JP2003312592A - Remote-control system - Google Patents
Remote-control systemInfo
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- JP2003312592A JP2003312592A JP2002123622A JP2002123622A JP2003312592A JP 2003312592 A JP2003312592 A JP 2003312592A JP 2002123622 A JP2002123622 A JP 2002123622A JP 2002123622 A JP2002123622 A JP 2002123622A JP 2003312592 A JP2003312592 A JP 2003312592A
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- image
- head
- control system
- operator
- ground
- Prior art date
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、遠隔操縦システム
に関し、特に、無人の航空機の遠隔操縦システムに関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to remote control systems, and more particularly to unmanned aircraft remote control systems.
【０００２】[0002]
【従来の技術】従来の無人航空機の操縦システムでは、
無人航空機２１の機体の前方部２１ａに設けられた映像
入力装置２２により、機体の前方Ａの画像を撮影し、そ
の画像を送信機２３から地上の映像受信機２４に無線伝
送し、ＴＶ画面（前方表示装置）２５に表示していた。2. Description of the Related Art In a conventional unmanned aerial vehicle control system,
The image input device 22 provided in the front portion 21a of the airframe of the unmanned aerial vehicle 21 captures an image of the front A of the airframe, wirelessly transmits the image from the transmitter 23 to the ground image receiver 24, and the TV screen ( It was displayed on the front display device) 25.
【０００３】そして、地上の操縦者２７は、ＴＶモニタ
２５の表示画面により無人航空機２１の前方視界Ａを確
認しながら、操作装置２６を操作して、送信機２９から
受信機３０に送信されたその操作信号に基づいて、航空
機２１の駆動装置２８の遠隔操作を行うことで、無人航
空機２１の操縦を行う方法が試みられていた（特開平８
−１６４８９６号公報）。The operator 27 on the ground operates the operation device 26 while confirming the forward view A of the unmanned aerial vehicle 21 on the display screen of the TV monitor 25, and the information is transmitted from the transmitter 29 to the receiver 30. A method of operating the unmanned aerial vehicle 21 by remotely controlling the drive device 28 of the aircraft 21 based on the operation signal has been attempted (Japanese Patent Laid-Open No. Hei 8).
No. 164896).
【０００４】有人の操縦者による操縦では、操縦者の側
方視界も利用して、自機の姿勢状態を総合的に判断して
いる。従って、映像入力装置による前方視界のみを用い
て、遠隔操作により、無人飛行機を安全に飛行させるの
は困難である。また、技術習得にも長時間の訓練を必要
とした。In maneuvering by a manned operator, the driver's lateral field of view is also used to comprehensively judge the attitude state of the aircraft. Therefore, it is difficult to safely fly an unmanned aerial vehicle by remote control using only the forward view of the video input device. In addition, long training was required to acquire skills.
【０００５】なお、特開平１１−３１２０１５号公報に
は、次の無人ヘリコプターの操縦装置が記載されてい
る。受信器と駆動装置とを備えた無人のヘリコプター
が、映像入力装置と、この映像入力装置の映像情報を無
線信号に変換し送信する映像信号送信器とを備える。コ
ントロール部が、映像信号受信器と、映像信号処理回路
と、表示器と、この表示器を見ながら操縦するための操
縦部と、送信器とを備える。操縦部を、操縦席と、この
操縦席に座って操作するための操縦桿とで形成する。こ
の操縦桿を、右手で操作するためのサイクリックピッチ
レバーと左手で操作するためのコレクティブピッチレバ
ーと、足で操作するためのテールロータペダルとで形成
する。Japanese Unexamined Patent Publication No. 11-312015 discloses the following unmanned helicopter control device. An unmanned helicopter including a receiver and a driving device includes a video input device and a video signal transmitter that converts video information of the video input device into a radio signal and transmits the radio signal. The control unit includes a video signal receiver, a video signal processing circuit, a display unit, a control unit for manipulating while viewing the display unit, and a transmitter. The control section is formed by a control seat and a control stick for operating while sitting on the control seat. This control stick is formed by a cyclic pitch lever for operating with the right hand, a collective pitch lever for operating with the left hand, and a tail rotor pedal for operating with a foot.
