is installed on the upper surface of the boat at a wavelength of about 0.8 μm to 1 μm. And the camera is further provided with a filter that transmits only the light near the wavelength of 0.8 μm to 1 μm.

Further, in the anti-flying system according to the twenty-second aspect, the second imaging device is constituted by a camera having sensitivity in the mid-infrared range or the far-infrared range, and the infrared light emitting source is constituted by a heat source installed on the upper surface of the boat. In the mid-infrared region, the camera is provided with a filter for blocking light having a wavelength of 4 μm or less.

Also, in the anti-flying system according to the twenty-third aspect, the second imaging device comprises a camera having sensitivity in the mid-infrared range or far-infrared range, uses a boat engine as an infrared light source, and further comprises a middle red In the outer region, the camera is provided with a filter for blocking light having a wavelength of 4 μm or less.

Further, the anti-flying system according to the twenty-fourth aspect of the present invention provides the function approximating means according to the sixteenth aspect of the present invention in which
A linear approximation or a quadratic function approximation is used to minimize the root mean square error.

Also, in the anti-flying system according to the twenty-fifth aspect, the receiving device recognizes a different identification code for each boat and emits an alarm sound from the flying notification means if the receiving device corresponds to the receiving device. It is configured to send the identification code of the boat determined to be.

Further, the anti-flying system according to the twenty-sixth aspect is configured so that a different frequency is assigned to each receiving device for each boat, and the transmitting device transmits an alarm signal at the frequency of the boat determined to be flying.

The anti-flying system according to the twenty-seventh aspect of the present invention comprises a color camera as the first imaging device, and the upper surface of the boat or a helmet and clothes of a player are extracted by the arrangement order estimating device as feature amounts of the boat. Alternatively, using the color of a boat flag and using the second imaging device having a sensitivity in the mid-infrared region provided with a filter for blocking light having a wavelength of 4 μm or less, the engine of the boat is used as an extraction process in the position calculation device. Is extracted.

[0037]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a configuration diagram showing a first embodiment of the present invention. In FIG.
Means 2 for determining the arrangement order constituted by the imaging device 5 and the arrangement order estimation device 6 are a timer 7, a second imaging device 8, a position calculation device 9, a boat number identification device 10, a storage device 11, and a position prediction device. A destination position estimating unit 12 includes a flying determining unit 3, a transmitting unit 13, and a receiving unit 14.
And a headphone 15.

Next, the operation will be described with reference to FIG. The boat race is conducted with six boats, and each boat leaves the pit two minutes before the start time. In the vicinity of the pit, the boats struggle to determine the order of arrangement in the course width direction at the start. The order of the boats is not fixed), and when the competition clock is a few seconds before the start time, each boat keeps the line in order so that it accelerates as fast as possible and approaches the start line by the start time. Charge towards. The first imaging device 5 and the second imaging device 8 are mounted at a high place so that the field of view covers the entire course width before the start line. As shown in FIG. 2, the first imaging device 5 and the second imaging device 8 are each configured by one camera, and are mounted on the roof of the audience seat and installed so as to look down on the diagonally lower course. . The first imaging device 5 captures an image of the vicinity of 40 m before the start line, and captures an image of a boat crossing the field of view. The arrangement order estimation device 6 acquires the captured image of the first imaging device 5, extracts a known feature amount that differs for each boat, identifies the boat number of the boat corresponding to the extracted feature amount, and The boats in the course width direction from boat No. 1 to boat No. 6 identified from the extraction positions of the characteristic amounts are obtained.

On the other hand, the timer 7 receives a time trigger signal synchronized with the competition clock, starts counting down, and keeps time accurately until the start time. Similar to the first imaging device 5, the second imaging device 8 is mounted at a high place so that the field of view covers the entire course width before the start line, and the vicinity of about 40m before the start line is synchronized with the time of the timer 7. Image. The field of view of the second imaging device 8 is the same as that of the first imaging device 5 or the first imaging device 5 because it is necessary to first determine the arrangement order of the boats in the course width direction based on the images captured by the first imaging device 5. It is set at a position closer to the start line than the first imaging device 5, and the two visual fields may overlap at this time. The position calculation device 9 acquires the captured image of the second imaging device 8 and performs a process of extracting the boat from the background water surface, and obtains the location of the boat on the image. The image obtained by the position calculating device 9 is composed of vertical M pixels and horizontal N pixels, and these pixels correspond to the pixels of the image sensor of the second image capturing device 8. When the normal extraction process is performed, the region is extracted as a region including a plurality of pixels. Ultimately, one pixel is specified using the center pixel of the region or the barycenter pixel of the region area as the existing pixel of each boat. FIG. 3 shows the existing pixels of the boat extracted by the position calculation device 9 in black. In the figure, the vertical direction is the course direction, and the horizontal direction is the course width direction. By associating each pixel with an actually measured value of the position from the start line in advance, the scatter of the boat in the course width direction and the position from the start line can be known from the existing pixels. The boat number identification device 10 associates the scatter of the boats in the course width direction extracted by the position calculation device 9 with the arrangement order in the course width direction of each boat obtained by the arrangement order estimation device 6 and associates the boat number with the position calculation device 9. Assign a boat number to the selected boat. The storage device 11 stores the time of the timer 7 at the time of imaging by the second imaging device 8, the boat number assigned by the boat number identification device 10, and the position of this boat from the start line by one.
It is stored as a set of data. The position prediction device 12 predicts the position from the start line at the start time, that is, the arrival position, from the relationship between the time of each boat and the position from the start line using the data stored in the storage device 11 at a plurality of times. This prediction is possible if there are at least three sets of data. That is, if there are positions from the start line at three different times, the speed of the boat is obtained twice,
The acceleration is obtained once from this speed difference. In this case, assuming that the boat runs at a constant acceleration, the distance traveled in the remaining time until the start time is calculated, and the arrival position at the start time is calculated. Furthermore, if four sets of data are used, the acceleration is obtained twice, and the difference indicates the rate of change of the acceleration. In this case, it is possible to predict that the acceleration increases and decreases at the same rate of change.
A more accurate prediction is possible than when using a set of data. Flying determination means 3 is a position prediction device 1
When the position from the start line predicted for each boat in Step 2 exceeds the start line, the boat is determined to be flying. The flying judgment by the flag judging means 3 determines the scheduled time at which each boat passes the start line, compares the scheduled time with the start time, and the start time is later than the scheduled time at which the boat passes the start line. At this time, a process for determining that the boat is flying may be performed.

