JPH06312700A - Control display system - Google Patents

Abstract

(57) [Summary] [Purpose] Various flight data from an unmanned aerial vehicle can be concentrated on any display screen on the control display, and control can be changed to a display screen suitable for the operator. To provide a display system for mobile phones. [Structure] Control displays 1a to 1n dedicated to a plurality of unmanned air vehicles 11a to 11n, one control display control device 2 for control common to each display, one data input device 3 and data storage device in common. 7, and telemeter data signal receiving devices 5a to 5n for receiving telemeter data signals 12a to 12n from each unmanned air vehicle,
The data conversion devices 6a to 6n and the remote control devices 8a to 8n operated by the respective operators 4a to 4n constitute a display system for controlling operation, and display flight data sent from each unmanned air vehicle on the display. The operator can easily and accurately know the flight status of the unmanned aerial vehicle from the screen and steer accurately with the remote control device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control display system for controlling an unmanned aerial vehicle such as an unmanned helicopter or an unmanned airplane of a remote control type, especially in a flight condition outside the visual field. The present invention relates to a steering control display system capable of easily and accurately knowing the state of an unmanned aerial vehicle and obtaining accurate information for maneuvering.

[0002]

2. Description of the Related Art A conventional remote-controlled unmanned helicopter,
An unmanned aerial vehicle such as an unmanned aerial vehicle is operating by direct visual inspection when it is flying at a short distance that can be visually confirmed. There is a limit to the pilot's ability to control with his own eyes if he flies to.
Therefore, in order to perform the maneuver even in a situation where the man is flying out of the sight, it is necessary to inform the manipulator of the current flight condition, that is, the motion condition, in real time and accurately. Since the maneuver can be carried out not only within the visual field but also outside the visual field in the same manner as the visual flight, the operator is practically free from the restriction on the flight distance.

In order to create such a situation, conventionally, as shown in FIG. 5, an operation of a display console 52, an XY plotter 53, etc. dedicated to informing the operator 51 of the flight state of the unmanned aerial vehicle 50. He was maneuvering out of sight using a control display system. That is, the operator 51 looks at the panel of the display console 52 and the XY plotter 53, and
4 to transmit a control signal 55 to the unmanned aerial vehicle 50,
The unmanned aerial vehicle 50 receives the steering signal by the steering control signal receiving device 56, and transmits the telemeter data signal 58 representing various flight data by the telemeter data signal transmitting device 57.
This telemeter data signal 58 is received by a telemeter data signal receiving device 59 on the ground, converted into a signal for a display or an XY plotter by a data converting device 60, and then sent to a display console 52 or an XY plotter 53, and an unmanned aerial vehicle. The current flight status of 50 is displayed in real time.

The display console panel for displaying the above-mentioned maneuvering data provides the operator 51 with data necessary for maneuvering directly, but in the past, the instruments used by manned aircraft are diverted as they are. The current situation is to use this with some modifications. An example of a conventional display console panel is shown in FIG. As shown in the figure, the console panel 70 includes a digital and analog speedometers 71D and 71A and an attitude indicator 7 on the upper stage.
2. Both analog and digital altimeters 73A and 73
D, and various mode lamps 74a, 74b, 7 at the bottom.
4c, an azimuth meter 75, a lift 76, a speed warning lamp 77 on the left side of the middle stage, and an altitude warning lamp 78 on the right side of the middle stage. Somewhat improved).

While such a manned aircraft instrument displays the state in which the operator is riding while experiencing the motion of the airframe, in the case of remotely controlling an unmanned air vehicle, Since it is required to display the objective flight status viewed from the outside, it is possible to recognize the flight status of the aircraft by displaying the flight data necessary for maneuvering in the conventional system as shown in FIGS. 5 and 6. It has a serious drawback in man-machine interface that it is difficult to do and causes misidentification and mishandling. Table 1 below shows an example of the body data displayed on the conventional display console panel and its display instrument.

[0006]

[Table 1] In addition, in the conventional system, the display instrument is fixed on the console panel, so the position of the instrument cannot be changed, or the display itself of the instrument is different depending on the operator.
Since it is not possible to change to an optimal display screen that suits individual differences such as reflexes and proficiency, it is necessary for the operator to match the display of the system, and in some cases the display may not fit the operator. There is.

[0007]

As described above, the conventional control display system for maneuvering has a structure in which a large number of instruments for manned aircraft are arranged on the display console panel to form a display system for maneuvering control. Therefore, (A) it is difficult for the operator to recognize the flight state (particularly, the motion state) of the unmanned air vehicle, which may cause misidentification or operation mistake, and (B) the display itself is optimal for the individual difference of the operator. There is a drawback that the display screen cannot be changed.

