JP2011178186A - Landing guide device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To more intelligibly and more easily prepare a guide image for guiding a region for a vertical take-off and landing airframe to land. <P>SOLUTION: This landing guide device includes a camera fixed to an airframe, an airframe sensor for measuring inclination of the airframe, and a guide image preparing device for preparing the guide image 31 based on the camera image photographed by the camera and the inclination. At the time, the guide image 31 is prepared to display the camera image and to display an airframe symbol 33 at a position where an image 32 of a landing candidate region arranged in a prescribed direction from the airframe is displayed. The landing guide device is capable of more exactly showing a state of the landing candidate region arranged in the prescribed direction from the airframe to a user without moving the camera in relation to the airframe. Further, the landing guide device can be more easily prepared to be more light and inexpensive as compared with an other landing guide device including a gimbal for moving the camera to display the landing candidate region at a center. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a landing guide device and a landing guide method, and more particularly to a landing guide device and a landing guide method that are used when an aircraft is landing.

  Helicopters are known that have rotor blades on the airframe and can be used for vertical ascending / descending, moving forward and backward, stopping in the air, and taking off and landing. The pilot of the helicopter may need to check the status of the landing point at the time of landing, and at this time, the status of the landing point may be checked with the naked eye.

  Helicopters are known that are equipped with a camera that captures the area below the helicopter. According to such a helicopter, the operator can confirm the status of the landing point by observing an image taken by the camera. The image is desired to be taken more easily, and it is desired that the situation at the landing point is more clearly shown.

  Japanese Patent No. 2613329 discloses an autorotation landing support system that improves the safety of autorotation landing by reducing pilot work and assisting judgment by appropriately supporting the reachable range and landing candidate points. It is disclosed. The autorotation landing support system detects the position where the aircraft is flying in an autorotation landing support system that provides necessary information to the pilot when a rotorcraft performs emergency landing in an autorotation state. Own position detection means, an image display device, a database such as terrain for displaying a map on the image display device, a landing candidate point database for displaying a place where the image display device can land, Reachable range calculating means for calculating a reachable range by autorotation from the values of parameters indicating the flight state such as the own aircraft speed, altitude, elevating rate, the own aircraft position detected by the own aircraft position detecting device, Topography extracted from the terrain database, landing candidates extracted from the landing candidate point database Display processing means for displaying each point and the data of the reachable range calculated by the reachable range calculating means on the image display device, and based on the detected position of the own machine, Terrain data is extracted from the terrain data database, landing candidate point data within the reachable range calculated by the reachable range calculation means is extracted from the landing candidate point database, and the extracted terrain around the aircraft The figure and landing candidate points within the reachable range are displayed together with the position of the aircraft and the reachable range on the image display device.

  In Japanese Utility Model Publication No. 63-134900, a crew member can confirm a good downward field of view without a blind spot due to a helicopter take-off and landing, and further simplify the airframe structure by eliminating the downward visible transparent window. A helicopter downward view display device capable of improving the electromagnetic shielding effect is disclosed. The helicopter downward view display device is mounted on the outer skin of the fuselage under the cockpit floor with the optical device facing the outside of the fuselage, and the optical axis is directed at a right angle to the aircraft axis to capture the lower visual field image and to generate an electrical signal. Connected between the imaging device and the control display device, the lower vision imaging device to be converted, the lower vision control display device that is installed in front of the crew seat regular seating position in the cockpit and displays the electrical signal from the lower vision imaging device The electric signal transmission cable transmits the former electric signal to the latter.

  Japanese Patent Application Laid-Open No. 05-254373 discloses a helicopter that has a rear view and is safe and less burdensome on the pilot. The helicopter is provided with a support device that is fixed in a state of protruding from the fuselage so that the front end portion is located at the front upper side of the fuselage, and a rear view mirror that is fixed to the front end portion of the support device. It is a feature.

Japanese Patent No. 2613329 Japanese Utility Model Publication No. 63-134900 JP 05-254373 A

An object of the present invention is to provide a landing guide device and a landing guide method that are lighter.
Another object of the present invention is to provide a landing guide device and a landing guide method that are manufactured at a lower cost.
Still another object of the present invention is to provide a landing guide device and a landing guide method that make it easier to understand the situation of the landing point of the aircraft.
Still another object of the present invention is to provide a landing guide device and a landing guide method that more stably indicate the status of the landing point of the aircraft.