【０００６】[0006]
【発明が解決しようとする課題】地上の操縦者が自機の
姿勢状態を判断するレベルが向上し、操縦し易いことが
望まれている。無人航空機の操縦の技術習得が容易とな
り、複雑な操縦も可能となることが望まれている。悪環
境下でも無人機の遠隔操縦が行い易いことが望まれてい
る。地上の操縦者が前方視界のみならず側方視界も利用
して自機の姿勢状態を判断でき、操縦し易いことが望ま
れている。SUMMARY OF THE INVENTION It is desired that the level on which a ground operator can judge the attitude state of his / her aircraft is improved and that the operator can easily maneuver. It is hoped that it will become easier to learn the techniques for operating unmanned aerial vehicles and that complex operations will be possible. It is desired that remote control of an unmanned aerial vehicle be easy even under adverse conditions. It is desired that the ground operator can judge the attitude state of the own aircraft by utilizing not only the forward field of view but also the lateral field of view, and it is easy to control.
【０００７】本発明の目的は、地上の操縦者が自機の姿
勢状態を判断するレベルが向上し、操縦し易い遠隔操縦
システムを提供することである。本発明の他の目的は、
無人航空機の操縦の技術習得が容易となり、複雑な操縦
も可能となる遠隔操縦システムを提供することである。
本発明の更に他の目的は、悪環境下でも無人機の遠隔操
縦が行い易い遠隔操縦システムを提供することである。
本発明の更に他の目的は、地上の操縦者が前方視界のみ
ならず側方視界も利用して自機の姿勢状態を判断でき、
操縦し易い遠隔操縦システムを提供することである。It is an object of the present invention to provide a remote control system in which the level of the ground operator's judgment of the attitude state of the own vehicle is improved and the maneuvering is easy. Another object of the present invention is to
It is an object of the present invention to provide a remote control system that makes it easy to learn the technique of operating an unmanned aerial vehicle and enables complex control.
Still another object of the present invention is to provide a remote control system that facilitates remote control of an unmanned aerial vehicle even in adverse environments.
Still another object of the present invention is that the ground operator can judge the attitude state of the own aircraft by utilizing not only the front view but also the side view,
It is to provide a remote control system that is easy to operate.
【０００８】[0008]
【課題を解決するための手段】以下に、［発明の実施の
形態］で使用する番号・符号を用いて、［課題を解決す
るための手段］を説明する。これらの番号・符号は、
［特許請求の範囲］の記載と［発明の実施の形態］の記
載との対応関係を明らかにするために付加されたもので
あるが、［特許請求の範囲］に記載されている発明の技
術的範囲の解釈に用いてはならない。[Means for Solving the Problem] [Means for Solving the Problem] will be described below by using the numbers and symbols used in the [Embodiment of the Invention]. These numbers and signs are
Although added to clarify the correspondence between the description in [Claims] and the description in [Embodiment of the Invention], the technology of the invention described in [Claims] It should not be used to interpret the scope.
【０００９】本発明の遠隔操縦システムは、航空機（１
０）に設けられ、その撮像範囲が変わるように移動可能
に設けられた映像入力装置（１１）と、前記映像入力装
置（１１）を前記映像入力装置（１１）による前記撮像
範囲が変わるように移動させる移動装置（１７）と、前
記映像入力装置（１１）により撮像された画像を地上の
操縦者（１２）に表示する表示装置（１３）と、前記操
縦者（１２）の頭の動きを検出する頭部動き検出装置
（１４）とを備え、前記移動装置（１７）は、前記検出
された前記頭の動きを示すデータに基づいて、前記頭の
動きに対応する向きに前記映像入力装置（１１）の撮像
範囲を移動させる。The remote control system of the present invention is applied to an aircraft (1
0), and a video input device (11) movably provided so that the imaging range of the video input device (11) is changed so that the imaging range of the video input device (11) is changed. A moving device (17) for moving, a display device (13) for displaying an image captured by the video input device (11) to a ground operator (12), and a head movement of the driver (12). A head movement detecting device (14) for detecting, and the moving device (17), based on the detected data indicating the movement of the head, in the direction corresponding to the movement of the head. The imaging range of (11) is moved.