The transmitting device 13 wirelessly sends a warning to the player of the boat determined to be flying, and the receiving device 14 generates an alarm sound from the headphones 15 to notify the player of the flying when receiving the warning. Receiver 14 and headphones 15
For example, is mounted on the helmet 16 as shown in FIG. 4 or directly attached to the body of the player. There are two methods for transmitting an alarm by the transmission device 13. One is a method in which a different identification code is assigned to the receiving device 14 in advance for each boat, and the transmitting device 13 transmits the identification code of the receiving device 14 of the boat determined to be flying as an alarm, and the other is a method of transmitting the identification code of the receiving device 14. In this method, a different frequency is assigned to each boat in advance, and the transmitter 13 transmits a pulse of the frequency of the receiver 14 of the boat determined to be flying as an alarm. In the former method, the transmitting device 13 modulates and transmits a radio wave of a single frequency with an identification code, and the receiving device 14 of each boat decodes the received radio wave and checks it against its own identification code. In the latter method, the transmitting device 13 has frequency channels corresponding to the number of boats, that is, six channels, and the receiving device 14 of each boat is assigned one channel, and only the receiving device 14 corresponding to the transmitted channel receives.

The player who is sounded by the alarm from the headphone 15 can adjust the speed to prevent flying. As described above, in the anti-flying system according to this embodiment, the position prediction device 12 predicts the arrival position of the boat at the start time by using the positions at a plurality of different times. At the moment when the light passes through the irradiation areas of the first laser irradiator 26 and the second laser irradiator 27, if the light receiving device 28 cannot receive the pulse laser light, the problem that the device does not function does not occur. Even if the position of the boat could not be obtained at a certain time, the arrival position can be predicted using the position stored at another time in the storage device 11. If the boat is present in the second imaging device 8, the position at an arbitrary time can be obtained by the position calculation device 9 and stored in the storage device 11, so that the second imaging is performed to increase the acquired data. Device 8
There is no need to increase the number of devices. Further, since the image pickup devices used in the first image pickup device 5 and the second image pickup device 8 installed at a high place are passive elements, the first laser irradiator 26 and the second laser Unlike an active element such as a laser used in the irradiator 27, there is an effect that deterioration with time is extremely small and maintenance at a high place is almost unnecessary. In the above description, the first imaging device 5 and the second imaging device 8 are each configured by one camera. However, the first imaging device 5 and the second imaging device 8 are configured by a plurality of cameras to cover the entire course width with a plurality of visual fields. It may be.

Embodiment 2 Embodiment 2 of the present invention
Is a camera in which the first imaging device 5 and the second imaging device 8 according to the first embodiment are zoom lenses. The first imaging device 5 and the second imaging device 8 need to cover the entire course width, but since the installation positions shown in FIG. 2 vary depending on the boat racetrack, the entire imaging range is taken from the installation position. Has a first imaging device 5
It is necessary to change the viewing angle of the second imaging device 8 for each boat racetrack. If a fixed focus lens is used, it is necessary to manufacture a lens having a different focal length for each racetrack, or to cover the entire course width with a plurality of cameras. However, when a zoom lens is used, application to different boat racetracks is possible by adjusting the focal length of the zoom lens with one camera.

Embodiment 3 Embodiment 3 of the present invention
In the first embodiment, the first imaging device 5 according to the first embodiment is configured by a color camera, and the arrangement order estimation device 6 performs the processing shown in the flowchart of FIG. Since the colors of the upper surface of the boat, the flag of the boat, the clothes of the players, and the helmets are determined for each number, this color is used as a known feature that differs for each boat in the first embodiment. Specifically, boats 1 to 6 are white,
The colors are black, red, blue, yellow and green. The arrangement order estimating device 6 previously stores six colors corresponding to the six boats as a reference, acquires an image of a color camera,
The reference color is extracted from the image. When the normal extraction process is performed, the portion corresponding to the reference color is extracted as a region composed of a plurality of pixels.
Specify to pixel. For example, as shown in the processing image in FIG. 6, the existence pixels of each color are specified, and the arrangement order of the boats can be determined from the arrangement order of the colors in the course width direction. In FIG. 6, for the sake of explanation, a color name is added below the existing pixel, but such a correspondence between the existing pixel and the color of the boat is made by the arrangement order estimating device 6, and the processing is actually performed. There is no need to display color names together on the screen. As described above, in this embodiment, it is not necessary to newly add a different characteristic amount to each boat.

Embodiment 4 FIG. Embodiment 4 of the present invention
In the first embodiment, the first imaging device 5 according to the first embodiment is configured by a color camera, and a seat or a visible light source of a different color is attached to the upper surface of the boat for each boat number.
The processing shown in the flowchart of FIG. In the present invention, as shown in FIG. 7, different colors of the sheet or the visible light source 17 are used for each boat mounted on the upper surface of the boat.
Is used as a known feature value that differs for each boat. These colors are basically determined by boat number, top surface of boat, boat flag,
It may be the same color as the athlete's clothing and helmet. But,
Depending on the color, there are cases where extraction is difficult due to the color of the water surface and the lighting condition. In this case, all boats can be extracted by changing the color of the sheet or the visible light source to a color that is easy to extract differently from other boats. For example, white or black may occur due to the reflection of sunlight on the water surface. In such a case, instead of white or black, the color can be changed to brown or purple or the like which is easy to distinguish without duplication with other boats. Also,
The visible light source is also effective in dark weather. The arrangement order estimating device 6 stores in advance the color of the sheet or the visible light source 17 having a different color for each boat as a reference color, acquires an image of a color camera, and performs a process of extracting the reference color from the image. Similar to the third embodiment, the existing pixels of each color are specified, and the arrangement order of the boats is determined from the arrangement order of the colors in the course width direction.