  In the following, means for solving the problems will be described using the reference numerals used in the modes and examples for carrying out the invention in parentheses. This symbol is added to clarify the correspondence between the description of the claims and the description of the modes and embodiments for carrying out the invention. Do not use to interpret the technical scope.

  The landing guide device according to the present invention includes a camera (5) fixed to the airframe (2), an airframe sensor (6) for measuring the inclination of the airframe (2), and a camera image (21) taken by the camera (5). ) And its inclination, a guide image creation device (10) for creating a guide image (31, 41) is provided. At this time, the guide image (31, 41) is created so as to display the camera image (21) and indicate the position where the landing candidate area (22) arranged in a predetermined direction from the airframe (2) is reflected. Such a landing guide device allows the user to more accurately determine the status of the landing candidate area (22) arranged in a predetermined direction from the airframe (2) without moving the camera (5) relative to the airframe (2). Can show. Such a landing guide device further includes a gimbal that moves the camera relative to the airframe (2) so that the landing candidate area (22) arranged in a predetermined direction from the airframe (2) is reflected in the center of the camera image. Compared to other landing guide devices, it can be made easier, lighter and cheaper.

  For example, the guide image (31, 41) is displayed at the center of the guide image (31, 41) so that the landing candidate region image (32, 42) is displayed at a predetermined position of the guide image (31, 41). It is preferable that the landing candidate region image (32, 42) is displayed on the screen.

  The guide images (31, 41) are created so that the aircraft symbol (33, 43) is further displayed at the position where the landing candidate area (22) is reflected. That is, it is preferable that the guide image (31, 41) is displayed by superimposing the aircraft symbol (33, 43) on the image (32, 42) of the landing candidate area.

  The landing guide apparatus according to the present invention further includes an altitude sensor (7) for measuring the ground altitude of the airframe (2). At this time, the body symbol (33, 43) is displayed on the guide image (31, 41) in a size corresponding to the ground altitude. Such a landing guide device can more easily show the size of the landing candidate area (22) to the user. For example, when the airframe (2) has landed in the landing candidate area (22), the airframe (2) The size of the area occupied by can be shown to the user more easily.

  The landing guide device according to the present invention preferably further includes a display device (8) displaying guide images (31, 41).

  The guide image (31, 41) further displays a complementary image created based on another camera image (21) taken in the past from the time when the camera image (21) was taken. Such a landing guide device can create a guide image (31, 41) in which the defect is complemented by the complementary image even when a camera image (21) having a defect is photographed. The situation of (22) can be shown to the user more stably.

  The helicopter (1) according to the present invention preferably comprises a landing guide device according to the present invention and an airframe (2).

  The landing guide method according to the present invention includes a step of taking a camera image (21) using a camera (5) fixed to the airframe (2), a step of measuring the inclination of the airframe (2), and a camera image (21 ) And its inclination, a step of creating a guide image (31, 41) and a step of displaying the guide image (31, 41) on the display device (8) are provided. At this time, the guide image (31, 41) is created so as to display the camera image (21) and indicate the position where the landing candidate area (22) arranged in a predetermined direction from the airframe (2) is reflected. Such a landing guide method allows the user to more accurately determine the status of the landing candidate area (22) arranged in a predetermined direction from the airframe (2) without moving the camera (5) relative to the airframe (2). Can show. Such a landing guide method is further easier than other landing guide methods in which the camera (5) is moved so that the landing candidate area (22) arranged in a predetermined direction from the airframe (2) is reflected. A guide image (31, 41) can be created.

  For example, the guide image (31, 41) is displayed at the center of the guide image (31, 41) so that the landing candidate region image (32, 42) is displayed at a predetermined position of the guide image (31, 41). It is preferable that the landing candidate region image (32, 42) is displayed on the screen.

  The guide images (31, 41) are created so that the aircraft symbol (33, 43) is further displayed at the position where the landing candidate area (22) is reflected. That is, it is preferable that the guide image (31, 41) is displayed by superimposing the aircraft symbol (33, 43) on the image (32, 42) of the landing candidate area.

  The landing guide method according to the present invention further includes the step of measuring the ground altitude of the airframe (2). The aircraft symbol (33, 43) is displayed on the guide image (31, 41) in a size corresponding to the ground altitude. Such a landing guide method can more easily show the size of the landing candidate area (22) to the user. For example, when the aircraft (2) has landed in the landing candidate area (22), the aircraft (2) The size of the area occupied by can be shown to the user more easily.