Therefore, an object of the present invention is to provide body data such as attitude, speed and altitude indicating the motion state of the body sent from a telemeter data signal transmitter of an unmanned air vehicle, system status information, flight mode and warning display. Various flight data (telemeter data) such as information including status data about the aircraft such as etc. are intensively displayed on the dedicated control display, and also the function that the operator can change to a display screen that suits him / her By doing so, it is possible to provide an optimal display tailored to the operator considering the human-machine interface for unmanned remote control without requiring various individual instruments as in the prior art.
The operator can easily and accurately understand the flight conditions of an unmanned air vehicle,
An object of the present invention is to provide a steering control display system having a display screen that can be judged.

In the present system, when operating a plurality of unmanned aerial vehicles, the flight data of each unmanned aerial vehicle is set to be switched / divided / scrolled on one screen so that the equipment is unmanned. It provides a small, compact, low-cost display system that can be shared without having to prepare for each aircraft.

[0010]

According to the present invention, an unmanned air vehicle is equipped with a telemeter data signal transmitting device and a steering control signal receiving device, while on the ground side, a dedicated steering display, a steering display display control device, Data input device, data storage device, telemeter data signal receiving device,
By providing a flight control display system consisting of a data conversion device and a remote control device and displaying various flight data on the screen of the flight control display, there are drawbacks such as "erroneous recognition by the operator and flight error" that the above-mentioned conventional technology has. It has been resolved.

In addition, the pilot control display system according to the present invention allows the pilot to change the display screen to suit him or her by operating the data input device. It cannot solve the problem of being unable to change the display screen to suit your needs. " If the flight data displayed on the display screen has operational restrictions or operational limits, the display color of the data display section may be changed according to predetermined conditions, or flashing may be performed to provide a warning display function. Or, by using it together with a sound alarm such as an alarm sound, a buzzer sound, and a synthetic voice,
It is needless to say that it is possible to have a more effective function of notifying the state, and it can be applied to the data and the like shown in examples of Tables 3 and 4 described later. Of these, the ones to which the warning display action by the display color can be effectively applied are pitch attitude angle, roll attitude angle, longitudinal flight speed, left and right flight speed, vertical flight speed (up and down rate), flight altitude, etc. Taking the case of corners as an example, if the pitch attitude is within the aircraft's self-sustaining stable range, it is displayed in green, and if it exceeds the range where the pilot needs to actively drive, it will change to yellow. In addition to the function of the mere pitch angle display, if you operate it so that it will change to a red display when an emergency maneuvering range becomes necessary to prevent it from becoming uncontrollable beyond that, A warning display function can be provided. Further, by additionally using a sound alarm in accordance with the above-described operation, it is possible to more effectively give an effect of informing the operator of the vertical posture state.

Further, when the warning display action is applied to the vertical flight speed, its effectiveness becomes more remarkable at the time of a peculiar phenomenon such as a stall or a settling with power phenomenon which will be described later. For example, in the case of an unmanned helicopter, if you make a vertical descent with the front, rear, left and right flight speeds set to zero, you will enter the airflow of your own rotor,
At the same time as the descent speed rapidly increases, it tends to fall into a peculiar phenomenon (this is called setling with power) that the descent of the aircraft does not stop even if the engine output is increased or the collective pitch is taken. Therefore, in order to prevent or avoid this, it is necessary to set a limit to the descent speed and perform a maneuver that does not enter this phenomenon,
The effect of changing the display color when displaying the descent speed and displaying a warning to the operator is a very effective measure for preventing settling with power. In addition, if a sound alarm is used in combination with the above-mentioned operation, it is possible to more effectively give the operator the effect of informing the state of the vertical flight speed. When using the warning display function by flashing the display (blinking) In the above example, displaying the status data of Table 4 can be applied more effectively than displaying the machine data of Table 3 rather than displaying the warning data by changing the display color. In particular, it is effective for displaying the status of modes, etc.When an abnormal condition occurs, the display color is changed and displayed, and flashing due to flashing or sound warning is used together, or if there are some restrictions on the mode, for example, after switching the mode. When the elapsed time is limited, the display itself may be flushed after a certain period of time to provide a warning display action.
In addition, by additionally using sound during mode switching or mode OFF, it is possible to more effectively give the operator the effect of notifying the switching states of various modes and states.

As described above, by frequently using the warning display function, it is possible for the operator to obtain an effect that the operation during instrument flight becomes extremely easy.

[0014]

According to the structure of the present invention, even if the unmanned aerial vehicle is out of sight, not only can the maneuver be operated in the same manner as in the visual flight, but the operator can change the display screen to his own. , It is possible to easily and accurately know the flight status of an unmanned aerial vehicle, and eliminate misidentifications and operational mistakes to enable more accurate and complete flight vehicle control. Also, when operating with two or more aircraft, each pilot can commonly use the data input device, the pilot display control device, the data storage device, etc. on the system. Therefore, when applied to the conventional system shown in FIG. 5, the display console panel shown in FIG. 6 can be replaced with a control display, and the entire system can be made compact and compact. It is possible to provide a system that is less expensive and has no operational restrictions.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a steering control display system according to the present invention.
In this embodiment, a plurality of unmanned air vehicles 11a, ..., 11n
4n, 4n or the corresponding pilots will be described as an example in the case where one pilot controls the flight. However, in the case where one pilot controls one unmanned air vehicle. It goes without saying that the present invention can also be applied to such cases.