Embodiment 5 FIG. Embodiment 5 of the present invention
The first imaging device 5 according to the first embodiment is constituted by a camera having sensitivity in the visible range, and a seat having a different shape or a visible light source 18 is attached to the upper surface of each boat, and the arrangement order estimating device 6 Performs the processing shown in the flowchart of FIG. In the present invention, as shown in FIG. 9, a sheet having a different shape for each boat mounted on the upper surface of the boat or a shape of the visible light source 18 is used as a known feature amount different for each boat of the first embodiment. Different shapes are determined in advance for each boat number. The camera having sensitivity in the visible range may be a color camera or a black and white camera. The arrangement order estimation device 6 previously stores six types of shapes corresponding to six boats as reference shapes, acquires an image of a camera, and performs a process of extracting the reference shape from the images. A correlation processing method is often used for shape extraction processing, and it is considered that the pixel having the maximum correlation value has the shape. As shown in the processing image in FIG. 10, the existence pixels of each reference shape are specified,
The arrangement order of the boats is determined from the arrangement order of the shapes in the course width direction. In FIG. 10, for the sake of explanation, a reference shape is added below an existing pixel, but such a correspondence between the existing pixel of the boat and the reference shape is made by the arrangement order estimation device 6, and actually, It is not necessary to display the reference shape together on the processing screen.

Embodiment 6 FIG. Embodiment 6 of the present invention
In the first embodiment, the first imaging device 5 according to the first embodiment is constituted by a camera having sensitivity in the infrared region, and an infrared light source 19 having a different shape is attached to each boat on the upper surface of the boat.
Performs the processing shown in the flowchart of FIG.
In the present invention, the sheet or visible light source 18 having a different shape for each boat in FIG. 9 is replaced with an infrared light emitting source 19 having a different shape for each boat, and this shape is used as a known feature value which differs for each boat in the first embodiment. Different shapes are determined in advance for each boat number.

Cameras having sensitivity in the infrared region are used in three broad wavelength regions depending on the wavelength sensitivity. 0.8
a near-infrared region near μm to 1 μm, a mid-infrared region near 3 μm to 5.5 μm, a far-infrared region near 8 μm to 12 μm,
As an imaging element of a camera, a Si element is used in the near infrared region, a PtSi element or InSb element is used in the middle infrared region, and HgCd is used in a far infrared region.
A Te element or the like is used.

When a camera having sensitivity in the near-infrared region is used for the first imaging device 5, the infrared light emitting sources 19 having different shapes are arranged for each boat by arranging the LEDs 20 having wavelengths of about 0.8 μm to 1 μm in a required shape. Can be configured. FIG. 11 shows an example in which triangular shapes are arranged. Since the LED 20 has a wide directivity, a clear image can be obtained even when the image is taken obliquely from above as shown in FIG. Furthermore, as another configuration, a diffusion plate molded into a required shape is used with a wavelength of 0.8 μm or more.
It can be configured by illuminating with LED 20 or semiconductor laser 21 near 1 μm. FIG. 12 shows an example. FIG. 12 shows L inside a case 23 having a ground glass 22 as a window.
With an ED 20 or a semiconductor laser 21;
The ED 20 or the semiconductor laser 21 illuminates the ground glass 22. The frosted glass 22 functions as a diffusion plate, and this shape may be formed into a required shape that differs for each boat.
In addition, by providing the camera with a filter that transmits only light having a wavelength of about 0.8 μm to 1 μm, it is possible to reduce the influence of the scattering of sunlight on the water surface, which is an obstacle to the extraction processing in the arrangement order estimation device 6.

When a camera having sensitivity in the mid-infrared region or far-infrared region is used as the first imaging device 5, the infrared light source 19 having a different shape for each boat may be constituted by a heat source molded into a required shape. it can. Simply, this heat source may be a heater. A heat source having a temperature of several hundred degrees or more has a property of emitting a large amount of infrared rays in the mid-infrared region and the far-infrared region as compared with naturally occurring heat sources. On the other hand, in the mid-infrared region, the shorter the wavelength, the stronger the influence of sunlight scattering from the background water surface, which becomes an obstacle to extraction. Therefore, in the mid-infrared region, the above effect can be reduced by providing the camera with a filter that blocks light having a wavelength of 4 μm or less. The procedure for obtaining the row order of the boats in the course width direction from the images acquired by the row order estimation device 6 is the same as in the fifth embodiment.

Embodiment 7 FIG. Embodiment 7 of the present invention
Is such that the lens of the camera constituting the second imaging device 8 in the first embodiment is an aspect ratio conversion lens. The field of view of the second imaging device 8 needs to be able to cover about 80 m in the course width direction, but since flying must be determined in about 2 seconds in the course direction,
It is sufficient that the boat travels within about 2 seconds, that is, it can cover about 45 m at a speed of 80 km / h.
When a normal lens is used, the ratio between the course direction and the course width direction of the field of view of the camera is determined by the size of the imaging device, and there is no flexibility. In the aspect ratio conversion lens, the focal length can be set separately in the course direction and the course width direction, so that the field of view of the camera can be matched with a required cover area. That is, the field of view that was conventionally covered by a plurality of units can be covered by one unit. The aspect ratio conversion lens can be simply realized by two orthogonal cylindrical lenses 24 as shown in FIG. In FIG. 13, the normal field of view is similar to that of the image pickup device 25, but the aspect ratio conversion lens can be set narrow in the course direction and wide in the course width direction.