【００１０】本発明の遠隔操縦システムにおいて、更
に、前記操縦者（１２）が地上で前記表示装置（１３）
を参照しながら前記航空機（１０）を遠隔操縦するため
の操縦装置（２６）を備えている。In the remote control system of the present invention, the operator (12) further comprises the display device (13) on the ground.
And a control device (26) for remotely controlling the aircraft (10).
【００１１】本発明の遠隔操縦システムにおいて、前記
映像入力装置（１１）は、前記航空機（１０）のコック
ピットに相当する位置に設けられている。また、映像入
力装置は、航空機の前方などに設置され、その映像が、
位置関係からコックピット位置の映像に変更されること
もできる。In the remote control system of the present invention, the image input device (11) is provided at a position corresponding to the cockpit of the aircraft (10). In addition, the video input device is installed in the front of the aircraft, etc.
It is also possible to change from the positional relationship to an image of the cockpit position.
【００１２】本発明の遠隔操縦システムにおいて、前記
映像入力装置（１１）により撮像された前記画像の中央
部が相対的に高解像度となるような前記画像のデータが
前記表示装置（１３）に送信される。In the remote control system of the present invention, data of the image such that the central portion of the image captured by the video input device (11) has a relatively high resolution is transmitted to the display device (13). To be done.
【００１３】本発明の遠隔操縦システムにおいて、前記
映像入力装置（１１）が前記画像を撮像してから当該画
像が前記表示装置（１３）に表示されるまでの遅れ時間
は、０．６秒以下である。In the remote control system of the present invention, the delay time from when the video input device (11) captures the image to when the image is displayed on the display device (13) is 0.6 seconds or less. Is.
【００１４】地上の操縦者の頭部の動きに合わせて、航
空機上の映像入力装置の撮像範囲の方向を追従させ、地
上の操縦者に、あたかも、航空機上にいるかのような視
覚を与える。The direction of the imaging range of the image input device on the aircraft is made to follow in accordance with the movement of the head of the operator on the ground to give the operator on the ground a vision as if he / she was on the aircraft.
【００１５】無人航空機上に、電気信号により上下左右
方向に撮像範囲の変更可能な映像入力装置を設置する。
また、地上の操縦者は、頭部搭載型表示装置と、頭部の
動き検出装置を装着する。また、頭部の動きを無人航空
機に無線伝送する装置を設置する。On an unmanned aerial vehicle, a video input device whose image pickup range can be changed in the vertical and horizontal directions by electric signals is installed.
Further, a ground operator wears a head-mounted display device and a head motion detection device. Also, a device for wirelessly transmitting the movement of the head to the unmanned aerial vehicle will be installed.
【００１６】さらに、２台のカメラを用いてステレオ画
像とすることで機能が向上する。無人航空機のコックピ
ットに相当する場所の音、触覚などの（５感）を検知
し、その音、触覚などの情報を地上の操縦者に付与する
ことも機能が向上する。機体と地上装置の無線ＬＡＮに
よる情報の一体化も有効である。Furthermore, the function is improved by forming a stereo image using two cameras. The function is also improved by detecting the sound (tactile sensation) (five senses) at a place corresponding to the cockpit of an unmanned aerial vehicle and giving the information such as the sound and tactile sensation to the operator on the ground. It is also effective to integrate the information of the airframe and the ground equipment by wireless LAN.
【００１７】地上の操縦者の頭部の方向に、機上の映像
入力装置の撮像範囲を変化させ、その映像入力装置によ
る映像を頭部搭載型表示装置に表示させることで、操縦
者は側方視界も利用することが可能となる。これによ
り、自機の姿勢状態を総合的に判断レベルが向上し、安
全性が向上する。また、無人飛行機の操縦の技術習得が
容易となり、複雑な操縦も可能となる。ステルス性の向
上、悪環境下での利用が可能となる。By changing the image pickup range of the image input device on board in the direction of the head of the operator on the ground and displaying the image by the image input device on the head mounted display device, the operator can move to the side. It is also possible to use the field of view. As a result, the judgment level of the posture state of the aircraft itself is improved, and the safety is improved. In addition, it becomes easy to learn the technique of operating an unmanned aerial vehicle, and complex operation becomes possible. It is possible to improve stealth and use in a bad environment.