  The landing guide method according to the present invention further includes a step of creating a complementary image based on another camera image (21) taken in the past from the time when the camera image (21) was taken. The guide image (31, 41) further displays the complementary image. In such a landing guide method, even when a camera image (21) having a defect is photographed, a guide image (31, 41) in which the defect is complemented by a complementary image can be created. The situation of 22) can be shown to the user more stably.

  The computer program according to the present invention preferably causes a computer to execute the landing guide method according to the present invention.

  The landing guide device and the landing guide method according to the present invention can more easily and accurately show a guide image showing landing candidate areas arranged in a predetermined direction from the aircraft.

FIG. 1 shows a helicopter according to the present invention. FIG. 2 is a block diagram illustrating the guide image creation apparatus. FIG. 3 is a diagram showing a camera image taken by the camera. FIG. 4 is a diagram illustrating a guide image created by the guide image creation device. FIG. 5 is a diagram showing another guide image created by the guide image creation device.

  With reference to the drawings, an embodiment of a helicopter according to the present invention will be described. As shown in FIG. 1, the helicopter 1 includes a helicopter main body 2 and a main rotor blade 3. The helicopter body 2 forms a cabin in which an occupant of the helicopter 1 is arranged. The main rotor blade 3 is rotatably supported by the helicopter body 2. The main rotor blade 3 is formed with wings. The wings generate lift when the main rotor blade 3 rotates relative to the helicopter body 2. That is, the main rotor blade 3 generates the propulsive force of the helicopter 1 by rotating with respect to the helicopter body 2.

  The helicopter 1 further includes a landing guide device. The landing guide device includes an infrared camera 5, a body sensor 6, a radio altimeter 7, a display device 8, and a guide image creation device 10. The infrared camera 5 is fixed to the lower part of the helicopter body 2. The infrared camera 5 is controlled by the guide image creation device 10 to irradiate infrared rays below the helicopter 1 and shoots a camera image in which the subject arranged below the helicopter 1 is reflected by the reflected light of the infrared rays, The camera image is output to the guide image creation device 10. Examples of the infrared wavelength include 3 μm to 5 μm and 8 μm to 10 μm. The infrared camera 5 can omit the irradiation of the infrared rays when it can capture a sufficiently clear camera image without irradiating the infrared rays. The infrared camera 5 can be replaced with a visible camera that captures a camera image based on visible light when it can capture a sufficiently clear camera image based on visible light.

  The body sensor 6 is fixed to the helicopter body 2. The body sensor 6 is formed of a gyro and is controlled by the guide image creation device 10 to measure the inclination (posture) of the helicopter body 2 and outputs the inclination to the guide image creation device 10. The inclination indicates the direction and degree of inclination of the helicopter body 2 with respect to the vertical direction.

  The radio altimeter 7 is controlled by the guide image creation device 10 to emit radio waves to the ground surface, measure the ground altitude of the helicopter 1 based on the reflected waves of the radio waves, and determine the ground altitude as a guide image creation device. 10 is output. The ground altitude indicates the distance from the ground surface to helicopter 1. The radio altimeter 7 can be replaced with another altimeter capable of measuring the ground altitude. Examples of the altimeter include a laser range finder that emits a laser onto the ground surface of the helicopter 1 and measures the ground altitude of the helicopter 1 based on the reflected light of the laser.

  The display device 8 has a display surface, and is disposed in the cabin of the helicopter 1 so that the display surface can be observed by a passenger of the helicopter 1. The display device 8 displays the guide image created by the guide image creation device 10 on its display surface.

  The guide image creating apparatus 10 is a computer, and includes a CPU, a storage device, a removable memory drive, and an interface (not shown). The CPU executes a computer program installed in the guide image creation device 10 to control the storage device and the interface. The storage device records the computer program and temporarily records information generated by the CPU. The removable memory drive is used to read data recorded on the recording medium when the recording medium is inserted. The removable memory drive is further used when the computer program is installed in the guide image creating apparatus 10 when a recording medium on which the computer program is recorded is inserted. Examples of the recording medium include flash memory, magnetic disk (flexible disk, hard disk), optical disk (CD, DVD), and magneto-optical disk. The interface outputs information generated by an external device connected to the guide image creating apparatus 10 to the CPU, and outputs information generated by the CPU to the external device. The external device includes an infrared camera 5, a body sensor 6, a radio altimeter 7, and a display device 8.

  The computer program installed in the guide image creating apparatus 10 is formed of a plurality of computer programs for causing the guide image creating apparatus 10 to realize a plurality of functions. As shown in FIG. 2, the plurality of functions include a photographing unit 11, an airframe posture collecting unit 12, an altitude collecting unit 13, an image complementing unit 14, a guide image creating unit 15, and a display unit 16. .

