JP3050277B2 - Spatial route search device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial route search method for finding an optimal flight route according to a purpose at the time of planning an aircraft flight.

[0002]

2. Description of the Related Art FIG.
FIG. 1 is a configuration diagram of a conventional route search device disclosed in Japanese Unexamined Patent Publication (Kokai) No. H10-26095.

In the figure, reference numeral 32 denotes a map data storage unit;
3 is a display device, 34 is a current position detection unit of the moving body,
Reference numeral 35 denotes a map display control device for processing data to be displayed on the display device 33, and reference numeral 36 denotes an operation unit for performing display according to purpose.

The map display controller 35 includes a map image drawing unit 35a, a guide route drawing unit 35b, a video RAM 35c,
The read control unit 35d, the vehicle position mark generation unit 35e, the intersection net list creation unit 35f, the intersection net list storage unit 35g, the link attribute information creation unit 35h, the route search unit 35i, the guidance route storage unit 35j, and the synthesis unit 35k. ing.

Next, the operation will be described.

The intersection net list creating section 35f uses the road layer information stored in the map data storage section 32 to correspond to each intersection of the road and to form an intersection net having an adjacent intersection and a link distance to the adjacent intersection. Create the list CRNL. This created netlist,
It is stored in the intersection netlist storage unit 35g.

When attribute information such as one-way traffic and no-way information obtained by actually traveling between intersections is input from the operation unit 36, the link attribute information creating unit 35h generates a link based on the information. Attribute information is created, and this information is added to the intersection netlist stored in the intersection netlist storage unit 35g. Then, the route search unit 35i,
The shortest route from the current position to the destination position is searched using the intersection netlist to which the link attribute information is added, and the obtained shortest route information is displayed on the display device 33 as guidance route information.

[0008]

In the conventional route search system, a route is searched based on road layer information, that is, map data. Therefore, it cannot be applied to a search for a three-dimensional space without roads, that is, a space route in an aircraft.

For this reason, conventionally, the spatial route (sea route) of an aircraft has been determined using a topographic map in consideration of separately obtained weather and flight environment information such as a restricted flight zone. Therefore, in spite of actually flying in space, it is necessary to fly based on the route expressed on the topographical map, often relying on human experience and intuition, which may burden the operator. there were. Furthermore, it has been difficult to quickly search for the shortest route or the like according to the purpose of flight (for example, which of safety, time, and fuel is prioritized).

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a space route search system capable of easily calculating an optimum flight route in a three-dimensional space.

[0011]

Means for Solving the Problems] According to claim 1 of the present invention,
Path environment storage means for storing space route environment information of the flight space, flight purpose input means for inputting a flight purpose as a flight route selection criterion, and flight suitability criteria for the flight space corresponding to each flight purpose. Judgment criteria accumulating means for accumulating, the judgment criteria according to the input flight purpose,
On the basis of the space route environment information, a flight suitability scoring unit for giving a score as a flight suitability point for each block to the flight space divided for each predetermined block, and for each of the flight space and each block. It is characterized by having display means for displaying points and route selection means for selecting an arbitrary block from the flight space to determine a flight path.

Furthermore, in the second aspect of the present invention, a path environment storage means for storing a spatial path environment information of the flight space, a flying object input means for inputting a flight object as a selection criterion flight path, the flight object Criterion accumulating means for accumulating the flight suitability scoring criterion of the flight space corresponding to the above, the judgment criterion according to the input flight purpose, and the space route environment information, divided into predetermined blocks. Flight suitability scoring means for scoring the flight space for each block as a flight suitability location, search means for searching for an optimal flight path based on the score for each block, Display means for displaying search results;
It is characterized by having.

[0013] The criteria stored in the criteria storage means described above are updated.

[0014] Further, there is provided a route correction input means for correcting the flight route searched by the search means.

Further, there is provided a specification calculating means for calculating at least one of the fuel consumption and the required time when flying on the searched or selected flight route as the specification information, and the calculated specification information is It is displayed on the display means.