Each of the unmanned aerial vehicles 11a, ..., 11n is equipped with a telemeter signal transmitting device 9a, ..., 9n and a control signal receiving device 10a ,. .., 1n dedicated to each flying object, one display control device for control 2 common to these displays, and a common data input device (keyboard, A telemeter data signal 12a, ..., 1 sent from a pointing device such as a mouse or a trackball, an image scanner, etc.) 3, a data storage device 7, and each unmanned air vehicle 11a ,.
5n for receiving 2n respectively, data converters 6a, ..., 6n for converting these telemeter data signals into signals suitable for the steering display display control device 2, and each pilot. Party 4
The remote control device 8 operated by a, ..., 4n
A steering control display system including a, ..., 8n is provided. Although the data converters 6a, ..., 6n are provided independently in this embodiment, the data converters 6a, ..., 6n may be incorporated in the telemeter data signal receivers 5a ,. Needless to say.

, 11n mounted on each unmanned aerial vehicle 11a, ..., 11n, respectively.
・ 10n receives the control signal sent from the ground,
It is for outputting and is usually output to the control system of the airframe, but it differs depending on the airframe system. In addition, each unmanned aerial vehicle 11a, ...
.., 9n mounted on 11n, respectively, transmit all data regarding each unmanned aerial vehicle to telemeter data signals 12a ,.
12n is output to the telemeter data signal receiving devices 5a, ... 5n of the terrestrial display system. The contents of the telemeter data signal to be output are assumed to be set to the data shown in Table 2 below as an example for the sake of convenience.

[0018]

[Table 2] The telemeter data signal receiving devices 5a, ..., 5n respectively receive the telemeter data signals as shown in Table 2 sent from the respective unmanned air vehicles and demodulate them to the data converting devices 6a ,. Outputs telemeter data signal. The data converters 6a, ..., 6n convert the telemeter data signals sent from the telemeter data signal receivers 5a ,.

The data input device 3 includes a driver 4a, ...
4n or a person who uses this display system inputs data relating to the display and commands for controlling the components connected to the control display device 2 for control, and the input data is displayed on the control display. Output to the control device 2. The types of data input devices mainly refer to keyboards, pointing devices such as mice and trackballs, and image input devices such as image scanners.These settings can be changed from the initial settings when the system starts up, display screen design, It is possible to easily and quickly perform screen switching / division / scroll setting, warning / alarm condition setting, function setting, and various inputs such as position / map data.

In addition to the telemeter data sent from the data converters 6a, ..., 6n via the data bus, the control device 2 for controlling the display for manipulating data, the data from the data input device 3, and the data storage device 7 , And the control signals from the remote control devices 8a, ..., 8n fetched through the input / output interface of the control device are converted and processed to generate a display control signal for controlling the control display. Control display 1a,
... Output to 1n respectively. In addition, the operation display display control device 2 outputs telemeter data and the like to the data storage device 7 to save the data as necessary,
It is also possible to output to the outside through the input / output interface and output to an external output device such as a printer or plotter.

1n displays data relating to flight conditions required by the pilots 4a, ..., 4n on the screen according to a display control signal from the display control unit 2 for controlling the display. Or, if necessary, an alarm or warning is generated by a sound source. In addition, when operating a plurality of unmanned air vehicles as in the present embodiment, or particularly when providing a supervisor other than the pilot, by switching, splitting, or scrolling the display screen of the pilot display, a plurality of unmanned flight The telemeter data of the body can be simultaneously provided on one display screen.

Due to the above-described operations and interactions, the display system of this embodiment has the respective unmanned aerial vehicles 11
, 11n are displayed on the control displays 1a, ..., 1n and provided to the pilots 4a, ..., 4n, and the pilots 4a ,.
.. 4n, while watching the screen, remote control device 8a, ..
, 8n can operate the unmanned aerial vehicles 11a, ..., 11n to send the control signals 13a ,. In this case, since the data input device 3, the pilot display display control device 2, and the data storage device 7 can be commonly used by all pilots, the entire system can be made compact and compact.

It is also possible for one operator, for example, the operator 4a, to operate two or more unmanned air vehicles alone while watching the display screen of one operation display 1a. That is, since an unmanned air vehicle in a stable flight state can be automatically piloted by the autopilot device, one pilot 4a can switch a plurality of images by one display screen by switching, scrolling, dividing, or the like. , 8 while watching the flight status of the unmanned aerial vehicle.
By using n in turn, two or more unmanned aerial vehicles can be operated accurately by one person.

