JP2003279375A - Pseudo visual field forming device - Google Patents

Abstract

(57) [Summary] [Problem] A pseudo field of view that can form a pseudo field of view without obstructing the actual field of view and that can easily grasp the flight specifications and obstacles of the own aircraft using only the field of view. A forming device is provided. SOLUTION: A plurality of concentric virtual cylindrical surfaces centered on the pilot's head are formed based on information on obstacles, information on the own aircraft, and information on a pilot's head 28 by the pilot at the moving speed of the own aircraft. It is assumed that the radius is changed according to the longitudinal component of the head. Then, a plurality of obstacle ridge lines are obtained from the intersection line between each virtual cylindrical surface and the obstacle surface,
A pseudo-view image including these obstacle ridges is generated, and the pseudo-view image is displayed by the display unit 15. In addition, one or a plurality of virtual symbols are assumed at a fixed density on the obstacle together with each obstacle ridge line, and the virtual symbols are displayed together with each obstacle ridge line.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pseudo visual field forming device for forming a pseudo visual field around an aircraft in order to reduce the operational burden on the pilot of the aircraft.

[0002]

2. Description of the Related Art Pilots of aircraft, especially rotary-wing aircraft, determine their attitude and speed based on visual external information such as the inclination of the horizon and horizon, the flow of scenery and the apparent size of ground objects. Also, the flight specifications such as altitude are maintained and obstacles are avoided. Therefore, under bad weather conditions such as fog, rain, and snow, the visibility of the external field of view deteriorates, making it difficult for the pilot to maintain flight specifications and delaying the discovery of obstacles. In such bad weather, it becomes difficult to control.

As a prior art for solving such a problem, Japanese Patent No. 3052286 discloses a technique for forming a pseudo visual field using a plurality of external environment recognition sensors such as a laser radar or a millimeter wave radar. In this technology, in order to supplement the lack of visibility information in bad weather,
It displays realistic images that are true to the real world based on a detailed database.

Further, as another prior art for solving the above-mentioned problem that it is difficult to control in bad weather, a linear obstacle is detected by a laser radar and the obstacle including the linear obstacle is displayed. The technique is shown in Japanese Patent No. 2983498. In this technique, as shown in FIG. 16, based on the information acquired by the laser radar, a plurality of ridge lines that connect the uppermost portions of ground obstacles at a certain distance from the own position set at predetermined intervals can be said. The pseudo visual field image 2a, which is an image showing the envelope of the image at predetermined intervals, is displayed on the transmissive display means.

As another prior art, there is a wire-frame type display technology. This technique is used in virtual reality and the like, and as shown in FIG. 17, displays a pseudo-visual field image 3a which is an image representing a grid line along the undulations of an obstacle, a so-called wire frame. .

[0006]

Problems to be Solved by the Invention Patent No. 3052286
In the technology of, because it displays a realistic image,
It has the following problems. First, a detailed database has a large recording capacity and is difficult to handle. Secondly, even in bad weather, the visibility is rarely completely lost at 0 m, and it is often the case that the visibility is to some extent. In this case, the pilot gives priority to the actual information obtained by visual observation. Therefore, if a precise and complicated pseudo visual field image is displayed, it will be a hindrance to see the actual external visual field (real visual field) through the image.

Third, even a detailed database,
It is difficult to form an image of an obstacle that is exactly the same as the actual obstacle, and in addition, there is an error in the measurement of the position of the aircraft and the attitude of the aircraft, so the pseudo-view image was superimposed on the actual field of view. In this case, the pseudo visual field image and the real visual field may deviate from each other, which may confuse the pilot. Fourthly, a precise and complicated pseudo field-of-view image has a large amount of data, a long time is required for displaying, a display delay occurs, and there is a possibility that the pilot may have difficulty.

Further, in the technology of Japanese Patent No. 2983498, since the display is simple and does not easily obstruct the visual field of the actual field of view, an auxiliary display is provided when the visibility is long and sufficient information of the external field of view can be obtained by visual inspection. However, considering the case where there is little actual visual field information obtained by visual observation such as in bad weather, there are the following problems. Firstly, the difference between a large obstacle in the distance and a small obstacle in the vicinity is not clear only by the displayed contents, and it is difficult to obtain a sense of distance from the obstacle. Secondly, it is difficult to obtain a sense of speed, a sense of altitude, and a sense of attitude only by the display content.

Thirdly, the movement of the aircraft and the follow-up of the display with respect to the posture of the pilot's head are not taken into consideration. For example, when the envelope is regenerated for the movement of the player's own machine, the distance from the player's own machine at the position where the envelope is generated is set to be constant, so the envelope curve is deformed over time, It only changes like dancing, and it is rather difficult to grasp obstacles.

In the wire-frame display technology, the grid flow and the apparent size allow not only the ups and downs of obstacles but also a certain sense of distance and speed. There are the following problems in forming the field of view. Firstly, due to changes in the heading of the aircraft and the head of the pilot,
If the grid is slanted, it becomes difficult to grasp obstacles including undulations.

Secondly, in order to give a sense of perspective, the lattice spacing is set to be constant irrespective of whether it is distant or near, the lattice spacing is small in the distance and large in the neighborhood. Therefore, if the grid is made fine in order to display the obstacle in detail, the distant display portion becomes too dense, which affects the visibility of the actual visual field. On the contrary, if the grid is made rough, the grid becomes too rough in the vicinity and the obstacle cannot be grasped. In view of these, if the lattice spacing is made different between distant and near, the perspective cannot be obtained.

As described above, according to the prior art, when the visibility of the actual field of view is large, the visibility of the actual field of view is not hindered, and when the visibility of the actual field of view is small, the flight specifications and the flight characteristics of the own aircraft are obtained only by the pseudo field of view. It is not possible to form a pseudo field of view that makes it easy to grasp obstacles.

It is an object of the present invention to form a pseudo visual field which does not hinder the visual recognition of the real visual field and which can easily grasp the flight specifications and obstacles of the own aircraft only by the pseudo visual field. A forming device is provided.

[0014]

The present invention according to claim 1 is an obstacle information acquiring unit for acquiring obstacle information about an obstacle including a ground and an artificial object around the own device, an own position, and An own-machine information acquisition unit for acquiring own-machine information about the own-machine including the own-machine attitude; and a head-information acquisition unit for acquiring head information about the pilot's head including the attitude of the pilot's head; , A transparent display means for displaying an image superimposed on the real field of view, and a plurality of concentric virtual cylindrical surfaces centering on the pilot's head based on obstacle information, own-machine information and head information, Assuming that the radius changes according to the front-back direction component of the pilot's head in the moving speed of the aircraft, a plurality of obstacle ridge lines are obtained from the intersection line of each virtual cylindrical surface and the obstacle surface, and each of these obstacles is determined. Generates pseudo-field-of-view image including ridge lines A pseudo field of view forming apparatus characterized by comprising a control means for controlling display means to display the pseudo-field image.

According to the present invention, a plurality of concentric virtual cylindrical surfaces centering on the pilot's head are assumed, and a plurality of obstacle ridgelines are obtained from the lines of intersection of each virtual cylindrical surface and the obstacle surface. A pseudo field-of-view image including each obstacle ridgeline can be generated, and the pseudo field-of-view image can be displayed by the display means.
The display means is a transmissive display means, the pseudo visual field image can be displayed by being superimposed on the real visual field which is the actual external visual field, and the pilot visually checks both the real visual field and the formed pseudo visual field. can do. The pseudo field-of-view image is a simple image using a plurality of obstacle ridgelines, and does not hinder the visual field of the actual field of view when the pilot views the actual field of view.