【００１８】[0018]
【発明の実施の形態】添付図面を参照して、本発明の遠
隔操縦システムの一実施形態を説明する。BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a remote control system of the present invention will be described with reference to the accompanying drawings.
【００１９】図１は、本実施形態の構成を示すブロック
図である。なお、図２と同じ構成要素については同じ符
号を付して、その詳細な説明を省略する。FIG. 1 is a block diagram showing the configuration of this embodiment. The same components as those in FIG. 2 are designated by the same reference numerals, and detailed description thereof will be omitted.
【００２０】図１に示すように、無人航空機１０上に、
電気信号により上下左右方向に回転可能なビデオカメラ
１１を設置する。地上の操縦者１２は、頭部搭載型表示
装置（ＨＭＤ：Ｈｅａｄ Ｍｏｕｎｔｅｄ Ｄｉｓｐｌ
ａｙ）１３を装着する。また、頭部の動き検出装置１４
にて頭部の動きが検出される。頭部の動き検出装置１４
は、操縦者の頭部にセンサを装着したり、また頭部の動
きを画像処理する方法などがあるが、その方法は限定さ
れない。頭部の動き検出装置１４によって検出された操
縦者１２の頭部の動きを示す情報を無人航空機１０に無
線伝送する装置（送信機１５、受信機１６）を設置す
る。送信機１５は、地上に設置され、受信機１６は航空
機１０上に設置される。On the unmanned aerial vehicle 10, as shown in FIG.
A video camera 11 which can be rotated in the vertical and horizontal directions by an electric signal is installed. The operator 12 on the ground is a head mounted display device (HMD: Head Mounted Display).
ay) 13 is attached. Also, the head movement detection device 14
The movement of the head is detected at. Head movement detection device 14
Include a method of mounting a sensor on the head of the operator and an image processing of the movement of the head, but the method is not limited. A device (transmitter 15 and receiver 16) for wirelessly transmitting information indicating the movement of the head of the operator 12 detected by the head movement detection device 14 to the unmanned aerial vehicle 10 is installed. The transmitter 15 is installed on the ground, and the receiver 16 is installed on the aircraft 10.
【００２１】地上の操縦者１２の頭部の動き（上下左右
回転方向）を、頭部の動き検出装置１４で検出する。そ
の検出された動き検出データは、地上送信機１５から、
高速データリンクにより送信され、航空機１０上の航空
機上受信機１６が受信する。The movement of the head of the operator 12 on the ground (in the vertical and horizontal directions of rotation) is detected by the head movement detecting device 14. The detected motion detection data is sent from the ground transmitter 15 to
Transmitted by the high speed data link and received by the aircraft receiver 16 on the aircraft 10.
【００２２】受信機１６にて受信された動き検出データ
は、回転装置１７に送られる。映像入力装置１１には、
オートフォーカス機構を付けることもできる。The motion detection data received by the receiver 16 is sent to the rotating device 17. In the video input device 11,
An autofocus mechanism can also be attached.
【００２３】回転装置１７は、上記動き検出データに基
づいて作動し、映像入力装置１１の撮像範囲を変化させ
る。地上の操縦者１２の頭部の動き（上下左右回転方
向）に対して、撮像範囲が連動して動くことで、操縦者
１２が見たい向きの画像を映像入力装置１１が撮像し、
操縦者１２はその画像を地上で頭部搭載型表示装置１３
を介して視認することができる。撮像範囲の変化は、操
縦者の頭部の動きに対して、映像入力装置を回転させる
ことや、広角レンズを用いた映像入力装置から、操縦者
の頭部の動きに対して画像の一部を切り出すことで実現
されるが、その方式は限定されない。The rotating device 17 operates based on the motion detection data, and changes the image pickup range of the video input device 11. By moving the imaging range in conjunction with the movement of the head of the operator 12 on the ground (upward, downward, leftward, rightward rotation direction), the video input device 11 takes an image of the direction the operator 12 wants to see,
The operator 12 displays the image on the ground on the head-mounted display device 13
Can be seen through. The change in the imaging range is caused by rotating the image input device with respect to the movement of the pilot's head, or from the image input device using the wide-angle lens to a part of the image with respect to the movement of the pilot's head. It is realized by cutting out, but the method is not limited.