When one operator controls the operation of one unmanned aerial vehicle, the operation control display system of this embodiment may be used, but a common operation display display control device is also available. 2, the data input device 3, and the telemeter data signal receiving device 5a excluding the data storage device 7,
... 5n, data converters 6a, ..., 6n, control displays 1a, ..., 1n, remote control device 8
Since a, ..., 8n may be one, as shown in FIG. 2, one telemeter data signal receiving device 5, a data converting device 6, a control display 1, and a remote control device 8 are provided.
It is preferable to change the operation control display system to a configuration using the above because it simplifies the overall configuration, enables downsizing, and reduces cost. Note that FIG.
In the above, since all the constituent elements are one, a reference numeral a indicating a plurality of constituent elements indicates a plural number.
~ N have been removed.

Next, regarding the characteristics on the display screen created by the operation control display system of the present embodiment having the above-mentioned configuration, when the telemeter data to be displayed is set as shown in Tables 3 and 4 below. Will be described as an example.

[0026]

[Table 3]

[0027]

[Table 4] Table 3 shows the telemeter data that the pilots 4a, ..., 4n need and should display from the telemeter data (flight data) of Table 2 sent from the unmanned air vehicles 11a, ..., 11n. This is an example of what is set by selecting (flight data) and performing an input operation from the data input device 3.
Normally, when the airframe system of an air vehicle changes, the content of the telemeter data signal changes accordingly.
For a, ..., 4n, it is necessary to reset the data to be displayed according to the selected telemeter data. Therefore, Table 3 shows, among the flight data (telemeter data) displayed on the screens of the manipulating displays 1a, ..., 1n, especially data relating to the motion state of the unmanned aerial vehicle (hereinafter collectively referred to as airframe data). This is shown as an example of a case where the main display is performed, and the machine body data of Table 3 corresponds to an example of the display screen of FIG. 3 described later.

Similarly, in Table 4, telemeter data (flight data) shown in Table 2 is used by the data input device 3 to obtain telemeter data which the pilots 4a, ... This is an example of selected / set items. In Table 4, among flight data (telemeter data) displayed on the screens of the steering displays 1a, ..., 1n, data relating to the system information and status information of the aircraft, various modes and flight positions, etc. 1) of the data that is mainly displayed (called status data)
However, the status data in Table 4 corresponds to an example of the display screen in FIG. 4 described later.

Next, the operation and action on the screen when displaying the airframe data of Table 3 among the telemeter data displayed on the operation control display system of this embodiment will be described with reference to FIG. In FIG. 3, the alternate long and short dash line
The part indicated by (1) is a graphic representation of the pitch angle of the aircraft (a symbol similar to an arrow).
・ Has the function of informing the 4n of the vertical posture of the aircraft.
In the figure, a horizontal line intersecting with the figure indicates a horizontal reference line, and the figure operates so as to rotate around a point where the figure intersects with the horizontal line. The direction indicated by the figure indicates the nose direction of the aircraft. Therefore, when the nose goes up, the figure correspondingly rotates upward by the same angle as when the nose went up, and when the nose goes down, the figure correspondingly goes at the same angle as when the nose goes down. Only works to rotate downwards. The operating angle is usually a ratio of 1: 1 to the aircraft, but this is, for example, 1: 1.2 or 1:
By changing the setting so that it changes to 1.5 etc., the change in pitch angle can be more easily understood and emphasized, and the driver 4a ...
・ You may inform 4n. Further, since this display follows the movement of the aircraft, it is possible to read the change in pitch angle, that is, the pitch rate, from the rotational speed of the figure.

The portion indicated by the alternate long and short dash line (2) in FIG. 3 shows the roll angle of the machine body by means of a figure (symbol) simulating the shape of the machine body. ..It has a function to inform 4n. In the figure, a horizontal line intersecting with the figure indicates a horizontal reference line, and the figure operates so as to rotate with respect to the center point of the figure on the horizontal line. Therefore, for example, when the aircraft leans to the right, the figure correspondingly rotates by the same angle as the aircraft leans clockwise, while when the aircraft leans to the left, the figure tilts counterclockwise correspondingly. It works by turning the same angle as. Also, since this display follows the movement of the aircraft,
From the rotational speed of the figure, the change rate of the roll angle, that is, the roll rate can be read.

The greatest feature of the display screen for operating an unmanned aerial vehicle is that the display of the pitch angle and the display of the roll angle are separated. The part indicated by the alternate long and short dash line (3) in Fig. 3 is a bar graph showing the forward and backward flight speeds of the aircraft. The forward and backward speeds during flight with the nose direction of the aircraft as the positive side It has an effect of informing 4a, ..., 4n. In the figure, the center of the horizontal bar is in a state where the forward and backward flight speed is zero, and the bar graph operates so as to extend in the left and right direction around this. Therefore, for example, when the aircraft is moving forward, the scale corresponding to the speed at that time fills the bar graph in the right direction of the screen, while when the aircraft is moving backward, the scale corresponding to the speed at that time is filled. It operates to fill the bar graph in the left direction of the screen with the amount. Further, since this display follows the movement of the aircraft, it is possible to read the longitudinal acceleration acting on the aircraft from the moving direction of the bar graph.