Further, the obstacle ridgelines of the pseudo-visual field image forming the pseudo-visual field are not obtained based on the virtual cylindrical surface whose distance from the pilot's head is constant, but rather the pilot's speed at the moving speed of the aircraft. It is calculated based on each virtual cylindrical surface that is assumed while changing the radius according to the front-back direction component of the head. As a result, the displayed obstacle ridge line is displayed so as to approach the pilot when the aircraft is moving in front of the pilot's head, and when the aircraft is moving behind the pilot's head. , It is displayed so as to move away from the pilot, and when the aircraft is not moving in the front-back direction of the pilot's head, it is displayed so as not to approach or move away from the pilot. Moreover, the shape of each obstacle ridgeline does not change complicatedly over time with the movement of its own device.

Therefore, when the aircraft is moving in front of the pilot's head, the pilot recognizes that a pseudo field of view flows backward, and when the aircraft is moving behind the pilot's head. , The pilot recognizes that the pseudo field of view flows forward, and when the aircraft is moving in the left-right direction intersecting the front-back direction of the pilot's head, the pilot sees that the pseudo field of view flows left-right. Be recognized by. In this way, according to the movement of the aircraft, it is possible to form a pseudo field of view recognized by the pilot so as to flow in the same manner as the actual field of view, and an obstacle can be easily recognized only by this pseudo field of view. In addition, the flight parameters such as the attitude, speed, and altitude of the aircraft itself can be easily grasped as in the actual field of view.

The present invention according to claim 2 is characterized in that the control means sets the radial interval between the virtual cylindrical surfaces in accordance with at least one of the altitude of the aircraft and the flight speed.

According to the present invention, the radial distance between the virtual cylindrical surfaces is set in accordance with at least one of the altitude of the aircraft and the flight speed. As a result, it is possible to obtain a necessary minimum pseudo-visual field image according to the flight state. For example, when detailed obstacle information is required during low-altitude flight and low-speed flight, the radial distance between each virtual cylindrical surface should be reduced so that obstacles can be grasped in a pseudo field of view regardless of the visibility of the external field of view. When high certainty and sufficient general obstacle information such as during high-altitude flight and high-speed flight is sufficient, the radial interval of each virtual cylindrical surface is increased and the amount of data to be processed is reduced and displayed. It is possible to improve the speed and make it easier to visually check the actual visual field.
Thus, convenience can be improved.

According to the third aspect of the present invention, the control means displays the generated pseudo visual field image when the altitude of the own device is less than a preset altitude, and the altitude of the own device is equal to or higher than the preset altitude. At this time, the display means is controlled so as to display a two-dimensional map.

According to the present invention, when the aircraft is below the set altitude and detailed obstacle information is required, the generated pseudo visual field image is displayed to form a pseudo visual field, regardless of the visibility of the external visual field. Instead, it is possible to grasp the obstacle by the pseudo field of view. On the contrary, your own aircraft is above the set altitude,
When the obstacle information based on the pseudo field of view is unnecessary, a two-dimensional map can be displayed to facilitate the grasp of the position of the own device. Thus, convenience can be improved.

According to a fourth aspect of the present invention, the control means, based on the radius of each virtual cylindrical surface, displays the distance to each obstacle ridge line in numerical display, contrast display, three-dimensional display, color display and line display. It is characterized in that a pseudo visual field image represented by using at least one of the thickness change displays is generated.

According to the present invention, the distance to each obstacle ridgeline is represented by using at least one of numerical display, contrast display, three-dimensional display, color display and line thickness change display. Therefore, the pilot can easily grasp the perspective of the pseudo field of view.

According to a fifth aspect of the present invention, the control means is such that, with respect to one virtual cylindrical surface, a line connecting the highest positions on the obstacle surface between two virtual cylindrical surfaces adjacent to the one virtual cylindrical surface is an obstacle. The feature is that it is obtained as a ridge.

According to the present invention, the obstacle ridgeline includes the area of the obstacle surface, which is higher than the line of intersection with the obstacle surface, between the adjacent virtual cylindrical surface and the adjacent ridge. As such, the obstacle ridgeline can be displayed. Therefore, even if there is a pseudo field of view due to an obstacle ridge line based on virtual cylindrical surfaces that are spaced apart, by avoiding an obstacle in this pseudo field of view, it is possible to reliably avoid an actual obstacle and further increase safety. Can be secured.

The present invention according to claim 6 is characterized in that the control means assumes an imaginary cylindrical surface having a predetermined interval along the course of its own machine, the mutual interval being smaller than that of the remaining region.

According to the present invention, it is assumed that a virtual cylindrical surface having a predetermined mutual width is smaller than that of the remaining area in the area of a predetermined width along the course of the aircraft. As a result, at least in the region along the path, even if the intersection line between the virtual cylindrical surface and the obstacle surface is used as the obstacle ridge line as it is, as for the obstacle along the path, an obstacle similar to an actual obstacle is made into a pseudo field of view. Can be formed. Therefore, reduce the amount of calculation,
It is possible to form a highly accurate pseudo field of view with respect to the region along the path. In this way, the obstacle in the pseudo field of view can be avoided, but the actual obstacle can be surely avoided, and higher safety can be secured.

According to a seventh aspect of the present invention, the control means fixedly assumes a plurality of virtual symbols having a predetermined size with a constant density on the surface of the obstacle, and the virtual symbols are assigned to the obstacle ridgelines. It is characterized by generating an added pseudo field of view image.

According to the present invention, it is possible to form a pseudo visual field in which a plurality of fixedly provided virtual symbols having a predetermined size are present. By providing such a virtual symbol, it is possible to easily grasp the attitude of the own device from the apparent direction of the virtual symbol, and also to determine the position of the own device with respect to the obstacle, for example, from the apparent size. The degree of approach can be easily grasped. In this way, the flight specifications can be more easily grasped. In particular, when a plurality of virtual symbols are provided, it is possible to easily grasp the perspective from the apparent density.

The present invention according to claim 8 is an obstacle information acquisition unit for acquiring obstacle information about an obstacle including a ground and an artificial object around the own aircraft, and an own information including an own aircraft position and an own aircraft attitude. Aircraft information acquisition means for obtaining aircraft information regarding the aircraft, head information acquisition means for obtaining head information regarding the pilot's head including the posture of the pilot's head, and superimposing it on the actual field of view. Based on the obstacle information, own-machine information and head information, a plurality of virtual symbols having a predetermined size are fixedly assumed at a constant density on the surface of the obstacle based on the transparent display means for displaying an image. However, the pseudo visual field forming device includes a control unit that generates a pseudo visual field image including the virtual symbol and controls the display unit so as to display the pseudo visual field image.

According to the present invention, a plurality of virtual symbols having a predetermined size are fixedly assumed to have a fixed density on the surface of an obstacle, a pseudo view image including the virtual symbols is generated, and the pseudo view image is generated. Can be displayed by the display means. The display means is a transmissive display means, the pseudo visual field image can be displayed by being superimposed on the real visual field which is the actual external visual field, and the pilot visually checks both the real visual field and the formed pseudo visual field. can do. The pseudo field-of-view image is a simple image using virtual symbols, and does not interfere with the visual field of the actual field of view when the pilot views the actual field of view.