[0016] The spatial route environment information includes at least one of weather information and avoidance place information, and terrain information.

[0017]

According to the present onset Ming, and the flight space, it is displayed on the display means the space routing environment information about the flight space. The space route environment information includes various information necessary for the flight, such as terrain information including mountains and buildings serving as obstacles, weather information such as wind speed, and avoidance location information such as restricted flight areas. Therefore, the operator of the aircraft or the like can easily select an optimal flight route based on the information displayed on the display means.

Further, when a flight purpose such as safety, economic efficiency, or required time of flight, which is a basis for selecting a flight route, is input, an extraction criterion for a flight suitability location according to the flight purpose is obtained. Based on the above-mentioned space route environment information, an appropriate place as a flight route is determined. Then, the determination result is displayed on the display means, and based on the display, the operator can arbitrarily select an optimal flight route, and can assist the operator in selecting the optimum flight route.

[0019] In the present onset bright, in addition to the above, by dividing the flight space into predetermined blocks, flying object for each block
Automatically performs scoring for proper / improper as flight path in response to. By displaying this score on the display means, the operator is assisted in selecting the optimal route as a connection of blocks. Therefore, the operator can easily and objectively select the optimum route.

According to a second aspect of the present invention, the search means automatically searches for an optimal flight path from the appropriate / unsuitable scoring according to the purpose of flight calculated for each block in the flight space. Therefore, it is possible to automatically know the optimum flight route without bothering the aircraft operator.

Further, as described in claim 3 of the present invention, the judgment criteria are updated, so that the experience of the operator or the like can be reflected on the search function of the space route search apparatus.

Further, as set forth in claim 4 , a route correction input means is provided, and the operator can correct the route as necessary by looking at the flight path obtained as a result of the search by the search means. It becomes possible. Therefore, the optimum flight route can be selected flexibly in a complicated flight environment.

According to a fifth aspect of the present invention, specification information such as fuel consumption and required time when an actual flight on a flight path obtained as a result of search or selection is obtained and displayed. This makes it possible to determine the flight path more easily and objectively.

[0024]

[Embodiment 1] Hereinafter, an embodiment of the present invention will be described with reference to FIG. In the drawings described in the following embodiments, the same reference numerals are given to the corresponding drawings, and description thereof will be omitted.

In FIG. 1, reference numeral 1 denotes a route environment storage unit for storing input route environment information of a flight space, 2 denotes a display unit such as a CRT for displaying flight space and route environment information,
Reference numeral 3 denotes a route selection unit for allowing a person to select and input an optimal route based on the displayed flight space and route environment information.

The route environment information supplied to and stored in the route environment storage unit 10 includes static information on topography and airspace, such as obstacles (buildings such as mountains and steel towers), restricted flight areas, landmarks (rivers, roads, etc.). Information and dynamic information such as weather.
Then, static information such as terrain and airspace is stored in the route environment storage unit 10 in advance. On the other hand, dynamic information such as weather
The information is input periodically or at an arbitrary time by an offline input by wireless communication or an online input using a communication line, and is stored in the route environment storage unit 10.

When the operator of the aircraft (for example, a helicopter) sets the current point and the destination during the flight of the helicopter, the data control unit (not shown) reads the route environment information of the corresponding space from the storage unit. Further, the data control unit divides the set space between the two points into a plurality of blocks (for example, a cube having a side of 500 m), and reads the read path environment information between the two points into the block (hereinafter, referred to as a cube).
The display data is created in correspondence with each time.

The created display data is supplied to the display unit 12, and the display unit 12 displays a landmark as a flight target, a building as a flight obstacle, bad weather, and the like for each cube.

Then, the operator operates the route selecting unit 3 based on knowledge and experience while watching the displayed flight space and route environment information to set the optimal flight route as a cubic connection.

It should be noted that the set connection of the cubes can be displayed on the display unit 12 as an optimal flight route to be traveled, for example, until the user arrives at the destination. The flight can be performed based on the optimally displayed flight path.