It should be noted that, although positive and negative polarities are not added to the scale amount of the display, this is because the operator judges that the display is unnecessary, and the polarities may be displayed if necessary. The same applies to other data displays. The part indicated by the alternate long and short dash line (4) in Fig. 3 is a numerical display of the above-mentioned front-rear flight speed. When desired, it has a function of specifically informing the operators 4a, ..., 4n by digital display. Therefore, the display of the parts (3) and (4) in the figure works in conjunction with each other, so that the forward flight speed is displayed as plus, and the backward flight speed is displayed as minus. .

The part indicated by the alternate long and short dash line (5) in FIG. 3 is a bar graph showing the flight speed of the aircraft in the left-right direction. The rightward direction with respect to the nose direction of the aircraft is the plus side and the leftward direction. Is a minus side, and has a function of notifying the left and right flight speeds during flight to the operators 4a, ..., 4n. In the figure, the center of the horizontal bar is the state where the left and right flight speed is zero,
The bar graph operates so as to extend in the left-right direction around this point. Therefore, for example, when the aircraft is moving to the right, the bar graph is filled in the right direction of the screen with the scale amount corresponding to the flight speed at that time, and conversely, when the aircraft is moving to the left, It operates so that the bar graph is filled to the left of the screen with a scale amount corresponding to the flight speed. Further, since this display follows the movement of the aircraft, it is possible to read the acceleration in the left-right direction acting on the aircraft from the moving direction of the bar graph.

The portion indicated by the alternate long and short dash line (6) in FIG. 3 is a bar graph showing the vertical flight speed of the machine body, and has the same operation as an elevating meter for displaying the ascending / descending rate. In other words, it has a function of notifying the pilots 4a, ... In the drawing, the center of the vertical bar is a state where the vertical flight speed is zero, and the bar graph operates so as to extend upward or downward around this center. Therefore, for example, if the aircraft is climbing, the inside of the bar graph is filled with the scale amount corresponding to the ascent speed at that time, and if the aircraft is descending, the descent speed at that time is corresponding. It operates so that the inside of the bar graph is filled in the lower direction of the screen with the scale amount.
Further, since this display follows the operation of the machine body, it is possible to read the vertical acceleration acting on the machine body from the moving direction of the bar graph.

The portion indicated by the alternate long and short dash line (7) in FIG. 3 is a bar graph showing the flight altitude of the aircraft.
a, ..., 4n has a function of informing the flight altitude. In the figure, the bottom part of the vertical bar graph is in a state where the flight altitude is zero, and the bar graph operates so as to extend upward around this. Since this display follows the movement of the aircraft, it is possible to read the vertical rate of the aircraft from the moving direction of the bar graph, but it is easy to read only when the altitude difference is large, and on the contrary, the altitude difference When is small, the vertical flight speed displayed in the part (6) of FIG. 3 can better read the ascent and descent rate.

The portion indicated by the alternate long and short dash line (8) in FIG. 3 indicates various modes of the aircraft, and the operator 4a ,.
.., 4n has a function of informing the operators 4a, ..., 4n of the state of the mode in which 4n has switched or the mode in which the aircraft system automatically switches to a certain mode. In the figure, an example that operates to display the mode state with a symbol with letters in a square frame is shown, but as another example, it is displayed in a different color or only when the mode is turned on. Alternatively, if there is a limit to the elapsed time after the mode switching, it is possible to blink the display itself after a certain period of time to give a warning display action.

If necessary, the warning content may be directly displayed in this portion. For example, when the flight altitude drops below the specified altitude, the warning content such as "ALT LOW" is displayed. May be. The part indicated by the alternate long and short dash line (9) in Fig. 3 is a bar graph showing the forward and backward flight speeds and the left and right flight speeds of the above-mentioned aircraft, and is displayed by overlapping with the figure (symbol) simulating the aircraft. , 4n relatively has a function of informing the operators 4a, ..., 4n. In the figure, the operation and the operating principle are the same as those described above. Since this display can read the flight speed direction with respect to the aircraft, the relative ratio of each flight speed may be displayed as a vector (arrow) as necessary.

The portion indicated by the alternate long and short dash line (10) in FIG. 3 displays the position, altitude and track of the aircraft in flight. The position and flight altitude are figures (symbols), the track is a line and a square. It operates so as to be displayed in the frame of the operator 4a, ...
・ Has the function of notifying the 4n of the aircraft data.
It should be noted that the track operates so as to display a track within some elapsed time, and the track having a further elapsed time operates so as to disappear the display. The elapsed time can be arbitrarily set by the data input device 3 at the time of initial setting. The underlined part in the square frame is in a state where the flight altitude is zero, and as the flight altitude rises, the graphic moves in conjunction with the above-mentioned flight altitude display part (part (7) in Fig. 3) to move upward. To do. If the flight distance is known in advance, the square frame display area requires data (for example, S position data, T position data, display magnification, etc.) necessary for display from the data input device 3 at the time of initial setting. You can arbitrarily set the display area by entering).