Further, by providing a virtual symbol in the pseudo field of view, it is possible to easily grasp the attitude of the own aircraft from the apparent orientation of the virtual symbol, and also to observe the obstacle of the own aircraft from the apparent size. It is possible to easily grasp the position of the object, for example, the degree of approach. In this way, obstacles can be easily recognized only with the pseudo field of view provided with virtual symbols, and flight parameters such as the attitude, speed, and altitude of the aircraft can be easily grasped as in the real field of view. can do. In particular, when a plurality of virtual symbols are provided, it is possible to easily grasp the perspective from the apparent density.

The present invention according to claim 9 is characterized in that the virtual symbol is a linear virtual symbol extending vertically.

According to the present invention, since the virtual symbol is a linear virtual symbol extending vertically, it serves as a vertical reference, and the attitude of the own machine can be grasped more easily and reliably.

The present invention according to claim 10 is characterized in that the virtual symbol is a three-dimensional virtual symbol.

According to the present invention, since the virtual symbol is a three-dimensional virtual symbol, the vertical speed, that is, the ascending / descending speed can be easily grasped from the change in the apparent size of the virtual symbol.

The present invention according to claim 11 is characterized in that a plurality of virtual symbols are assumed at equal intervals.

According to the present invention, since a plurality of virtual symbols are provided at equal intervals in the pseudo field of view, it becomes easier to grasp the distance of the obstacle.

The present invention according to claim 12 is characterized in that the virtual symbol is assumed at a position where the distance from the own device is a preset distance or more.

According to the present invention, the virtual symbol is provided at a position where the distance from the player's own machine in the pseudo field of view is equal to or greater than a preset set distance. Conversely, since the virtual symbol is erased in the vicinity of the player's own machine in the pseudo field of view, it is possible to prevent the visual field of the actual field of view in the vicinity from being obstructed.

According to the present invention of claim 13, the set distance is
It is characterized in that it is set according to the visibility.

According to the present invention, since the position where the virtual symbol is provided is set according to the visibility of the actual field of view, when the visibility of the actual field of view is large, it is prevented that the visual field of the actual field of view is obstructed. When the visibility of the field of view is small, it is possible to easily grasp the flight specifications from the pseudo field of view. As described above, the convenience can be improved by changing the amount of information given to the pilot by the pseudo field of view according to the visibility of the actual field of view.

The present invention according to claim 14 is characterized in that a plurality of types of virtual symbols are assumed.

According to the present invention, since plural kinds of virtual symbols are provided in the pseudo field of view, it is possible to easily grasp the position on the obstacle. That is, it is possible to eliminate the problem that different virtual symbols are misunderstood as the same virtual symbol and are grasped as in the case where the same type of virtual symbols are arranged.

In the present invention according to claim 15, the control means comprises:
It is characterized by generating a pseudo field-of-view image with a virtual symbol added at a position input by a pilot.

According to the present invention, a virtual symbol can be additionally provided at a position arbitrarily set by the pilot. This can improve convenience. For example, by additionally providing one or more virtual symbols in the vicinity of the aircraft, it is possible to reliably and easily grasp the aircraft position during hovering in a rotorcraft, and for example, wind blows the aircraft. You can quickly understand what is being done.

[0047]

1 is a block diagram showing a schematic configuration of a pseudo visual field forming device 10 according to an embodiment of the present invention. The pseudo-visual field forming device 10 is mounted on an aircraft including a rotary wing aircraft and a fixed wing aircraft, particularly a small aircraft flying in a low altitude airspace, and reduces the pilot's operational burden on the aircraft in order to reduce the pilot's operational burden. , A device for forming a pseudo field of view around an aircraft. The pseudo visual field forming device 10 includes an obstacle information acquisition unit 11, a device information acquisition unit 12, a head information acquisition unit 13, various information acquisition units 14, a display unit 15, and a control unit 16. Composed.

The obstacle information acquisition means 11 is means for acquiring obstacle information about obstacles around the aircraft, that is, obstacles which obstruct flight. In the present invention, obstacles include earth's ground, natural products such as trees, and artificial things such as buildings, and the ground includes oceans, lakes and rivers. The obstacle information acquisition means 11 includes an obstacle database memory 20 and an obstacle sensor 21.

The obstacle database memory 20 has a wide area terrain memory unit 22, a local terrain memory unit 23, a shaped object memory unit 24, and a character information memory unit 25. The wide area topographic memory unit 22 stores wide area topographical information, which is a three-dimensional digital map representing the wide area topography with latitude, longitude, and altitude at a plurality of positions at predetermined intervals. The local terrain memory unit 22 stores regional terrain smaller than wide area terrain,
That is, the local topographical information, which represents the local topographical features by latitude, longitude, and altitude at a plurality of positions at intervals smaller than the wide area topographical information, is accumulated. As described above, in each of the terrain memories 22 and 23, information about the terrain, which is the shape of the ground surface including the water surface such as the ocean, is stored.

The model memory unit 24 stores model information representing natural products and artifacts, which are models, in latitude, longitude and altitude at positions at intervals less than or equal to the local topographical information. ing. In the character information memory unit 25,
Character information about obstacles such as a place name and a modeled object name is stored. In this way obstacle database memory 2
In 0, topographical information as information on the ground of the earth, modeled object information as information on natural products and artifacts, and character information representing these by characters are accumulated as information about obstacles.

The obstacle sensor 21 is means for detecting surrounding obstacles while flying, and detects the position, shape and size of the obstacle. The obstacle sensor 21 is realized by, for example, a radar such as a laser radar or a millimeter wave radar provided on the airframe. The information on the obstacle detected by the obstacle sensor 21 is given not only to the control means 16 for generating the pseudo visual field image but also to the obstacle database memory 20 to change or add the information about the obstacle. It is also used for database construction such as storage.

The own-machine information acquisition means 12 is means for acquiring own-machine information regarding the own-machine such as the attitude including the own-machine position and the own-machine attitude, the position, and other flight specifications.
The own position is represented by latitude, longitude, and altitude, and this own position can be detected by a detection sensor provided on, for example, the airframe and utilizing a global positioning system (GPS) or the like. Particularly, by using the differential GPS (DGPS) and the real-time kinematic GPS (RTK-GPS), it is possible to detect with high accuracy of about several centimeters.

The aircraft attitude includes the heading of the nose. This attitude of the aircraft can be detected by, for example, a gyroscope provided on the aircraft. Other flight parameters are measured by various instruments. For example, a navigation instrument that measures airspeed and flight altitude with a flight instrument such as a speedometer and an altimeter, and is also called a totalizer such as a horizontal situation indicator (HSI), a radiomagnetic indicator (RMI), and an attitude director indicator (ADI). The direction and route information are acquired by.

The head information detecting means 13 is means for acquiring head information about the head 28 including the posture of the head 28 of the pilot. The head information detecting means 13 can be realized by a gyroscope provided on a helmet 29 worn by a pilot on the head 28 and a head tracker using magnetism and ultrasonic waves.

The various information acquisition means 14 is means for acquiring other information than the above-mentioned information. For example, other machine information, weather information, air traffic control information, etc. obtained by communication means such as a data link are acquired.

The display means 15 is a transmissive means for displaying an image by superimposing it on the actual visual field, that is, the actual visual field including the external visual field of the machine body. The display unit 15 is realized by a head mount display (HMD) including a transmissive liquid crystal display panel provided on a helmet 29 worn by a pilot on the head 28. The pilot can see the image displayed on the display means 15 or can see the actual visual field through the display means.

The control means 16 is means for controlling the display means 15 to perform display processing for displaying a predetermined image on the display means 15, and is realized by, for example, a microcomputer. The control means 16 is provided with information detected from the obstacle detection sensor 21, the own machine information acquisition means 12, the head information detection means 13 and the various information acquisition means 14, and the control means 16 is an obstacle database memory. Two
Obstacle information can be read from 0.