When the route environment such as the weather changes during the flight and the route environment information in the route environment storage unit 10 is updated, the display on the display unit 12 is updated accordingly.
When the destination is changed, the data control unit performs the same processing again as described above, and data up to the changed destination is displayed on the display unit 12. Then, the operator re-selects the optimal flight route to the changed destination.

As described above, according to the configuration of this embodiment,
Since the route environment to the destination is displayed three-dimensionally, the optimum flight route can be selected easily and in a short time.

Embodiment 2 FIG. Next, an example in which the first embodiment is further improved will be described with reference to FIG. In the first embodiment, the human judges the suitability as the flight route by looking at the environment of the flight route displayed on the display unit 12. However, in the present embodiment, the criterion of the flight route is stored in the extraction criterion storage unit 19. Then, the accumulated criteria are used for selecting a flight route.

In FIG. 2, a flight purpose is input from a flight purpose input unit 18. The purpose of flight includes flight safety, economy (fuel consumption, etc.), required time (shortest time), a combination of these, and the like. Is input.

The extraction criterion storage unit 19 stores in advance the priority of selection of various route environments according to the purpose of flight. The priority stored in accordance with the number of times of selection of the path environment selected by the operator in the past may be changed.

The extraction criterion is, for example, a flight altitude, no obstacles (such as mountains), and a mild weather (for example, wind speed Xm) as a route judgment criterion for a flight purpose of giving priority to safety. In the following, high priority is given to route determination items such as landmarks such as rivers and easy to fly. Conversely, in the case of priority on required time or economy, the route determination criterion is given a higher priority to the judgment items such as the shortest distance, and the higher priority is given in the case of the above-mentioned safety priority. The attached items have relatively lower priorities. Furthermore, if the purpose is to fly away from the mountains, refer to the topographic map data,
The criterion of excluding areas with mountains from the flight path is the highest priority.

When the flight purpose is supplied from the flight purpose input unit 18 to the extraction reference storage unit 19 storing the above-mentioned extraction criteria, the extraction reference storage unit 19 extracts the route according to the flight purpose. Extraction reference data serving as a reference is generated and supplied to a flight suitability location extraction unit 16.

On the other hand, when the operator specifies the current point and the destination, the path environment information stored in the path environment storage unit 1 is read out and supplied to the flight suitability point extraction unit 16.

The flight suitability point extraction unit 16 divides the space between the two points into a predetermined cube, reads the read path environment information between the two points, and extracts the extraction reference data from the extraction reference storage unit 19. , It is determined whether each cube is suitable as a flight route.

Next, based on the judgment data obtained from the extracting unit 16, a data control unit (not shown) creates display data with a cube suitable as a route, for example, in a color different from other cubes. And a predetermined display is made.

The operator selects the optimum flight route based on his / her knowledge while watching the display, and operates the route selection unit 14 to set the optimum flight route as a cubic connection.

As described above, by providing the flight suitability extraction unit 16 and the extraction reference accumulation unit 19, etc., and automatically extracting the flight suitability locations, the operator can objectively determine the optimum route. Becomes

Embodiment 3 FIG. In the spatial route search device of the third embodiment, as shown in FIG. 3, a flight suitability scoring unit 22 for finely scoring the feasibility of each cube according to the flight purpose input from the flight purpose input unit 18. And a criterion storage unit 20 for storing the criterion for scoring. Then, each cube is given a score and displayed on the display unit 12.

Hereinafter, an example of scoring the route judgment criteria stored in the judgment criteria accumulating unit 20 will be described.

For example, when the purpose of flight is safety priority, the score given to the route criterion "" is: "If there is a landmark such as a river, fly above it. ] = 5 "Do not fly in areas with wind speeds of Xm or higher." ] =-5 "There is an emergency landing site. ] = 6 ...

The route criterion in the above "" is manually or automatically updated at an arbitrary time based on information obtained by flying in the past, and the score given is, for example, It is automatically updated by the number of times selected in the past. As a result, the criterion accumulation unit 20 accumulates the latest criterion data based on experience.