The part indicated by the alternate long and short dash line (11) in FIG. 3 is a figure (symbol) that imitates the position and nose azimuth of the airframe, the track is a line, and the flight display area is a grid. ), Each of which is displayed, and has an action of informing the operator 4a, ..., 4n of the body data. In the figure, the orientation of the figure indicates the nose azimuth angle, and the figure operates so as to rotate around a point indicating the position of the airframe as the nose azimuth angle changes. On the other hand, the movement of the aircraft operates so as to display a track within some elapsed time, and a track with a further elapsed time operates such that the display disappears. Therefore, for example, if the takeoff position of the aircraft is displayed as S and the target point or the reference point is displayed as T as shown in the figure, the figure of the aircraft is displayed overlapping with the display of S immediately after takeoff, and the aircraft is in forward flight. When moved, the figure moves up on the screen. At this time, the track after flight is displayed in different colors as the figure moves.

The elapsed time of track display, takeoff position, target point or reference point, grid display scale, etc.
The data necessary for displaying this portion is input from the data input device 3 at the time of initial setting and can be set arbitrarily. In addition, if particularly necessary, if the display scale of the grid is automatically switched when the target point or the reference point T is approached to a certain distance, the operator 4a can be operated so as to display a more precise body position. , 4n can be more effectively notified.

When the aircraft jumps out of the flight display area, the grid display scale may be automatically switched or the display may be automatically scrolled. This is the same for the part of the chain line (10). In addition, a figure without a wake is displayed in the figure,
This is an example of displaying the positions and nose azimuths of other aircraft other than the own aircraft. When displaying a plurality of aircraft, a plurality of aircraft data are input to the steering display display control device 2 and one of them is displayed. By inputting the initial setting data for a plurality of aircraft from the data input device 3 and performing the same processing as the display control processing of the aircraft itself, it is possible to operate so as to arbitrarily display in the flight display area. . (Visibility is further improved by displaying both machines in different colors.) One-dot chain line in Fig. 3 (12)
The heading azimuth angle is displayed as a digital value in the part indicated by. The minute heading azimuth angle change and numerical values that are difficult to understand in the heading azimuth angle display by the figure in (11) of Fig. 3 are used. When it is desired to know the head azimuth angle, the operator 4a, ... Therefore, the digital value in the figure operates so as to interlock with the direction (rotation) of the figure in (11), and the display changes within the range of 0 to 360 degrees. In addition, the full scale of the display is 0 to 3 if necessary.
If either 60 ° display or −180 to + 180 ° display is selected at the time of initial setting, the operators 4a, ..., 4n
It can be changed according to your preference.

The portion indicated by the alternate long and short dash line (13) in FIG. 3 is (11)
It shows the display scale value of the grid of the part, and operates so as to be updated and displayed in conjunction with the switching of the grid display scale. The display of "400 m / div" in the figure indicates that one side of the grid is displayed in units of 400 m. The above is the description of the operation and action on the screen when the machine data of Table 3 is displayed.

Next, the operation and action on the screen when the status data shown in Table 4 among the telemeter data displayed on the operation control display system of this embodiment are displayed will be described with reference to FIG. Note that FIG. 4 is an example of what is displayed on the screen of the operation display by setting the status data of the aircraft of each unmanned aerial vehicle as shown in Table 4 when operating a plurality of unmanned aerial vehicles. Parts (A) and (B) show an example of status data for each aircraft displayed in groups in descending order of importance from the top and in order of increasing relevance. Also, (C) in the figure shows the aircraft data of FIG. This is an example in which the nose azimuth angle and position of each aircraft are relatively displayed by the same method as in the case of the display screen.

The portion designated by (1) in FIG. 4 is a display of the reception state of the telemeter data signal sent from the aircraft. When reception is poor, it is displayed with the character "Fail". When the reception is good, it operates so as not to be displayed, and has a function of notifying the pilots 4a, ..., 4n of the in-flight state. In addition, "Good" is displayed at the normal time if necessary.
When an error occurs, change the color of the "Fail" character display so that it flashes (blinks).
In addition, the setting may be changed so that an audible alarm is also used, and other status data ((2) in the example of FIG. 4).
The same applies to (indicated by (9)). This makes it very easy for the pilots 4a, ..., 4n to monitor the condition during flight outside the visual field.

The part indicated by (2) in FIG. 4 is a display of the power supply state of the machine. When an abnormality occurs, it is displayed with the character "Fail", and when it is normal, it is not displayed. 4a, ..., 4n
Has the effect of informing. The parts indicated by (3) and (4) in FIG. 4 indicate the main and backup control signal reception states of the aircraft.
The driver 4a operates by displaying the letters "l" and when there is good reception, displaying nothing.
..It has a function to inform 4n.