【００２４】映像入力装置１１により撮像された映像の
信号は、航空機１０上の航空機上送信機１８より、高速
データリンクにより送信され、地上の地上受信機１９で
受信される。この映像は、地上操縦者１２の目の前にあ
る広視野の頭部搭載型表示装置１３に送られ表示され
る。地上操縦者１２は、眼前の映像を見る。このときの
遅れ時間は、短いほどよく、０．１５秒以下が望ましい
が、最大でも０．６秒以下にする。The signal of the image picked up by the image input device 11 is transmitted from the on-board transmitter 18 on the aircraft 10 through the high-speed data link and received by the ground receiver 19 on the ground. This image is sent to and displayed on a wide-field head-mounted display device 13 in front of the ground operator 12. The ground operator 12 sees the image in front of him. The delay time at this time is preferably as short as possible and is preferably 0.15 seconds or less, but is set to 0.6 seconds or less at maximum.
【００２５】ところで、人間の視野は１７０度程度とい
われているが、同時に精度良く物体を検知できる領域は
３０度程度であり、また臨場感も３０度程度から飽和し
始め、８０度程度で飽和することが知られている。この
ことを考慮して、頭部搭載型表示装置１３で与える視野
角は３０度以上とする。By the way, it is said that the human visual field is about 170 degrees, but at the same time, the area in which an object can be accurately detected is about 30 degrees, and the sense of presence begins to saturate from about 30 degrees and saturates at about 80 degrees. Is known to do. Considering this, the viewing angle provided by the head-mounted display device 13 is set to 30 degrees or more.
【００２６】地上の操縦者１２は、頭部搭載型表示装置
１３に映る操縦者１２の眼前の映像が、自分の頭部の動
きの変化に連動して変化することになる。現在の航空機
の操縦者の目の位置に、ビデオカメラ１１を設置すれ
ば、機内の状況等を地上で再現でき、より臨場感を高め
ることができる。頭部搭載型表示装置１３に代えて、ハ
ーフドーム型の装置を用いることも可能である。The operator 12 on the ground changes the image in front of the operator 12 displayed on the head-mounted display device 13 in association with the change in the movement of his / her head. If the video camera 11 is installed at the current position of the eyes of the operator of the aircraft, the situation inside the aircraft can be reproduced on the ground and the sense of presence can be further enhanced. Instead of the head mounted display device 13, a half dome type device can be used.
【００２７】上記のようにすれば、地上の操縦者１２に
あたかも、航空機１０上にいるかのような視覚を与える
ことができる。In the above-described manner, it is possible to give the ground operator 12 a visual impression as if he / she were on the aircraft 10.
【００２８】さらに、無人航空機１０上に２台のカメラ
１１、１１を設置して、地上の操縦者１２にステレオ画
像を視覚させることで、奥行き情報の認識ができるよう
になる。Further, the depth information can be recognized by installing two cameras 11 and 11 on the unmanned aerial vehicle 10 so that the operator 12 on the ground can see a stereo image.
【００２９】また、航空機上のコックピットの操縦席に
相当する位置にマイクを設置し、地上でスピーカを用い
て、音を再生し、操縦者１２に与えることで、音による
認識が可能になる。さらに、無人航空機上のシート等に
相当する位置に加速度センサを設け、その加速度センサ
の検出結果を地上に送信し、地上の触覚付与装置でその
検出信号に対応する圧力を操縦者１２に与えることで、
機体方向の認識が高まる。Further, a microphone is installed at a position corresponding to the cockpit of the cockpit on the aircraft, a sound is reproduced using a speaker on the ground, and the sound is given to the operator 12, whereby recognition by the sound becomes possible. Further, an acceleration sensor is provided at a position corresponding to a seat or the like on the unmanned aerial vehicle, the detection result of the acceleration sensor is transmitted to the ground, and a tactile sense imparting device on the ground applies a pressure corresponding to the detection signal to the operator 12. so,
The recognition of the aircraft direction is enhanced.