FIG. 2 is a perspective view showing an example of an obstacle ridgeline. Based on the obtained obstacle information, own-machine information, head information, and other information, the control means 16 has a plurality of concentric virtual cylindrical surfaces Q centering on the pilot's head 28.
Assuming a, Qb, and Qc (the reference numeral "Q" is attached when referring to an unspecified virtual cylindrical surface), each virtual cylindrical surface Qa to Qc
And a plurality of obstacle ridge lines Sa, Sb, Sc which are the same in number as the number of virtual cylindrical surfaces from the line of intersection with the obstacle surface Q0 (when the unspecified obstacle ridge line is pointed, the symbol “S” is attached). Ask.
Then, the control means 16 controls the display means 15 so as to generate a pseudo visual field image including the obstacle ridge lines Sa to Sc and to superimpose and display the pseudo visual field image on the obstacle in the real visual field. In this way, a pseudo field of view is formed.

Each of the virtual cylindrical surfaces Qa to Qc has a vertical axis passing through the center C28 of the head portion 28, and the radii Ra, Rb, Rc (radius of the unspecified virtual cylindrical surface are distances from this axis. Are different from each other, the radii of adjacent virtual cylindrical surfaces have a difference dR,
Therefore, the virtual cylindrical surfaces Qa to Qc are spaced at equal intervals dR in the radial direction. Hereinafter, the center C28 of the head, which is also the viewpoint of the pilot, may be referred to as the viewpoint.

The center C28 of the head 28 is obtained from the seating position of the pilot in the aircraft based on the own position detected by the own airplane information acquisition means 12. At this time, if the position of the head 28 in the aircraft is detected, the center C28 of the head 28 can be obtained with high accuracy.

The obstacle surface Q0 is the surface of an obstacle such as the ground surface of a mountain, which is an obstacle, and each of the obstacle ridge lines Sa to Sc.
Is, for example, the obstacle surface Q0 and each virtual cylindrical surface Qa to Qc.
The intersecting line with and may be adopted as it is, but in order to enhance safety, the obstacle ridge lines Sa to Sc that envelop the obstacle may be obtained as described later. In FIG. 2, in order to facilitate understanding, the obstacle ridge lines Sa to Sc with respect to the circumferential direction.
Shows only part of.

FIG. 3 is a perspective view showing an example of the posture of the pilot's head 28. 4 shows the pilot's head 28
3 is a plane showing the moving speed of an obstacle from the front of the vehicle. Figure 5
FIG. 4 is a perspective view for facilitating understanding of a virtual cylindrical surface according to the present invention. FIG. 6 is a plan view showing the change over time of one virtual cylindrical surface. FIG. 7 is a diagram for explaining how to assume each virtual cylindrical surface. When the radii Ra to Rc are fixed, the distances to the terrain ridges Sa to Sc are constant, which causes a problem as described in the section of the related art.

That is, to explain using one virtual cylindrical surface as an example, as shown in FIG. 5, the center C28 of the head 28 moves as the time elapses and the time T1, T2, T3 elapses. When the position changes to P1, P2, P3, the position of the virtual cylindrical surface also changes to Q1, Q2, Q3, and the obstacle ridgeline becomes S.
1, S2 and S3 change greatly. As a result, it is difficult to grasp the degree of approach to the obstacle in the pseudo field of view, and the terrain ridge lines Sa to Sc change their shapes over time, so that they look wavy and wavy, and appear unnatural.

Therefore, in the present invention, the control means 16 controls the pilot's head 2 at the moving speed V of the aircraft on the horizontal plane.
The respective virtual cylindrical surfaces Qa to Qc are assumed while changing the radii Ra to Rc according to the front-back direction component −8 of −8. That is, the radii Ra to Rc of the respective virtual cylindrical surfaces Qa to Qc are set in the front-back direction of the head 28 (hereinafter, may be referred to as "line of sight").
It is changed according to the moving speed (hereinafter, referred to as “approach speed”) Vgr of the obstacle G toward the head 28 on the horizontal plane. The moving speed V is a ground speed, and may be calculated from a change in the position of the vehicle itself which is detected at any time, or may be detected and measured using a separate sensor such as a speedometer.

Radius Ra to Rc of each virtual cylindrical surface Qa to Qc
When changing, the moving direction of the aircraft on the horizontal plane is the X axis, the vertical direction is the Z axis, and the X axis and Z
Set the machine coordinate system to be the Y axis perpendicular to the axis. When the aircraft is not moving in the horizontal direction, that is, when the moving speed V of the aircraft in the horizontal direction is 0, the heading is set to the X axis. The X axis is positive in the moving direction and the heading, the Y axis is positive in the moving direction or the left side of the heading, and the Z axis is
The upper part is positive.

In such a machine body coordinate system, first, an angle formed by the moving speed V0 of the own machine, which is obtained by projecting the moving speed V0 of the own machine on an XY plane which is a horizontal plane, and the line-of-sight direction G with respect to the moving direction (hereinafter referred to as "line-of-sight angle"). )) Ψ and the approach speed V
Find gr. The approach speed Vgr, which is the relative speed on the horizontal plane of one point on the obstacle viewed from the viewpoint C28, is shown in FIG.
It can be expressed by the following equation (1). Vgr = -Vcos [psi] (1) The line-of-sight angle [psi] is expressed in an angle range of 0 degree or more and less than 360 degrees with the clockwise direction being positive with respect to the moving direction when viewed from above in the vertical direction.

Therefore, when the moving speed V is 0, the approach speed Vgr is also 0, and the obstacle is not displaced in the horizontal direction with respect to the pilot. If the moving speed is not 0 (V>
0) when the line-of-sight angle ψ is in the range of 0 ° or more and less than 90 ° and more than 270 ° and less than 360 ° (0 ≦ ψ
<90 and 270 <ψ <360), Vgr is positive (Vg
r> 0), and the obstacle approaches the pilot from the line-of-sight direction.

When the moving speed is not 0 (V> 0) and the line-of-sight angle ψ is 90 degrees or 270 degrees (ψ
= 90 or ψ = 270), Vgr is 0 (Vgr = 0)
The obstacle moves either to the left or right while maintaining the distance without approaching or moving away from the pilot with respect to the line-of-sight direction. When the moving speed is not 0 (V> 0) and the line-of-sight angle ψ is in the range of more than 90 degrees and less than 270 degrees (90 <ψ <270), Vgr is positive (Vgr).
> 0), and the obstacle moves away from the pilot in the direction of the line of sight.

This means that, for example, when the user is on a moving body such as an automobile and the direction of the moving body is facing (0≤ψ <90 and 270 <ψ <360), the scenery approaches. Looks like and is vertical to the direction of movement (sideways)
The landscape (ψ = 90 or ψ = 270), the landscape flows sideways with a distance, and when the landscape is facing the opposite direction of the moving body (90 <ψ <270), the landscape becomes far away. I agree with what it looks like to go. Therefore, by changing each virtual cylindrical surface R in accordance with the approach speed Vgr, the change in shape of each topographic ridgeline S with time is suppressed, and the distance and relative speed from the viewpoint to each topographic ridgeline Sa to Sc are visually recognized. Can be expressed as

Specifically, the innermost virtual cylindrical surface Q
The radius Rin of in is calculated using the following equation (2) based on the radius Rin0 of the innermost virtual cylindrical surface Qin ΔT seconds before. Rin = Rin0 + (Vgr × ΔT) (2)

In this way, the radius is changed by the radius change amount δD equal to the product of the approach speed Vgr and the time ΔT. Then, the radius of the other virtual cylindrical surface is set to the innermost virtual cylindrical surface Q.
A preset interval d based on the radius Rin of in
It is calculated by adding 1 or an integer multiple of R, respectively. Figure 2
The innermost virtual cylindrical surface Qin is the virtual cylindrical surface Q
a.