The portion indicated by (5) in FIG. 4 is a display of the remaining fuel of the airframe. Depending on the fuel state, "Fail",
By operating to display characters such as "1/2" and "Empty", it has a function of informing the operators 4a, ..., 4n of the fuel state during flight. If the setting is changed so that the remaining fuel is displayed in a numerical value (liter) display or the like as necessary, a more detailed state of the remaining fuel can be displayed by the operator 4.
It is possible to have a function of informing a, ..., 4n.

The parts designated by (6) and (7) in FIG. 4 indicate the operating state of the work equipment and auxiliary equipment mounted on the machine body by "O".
It operates so as to be displayed with the letters "N" and "OFF" and has a function of notifying the pilots 4a, ..., 4n of the situation during flight. The equipment to be installed may be an aerial camera, a light device, a lead rope towing device, a drop-and-discard control device, or the like, and the setting may be changed to be used as an auxiliary display of system data, if necessary. .

The portion designated by (8) in FIG. 4 is for displaying information relating to the airframe system, and operates to display the system status during flight by characters to operate the operator 4a ,.
・ Has the function of informing 4n. In addition, if necessary, if the settings are changed so that the statuses and modes of important devices in the system are displayed in order of priority, the effect of more effectively informing the system status to the operators 4a, ... You can have it.

The part indicated by (9) in FIG. 4 is a display of the mode of the autopilot mounted on the aircraft,
It operates so as to display the mode state during flight by characters and has a function of notifying the operators 4a, ..., 4n. The groups of (1) to (9) in FIG. 4 above are a collection of information other than the flight position of the aircraft in the status data.
The parts indicated by (10), (11) and (12) in FIG. 4 are the data of the speed, altitude and heading angle of the aircraft, which are operated by numerical values. It has a function of informing the operators 4a, ..., 4n more efficiently and accurately of speed / altitude data that cannot be read by the data displayed in the middle part (C) or head azimuth data that is difficult to read.

The portions designated by (13) and (14) in FIG. 4 are the takeoff position of the body and the distance from the target point to the position of the body in flight, respectively. Of the position data displayed in the part (C) in the figure, the data is the most necessary and cannot be read immediately and accurately from the figure. Has the function of informing.

The part designated by (15) in FIG. 4 is (C) in the drawing.
The position of the No. 1 machine is displayed as latitude and longitude as unreadable data in the part of No., and it operates to display numerical values and informs the operator 4a, ..., 4n of the exact position of the machine. To have. The above is an outline of the status data displayed in the part (A) of FIG. 4, but when operating multiple aircraft, the status data of the second aircraft is displayed in the part (B) of the figure. If it is operated as described above, it becomes possible to monitor simultaneously on one screen. In addition, even when operating three or more units, it is possible to monitor in the same way by switching, splitting, and scrolling the screen.

The parts indicated by (16) and (17) in FIG. 4 are the positions and trails of each aircraft during the operation of a plurality of unmanned air vehicles, and the aircraft is a symbol (symbol). Operates so as to be displayed by lines, and has a function of more accurately informing the operators 4a, ..., 4n of the relative positional relationship with the airframe, the target object, etc. The display color of the machine body is changed for each machine body, and the display effect is further improved by changing the direction of the figure (symbol) according to the nose azimuth angle of the machine body.

The parts designated by (18), (19) and (20) in FIG. 4 represent the takeoff position, the target point and the monitor position of the aircraft, respectively, and the figures S, T and M (symbol ), The operator 4a, ... 4
It has a function of informing n of the relative positional relationship with the airframe.
The part indicated by (21) in Fig. 4 displays the grid display scale of the flight display area, and it operates so as to display numerical values, and when the setting of the flight display area is changed, it is interlocked with it. It works as if the display changes.

The portion indicated by (22) in FIG. 4 is a display of the map orientation of the flight display area, and is a figure (symbol).
It works as shown in. The portion indicated by (23) in FIG. 4 displays the flight display area of the aircraft like the portion indicated by the alternate long and short dash line (11) in FIG. 3, and operates so as to be displayed in the frame of the grid. The display area can be changed or arbitrarily set by an operation from the data input device 3.

Of the status data displayed in the portion (C) of FIG. 4, the above is related to position data, but if the display is difficult to see or if more detailed display is desired, the data input device 3 is used. If the display part of (C) is separated and switched to another screen by the operation from, the operator 4a can obtain more accurate and complete position data.
・ Can be provided to 4n.

The above embodiment is merely an example of the present invention. Therefore, it goes without saying that the system configuration, the number of unmanned air vehicles to be operated, and the like can be variously modified and changed as necessary. For example, although one data input device and one data storage device are commonly used by a plurality of pilots in the above-mentioned embodiment, when there are a large number of pilots, data input is performed according to the number of pilot display display control devices to be used. Of course, the number of devices and data storage devices may be changed. In this case, the steering display display control device, the data input device, and the data storage device may remain as one unit, or the data input devices and the data storage devices may be increased according to the number of the steering display display control devices.

