JP3252129B2 - Helicopter operation support equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a helicopter operation support device, and more particularly to a helicopter operation support device used for landing or rescue work.

[0002]

2. Description of the Related Art A helicopter is a VFR (Visual Flight Ru).
les) Because it flies, it is not possible to fly during poor visibility such as at night or in bad weather, and its social usefulness has been reduced. However, an operation system using GPS (Global Positioning System) is currently being constructed. As a result, it is becoming possible to fly even when visibility is poor. However, automatic landing is still difficult and ultimately requires a pilot to make a visual landing.

[0003]

Since a helicopter performs visual landing, when the visibility is poor such as fog, haze, or dusk, it is not possible to clearly grasp the condition of the landing point, and landing becomes very difficult. As described above, it is often difficult to land with the current helicopter due to the weather, and it is difficult to improve the flight rate.

Further, the landing angle of a helicopter is deeper than that of a fixed wing aircraft, and the landing point may be below the windshield of the cockpit. There is an instrument panel under the windshield, which makes blind spots impossible because the blind spot is not directly visible.

In particular, when landing on a heliport in an urban area or the like, it is necessary to increase the approach angle for noise reduction. For example, an approach angle of about 60 ° is required. At such a deep approach angle, the landing point becomes a blind spot, making landing very difficult.

A helicopter is also used for rescue operations in the event of a disaster. During rescue operations, work may be performed directly below the helicopter's fuselage. Has become.

[0007] It is an object of the present invention to provide a helicopter operation support device that reinforces the pilot's field of view and assists pilot operation during landing and rescue operations.

[0008]

According to a first aspect of the present invention, there is provided a display means having two display screens mounted on a pilot's head and arranged in front of left and right eyes, respectively, and the pilot's predetermined state. An imaging means having an imaging range wider than the viewing angle, an imaging means attached to the lower part of the helicopter body with a predetermined pilot's line of sight as an imaging center, and a pilot's head movement or a pilot's pupil movement, A line-of-sight detection sensor that detects the line-of-sight direction of the pilot, a captured image captured by the imaging unit, and a pilot line-of-sight direction detected by the line-of-sight detection sensor. A range corresponding to the viewing angle is cut out from the captured image, and the cut-out image is used as a display image for each display screen of the display unit. And an arithmetic means for displaying,
The two imaging units are attached at an interval substantially equal to the interval between the left and right eyes of the pilot, and the calculation unit calculates display images individually for the left and right imaging units, and corresponds to the calculated display images. A helicopter operation support device characterized in that left and right display images are provided with parallax by being displayed on a display screen to be displayed, thereby allowing a pilot to stereoscopically view a captured image.

According to the present invention, the imaging means is attached with a predetermined pilot line-of-sight direction as the imaging center.
For example, it is attached to the lower part of the helicopter so that the extension of the line of sight of the pilot at the time of landing is the center of imaging. Therefore, even when the landing point is in the blind spot of the pilot at the time of landing, the image taken by the imaging means is displayed to the pilot on the display means mounted on the pilot's head, so that the pilot can safely land. be able to. In addition, even when visibility is poor, the situation of the landing point can be grasped and landing is possible, so that the operation rate can be improved as compared with a conventional helicopter.

The image pickup means has an image pickup range wider than the blind spot of the pilot, and is provided with a line of sight detecting means for detecting the direction of the line of sight of the pilot. The arithmetic means is an image picked up by the image pickup means based on the line of sight detection means. , An image in a range corresponding to the pilot's line of sight is cut out and displayed on the display screen. In this way, the direction desired by the pilot can be displayed without moving the imaging means.
Therefore, since there is no need to move the imaging unit, the manufacturing cost can be reduced.

Further, by mounting the imaging means so that the imaging center of the imaging means is directly below the body of the helicopter, the pilot can visually recognize the lower part of the body. This makes it easy to perform a rescue operation at the time of a disaster. Further, two image pickup means are attached at an interval substantially equal to the interval between the left and right eyes of the pilot, and are respectively displayed on the left and right display screens. Therefore, a parallax is generated between the left and right display images, whereby the pilot can stereoscopically view the display image and three-dimensionally grasp the surrounding situation.