Embodiment 8 FIG. Embodiment 8 of the present invention
In the second embodiment, the second imaging device 8 in the first embodiment is configured by a color camera, and the position calculation device 9 performs the processing shown in the flowchart of FIG. The colors of the upper surface of the boat, the flag of the boat, the clothing of the players and the helmet are determined for each number, so the six colors corresponding to the six boats are stored in advance as reference colors, and the image of the color camera is stored. Is obtained, and the reference color is extracted from the image.
When the normal extraction process is performed, the reference portion is extracted as a region composed of a plurality of pixels. Ultimately, the center pixel of the region or the center-of-gravity pixel of the region area is set as the existing pixel of each color. According to the present invention, it is not necessary to newly provide a different characteristic amount for each boat. When the first imaging device 5 is configured by a color camera, the first imaging device 5 can be shared with the second imaging device 8.

Embodiment 9 FIG. Embodiment 9 of the present invention
The second imaging device 8 in the first embodiment is constituted by a color camera, a color sheet or a visible light source is mounted on the upper surface of the boat, and the processing shown in the flowchart of FIG. is there. According to the present invention, boats can be easily extracted by avoiding colors that are difficult to extract due to the color of the water surface and the lighting condition. The color may be a single color or a plurality of colors. The visible light source is also effective in dark weather. The position calculating device 9 stores the color of the sheet or the visible light source as a reference color in advance, acquires an image of a color camera, and performs a process of extracting the reference color from the image. Existence pixels of each color are specified as in the eighth embodiment. When the first imaging device 5 is configured by a color camera, the first imaging device 5 can be shared with the second imaging device 8.

Embodiment 10 FIG. Embodiment 1 of the present invention
Reference numeral 0 denotes a second imaging device 8 according to the first embodiment, which is constituted by a camera having sensitivity in the visible range, a sheet or visible light source having a predetermined shape is mounted on the upper surface of the boat, and the position is calculated by the position calculation device 9. The processing shown in the flowchart of FIG. The shape may be one type or a plurality of types. Further, the camera having sensitivity in the visible range may be a color camera or a black and white camera. The position calculating device 9 stores the shape in advance as a reference shape, acquires an image of the camera, and performs a process of extracting the reference shape from the image. A correlation processing method is often used for shape extraction processing, and a pixel having a maximum correlation value is identified as a reference shape existing pixel. When the first imaging device 5 is configured by a camera having sensitivity in the visible region, the first imaging device 5 can be shared with the second imaging device 8.

Embodiment 11 FIG. Embodiment 1 of the present invention
In the first embodiment, the second imaging device 8 in the first embodiment is constituted by a camera having sensitivity in the infrared region, an infrared light source is mounted on the upper surface of the boat, and the position calculation device 9 performs the processing shown in the flowchart of FIG. Is what you do. Get the camera image,
A process of extracting a high-luminance portion exceeding a preset luminance level from this image is performed. Normally, a region consisting of a plurality of pixels is extracted by the extraction processing, but finally, the center pixel of the region or the center-of-gravity pixel of the region area is set as the existence pixel of the infrared light source.

As described in the sixth embodiment, cameras having sensitivity in the infrared region can be roughly classified into a near-infrared region, a mid-infrared region, and a far-infrared region. When a camera having sensitivity in the near-infrared region is used as the second imaging device 8, the infrared emission source wavelength is 0.8 μm or more.
It can be composed of LEDs 20 having a size of about 1 μm. Alternatively, as another configuration, the diffusion plate can be configured to be illuminated with the LED 20 or the semiconductor laser 21 having a wavelength of about 0.8 μm to 1 μm. In this case, the same thing as FIG. 12 can be used, but it is not necessary to change the shape of the ground glass 22 for each boat. In addition, as in the sixth embodiment, the camera is provided with a filter that transmits only light having a wavelength of about 0.8 μm to 1 μm, so that the influence of sunlight scattering from the background water surface, which is an obstacle to extraction, can be reduced. . The first
When the imaging device 5 of this embodiment is configured by a camera having sensitivity in the near-infrared region, it can be shared with the second imaging device 8.

When a camera having sensitivity in the mid-infrared region or far-infrared region is used as the second imaging device 8, the infrared light emitting source can be constituted by a heat source as in the sixth embodiment. However, in the present invention, it is not necessary to change the shape for each boat. For this reason, a heater may be installed as a heat source in the same manner as in the sixth embodiment, but the engine of a boat that is hot during traveling can be regarded as a heat source. In this case, there is no need to provide a special heat source. Furthermore, as in Embodiment 6, in the mid-infrared region, the camera is provided with a filter that blocks light having a wavelength of 4 μm or less, so that the effect of sunlight scattering can be reduced. When the first imaging device 5 and the second imaging device 8 are configured by the same type of camera, the cameras can also be used.

Embodiment 12 FIG. Embodiment 1 of the present invention
In the position calculation device 9 according to the first embodiment, the time from the start line of the boat at the time when the position calculation device 9 next obtains an image from the time for each boat stored in the storage device 11 and the position from the start line is calculated. The position is predicted, and the region where the extraction process is performed is limited to the region near the pixel corresponding to the predicted position. FIG. 17 shows the principle. The figure shows a state on the image of the second imaging device 8, showing only an example of one boat at the left end, and the same applies to other boats. Briefly, the speed is obtained from the change from the previous time and the existing pixel specified by the position calculation device 9 to the current time and the existing pixel, and the existing pixel of the boat at the next processing time is predicted to determine an area including this pixel. The next processing area may be used. It is not necessary to process all images, and the number of pixels to be processed is dramatically reduced, so that high-speed processing can be performed.