[0057]

As described above, according to the present invention, even if an unmanned aerial vehicle such as an unmanned helicopter or an unmanned aerial vehicle is out of the visual field, it can be operated in the same manner as a visual flight, and a display can be made. Since the screen can be changed to the optimum display screen that the operator can easily recognize, the flight status of an unmanned air vehicle can be easily and accurately known.
There is a remarkable effect that it becomes possible to more accurately and completely control an unmanned aerial vehicle by eliminating misidentification and operation mistakes.

In addition, since the entire equipment can be downsized compactly on the system, there is also an effect that a system can be provided at a lower cost than that of the conventional system and with no operational limitation.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment in a case where a display system for controlling operation according to the present invention is applied to controlling operation of two or more unmanned air vehicles.

FIG. 2 is a configuration diagram showing an embodiment in which the steering control display system according to the present invention is applied to the steering control of one unmanned air vehicle.

3 is a diagram showing an example of a machine body data display screen of the display system for controlling operation of FIG.

4 is a diagram showing an example of a status data display screen of the steering control display system of FIG.

FIG. 5 is a configuration diagram showing an example of a conventional remote control type unmanned aerial vehicle maneuvering control display system.

FIG. 6 is a view showing an example of a display console panel of a conventional remote control type unmanned air vehicle flight control display system.

[Explanation of symbols]

 1a to 1n Control display 2 Control display display control device 3 Data input device 3a Keyboard 3b Mouse 3c Trackball 4a to 4n Operator 5a to 5n Telemeter data signal receiving device 6a to 6n Data conversion device 7 Data storage device 8a to 8n Remote control device 9a to 9n Telemeter data signal transmission device 10a to 10n Control control signal reception device 11a to 11n Unmanned aerial vehicle 12a to 12n Telemeter data signal 13a to 13n Control signal

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location G05D 1/00 B 9323-3H

Claims (5)

[Claims] 1. A telemeter data signal for receiving and demodulating a telemeter data signal including various flight data transmitted from a remote-controlled unmanned air vehicle equipped with at least a telemeter data signal transmitting device and a control signal receiving device. A receiving device, a steering display display control device to which a telemeter data signal from the telemeter data signal receiving device is input, a steering display whose display screen is controlled by the steering display display control device, and the steering display A data input device operated by at least an operator operating the unmanned aerial vehicle for inputting data to a display control device; and a remote control device operated by the operator for operating the unmanned aerial vehicle. Equipped with various flight data sent from the unmanned air vehicle In addition to enabling centralized display on one screen of the control display, the display screen of the control display can be changed by the operator or displayed by a method such as switching, scrolling, splitting, etc. A distinctive control system display system. 2. There are two or more remote-controlled unmanned aerial vehicles, the same number of telemeter signal receiving devices and control displays are provided as the unmanned aerial vehicles, and various flight data sent from the respective aerial vehicles are collected. The corresponding telemeter data signal is received by the corresponding telemeter signal receiving device, and is displayed on the corresponding steering display through the steering display display control device.
A person or two or more operators operate a remote control device corresponding to each unmanned aerial vehicle while watching these operation displays to operate the two or more unmanned aerial vehicles. A display system for controlling operation as described. 3. The flight data display color is changed when various flight data displayed on the display screen of the operation display have operational restrictions, operational limits, or phenomena and conditions peculiar to each unmanned air vehicle, The blinking or the sound alarm is also used together to display a warning to the operator so that the flight state of the unmanned air vehicle can be more effectively and completely recognized. Display system for control of a car. 4. A pitch attitude angle, which is flight data of an unmanned aerial vehicle, is displayed separately from a roll attitude angle on the display screen of the control display, and the pitch attitude angle is a figure showing the longitudinal direction of the fuselage and a horizontal line intersecting with the figure. In addition, the roll attitude angle is displayed as a figure showing the left and right direction of the aircraft and the horizontal line that intersects with it, and the vertical and horizontal directions of the aircraft and the flight altitude are also displayed using a bar graph with scale values or numerical values together. In addition, the flight mode / function / warning content is displayed, and the flight track is combined with the flight display area with a grid linked with the grid scale, and the figure showing the aircraft is linked with the digitally displayed heading angle. The flight control display system according to claim 1 or 2, wherein the flight position and altitude are also displayed simultaneously. 5. A flight display area with a grid in which flight positions and tracks of a plurality of unmanned air vehicles are linked to a grid scale on the display screen of the pilot display, such as a pilot position, a flight target position, a monitor position, and a map. It is displayed at the same time as the relative position information other than the unmanned air vehicle, and the operating status data and flight mode of the airframe system and onboard equipment.
The control system display system according to claim 1 or 2, wherein the function and flight data are collectively displayed for each aircraft.