The present invention according to claim 2 is mounted on the heads of a pilot and a crew other than the pilot, respectively.
Display means having two display screens respectively disposed in front of the left and right eyes, and having an imaging range wider than a predetermined viewing angle of the pilot, and a predetermined pilot's line-of-sight direction as an imaging center at the lower part of the helicopter body Image pickup means to be attached, a line-of-sight detection sensor for individually detecting the line-of-sight direction of the pilot and the crew based on the movement of the pilot or the crew's head or pupil, and an image picked up by the image pickup means. Based on the gaze direction of the pilot and the crew detected by the gaze detection sensor,
Centering on the positions of the captured images corresponding to the line-of-sight directions of the pilot and the crew, the ranges corresponding to the viewing angles of the pilot and the crew are respectively cut out from the captured images, and the cut-out images are used as display images for the pilot and the crew. And a calculating means for displaying on the display screen of each of the display means.

According to the present invention, the display means and the line-of-sight direction detection sensor are mounted not only on the pilot but also on a crew other than the pilot, and the same image picked up by the image pickup means is used to determine the line-of-sight direction of the pilot and the crew. Images can be cut out and presented individually.

[0014]

[0015]

The present invention according to claim 3 is characterized in that a plurality of locations can be monitored during rescue or search activities by presenting captured images at different positions to the pilot and the crew.

According to the present invention, by presenting different images to the pilot and the crew, a plurality of locations can be monitored at the same time during rescue or search activities.

According to a fourth aspect of the present invention, the image pickup means has a wide-angle lens, and the calculating means calculates a display image by correcting a distortion of the clipped image.

According to the present invention, since the imaging means has a wide-angle lens such as a fish-eye lens, it has a wide viewing angle of about 180 °. The image captured by the wide-angle lens is greatly distorted at the periphery, but the calculating means corrects and displays the distortion of the clipped image, thereby providing the pilot with a wide field of view without putting a burden on the pilot's eyes. it can.
According to a fifth aspect of the present invention, the calculation means superimposes and displays flight information input from the outside as a number or a symbol on a display image. According to the present invention, flight information such as aircraft attitude and altitude is superimposed on the display screen, so that the pilot does not need to look at instruments and the like, and the workload is reduced. According to a sixth aspect of the present invention, the calculation means reduces a range of an image to be cut out based on an instruction from a pilot, and enlarges and displays this image in accordance with a display screen. According to the present invention,
The range of the image to be cut out is reduced according to the instruction of the pilot, and this image is enlarged to fit the display screen. That is, since the pilot can zoom in and display a desired portion to be enlarged, it can be effectively used, for example, in a rescue search. According to a seventh aspect of the present invention, the arithmetic unit does not display an image captured by the imaging unit at a predetermined altitude or higher, and displays the image from the imaging unit on the display unit when the altitude falls below the predetermined altitude. Let me see
It is characterized by assisting landing. According to the present invention, when the altitude is equal to or higher than the predetermined altitude, the lower body image picked up by the imaging means is not presented to the pilot. The image is presented to the pilot. by this,
You can land safely. The present invention according to claim 8 is characterized in that an illuminance sensor is attached to the body of the helicopter, and the arithmetic unit changes the sensitivity of the imaging unit based on a detection output of the illuminance sensor. According to the present invention, based on the illuminance sensor, for example, the sensitivity of the imaging unit is reduced when the image is bright such as in the daytime, and is automatically increased so that the image is always displayed optimally when the image is dark such as in the evening or nighttime. Can be adjusted. Claim 9
The described invention is characterized in that imaging means capable of imaging a visible region and imaging means capable of imaging an infrared region are provided so as to be changeable. According to the present invention, since the imaging unit capable of imaging the visible region and the imaging unit capable of imaging the infrared region are provided so as to be changeable, the imaging unit can be appropriately changed according to, for example, an operation situation.

[0020]

FIG. 1 is a block diagram showing the configuration of a helicopter operation support device 1 according to an embodiment of the present invention. The helicopter operation support device 1 is configured to include an HMD (Helmet Mounted Display) 2 as display means, two image pickup means 3 and 4, a line-of-sight detection sensor 18, and a calculation means 14. The HMD 2 is attached to a pilot's helmet 13 and is disposed in front of the pilot's left and right eyes, and serves as a pair of half mirrors 5 and 6 serving as display screens, projectors 7 and 8, mirrors 9 and 10, and the half mirror 5 , 6 and the half mirrors 11 and 12 arranged between the pilot's eyes. The projectors 7 and 8 are located on the left and right sides of the helmet, and are equipped with a CRT (Cathode RayTube).
Alternatively, the helmet 13 is formed of an LCD (Liquid Crystal Display) and is attached to the left and right sides of the helmet 13. The projection light from the projectors 7 and 8 is reflected by the mirrors 9 and 10 and the half mirrors 11 and 12, respectively, and the display images projected on the half mirrors 5 and 6 serving as display screens can be seen. Further, the pilot can see the outside through the half mirrors 5 and 6 and the half mirrors 11 and 12.