That is, as shown in FIG. 7, when moving away from the virtual cylindrical surface at a certain time, that is, the approaching speed V
When gr is negative, the radius of each virtual cylindrical surface R is changed to be large. On the contrary, when approaching, that is, when the approaching speed Vgr is positive with respect to the virtual cylindrical surface at a certain point, the radii of the virtual cylindrical surfaces R are changed to be smaller. In this way, the virtual cylindrical surface can be changed according to the approaching speed Vgr by a simple calculation.

Assuming each virtual cylindrical surface Q while changing each radius R in this way, and when the radius Rin of the innermost virtual cylindrical surface Qin becomes equal to or less than the predetermined minimum threshold value Rmin, the innermost virtual cylindrical surface Qin is obtained. The surface Qin is erased, and a new virtual cylindrical surface is assumed on the outer side of the outermost virtual cylindrical surface at that time with a space dR. On the contrary, the radius Rin of the innermost virtual cylindrical surface Qin is the minimum threshold Rm.
When it becomes equal to or larger than a predetermined maximum threshold value Rmax which is larger than in, the outermost virtual cylindrical surface is erased, and a new virtual cylindrical surface is provided inside the virtual cylindrical surface Qin which is the innermost portion at a distance dR. Is assumed and the innermost virtual cylindrical surface Qin is set. In this way, the approach speed Vgr
It is possible to assume while moving the virtual cylindrical surface according to.

For example, when the own machine moves at the moving speed V and the line-of-sight direction G matches the moving speed (Vgr = -V).
In more detail, taking one virtual cylindrical surface as an example and referring to FIG. 6 in comparison with FIG. 5, more specifically, when the virtual cylinder surface is at the position P1 of the viewpoint C28 at time T1, the virtual radius R1 is virtual. It is assumed that the cylindrical surface Q1 is assumed. It is assumed that the viewpoint C28 is displaced to the position P2 at time T2 after ΔT seconds according to the movement of the own device. At this time, instead of the virtual cylindrical surface Q2 having the same radius as the virtual cylindrical surface Q, the radius R2 (= R1 +
A virtual cylindrical surface Q2α of (−V × ΔT) is assumed. Further, in accordance with the movement of the aircraft, the viewpoint C28 at time T3 after ΔT seconds.
Is displaced to the position P3. At this time, instead of the virtual cylindrical surface Q3 having the same radius as the virtual cylindrical surface Q, the radius R3 (=
An imaginary cylindrical surface Q3α of R2 + (− V × ΔT) is assumed.

In the pseudo field-of-view image displayed by the display means 15, although there are some changes at the edges of the field of view with changes in radius, almost the same topographic ridgeline S1 is displayed in different positions regardless of changes in time. To be done.

If a pseudo visual field image is generated and displayed based on each virtual cylindrical surface Q assumed in this way, the pilot can see both the real visual field and the formed pseudo visual field. The pseudo field of view is a simple image using multiple obstacle ridges, and when the pilot views the actual field of view, it does not hinder the visibility of the actual field of view, and the direction in which the pilot views However, a pseudo visual field that naturally flows can be formed in the same manner as the actual visual field as the aircraft moves.

That is, each displayed obstacle ridgeline S is displayed so as to approach the pilot when the aircraft is moving in front of the pilot's head 28, and the aircraft 2 moves toward the head 2.
When it is moving to the rear of 8, it is displayed so as to move away from the pilot, and when it is not moving in the front-back direction of the head 28, it is displayed so as not to approach or move away. Further, when the aircraft is not moving in the front-rear direction of the head 28 and is displaced in the direction perpendicular to the front-rear direction, each obstacle ridge line is displayed so as to move left and right. Moreover, each obstacle ridgeline S
The shape does not change complicatedly over time.

Therefore, when the aircraft is moving in front of the head 28, the pilot recognizes that the pseudo field of view flows backward, and when the aircraft is moving behind the head 28, the pilot is recognized. When the pseudo field of view is recognized to flow forward and the aircraft is moving in the left-right direction intersecting the front-back direction of the head 28,
It is recognized that the pseudo field of view flows in the left-right direction. In this way, according to the movement of the aircraft, it is possible to form a pseudo field of view recognized by the pilot so as to flow in a manner close to the actual field of view, and the obstacle can be easily recognized only by this pseudo field of view. In addition, the flight parameters such as the attitude, speed and altitude of the aircraft can be easily grasped as in the actual field of view.

Further, the control means 16 may set the radial distance dR between the respective virtual cylindrical surfaces Q in accordance with at least one of the altitude of the aircraft and the flight speed.
The change in the radial direction distance dR of each virtual cylindrical surface Q may be stepless or continuous.

As a result, it is possible to obtain the minimum necessary pseudo-visual field image according to the flight condition. For example, when detailed obstacle information such as during flight and during low-speed flight is required, the radial distance dR between the virtual cylindrical surfaces Q is reduced so that obstacles can be grasped in the pseudo field of view regardless of the visibility of the actual field of view. When the certainty is high and rough obstacle information such as during high-altitude flight and high-speed flight is sufficient, increase the radial interval of each virtual cylindrical surface to reduce the amount of data to be processed. It is possible to further improve the accompanying display speed and make it easier to visually check the actual visual field. Thus, convenience can be improved.

Further, the control means 16 displays the generated pseudo-field-of-view image when the altitude of the own device is less than the preset altitude, and displays the two-dimensional map when the altitude of the own device is above the preset altitude. The display means 15 may be controlled so as to do so. The set altitude for this display switching may be, for example, the minimum safe altitude of the planned flight route,
This minimum safe altitude may be the highest obstacle near the flight path plus a certain margin.

As a result, the aircraft is below the set altitude,
When detailed obstacle information is required, the generated pseudo-visual field image is displayed to form the pseudo-visual field, and the obstacle can be grasped by the pseudo-visual field regardless of the visibility of the external visual field. On the contrary, when the own device is above the set altitude and the obstacle information based on the pseudo field of view is unnecessary, the two-dimensional map can be displayed to easily grasp the position of the own device. Thus, convenience can be improved.

Further, the control means 16 determines the distances to the obstacle ridgelines Sa to Sc based on the radii of the respective virtual cylindrical surfaces Q.
A pseudo field-of-view image may be generated by using at least one of numerical display, contrast display, three-dimensional display and color display. For example, for each obstacle ridgeline S, the closer the ridgeline with the smaller radius R is, the thicker the ridgeline is,
It is also possible to differentiate by the shade and hue, to display stereoscopically with a binocular to make a three-dimensional image, and to display the distance by a number beside the ridge. As a result, each obstacle ridge line Sa to S
Since the distance to c is represented by using at least one of numerical display, contrast display, three-dimensional display, color display, and line thickness change display, the pilot can see the perspective of pseudo field of view. It can be easily grasped.

The image by such an obstacle ridge line S is simple, and the instrument display displayed on the head-up display or the like may be displayed on the display means 15 in an overlapping manner.

The control means 16 is, as shown in FIG.
With respect to the one virtual cylindrical surface, a line connecting the highest positions on the obstacle surface between two virtual cylindrical surfaces adjacent to the one virtual cylindrical surface in a radial cross section may be obtained as an obstacle ridge line. In FIG. 8, each virtual cylindrical surface is indicated by the symbol “Q”, and each obstacle ridge is indicated by the symbol “S”.