Next, the operation of the space route searching apparatus of this embodiment will be described.

When the flight purpose is input from the flight purpose input unit 18, the score given to the route judgment criterion corresponding to the input is supplied to the flight suitability scoring unit 22 as judgment criterion data.

On the other hand, similarly to the embodiment described above, the flight suitability scoring unit 22 divides the space between the current position and the destination into predetermined cubes and reads the space from the route environment storage unit 10. A score is calculated for each cube based on the route environment information thus obtained and the above-described determination criterion data. Further, the obtained calculation result is displayed on the display unit 12 for each cube.

The operator can select the optimum route for each cube by using the route selection unit 14 while referring to the displayed cube having a high score. Based on more detailed information as compared with the first and second embodiments, The optimal route can be determined objectively.

Further, since the judgment criterion storage section 20 stores specific judgment criterion data based on the experience of the operator or the like, for example, the operator can avoid an avoidance area (flight prohibited area, another Even if you haven't set an aircraft route, if you have flown in that flight space in the past, you will automatically search for the optimal route so as to avoid a specific area, and you will be able to find the flight performance (speed, altitude, It becomes easy to search for the optimal route according to the distance, etc.). The level of the criterion data, which was a general level at first, gradually becomes a high level corresponding to the characteristics of the operator and the aircraft.

Embodiment 4 FIG. In the third embodiment, the search for the optimum route is performed by the judgment of the operator. In the present embodiment, however, a search unit 24 is provided as shown in FIG. 4, and the search unit 24 automatically searches for the optimum route. I decided that. Hereinafter, a configuration example of the space route search device of the present embodiment will be described with reference to FIG.

First, similarly to the third embodiment, the flight suitability scoring unit 22 finely scores the feasibility of each cube according to the flight purpose input from the flight purpose input unit 18.

The search unit 24 automatically searches for a combination of cubes in which the sum of the scores of each cube is, for example, the maximum. The obtained search result is displayed on the display unit 12 as an optimal route.
, Which makes it possible to search for the optimum route without human intervention. In the search unit 24, what point value is used as a reference for the space route search is arbitrary. Depending on the method of scoring each criterion item, the one that minimizes the sum of the points of the cube is optimal. You may search as a route.

Further, as shown in FIG. 5, a correction path input section 26 is further provided, and the operator uses the correction path input section 26 for the optimum path automatically searched by the search section 24. The route may be further corrected while looking at the display. By enabling the correction of the route in this way,
It can flexibly respond to complicated flight environments.

In addition, according to the correction of the route performed by the operator,
It is assumed that the criteria of the route stored in the criteria storage unit 20 and the score thereof are updated. For example, when the same correction is performed a predetermined number of times for the same flight purpose, the score of the corresponding item of the route determination standard for the flight purpose is automatically changed. As described above, by updating the score of the route determination criterion with the learning function, the operator's experience is automatically stored as data in the determination criterion storage unit 20 as the device is used. Is improved.

Embodiment 5 FIG. In the fourth embodiment, the display of the optimal route and the score of each cube are displayed as the connection of the cubes. However, in the present embodiment, the specification calculation unit 28 is further provided as shown in FIG.

The specification calculator 28 calculates the fuel consumption, the flight time, and the like when flying on the route. The calculated specification data is displayed on the display unit 12 together with the optimum route and the score. For example, even if the flight purpose is safety priority, in a situation where multiple flight purposes must be achieved at the same time during flight, such as reaching the destination in the shortest possible time, If the specification data is displayed as described above, more specific, objective and useful information can be provided to the operator. Therefore, the search for the optimum route becomes easier.

[0059]

As it is evident from the foregoing description, in this onset bright, firstly, a flight space, by displaying on the display means the spatial path environment information about the flight space, the operator or the like of the aircraft, is displayed It is possible to easily search for the optimal flight route based on the existing information.

Next , since the judgment result on the suitability of the flight in the flight space is automatically displayed according to the purpose of the flight, it is possible to assist the operator in searching for the flight route more easily.