Embodiment 13 FIG. Embodiment 1 of the present invention
3 is means for approximating the relationship between the time stored in the storage device 11 and the position from the start line in the position estimating device 12 of the first embodiment by a function for each boat, and using this function at the start time of each boat. And means for calculating the arrival position. In the function approximating means, the time stored in the storage device 11 and the position from the start line are plotted for each boat, and the function is approximated so that the root mean square error is minimized. When the coordinate axis as shown in FIG. 18 is set with the horizontal axis representing time and the vertical axis representing the distance from the start line, the function may be a monotonically increasing function, and the linear approximation, that is, the linear function approximation or the quadratic function approximation is well suited to the actual situation. Fit. FIG. 18 is an example approximated by a quadratic function. Of course, it is also possible to fit a higher-order function, and a function that fits best for each boat may be used. Using this function, the position of the boat at the start time is calculated. In the example of FIG. 18, the position beyond the start line indicated by the star is calculated.
In this embodiment, compared to the first embodiment, by using a large number of data, it is possible to cancel a random measurement error inherent in each data and improve the position prediction accuracy. In addition, in this embodiment, compared to a conventional apparatus of this type which only has to predict and assume that the boat moves at a constant velocity or at a constant acceleration, it is best fitted to the movement of the boat by using a large number of data. Prediction becomes possible, and there is an effect that prediction accuracy can be greatly improved.

Embodiment 14 FIG. Embodiment 1 of the present invention
Reference numeral 4 denotes a color camera as the first imaging device 5 according to the first embodiment, and uses the upper surface of the boat or the colors of the helmet and clothes of the boat or the flag of the player as the feature amount of the boat extracted by the arrangement order estimation device 6. As the second imaging device 8, a device having sensitivity in the mid-infrared region provided with a filter that blocks light having a wavelength of 4 μm or less is used, and the position calculation device 9 performs a process of extracting a boat engine as an extraction process. It is what was constituted. By the way, the imaging device having sensitivity in the mid-infrared region has higher sensitivity as the temperature of the subject is higher.
An imaging device having sensitivity in the far-infrared region is characterized by high sensitivity to a subject near room temperature. Since the engine of a boat is quite hot, it is advantageous to use an imaging device sensitive in the mid-infrared region for the extraction process. However, if all light having a wavelength in the mid-infrared region is imaged, the influence of sunlight reflection on the water surface, that is, clutter, which hinders the extraction process, increases. For this reason, a filter that cuts off the wavelength range of 4 μm or less, in which this effect is particularly great, is required. Can be configured. Further, in this embodiment, the conventional light receiving device 28 needs to be installed on the boat, whereas the conventional light receiving device 28 does not need to be newly installed on the boat. For this reason, the acceleration of the boat is not hindered, and there is no need to perform additional work on the mounting portion of the boat.

[0060]

【The invention's effect】

According to the first and second aspects of the present invention, the boat does not have a measuring device or a light receiving device for measuring the position of the boat.
By acquiring the image of the course before the start line by the imaging device and extracting the known characteristic amount for each boat from the acquired image, the arrangement order of each boat whose arrangement order is not determined at the start of the competition is identified, and Position can be determined,
An alert can be issued to athletes who may fly.

According to the third aspect of the present invention, the means for identifying the arrangement order is obtained by a color camera, and the color of the boat or the player is extracted as the characteristic amount of the boat extracted by the arrangement order estimation device. By installing an infrared camera to obtain an image with the position calculating means and extracting an image showing the boat with a heat source such as an engine provided in advance on the boat, nothing is newly installed on the boat Since there is no need to perform the operation, the performance of the boat is not impaired, and no additional work is required on the mounting part of the boat.

According to the fourth aspect, the position predicting device predicts the arrival position of the boat at the start time by using the positions at a plurality of different times. At the moment of passing through the irradiation area of the laser irradiator and the second laser irradiator, the light receiving device splashes the preceding boat, or the pulse laser light cannot be received because the pulse laser light is blocked by the splash. This has the effect of eliminating the problem that the device does not function. Furthermore, since the imaging devices used in the first imaging device and the second imaging device installed at a high place are passive devices, the first and second laser irradiators of this type of conventional device can be used. Unlike an active element such as a laser to be used, there is an effect that deterioration with time is extremely small and maintenance at a high place is almost unnecessary.

According to the fifth aspect, since the lens of the camera constituting the first image pickup apparatus is a zoom lens,
There is an effect that the field of view can be adjusted so as to cover the entire course width without replacing the lens regardless of the installation location of the imaging device.

According to the sixth invention, the first imaging device is constituted by a color camera, and the arrangement order estimating device extracts the color of the upper surface of the boat or the helmet and clothes of the player or the flag of the boat. Since this color is different for each boat number, the existence position of each boat can be specified from the existence position of the extracted color, and the arrangement in the course width direction can be determined.

According to the seventh aspect, the first image pickup device is constituted by a color camera, and the arrangement order estimating device extracts the color of the sheet or the visible light source color-coded for each boat mounted on the upper surface of the boat. Since this color is different for each boat number, the existing position of each boat can be specified from the existing position of the extracted color, and the arrangement in the course width direction can be determined.

According to the eighth aspect, the first imaging device is constituted by a color camera, and the arrangement order estimating device recognizes the shape of the sheet or the visible light source having a different shape for each boat mounted on the upper surface of the boat. Since the shape is different for each boat number, the existing position of each boat can be specified from the existing position of the shape, and the arrangement in the course width direction can be determined.

According to the ninth aspect, the first imaging device is constituted by a camera having sensitivity in the infrared region, and the shape of the infrared light emitting source having a different shape for each boat mounted on the upper surface of the boat in the arrangement order estimation device. Since the shape is different for each boat number, the existence position of each boat can be specified from the existence position of the shape, and the arrangement in the course width direction can be determined.

According to the tenth aspect, the first imaging device is constituted by a camera having sensitivity in the near-infrared region, and the infrared emission source is formed by arranging LEDs having wavelengths of about 0.8 μm to 1 μm in a required shape. Since the camera is provided with a filter that transmits only light near the wavelength of the LED, the infrared light source can be imaged more clearly than the background, and the shape can be easily recognized.

According to the eleventh aspect, the first imaging device is constituted by a camera having sensitivity in the near-infrared region, and the diffuser in which the infrared light emitting source is molded in a required shape has a wavelength of 0.8 μm to 1 μm.
m or an LED or semiconductor laser in the vicinity of m, and the camera is provided with a filter that transmits only light in the vicinity of the wavelength of 8 μm to 1 μm.
The infrared light source can be imaged more clearly than the background, and the shape can be easily recognized.