In obtaining the obstacle ridgeline S from the line of intersection between the virtual cylindrical surface Q and the obstacle surface Q0, if the line of intersection is taken as the obstacle ridgeline as it is, each virtual cylindrical surface is assumed to be spaced apart, and the summit is obtained. Artifacts such as the tower and the tower do not always exist below the intersection line, and the actual obstacle may exist above the obstacle in the pseudo field of view. The highest position between the virtual cylindrical surface and the ridge is set to the height of the ridge so that the obstacle in the pseudo field of view envelops the obstacle of the implementation. As a result, even if the pseudo field of view is the obstacle ridgeline S based on the virtual cylindrical surfaces Q spaced apart from each other, if the obstacle of this pseudo field of view is avoided, the actual obstacle can be surely avoided, which is higher. It is possible to ensure safety.

Further, the control means 16 narrows the virtual cylindrical surface distance dR within a limited width on a path which is set linearly in the traveling direction of the own machine or a preset path,
A virtual cylindrical surface may be assumed. As a result, at least the virtual cylindrical surface Q and the obstacle surface Q along the path are
By simple calculation that the intersection line with 0 is the obstacle ridgeline S as it is,
As for obstacles along the path, an obstacle similar to an actual obstacle can form a pseudo field of view. Even in such a pseudo field of view, if an obstacle in this pseudo field of view is avoided, the actual obstacle can be surely avoided, and higher safety can be secured.

FIG. 9 is a perspective view showing the virtual symbol 50. FIG. 10 shows an image 51 displaying a virtual symbol 50.
FIG. FIG. 11 is a diagram showing an image 52 displaying the virtual symbol 50 and the obstacle ridgeline S together. Figure 1
In 1, each obstacle ridgeline is indicated by a symbol “S”. In the pseudo field of view by displaying only the obstacle ridgelines S as described above,
The shape and speed feeling of the obstacle can be remarkably easily obtained as compared with the conventional technique, but it is difficult to clearly obtain the perspective, speed feeling and posture feeling of the obstacle. Therefore, the control means 16
Is a fixed assumption of a plurality of virtual symbols 50 having a predetermined size on the surface of the obstacle at a constant density, and the virtual symbols 50 are added to each obstacle ridge line S to generate a pseudo visual field image 52, You may make it display on the display means 16.

The virtual symbol 50 may be, for example, a linear virtual symbol extending vertically. The linear virtual symbol 50 does not have a thickness, but has a constant length dimension, and is displayed by assuming a tree of about 10 m, for example. Further, a plurality of virtual symbols 50 are provided. In this case, as shown in FIG.
They are arranged at regular intervals of about 00m. In FIG. 9, they are arranged in a grid pattern, but they may be arranged in a zigzag pattern, or may be arranged randomly if the density is constant.

By providing the virtual symbols 50 in this way, the pilots can be calculated from the apparent arrangement intervals of the virtual symbols, that is, the coarseness and the apparent size.
It is possible to obtain a sense of distance by grasping the position of the own device with respect to the obstacle, that is, the degree of approach, which is the perspective of the obstacle. The sense of speed is emphasized by the flow of the virtual symbol 50.
Further, it is possible to easily grasp the attitude of the own machine from the apparent orientation of the virtual symbol 50 and obtain a sense of balance. In this way, it is possible to further easily grasp the flight specifications by clearly obtaining the perspective, the sense of speed, the sense of attitude, etc. of the obstacle. Such a virtual symbol 50 is suitable for facilitating the understanding of the flight specifications in the actual field of view where there is little change such as snow fields.

As shown in FIG. 11, each obstacle ridgeline S and the virtual symbol 50 may be displayed together, but of course, as shown in FIG. 10, the pseudo visual field image 51 with only the virtual symbol 50 should be displayed. Are also within the scope of the invention. In this way, even in the pseudo field of view of only the virtual symbol 50,
From the apparent orientation of the virtual symbol 50, it is possible to easily grasp the attitude of the own device, and it is possible to easily grasp the position of the own device with respect to the obstacle, for example, the degree of approach, from the apparent size. it can. In this way, obstacles can be easily recognized only with the pseudo field of view with virtual symbols, and flight parameters such as the attitude, speed, and altitude of the aircraft can be easily grasped as from the real field of view. can do. Further, the pseudo visual field image using the virtual symbol 50 is a simple image, and does not obstruct the visual field of the actual visual field when the pilot visually observes the actual visual field.

If the virtual symbol 50 is a linear virtual symbol extending vertically, this virtual 50 serves as a vertical reference, and the attitude of the own machine can be more easily and surely grasped. Furthermore, a plurality of virtual symbols 50 are displayed in the pseudo field of view.
Since they are provided at equal intervals, it becomes easier to grasp the perspective of obstacles. Further, the finite linear virtual symbol 50 having no thickness is closer to a point at a distance, and even if the real field of view is superimposed, it does not hinder the visual field of the real field of view.

FIG. 12 is a diagram showing an image 56 displaying another virtual symbol 55. FIG. 13 shows the virtual symbol 5
5 is a diagram showing an image 57 in which 5 and an obstacle ridgeline S are displayed together. FIG. In FIG. 13, each obstacle ridgeline is indicated by a symbol “S”. The virtual symbol is not limited to the linear virtual symbol 50, and may be a dome-shaped, spherical, or polyhedral virtual symbol 55. The three-dimensional virtual symbol 55 may be displayed instead of the linear virtual symbol 50.

As described above, the three-dimensional virtual symbol 55 also achieves the same effect as the virtual symbol, and the virtual size of the virtual symbol 55 having the three-dimensional shape provides a high sense of altitude and an apparent appearance. The vertical speed, that is, the ascending / descending speed can be easily grasped from the change in size. Of course, the same effect can be achieved by providing a plurality of virtual symbols 55 at equal intervals.

The virtual symbols 50 and 55 may be provided at a position where the distance from the own device is equal to or greater than a preset set distance, and may not be assumed when the distance is less than the preset distance. This set distance may be set according to the visibility of the actual field of view, for example.

As described above, if the virtual symbols 50 and 55 are provided at positions equal to or greater than the set distance, the virtual symbols will be erased in the vicinity of the player's own machine, so that the actual visual field in the vicinity will not be obstructed by the visual field. The visibility of the visual field can be improved. In addition, by setting the area in which the virtual symbols 50 and 55 are provided according to the visibility of the real field of view, it is possible to prevent the visual field of the real field of view from being obstructed when the visibility of the real field of view is large, and , It is possible to easily grasp the flight specifications from the pseudo field of view. As described above, the convenience can be improved by changing the amount of information given to the pilot by the pseudo field of view according to the visibility of the actual field of view.

Further, as described above, only the same virtual symbol may be assumed, but as shown in FIG. 14, a plurality of types of virtual symbols 50, 60 may be assumed in a periodic arrangement. . When such plural kinds of virtual symbols are assumed, as shown in FIG. 15, only one virtual symbol 61 may be a different kind of virtual symbol from the remaining virtual symbols 50.

By thus providing a plurality of types of virtual symbols 50, 60, 61 in the pseudo field of view, it is possible to easily grasp the position on the obstacle. That is, it is possible to eliminate the problem that different virtual symbols are misunderstood as the same virtual symbol and are grasped as in the case where the same type of virtual symbols are arranged.

Although a plurality of types of virtual symbols 50 and 60 having different shapes are assumed in FIG. 14, the same effect can be obtained by assuming a plurality of types of virtual symbols having different colors. The same effect can be obtained by assuming a plurality of types of virtual symbols having different shapes and colors.