In addition, according to the first aspect of the present invention, the suitability of each block in the flight space as a flight path can be indicated by a score according to the purpose of the flight.
Therefore, it is possible to obtain detailed information on the suitability of the flight in the flight space, and it becomes easier for a person to search for a space route.

[0062] According to claim 2 of the present invention, the number of each block obtained as described above, since searching for the automatic optimal flight path, human quickly without troubling The flight path can be determined.

Further, as described in claim 3 of the present invention, by updating the judgment criteria, the experience of the operator or the like can be reflected on the search function of the space route search device.

Further, by providing the route correction input means as described in claim 4 , when there is a defect in the automatically obtained flight route, etc., a person sees the result and takes necessary actions as necessary. The path can be corrected. Therefore, even in a complicated flight environment, the optimum flight route can be selected flexibly in response to this.

According to a fifth aspect of the present invention, specification information such as fuel consumption and required time when an actual flight on a flight route obtained as a result of search or selection is obtained and displayed. This makes it possible to determine the flight path more easily and objectively.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a space route search device according to a first embodiment of the present invention.

FIG. 2 is a configuration diagram of a space route search device according to a second embodiment of the present invention.

FIG. 3 is a configuration diagram of a space route search device according to a third embodiment of the present invention.

FIG. 4 is a configuration diagram of a space route search device according to a fourth embodiment of the present invention.

FIG. 5 is a configuration diagram showing an improved example of the space route search device of FIG. 4;

FIG. 6 is a configuration diagram of a space route search device according to a fifth embodiment of the present invention.

FIG. 7 is a configuration diagram showing a conventional route search device.

[Explanation of symbols]

10 route environment storage unit, 12 display unit, 14 route selection unit, 16 flight suitability point extraction unit, 18 flight purpose input unit, 19 extraction criterion storage unit, 20 judgment criterion storage unit, 2
2 Flight suitability scoring unit, 24 search unit, 26 corrected route input unit, 28 specification calculation unit.

Continuation of front page (58) Fields investigated (Int. Cl. ⁷ , DB name) G08G 5/00 B64D 45/00 G01C 21/00 G09B 29/00

Claims (6)

(57) [Claims] 1. A flight environment storage means for storing space route environment information of a flight space, a flight purpose input means for inputting a flight purpose serving as a criterion for selecting a flight route, and a flight suitability of the flight space corresponding to each flight purpose Based on the criterion accumulating means for accumulating the scoring criterion, the criterion according to the input flight purpose, and the flight space divided for each predetermined block based on the space route environment information, Flight suitability scoring means for scoring as a flight suitability point for each block, display means for displaying the flight space and the score for each block, and an arbitrary block selected from the flight space to determine a flight route And a route selecting means for performing a search. 2. A flight environment storage means for storing space route environment information of a flight space, a flight purpose input means for inputting a flight purpose as a reference for selecting a flight route, and a flight suitability of the flight space corresponding to each flight purpose. Based on the criterion accumulating means for accumulating the scoring criterion, the criterion according to the input flight purpose, and the flight space divided for each predetermined block based on the space route environment information, Flight suitability scoring means for scoring as a flight suitability point for each block, search means for searching for an optimal flight path based on the score for each block, and display means for displaying the flight space and search results A spatial route searching device, comprising: Is 3. A process according to claim 1 or in the spatial route searching apparatus of any crab according to claim 2, criteria stored in the criteria storing means, the spatial route search device characterized in that it is updated . 4. A spatial route search device of any crab according to claim 2 or claim 3, further comprising the features that it has a route correction input means for correcting the flight path that has been searched by said searching means Space route search device. In the spatial route search device according to any one of the claims 5] Claims 1 to 4, further at least one of the fuel consumed and the time required in the case of flying searched or selected flight path Various A spatial route search device, comprising specification calculation means for calculating as raw information, wherein the calculated specification information is displayed on the display means. 6. The spatial route search device according to any one of claims 1 to 5, wherein the spatial path environment information includes at least one of weather information and havens information and topographic information A space route search device characterized by the following.