【００３０】また、機上の操縦装置の表示データ（視覚
以外の高度、速度等の飛行データ等）の情報を地上に送
り、地上の操縦装置の表示データとして操縦者１２に与
えることで、状況認識が高まる。機上の表示データを、
地上の操作装置２６に送信し、操作装置２６の表示盤に
表示する。In addition, by sending the information of the display data of the on-board control device (flight data such as altitude, speed, etc. other than vision) to the ground and giving it to the operator 12 as the display data of the ground control device, the situation Awareness increases. Display data on the machine,
It is transmitted to the operation device 26 on the ground and displayed on the display panel of the operation device 26.
【００３１】機上の操縦装置および地上の操縦装置の駆
動装置（操縦桿等）を同一にし、その地上の駆動装置か
らの出力信号を航空機に与える。これにより、地上の操
縦者の操縦感覚が高まる。The on-board control device and the ground control device drive devices (control sticks, etc.) are made the same, and an output signal from the ground drive device is given to the aircraft. This enhances the maneuverability of the ground operator.
【００３２】映像入力装置１１には、ぶれ防止機構を設
けることで、操縦者１２の視覚疲労低減を図ることがで
きる。By providing the image input device 11 with a shake prevention mechanism, the visual fatigue of the operator 12 can be reduced.
【００３３】網膜走査表示装置を使用することで、両眼
視差をつけた立体画像での課題である、輻輳と調整の不
一致による視覚疲労を減少させる。ここで、網膜走査表
示装置とは、眼に問題の無い程度の光強度のレーザ光線
のスポットを網膜上に直接入射させ、網膜上で水平・垂
直方向にスキャンして全体の画像を網膜に直接表示し、
航空機等のフライトデータ等の画像を外界の実際の風景
と重ねて人間の眼の網膜上に直接表示する装置である。
本実施形態では、本発明者の発明である特願２００１−
０６５４８３号の技術を適用することができる。The use of the retinal scanning display device reduces visual fatigue due to inconsistency in convergence and adjustment, which is a problem in stereoscopic images with binocular parallax. Here, the retinal scanning display device directly makes a spot of a laser beam having a light intensity that does not cause any problem on the eye to directly enter the retina, and scans the entire image directly on the retina by scanning in the horizontal and vertical directions on the retina. Display,
It is a device that directly displays an image of flight data of an aircraft or the like on the retina of the human eye by superimposing it on the actual scenery of the outside world.
In this embodiment, Japanese Patent Application No. 2001-inventor's invention
The technology of No. 065483 can be applied.
【００３４】人間１２の眼の特性に合わせ、中央部のみ
高解像度の画像を送信する。画像伝送するデータ量の削
減を行うことができる。A high-resolution image is transmitted only in the central portion in accordance with the characteristics of the human eye 12. It is possible to reduce the amount of data transmitted as an image.
【００３５】本実施形態によれば、以下の効果を奏する
ことができる。地上で操縦する操縦者は、自機の姿勢状
態を総合的に判断するレベルが向上し、安全性が向上す
る。また、無人飛行機は、人命救助用や農薬散布用にも
使用できる。また、無人飛行機の操縦の技術習得が容易
となり、複雑な操縦も可能となる。悪条件下での利用が
可能となる。According to this embodiment, the following effects can be obtained. A pilot operating on the ground will improve the level of comprehensively judging the attitude state of the aircraft, and the safety will be improved. Unmanned aerial vehicles can also be used to save lives and spray pesticides. In addition, it becomes easy to learn the technique of operating an unmanned aerial vehicle, and complex operation becomes possible. It can be used under adverse conditions.
【００３６】[0036]
【発明の効果】本発明の遠隔操縦システムによれば、地
上の操縦者が自機の姿勢状態を判断するレベルが向上
し、操縦し易い。According to the remote control system of the present invention, the level at which the operator on the ground determines the attitude state of the aircraft is improved, and it is easy to operate.
【図１】図１は、本発明の遠隔操縦システムの一実施形
態の構成を示すブロック図である。FIG. 1 is a block diagram showing the configuration of an embodiment of a remote control system of the present invention.
【図２】図２は、従来の遠隔操縦システムの構成を示す
ブロック図である。FIG. 2 is a block diagram showing a configuration of a conventional remote control system.