Further, the assumed position of the virtual symbol may be arbitrarily set by the pilot. For example, in a rotary-wing aircraft, by additionally providing one or more virtual symbols near the aircraft, it is possible to reliably and easily grasp the aircraft position during hovering, and the aircraft can be detected by wind or the like. You can quickly understand what is being swept.

The above-described embodiment is merely an example of the present invention, and the configuration can be changed within the scope of the present invention.

[0102]

According to the present invention described in claim 1, a plurality of concentric virtual cylindrical surfaces centering on the pilot's head are assumed, and a plurality of virtual cylindrical surfaces intersect with the obstacle surface. It is possible to obtain an obstacle ridge line, generate a pseudo visual field image including each obstacle ridge line, and display the pseudo visual field image by the display means. The display means is a transmissive display means, the pseudo visual field image can be displayed by being superimposed on the real visual field which is the actual external visual field, and the pilot visually checks both the real visual field and the formed pseudo visual field. can do. The pseudo field-of-view image is a simple image using a plurality of obstacle ridgelines, and does not hinder the visual field of the actual field of view when the pilot views the actual field of view.

Further, each obstacle ridgeline of the pseudo-visual field image forming this pseudo-visual field is not obtained based on the virtual cylindrical surface whose distance from the pilot's pilot's head is constant, but at the moving speed of the aircraft itself. It is calculated based on each virtual cylindrical surface that is assumed while changing the radius according to the front-back direction component of the pilot's head. As a result, the displayed obstacle ridgeline is displayed so as to approach the pilot when the aircraft is moving in front of the pilot's head, and when the aircraft is moving behind the pilot's head. , It is displayed so as to move away from the pilot, and when the aircraft is not moving in the front-back direction of the pilot's head, it is displayed so as not to approach or move away from the pilot. Moreover, the shape of each obstacle ridgeline does not change complicatedly over time with the movement of its own device.

Therefore, when the aircraft is moving in front of the pilot's head, the pilot recognizes that a pseudo field of view flows backward, and when the aircraft is moving behind the pilot's head. , The pilot recognizes that the pseudo field of view flows forward, and when the aircraft is moving in the left-right direction intersecting the front-back direction of the pilot's head, the pilot sees that the pseudo field of view flows left-right. Be recognized by. In this way, according to the movement of the aircraft, it is possible to form a pseudo field of view recognized by the pilot so as to flow in the same manner as the actual field of view, and an obstacle can be easily recognized only by this pseudo field of view. In addition, the flight parameters such as the attitude, speed, and altitude of the aircraft itself can be easily grasped as in the actual field of view.

According to the second aspect of the present invention, the radial distance between the virtual cylindrical surfaces is set in accordance with at least one of the altitude of the aircraft and the flight speed. As a result, it is possible to obtain a necessary minimum pseudo-visual field image according to the flight state. For example, when detailed obstacle information is required during low-altitude flight and low-speed flight, the radial distance between each virtual cylindrical surface should be reduced so that obstacles can be grasped in a pseudo field of view regardless of the visibility of the external field of view. Increase certainty,
When it is sufficient to have rough obstacle information such as during high-altitude flight and high-speed flight, increase the radial interval of each virtual cylindrical surface to reduce the amount of data to be processed and improve the display speed. It is possible to make the actual visual field easier to see. Thus, convenience can be improved.

According to the third aspect of the present invention, when the aircraft is below the set altitude and detailed obstacle information is required, the generated pseudo visual field image is displayed to form the pseudo visual field, It is possible to recognize an obstacle by the pseudo field of view regardless of the visibility of the field of view. On the contrary, when the own device is above the set altitude and the obstacle information based on the pseudo field of view is unnecessary, the two-dimensional map can be displayed to easily grasp the position of the own device. Thus, convenience can be improved.

According to the present invention of claim 4, the distance to each obstacle ridge line uses at least one of numerical display, contrast display, three-dimensional display, color display and line thickness change display. The pilot can easily grasp the perspective of the pseudo field of view.

According to the fifth aspect of the present invention, in the case where the obstacle ridgeline has an area of the obstacle surface higher than the line of intersection with the obstacle surface between the adjacent virtual cylindrical surfaces. , The obstacle ridgeline can be displayed so as to include the area. Therefore, even if there is a pseudo field of view due to an obstacle ridge line based on virtual cylindrical surfaces that are spaced apart, by avoiding an obstacle in this pseudo field of view, it is possible to reliably avoid an actual obstacle and further increase safety. Can be secured.

According to the sixth aspect of the present invention, it is assumed that a virtual cylindrical surface having a predetermined interval along the path of the vehicle is smaller than the remaining area. As a result, at least in the region along the path, even if the intersection line between the virtual cylindrical surface and the obstacle surface is used as the obstacle ridge line as it is, as for the obstacle along the path, an obstacle similar to an actual obstacle is made into a pseudo field of view. Can be formed. Therefore, it is possible to reduce the amount of calculation and form a highly accurate pseudo field of view with respect to the region along the path. In this way, the obstacle in the pseudo field of view can be avoided, but the actual obstacle can be surely avoided, and higher safety can be secured.

According to the seventh aspect of the present invention, it is possible to form a pseudo visual field in which a plurality of fixed virtual fixed symbols having a predetermined size are present. By providing such a virtual symbol, it is possible to easily grasp the attitude of the own device from the apparent direction of the virtual symbol, and also to determine the position of the own device with respect to the obstacle, for example, from the apparent size. The degree of approach can be easily grasped. In this way, the flight specifications can be more easily grasped. In particular, when a plurality of virtual symbols are provided, it is possible to easily grasp the perspective from the apparent density.

According to the eighth aspect of the present invention, a plurality of virtual symbols having a predetermined size are fixedly assumed to have a fixed density on the surface of the obstacle, and a pseudo visual field image including the virtual symbols is generated. , The pseudo view image can be displayed by the display means. The display means is a transmissive display means, the pseudo visual field image can be displayed by being superimposed on the real visual field which is the actual external visual field, and the pilot visually checks both the real visual field and the formed pseudo visual field. can do. The pseudo field-of-view image is a simple image using virtual symbols, and does not interfere with the visual field of the actual field of view when the pilot views the actual field of view.

Further, by providing a virtual symbol in the pseudo field of view, it is possible to easily grasp the attitude of the own aircraft from the apparent orientation of the virtual symbol, and also the obstacle of the own aircraft from the apparent size. It is possible to easily grasp the position of the object, for example, the degree of approach. In this way, obstacles can be easily recognized only with the pseudo field of view provided with virtual symbols, and flight parameters such as the attitude, speed, and altitude of the aircraft can be easily grasped as in the real field of view. can do. In particular, when a plurality of virtual symbols are provided, it is possible to easily grasp the perspective from the apparent density.

According to the present invention of claim 9, since the virtual symbol is a linear virtual symbol extending vertically, it serves as a vertical reference, and the attitude of the own machine can be more easily and surely grasped. it can.

According to the tenth aspect of the present invention, since the virtual symbol is a three-dimensional virtual symbol, the change in the apparent size of the virtual symbol causes
That is, the ascending / descending speed can be easily grasped.

According to the eleventh aspect of the present invention, since a plurality of virtual symbols are provided at equal intervals in the pseudo field of view, it is easier to grasp the distance of the obstacle.

According to the twelfth aspect of the present invention, the virtual symbol is provided at a position where the distance from the own device in the pseudo field of view is equal to or greater than a preset set distance. Conversely, since the virtual symbol is erased in the vicinity of the player's own machine in the pseudo field of view, it is possible to prevent the visual field of the actual field of view in the vicinity from being obstructed.