  The photographing unit 11 controls the infrared camera 5 so that a camera image in which a subject arranged below the helicopter 1 is photographed periodically. An example of the period is 1/30 seconds.

  The body posture collection unit 12 controls the body sensor 6 so that the inclination of the helicopter body 2 at the time when the camera image is captured by the imaging unit 11 is measured.

  The altitude collecting unit 13 controls the radio altimeter 7 so that the ground altitude of the helicopter 1 at the time when the camera image is captured by the imaging unit 11 is measured.

  The image complementation unit 14 creates a post-complementation camera image based on the camera image captured by the imaging unit 11 and the past camera image captured in the past by the imaging unit 11. The post-complementation camera image matches the camera image when the camera image has no defect. In the post-complementation camera image, when the camera image is defective, the abnormal region having the defect in the camera image is replaced with a normal region corresponding to the abnormal region in the past camera image. An image is shown. Examples of the defect include a portion that is not captured due to a failure of the infrared camera 5 and a portion where a shield that is not arranged on the ground surface is captured. Examples of the shield include rain, fog, smoke, and a flying object that flies between the ground surface and the helicopter 1. Such image complement is well known and used in medical image complementation systems and the like.

  The guide image creation unit 15 creates a guide image based on the inclination measured by the body posture collection unit 12, the ground height measured by the altitude collection unit 13, and the post-complementation camera image created by the image complementation unit 14. .

  The display unit 16 controls the display device 8 so that the guide image created by the guide image creation unit 15 is displayed.

  Note that the image complementing unit 14 can be omitted. At this time, the guide image creating unit 15 creates a guide image based on the inclination measured by the body posture collecting unit 12, the ground altitude measured by the altitude collecting unit 13, and the camera image photographed by the photographing unit 11. .

  FIG. 3 shows a camera image photographed by the photographing unit 11. The camera image 21 shows a subject arranged below the helicopter 1. The camera image 21 further shows a landing candidate point 22 arranged vertically downward from the helicopter 1. That is, the infrared camera 5 is configured such that when the helicopter 1 is flying, the image of the landing candidate point 22 is always reflected in the camera image taken by the infrared camera 5, and the helicopter 1 is landed on the landing candidate point 22. The direction and the viewing angle of the infrared camera 5 are set so that an area sufficiently larger than the area occupied by the camera is always captured.

  That is, the guide image creation unit 15 records the direction in which the infrared camera 5 is fixed with respect to the helicopter body 2 input via the input device in the storage device. When the camera image 21 is photographed, the guide image creation unit 15 is a position where the landing candidate point 22 in the camera image 21 is projected based on the orientation and the inclination measured by the body posture collection unit 12. Is calculated. The guide image creation unit 15 further extracts a region 23 from the camera image 21 based on the calculated position. The region 23 is formed in a rectangle having a predetermined size, and is extracted so that the landing candidate point 22 is projected in the center. A region 23 indicates an image in which, when there is a defect, the image complementing unit 14 replaces the abnormal region having the defect with a normal image.

  FIG. 4 shows a guide image created by the guide image creation unit 15 based on the camera image 21. The guide image 31 is formed from an image shown in the area 23, that is, an image 32 of a subject arranged at the landing candidate point 22 is displayed at the center. The guide image 31 is further displayed with an aircraft symbol 33 superimposed on the image shown in the region 23. The airframe symbol 33 is formed from a line drawing, and is formed so as to surround an image of an object arranged in an area occupied by the helicopter 1 when the helicopter 1 lands at the landing candidate point 22. That is, the image displayed surrounded by the line drawing of the aircraft symbol 33 in the guide image 31 may come into contact with the helicopter body 2 or the main rotor blade 3 when the helicopter 1 has landed at the landing candidate point 22. Indicates an object. Such a guide image can indicate in detail the presence or absence of an object that may come into contact with the helicopter 1 when the helicopter 1 descends vertically downward.