１０ 無人航空機 １１ 映像入力装置 １２ 操縦者 １３ 頭部搭載型表示装置：ＨＭＤ １４ 頭部の動き検出装置 １５ 送信機 １６ 受信機 １７ 回転装置 １８ 航空機上送信機 １９ 地上受信機 ２１ 無人航空機 ２１ａ 前方部 ２２ 映像入力装置 ２３ 送信機 ２４ 映像受信機 ２５ 前方表示装置 ２６ 操作装置 ２７ 操縦者 ２８ 駆動装置 ２９ 送信機 ３０ 受信機 Ａ 機体の前方 10 unmanned aerial vehicles 11 Video input device 12 pilots 13 Head-mounted display device: HMD 14 Head motion detector 15 transmitter 16 receiver 17 Rotating device 18 Aircraft transmitter 19 ground receiver 21 unmanned aerial vehicle 21a front part 22 Video input device 23 Transmitter 24 video receiver 25 Front display device 26 Operating device 27 Pilot 28 Drive 29 transmitter 30 receiver In front of A
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ａ６３Ｈ 30/04 Ａ６３Ｈ 30/04 Ａ Ｂ６４Ｄ 1/18 Ｂ６４Ｄ 1/18 Ｆターム(参考） 2B121 CB09 CB35 CB37 CB69 EA26 FA02 2C150 CA09 DA17 DA38 DK02 DK10 DK11 EB00 EB02 EF13 EF37 5C022 AA00 AB22 AB62 AB65 AC00 5C054 CD03 CF06 CG02 DA07 FC13 FD02 HA26 HA37 ─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. 7 Identification code FI theme code (reference) A63H 30/04 A63H 30/04 A B64D 1/18 B64D 1/18 F term (reference) 2B121 CB09 CB35 CB37 CB69 EA26 FA02 2C150 CA09 DA17 DA38 DK02 DK10 DK11 EB00 EB02 EF13 EF37 5C022 AA00 AB22 AB62 AB65 AC00 5C054 CD03 CF06 CG02 DA07 FC13 FD02 HA26 HA37
Claims (5)
るような映像入力装置と、 前記映像入力装置を前記映像入力装置による前記撮像範
囲が変わるように移動させる移動装置と、 前記映像入力装置により撮像された画像を地上の操縦者
に表示する表示装置と、 前記操縦者の頭の動きを検出する頭部動き検出装置とを
備え、 前記移動装置は、前記検出された前記頭の動きを示すデ
ータに基づいて、前記頭の動きに対応する向きに前記撮
像範囲を移動させる遠隔操縦システム。1. A video input device provided on an aircraft, the imaging range of which changes, a moving device that moves the video input device so that the imaging range of the video input device changes, and the video input device. A display device that displays a captured image to a ground operator, and a head motion detection device that detects a motion of the head of the driver, wherein the moving device indicates the detected motion of the head. A remote control system for moving the imaging range in a direction corresponding to the movement of the head based on the data.
て、 更に、 前記操縦者が地上で前記表示装置を参照しながら前記航
空機を遠隔操縦するための操縦装置を備えた遠隔操縦シ
ステム。2. The remote control system according to claim 1, further comprising a control device for allowing the operator to remotely control the aircraft while referring to the display device on the ground.
テムにおいて、 前記映像入力装置は、前記航空機のコックピットに相当
する位置に設けられている遠隔操縦システム。3. The remote control system according to claim 1, wherein the image input device is provided at a position corresponding to a cockpit of the aircraft.
遠隔操縦システムにおいて、 前記映像入力装置により撮像された前記画像の中央部が
相対的に高解像度となるような前記画像のデータが前記
表示装置に送信される遠隔操縦システム。4. The remote control system according to claim 1, wherein data of the image such that a central portion of the image captured by the video input device has a relatively high resolution. Is transmitted to the display device.
遠隔操縦システムにおいて、 前記映像入力装置が前記画像を撮像してから当該画像が
前記表示装置に表示されるまでの遅れ時間は、０．６秒
以下である遠隔操縦システム。5. The remote control system according to claim 1, wherein a delay time from when the video input device captures the image to when the image is displayed on the display device is , A remote control system that is less than 0.6 seconds.
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| JP2002123622A JP3671024B2 (en) | 2002-04-25 | 2002-04-25 | Remote control system |
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