According to the twelfth aspect, the first imaging device is constituted by a camera having sensitivity in the mid-infrared range or the far-infrared range, and a heat source or a micro heat source in which an infrared light emitting source is molded into a required shape is provided. In the mid-infrared region, the camera is equipped with a filter that blocks light having a wavelength of 4 μm or less, so that the infrared light source can be imaged more clearly than the background, and the shape can be easily recognized. There is an effect.

According to the thirteenth aspect, since the lens of the camera constituting the second image pickup apparatus is an aspect ratio conversion lens, the camera has a high spatial resolution in the course direction and a single camera in the course width direction with the course width. There is an effect that the whole can be imaged.

According to the fourteenth aspect, the second imaging device is constituted by a color camera, and the position calculating device extracts the color of the upper surface of the boat or the helmet and clothes of the player or the flag of the boat. There is an effect that the existence position of the boat can be known from the existing position of the color.

According to the fifteenth aspect, the second image pickup device is constituted by a color camera, and the position calculation device extracts the color of the sheet attached to the upper surface of the boat or the color of the visible light source. There is an effect that the location of the boat can be known from the location of the color.

According to the sixteenth aspect, the second imaging device is constituted by a camera having sensitivity in the visible region, and the position calculation device recognizes the shape of the sheet or the visible light source attached to the upper surface of the boat. There is an effect that the existence position of the boat can be known from the existence position of the shape.

According to the seventeenth aspect, the second imaging device is constituted by a camera having sensitivity in the infrared region, and the position calculation device extracts the infrared light emission source. This has the effect that the position of the boat can be known from the boat.

According to the eighteenth aspect, in the position calculation device, the area of the extraction processing is limited to the area predicted from the time stored until the previous extraction processing and the position from the start line of the boat. This has the effect of shortening the time and reducing the number of extraction errors caused by clutter.

According to the nineteenth aspect, the relationship between the time stored in the position prediction device and the position of the boat from the start line is approximated by a function for each boat, and the arrival position of each boat at the start time is determined using this function. Is calculated, there is an effect that the calculation accuracy of the arrival position can be increased.

According to the twentieth aspect, since the second imaging device is also used as the first imaging device, the number of required imaging devices can be reduced and the price can be reduced.

According to the twenty-first aspect, the second imaging device is constituted by a camera having sensitivity in the near-infrared region, and the infrared emission source is installed on the upper surface of the boat.
D or a semiconductor laser, the camera further has a filter that transmits only light in the vicinity of the wavelength, so that the infrared light source can be imaged more clearly than the background,
This has the effect of facilitating the extraction process.

According to the twenty-second aspect, the second imaging device is constituted by a camera having sensitivity in the mid-infrared region or the far-infrared region, and the infrared light emitting source is constituted by a heat source installed on the upper surface of the boat.
Further, in the mid-infrared region, the camera is provided with a filter that blocks light having a wavelength of 4 μm or less, so that the infrared light source can be imaged more clearly than the background, and the extraction processing can be facilitated.

According to the twenty-third aspect, the second imaging device comprises a camera having sensitivity in the mid-infrared range or far-infrared range, uses a boat engine as an infrared light emitting source, and further uses a camera in the mid-infrared range. Since a filter for blocking light having a wavelength of 4 μm or less is provided, an image can be taken more clearly than the background without newly installing an infrared light source on the boat, and the extraction process is facilitated.

According to the twenty-fourth aspect, the means for performing function approximation is performed by linear approximation or two-dimensional approximation so as to minimize the root mean square error.
The approximation of the next function has the effect of reducing the error of each data and increasing the accuracy of calculating the arrival position at the start time.

According to the twenty-fifth aspect, the receiving apparatus has a different identification code for each boat and emits an alarm sound from the headphone when the receiving apparatus itself corresponds to the received signal, and the transmitting apparatus determines that the transmitting apparatus is flying. , The warning can be given only to the player of the boat determined to be flying.

According to the twenty-sixth aspect, since a different frequency is assigned to each receiving device for each boat, and the transmitting device transmits an alarm signal at the frequency of the boat determined to be flying,
There is an effect that a warning can be given only to the player of the boat determined to be flying.

According to the twenty-seventh aspect, the first imaging device is constituted by a color camera, and the upper surface of the boat or the color of the helmet of the player and the clothes or the boat flag is extracted as the feature amount of the boat by the arrangement estimating device. The second imaging device is configured to have a sensitivity in the mid-infrared region including a filter that blocks light having a wavelength of 4 μm or less, and performs a process of extracting a boat engine as an extraction process in the position calculation device. Because there is no need to install anything on the boat,
There is an effect that the acceleration of the boat is not hindered, and no additional processing of the mounting portion is required for the boat.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a first embodiment.

FIG. 2 is a first imaging device in a stadium according to the first embodiment;
9 is a diagram illustrating an installation state of a second imaging device and a transmission device.

FIG. 3 is a diagram showing existing pixels of a boat extracted by the position calculating device according to the first embodiment.

FIG. 4 is a diagram showing a state in which a helmet is attached to the receiving device and the headphones according to the first embodiment.

FIG. 5 is a diagram illustrating a flowchart of a process of an arrangement order estimation device according to a third embodiment.

FIG. 6 is an explanatory diagram showing a processed image of the arrangement order estimation device according to the third embodiment.

FIG. 7 is a diagram showing sheets or visible light sources of different colors for each boat attached to the upper surface of the boat according to the fourth embodiment.

FIG. 8 is a diagram illustrating a flowchart of a process performed by the arrangement order estimating apparatus according to the fifth embodiment.

FIG. 9 is a view showing a sheet or a visible light source having a different shape for each boat mounted on the upper surface of the boat according to the fifth embodiment.