  FIG. 5 shows another guide image created by the guide image creation unit 15. The guide image 41 is created based on another camera image different from the camera image 21. The guide image 41 is formed from a rectangular area of a predetermined size that projects the landing candidate point 22 in the center of the camera image. That is, an image 42 of the landing candidate point vertically below the helicopter 1 is displayed in the center. Has been. The guide image 41 is further displayed with a body symbol 43 superimposed on an image shown in the rectangular area. The airframe symbol 43 is formed from a line drawing in the same manner as the airframe symbol 33, and is formed so as to surround an image of an object arranged in an area occupied by the helicopter 1 when the helicopter 1 lands at the landing candidate point 22. Yes. Therefore, when the guide image 41 is created based on the camera image taken when the helicopter 1 is placed at a ground altitude higher than the ground altitude of the helicopter 1 when the camera image 21 is taken, the aircraft symbol 43 is displayed on the guide image 41 smaller than the machine symbol 33.

  That is, the guide image creation unit 15 records the shape and size of the helicopter 1 and the characteristics of the infrared camera 5 input via the input device in the storage device. As the characteristic, the viewing angle of the infrared camera 5 is exemplified. The guide image creation unit 15 further calculates the shape of the airframe symbol 33 (43) based on the shape of the helicopter 1. The guide image creation unit 15 further calculates a function that associates the ground altitude set with the size set based on the size of the helicopter 1 and the characteristics of the infrared camera 5. The function is calculated so that the aircraft symbol having a size corresponding to the ground altitude of the helicopter 1 in the size set matches the size of the helicopter 1 landing on the ground surface in the guide image.

  When the camera image 21 is photographed, the guide image creation unit 15 calculates a size corresponding to the ground height measured by the height collection unit 13 based on the function. The guide image creation unit 15 creates the guide image 31 so that the calculated body symbol is displayed in the center.

  Such a landing guide device is installed when a helicopter 1 according to the present invention is newly manufactured. Further, the existing helicopter can be modified to the helicopter 1 by installing such a landing guide device.

  The embodiment of the landing guide method according to the present invention is executed by such a landing guide device, and includes an initial setting operation and an operation during flight.

  In the initial setting operation, the user first inputs the shape and size of the helicopter 1 and the orientation and characteristics of the infrared camera 5 to the guide image creation device 10 via the input device. The guide image creation device 10 calculates the shape of the airframe symbol based on the shape of the helicopter 1. The guide image creation device 10 further calculates a function that associates the ground altitude set with the size set based on the size of the helicopter 1 and the characteristics of the infrared camera 5. The function is calculated so that the aircraft symbol having a size corresponding to the ground altitude of the helicopter 1 in the size set matches the size of the helicopter 1 landing on the ground surface in the guide image.

  In the operation during the flight, the guide image creation device 10 periodically captures the camera image 21 using the infrared camera 5. An example of the period is 1/30 seconds. The guide image creation device 10 uses the body sensor 6 to measure the inclination of the helicopter body 2 at the time when the camera image 21 is taken. The guide image creation device 10 uses the radio altimeter 7 to measure the ground altitude of the helicopter 1 at the time when the camera image 21 was taken. When the camera image 21 has a defect, the guide image creation device 10 replaces the defect with a normal image based on another camera image taken in the past.

  The guide image creation device 10 calculates a position where the landing candidate point 22 in the camera image 21 is projected based on the measured inclination and the direction of the infrared camera 5 with respect to the helicopter body 2. The guide image creation device 10 further extracts a region 23 from the camera image 21 based on the calculated position. The region 23 is formed in a rectangle having a predetermined size, and is extracted so that the landing candidate point 22 is projected in the center.

  The guide image creation device 10 calculates the size corresponding to the measured ground altitude, and creates the guide image 31 so that the aircraft symbol of the calculated size is displayed in the center. The guide image creation device 10 displays the guide image 31 on the display device 8.

  In the operation during the flight, the operations from the photographing of the camera image 21 to the display of the guide image 31 are periodically repeated. An example of the period is 1/30 seconds.

  According to such an operation, the landing guide device can provide the occupant of the helicopter 1 with an image vertically below the helicopter 1 even when the helicopter 1 is inclined with respect to the vertical direction. For this reason, the occupant of the helicopter 1 can confirm the state of the object arranged vertically below the helicopter 1 by observing the guide image of the display device 8, and in particular, in the case of an emergency, etc. It is possible to check whether the helicopter 1 can land more safely without touching an obstacle when landing at the location.

  According to such an operation, the landing guide device can create a vertically lower image of the helicopter 1 without changing the direction of the infrared camera 5, and includes a gimbal that changes the direction of the infrared camera 5. Compared to other landing guide devices, it can be made easier, lighter, and cheaper.

  Note that the landing candidate point 22 can be changed to another landing candidate point different from the vertically lower side of the helicopter 1 as necessary.