According to the thirteenth aspect of the present invention, since the position where the virtual symbol is provided is set in accordance with the visibility of the real field of view, when the visibility of the real field of view is large, the visual field of the real field of view is obstructed. Therefore, when the visibility of the actual field of view is small, it is possible to easily grasp the flight specifications by the pseudo field of view. As described above, the convenience can be improved by changing the amount of information given to the pilot by the pseudo field of view according to the visibility of the actual field of view.

According to the fourteenth aspect of the present invention, since plural kinds of virtual symbols are provided in the pseudo field of view, it is possible to easily grasp the position on the obstacle. That is, it is possible to eliminate the problem that different virtual symbols are misunderstood as the same virtual symbol and are grasped as in the case where the same type of virtual symbols are arranged.

According to the fifteenth aspect of the present invention, a virtual symbol can be additionally provided at a position arbitrarily set by the pilot. This can improve convenience. For example, by additionally providing one or more virtual symbols in the vicinity of the aircraft, it is possible to reliably and easily grasp the aircraft position during hovering in a rotorcraft, and for example, wind blows the aircraft. You can quickly understand what is being done.

[Brief description of drawings]

FIG. 1 is a pseudo visual field forming device 10 according to an embodiment of the present invention.
3 is a block diagram showing a schematic configuration of FIG.

FIG. 2 is a perspective view showing an example of an obstacle ridgeline.

FIG. 3 is a perspective view showing an example of a posture of a head 28 of a pilot.

FIG. 4 is a plane showing the moving speed of an obstacle from the front of the pilot's head.

FIG. 5 is a perspective view for facilitating understanding of a virtual cylindrical surface according to the present invention.

FIG. 6 is a plan view showing the change over time of one virtual cylindrical surface.

FIG. 7 is a diagram for explaining how to assume each virtual cylindrical surface.

FIG. 8 is a cross-sectional view for explaining how to obtain an obstacle ridgeline S that envelops an actual obstacle.

9 is a perspective view showing a virtual symbol 50. FIG.

FIG. 10 is a diagram showing an image 51 displaying a virtual symbol 50.

FIG. 11 is a diagram showing an image 52 displaying a virtual symbol 50 and an obstacle ridgeline S together.

FIG. 12 is a diagram showing an image 56 displaying another virtual symbol 55.

FIG. 13 is a diagram showing an image 57 displaying a virtual symbol 55 and an obstacle ridgeline S together.

FIG. 14 is a perspective view showing an arrangement of a plurality of types of virtual symbols 50 and 60.

FIG. 15 is a diagram showing another example of a display image.

FIG. 16 is a diagram showing a pseudo visual field image 2a generated by a conventional technique.

FIG. 17 is a diagram showing another pseudo visual field image 3a generated by another conventional technique.

[Explanation of symbols]

10 Pseudo-visual field forming device 11 Obstacle information acquisition means 12 Own machine information acquisition means 13 Head information acquisition means 14 Various information acquisition means 15 Display means 16 Control means 20 Obstacle database memory 21 Obstacle detection sensors 50, 55, 60, 61 virtual symbols Q, Qa to Qc, Q1 to Q3, Q2α, Q3α, Qin
Virtual cylindrical surface R, Ra to Rc, R1 to R3, Qin Virtual cylindrical surface radius S, Sa to Sc, S1 to S3 Obstacle ridge line

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 2F029 AA05 AB01 AB05 AB07 AC02                       AC03 AC04 AC17                 5H180 AA26 CC03 CC12 FF05 FF13                       FF24 FF27 FF35 FF40 LL01

Claims (15)

[Claims] 1. An obstacle information acquisition unit for acquiring obstacle information about an obstacle including a ground and an artificial object around the own aircraft, and own information about the own aircraft including a position and an attitude of the own aircraft. Information acquisition means for acquiring the head information, the head information acquisition means for acquiring the head information related to the pilot's head including the posture of the pilot's head, and the transparent type for displaying an image by superimposing it on the real field of view. Based on the display means, obstacle information, own-machine information, and head information, a plurality of concentric virtual cylindrical surfaces centered on the pilot's head,
Assuming that the radius changes according to the front-back direction component of the pilot's head in the moving speed of the aircraft, multiple obstacle ridge lines are obtained from the intersection line between each virtual cylindrical surface and the obstacle surface, and each of these obstacles is determined. A pseudo-visual field forming device comprising: a control means for generating a pseudo-visual field image including a ridge and controlling a display means for displaying the pseudo-visual field image. 2. The pseudo visual field forming device according to claim 1, wherein the control means sets the radial interval between the virtual cylindrical surfaces in accordance with at least one of the altitude and the flight speed of the own aircraft. . 3. The control means displays the generated pseudo-visual field image when the altitude of the own device is below a preset altitude, and displays the two-dimensional map when the altitude of the own device is above the preset altitude. The pseudo visual field forming device according to claim 1 or 2, wherein the display means is controlled so as to do so. 4. The control means, based on the radius of each virtual cylindrical surface, displays the distance to each obstacle ridge line in at least one of numerical display, contrast display, three-dimensional display, color display and line thickness change display. The pseudo visual field forming device according to claim 1, wherein the pseudo visual field image is generated by using one of them. 5. The control means obtains, as an obstacle ridge line, a line connecting the highest position on the obstacle surface between two virtual cylindrical surfaces adjacent to the one virtual cylindrical surface with respect to the one virtual cylindrical surface. The pseudo visual field forming device according to claim 1. 6. The pseudo according to claim 1, wherein the control means assumes a virtual cylindrical surface having a predetermined interval along the course of its own machine, the mutual interval being smaller than that of the remaining area. View forming device. 7. The control means fixedly assumes a plurality of virtual symbols having a predetermined size at a constant density on the surface of the obstacle, and generates a pseudo visual field image in which the virtual symbols are added to each ridge of the obstacle. The pseudo visual field forming device according to claim 1. 8. Obstacle information acquisition means for acquiring obstacle information about obstacles including ground and man-made objects around the own aircraft, and own equipment information about the own aircraft including own aircraft position and own aircraft attitude. Information acquisition means for acquiring the head information, the head information acquisition means for acquiring the head information related to the pilot's head including the posture of the pilot's head, and the transparent type for displaying an image by superimposing it on the real field of view. Based on the display means, obstacle information, own-machine information, and head information, a plurality of virtual symbols having a predetermined size are fixedly assumed to have a fixed density on the surface of the obstacle, and the virtual symbols are included. A pseudo field-of-view forming device comprising: a control unit configured to generate a pseudo field-of-view image and control a display unit to display the pseudo field-of-view image. 9. The pseudo view forming device according to claim 7, wherein the virtual symbol is a linear virtual symbol extending vertically. 10. The pseudo view forming device according to claim 7, wherein the virtual symbol is a three-dimensional virtual symbol. 11. The pseudo visual field forming device according to claim 7, wherein a plurality of virtual symbols are assumed at equal intervals. 12. The pseudo visual field formation device according to claim 7, wherein the virtual symbol is assumed at a position where a distance from the own device is a preset distance or more. 13. The pseudo visual field forming device according to claim 12, wherein the set distance is set according to the visibility. 14. The pseudo visual field forming device according to claim 7, wherein a plurality of types of virtual symbols are assumed. 15. The pseudo visual field forming device according to claim 7, wherein the control unit generates a pseudo visual field image with a virtual symbol added at a position input by the pilot.