FIG. 10 is an explanatory diagram showing a processed image of the arrangement order estimation device according to the fifth embodiment.

FIG. 11 is a diagram showing LEDs arranged in a triangle according to the sixth embodiment.

FIG. 12 is a diagram illustrating an example of a light source using the diffusion plate according to the sixth embodiment.

FIG. 13 is a diagram illustrating a field of view by an aspect ratio conversion lens according to a seventh embodiment.

FIG. 14 is a diagram illustrating a flowchart of processing of the position calculating device according to the ninth embodiment.

FIG. 15 is a diagram illustrating a flowchart of processing of the position calculating device according to the tenth embodiment.

FIG. 16 is a view illustrating a flowchart of processing of the position calculating device according to the eleventh embodiment.

FIG. 17 is a diagram illustrating a principle of limiting an extraction processing area in the position calculation device according to the twelfth embodiment.

FIG. 18 is an example of a function approximation in the position prediction device according to the thirteenth embodiment.

FIG. 19 is an explanatory view showing the principle of a conventional device of this kind.

FIG. 20 is a diagram showing a light receiving device mounted on the upper surface of a boat of this type of conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Means for obtaining arrangement order 2 Arrival position prediction means 3 Flying determination means 4 Flying notification means 5 First imaging device 6 Arrangement estimation device 7 Timer 8 Second imaging device 9 Position calculation device 10 Boat number identification device 11 Storage device DESCRIPTION OF SYMBOLS 12 Position prediction apparatus 13 Transmitting apparatus 14 Receiving apparatus 15 Headphones 16 Helmet 17 Sheet or visible light source different in color for each boat 18 Sheet or visible light source different in shape for each boat 19 Infrared light emitting source different in shape for each boat 20 LED 21 Semiconductor Laser 22 Ground glass 23 Case 24 Cylindrical lens 25 Image sensor 26 First laser irradiator 27 Second laser irradiator 28 Light receiving device

Claims (27)