  Note that the guide image 31 can be further replaced with another guide image in which the airframe symbol 33 is not displayed when the position where the landing candidate point 22 appears is fixed. Even if it is such a guide image, the user can confirm the state of the object arrange | positioned vertically under the helicopter 1 by observing the guide image.

  Note that the guide image 31 is replaced with another guide image displayed while the position of the image 32 of the landing candidate point is moved when the airframe symbol superimposed on the landing candidate point is displayed. You can also. Even if it is such a guide image, the user can confirm the state of an obstacle that may come into contact with the helicopter 1 when descending vertically below the helicopter 1 by observing the guide image. it can.

  The guide image 31 may be replaced with a guide image indicating an object that may come into contact with the helicopter 1 by enlarging or reducing the image superimposed on the aircraft symbol, with the size of the aircraft symbol fixed. . Even if it is such a guide image, the user can confirm the state of an obstacle that may come into contact with the helicopter 1 when descending vertically below the helicopter 1 by observing the guide image. it can.

  Note that the airframe symbol may be formed in a figure other than the figure indicating the shape of the helicopter 1. Even if it is such a guide image, the user can confirm the state of the object arrange | positioned vertically under the helicopter 1 by observing the guide image.

  The figure may not be resized based on the ground altitude of the helicopter 1. Even if it is such a guide image, the user can confirm the state of the object arrange | positioned vertically under the helicopter 1 by observing the guide image. The landing guide device to which such a guide image is applied can omit the radio altimeter 7.

  The landing guide device according to the present invention can also be applied to other vertical take-off and landing aircraft different from the helicopter. At this time, the occupant of the vertical take-off and landing aircraft confirms the state of the object arranged vertically below the vertical take-off and landing aircraft by observing the guide image of the display device 8 in the same manner as the occupant of the helicopter 1. And check whether the vertical take-off and landing aircraft can land more safely without touching obstacles.

DESCRIPTION OF SYMBOLS 1: Helicopter 2: Helicopter main body 3: Main rotor blade 5: Infrared camera 6: Airframe sensor 7: Radio altimeter 8: Display device 10: Guide image creation apparatus 11: Image | photographing part 12: Aircraft attitude | position collection part 13: Altitude collection part 14 : Image complementing unit 15: Guide image creating unit 16: Display unit 21: Camera image 22: Landing candidate point 23: Area 31: Guide image 32: Image 33: Airframe symbol 41: Guide image 42: Image 43: Airframe symbol

Claims (13)

A camera fixed to the aircraft,
An airframe sensor for measuring the inclination of the airframe;
A guide image creation device that creates a guide image based on the camera image captured by the camera and the tilt;
The guide image is a landing guide device that displays the camera image and indicates a position where a landing candidate area arranged in a predetermined direction from the aircraft appears. In claim 1,
The landing guide device, wherein the guide image displays an image of the landing candidate area at a predetermined position in the guide image. In either claim 1 or claim 2,
The landing guide device, wherein the guide image further displays an airframe symbol at a position where the landing candidate area is reflected. In claim 3,
Further comprising an altitude sensor for measuring the ground altitude of the aircraft,
The aircraft symbol is displayed on the guide image in a size corresponding to the ground altitude. In any one of Claims 1-4,
A landing guide device further comprising a display device for displaying the guide image. In any one of Claims 1-5,
The landing guide device further displays a complementary image created based on another camera image taken in the past from the time when the camera image was taken. A landing guide device according to any one of claims 1 to 6;
A helicopter comprising the aircraft. Taking a camera image using a camera fixed to the aircraft; and
Measuring the tilt of the aircraft;
Creating a guide image based on the camera image and the tilt;
Displaying the guide image on a display device,
The guide image is a landing guide method in which the camera image is displayed and a position where a landing candidate area arranged in a predetermined direction from the aircraft appears. In claim 8,
The landing guide method is a landing guide method in which an image of the landing candidate area is displayed at a predetermined position in the guide image. In either claim 8 or claim 9,
The landing guide method, wherein the guide image further displays an airframe symbol at a position where the landing candidate area is reflected. In claim 10,
Further comprising measuring a ground altitude of the aircraft,
The landing guide method in which the airframe symbol is displayed on the guide image in a size corresponding to the ground altitude. In any one of Claims 8-11,
Further comprising the step of creating a complementary image based on other camera images taken in the past from the time when the camera image was taken,
The landing guide method, wherein the guide image further displays the complementary image. A computer program for causing a computer to execute the landing guide method according to any one of claims 8 to 12.

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