[Claims] 1. Extracting a known feature amount for each boat from an acquired image of a course just before a start line in a boat race course,
Means for identifying the arrangement order of the boats in the course width direction based on the extraction result, and extracting the positions of a plurality of images showing the boats from the acquired images on the course before the start line, and determining the course width from the extracted positions. Position calculating means for determining the arrangement order of the images indicating the boats in the direction, and associating the arrangement order of the images indicating the boats with the arrangement order of the boats identified by the means for obtaining the arrangement order, and calculating the position of each boat. Predicting the position of the boat with respect to the start line at the start time from the position of each boat obtained by the position calculation means for each elapsed time from the start of the competition, and based on the result of comparison between the predicted position and the start line. A flying determination means for determining whether or not to fly, and a flying notification means for issuing an alarm to a player of the boat determined to fly by the flying determination means. Flying prevention device, characterized in that. 2. Extracting a known feature amount for each boat from an acquired image of a course before a start line in a boat race course,
Means for identifying the arrangement order of the boats in the course width direction based on the extraction result, and extracting the positions of a plurality of images showing the boats from the acquired images on the course before the start line, and determining the course width from the extracted positions. Position calculating means for determining the arrangement order of the images indicating the boats in the direction, and associating the arrangement order of the images indicating the boats with the arrangement order of the boats identified by the means for obtaining the arrangement order, and calculating the position of each boat. Predicting the passing time of the boat's start line from the position of each boat obtained by the position calculating means for each elapsed time from the start of the competition, and based on the result of comparison between the predicted time and the starting time, A fly determining means for determining whether or not to fly, and flying notification means for issuing a warning to a player of the boat determined to fly by the flying determining means. Grayed prevention device. 3. The means for obtaining the arrangement order acquires an image of a course before a start line by a color camera,
A means for extracting a unique color assigned to each boat or player from the acquired image in advance, and identifying a row order of the boats based on the extracted unique colors; 3. An anti-flying device according to claim 1 or 2, further comprising means for acquiring an image of a course before the start line by using the method, and extracting an image showing the boat from the acquired image by a heat source provided in advance to the boat. . 4. A first imaging device for imaging the entire course width with one or more cameras so as to cover the entire course width before the start line with a single field of view or a plurality of fields of view, and the first imaging apparatus. A row order estimating apparatus for extracting a known feature amount for each boat from a screen imaged by the imaging device, identifying a boat number corresponding to the feature amount, and estimating a row order in the course width direction of the boat. Means to determine the arrangement order of boats in the course width direction immediately before the start time of the boat race, a timer that receives a time trigger signal synchronized with the competition clock and starts, a single view or multiple views of the entire course width before the start line 1 to cover
A second imaging device that captures the entire course width in synchronism with the time of the timer with one or more cameras, extracting a boat from an image captured by the second imaging device, and setting a start line for each boat. A position calculating device for calculating the position from the above, a boat number identifying device for assigning a boat number in association with the arrangement order estimated by the arrangement order estimating device to the boat for which the position has been calculated, the time of the timer and the boat number. A storage device for storing the position of the boat from the start line and a position from the start line of each boat at the start time using the time stored for each boat in the storage device at a plurality of different times and the position from the start line. Position estimating means for estimating the arrival position of the boat at the start time having a position estimating device for estimating the boat position; Flying judgment means for judging flying when exceeding, a transmitting device for wirelessly transmitting an alarm from outside the boat to a boat judged to be flying, an alarm attached to the body or helmet of the player of the boat judged to be flying. And a warning sound generating means for emitting a warning sound according to the warning received by being mounted on the body or helmet of the player and sending a warning to the player of the boat determined to be flying by the flying determination means. A flying prevention system comprising: a flying notification unit. 5. The anti-flying system according to claim 4, wherein a lens of a camera constituting the first imaging device and the second imaging device is a zoom lens. 6. The method according to claim 6, wherein the first imaging device is constituted by a color camera, and the color of the upper surface of the boat or the helmet and clothes of the player or the flag of the boat is used as the feature amount of the boat extracted by the arrangement order estimating device. The anti-flying system according to claim 4, characterized in that: 7. The first imaging device is constituted by a color camera, and a color of a sheet or a visible light source which is color-coded for each boat mounted on the upper surface of the boat is used as a feature amount of the boat to be extracted by the arrangement order estimating device. 5. The anti-flying system according to claim 4, wherein: 8. The boat according to claim 1, wherein said first imaging device is a camera having sensitivity in a visible region, and said boat has a different shape for each boat attached to the upper surface of the boat as a feature amount of the boat to be extracted by the arrangement order estimating device. 5. The anti-flying system according to claim 4, wherein a shape of a visible light source is used. 9. The infrared imaging device according to claim 1, wherein the first imaging device comprises a camera having sensitivity in an infrared region, and the infrared emission having a different shape for each boat attached to the upper surface of the boat as a feature amount of the boat extracted by the arrangement order estimation device. 5. An anti-flying system according to claim 4, wherein a source shape is used. 10. A camera having sensitivity in the near infrared region as the camera having sensitivity in the infrared region, wherein the infrared light emitting source is configured by arranging LEDs having wavelengths of about 0.8 μm to 1 μm in a required shape, 10. The anti-flying system according to claim 9, wherein the camera further comprises a filter that transmits only light near the wavelength of the LED. 11. A camera having sensitivity in the near-infrared region as a camera having sensitivity in the infrared region, and a diffusion plate molded in a required shape as the infrared light emitting source having a wavelength of 0.8 μm.
10. The anti-flying system according to claim 9, wherein an LED or a semiconductor laser illuminated with a wavelength of about 1 to 1 [mu] m is used, and the camera further includes a filter for transmitting only light having a wavelength of about 8 to 1 [mu] m. 12. A camera having sensitivity in the mid-infrared range or far-infrared range as a camera having sensitivity in the infrared region, and a heat source or a micro heat source molded in a required shape as the infrared light emitting source is arranged in a required shape. 10. The anti-flying system according to claim 9, further comprising a filter for blocking light having a wavelength of 4 [mu] m or less in the mid-infrared region. 13. The camera according to claim 2, wherein a lens of the camera constituting the second image pickup apparatus is an aspect ratio conversion lens, and images are taken in a narrow field of view in a course direction and in a wide field of view in a course width direction. Item 6. An anti-flying system according to item 4. 14. The second imaging device is constituted by a color camera, and the extraction of the upper surface of the boat or the color of the helmet and clothes of the player or the flag of the boat is performed as the extraction processing in the position calculation device, and the extracted area is determined. 5. The anti-flying system according to claim 4, wherein the position is a boat position. 15. The second image pickup device is constituted by a color camera, and a color of a sheet or a visible light source attached to the upper surface of the boat is extracted as an extraction process in the position calculation device, and the extracted area is set to the boat. 5. The anti-flying system according to claim 4, wherein the system is located. 16. The second imaging device is constituted by a camera having sensitivity in the visible range, and the position of the sheet or visible light source attached to the upper surface of the boat is recognized as extraction processing in the position calculation device. 5. The anti-flying system according to claim 4, wherein the existing position is a position of the boat. 17. The second imaging device is constituted by a camera having sensitivity in an infrared region, and a process of extracting an infrared light emission source is performed as an extraction process in the position calculation device. 5. The anti-flying system according to claim 4, wherein: 18. The area of the extraction processing in the position calculation device is set to the area where the boat exists, which is predicted using the time stored in the storage device and the position from the start line until the previous extraction processing for each boat. 5. The anti-flying system according to claim 4, wherein the system is limited. 19. Means for approximating the relationship between the time stored in the position prediction device and the position from the start line as a function for each boat, and means for calculating the arrival position of each boat at the start time using this function. 5. The anti-flying system according to claim 4, wherein the system comprises: 20. The apparatus according to claim 14, wherein said second image pickup device is shared by said first image pickup device after the arrangement order estimation by said arrangement order estimation device. The anti-flying system of claim 17. 21. A camera having sensitivity in the near infrared region as the camera having sensitivity in the infrared region, and using an LED or a semiconductor laser having a wavelength of approximately 0.8 μm to 1 μm as the infrared light emitting source. 2. The camera according to claim 1, further comprising a filter that transmits only light having a wavelength near 0.8 μm to 1 μm.
7. The anti-flying system according to 7. 22. A camera having sensitivity in the mid-infrared region or far-infrared region as the camera having sensitivity in the infrared region, a heat source installed on the upper surface of the boat as the infrared light emitting source, and The anti-flying system according to claim 17, wherein the camera is provided with a filter that blocks light having a wavelength of 4 µm or less. 23. A camera having sensitivity in the mid-infrared range or far-infrared range as the camera having sensitivity in the infrared range, an engine of a boat being used as the infrared emission source, and a camera of 4 μm or less in the mid-infrared range. 18. A filter for blocking light having a wavelength of
The described anti-flying system. 24. The anti-flying system according to claim 19, wherein the means for approximating the function of the position prediction device is configured to perform linear approximation or quadratic function approximation so as to minimize the root mean square error. 25. The receiving device has a different identification code for each boat, the transmitting device sends an identification code of a boat determined to be flying, and the receiving device decodes the received identification code to determine which one of the receiving devices corresponds. 5. The anti-flying system according to claim 4, wherein an alarm sound is emitted from said flying notification means. 26. The anti-flying system according to claim 4, wherein a different frequency is assigned to each of the receiving devices for each boat, and the transmitting device sends an alarm signal at a frequency of the boat determined to be flying. 27. A color camera as the first imaging device, wherein the upper surface of the boat or the color of the helmet and clothing of the player or the flag of the boat is used as the feature amount of the boat extracted by the arrangement order estimating device. As the imaging device of No. 2, a device having sensitivity in the mid-infrared region provided with a filter for blocking light having a wavelength of 4 μm or less was used. 5. The anti-flying system according to claim 4, wherein the area is a boat position.