FIG. 2 is a diagram showing the mounting positions of the image pickup means 3 and 4. The imaging means 3 and 4 are high-sensitivity CCDs
(Charge Coupled Device), which is a camera and is attached to the lower front part of the helicopter body 15. In the present embodiment, the optical axes of the imaging units 3 and 4 are attached so as to coincide with the line of sight of the pilot when the helicopter lands. For example, as shown in FIG. 2, when the approach angle of the helicopter at the time of landing is 60 °, the pilot lands while looking down at this 60 °, so that the pilot's head is located from the position where the pilot's head is located with respect to the horizon. The image pickup means 3 and 4 are fixed downward by 60 ° at the intersection of the extension line extending downward by 60 ° and the outer wall of the body 15. The imaging means 3 and 4 are mounted in parallel with each other at substantially the same interval as the left and right eyes of the pilot, for example, about 5 to 10 cm. Each of the imaging means 3 and 4 has a fisheye lens and has a viewing angle of about 180 °. That is, the imaging center is 60 ° below the optical axis, and about 180 °
Can be imaged.

The image signals from the imaging means 3 and 4 are input to the calculation means 14. Further, the gaze direction of the pilot is input from the gaze detection sensor 18 to the calculating means 14.

The line-of-sight detection sensor 18 includes a first three-axis gyro sensor mounted on the helmet 13 of the pilot,
It is composed of a second three-axis gyro sensor provided below the pilot's seat, and a gaze direction calculator that calculates the gaze direction of the pilot based on these, and inputs the gaze direction to the calculating means 14.

The three-axis gyro sensor is composed of, for example, three small rate gyros, detects the speed of the helmet 13 in the three-axis direction, and inputs the detected speed to a gaze direction detector. The gaze direction detector calculates the current position and orientation of the helmet 13, that is, the gaze direction of the pilot, based on the detection output from the first three-axis gyro sensor and a preset front reference position of the helmet 13. Input to 14.

The three-axis gyro sensor detects the position and orientation of the helmet 13 of the pilot based on the change in speed, but also detects the change in speed of the helicopter at the same time.
Therefore, in the present embodiment, a second three-axis gyro sensor similar to the first three-axis gyro sensor mounted on the helmet 13 is provided under the pilot's seat. Since the second gyro sensor moves integrally with the helicopter, by taking the difference between the detected value of the first gyro sensor and the detected value of the second gyro sensor, the motion of the helicopter is canceled, and the pilot Can be detected.

The line-of-sight detection sensor 18 is not limited to the one using such a three-axis gyro, but includes, for example, a magnetic sensor mounted on the helmet side and a magnetic field generating means mounted on the fuselage side. The position and orientation of the helmet in the set magnetic field may be detected by a magnetic sensor attached to the helmet, and the gaze direction of the pilot may be detected based on the detected position and orientation.

The line-of-sight detection sensor is not limited to the method of detecting the direction of the pilot's line of sight based on the movement of the pilot's head as described above. For example, an eye camera for detecting the movement of the pupils of the left and right eyes of the pilot is provided. Thus, a configuration may be adopted in which the gaze direction of the pilot is detected.

The arithmetic means 14 receives the image signals from the image pickup means 3 and 4 and the detection output from the visual axis detection sensor 18 and calculates a display image to be displayed on the HMD 2 based on these. The display image is determined based on a predetermined viewing angle of the pilot.
The size of the displayed image is determined so that a viewing angle of ６０60 ° can be provided.

As described above, the imaging means 3 and 4 have a wide-angle lens such as a fish-eye lens and can capture an image in a range of about 180 °. Therefore, the arithmetic means 14 cuts out a display image from the captured image and displays it on the HMD 2. . At this time, a display image is calculated based on the detection output of the gaze direction detection sensor 18. The imaging means 3 and 4 are mounted such that the imaging center coincides with the pilot's line of sight, and the line of sight of the pilot is set in advance by the line of sight detection sensor 18, that is, in the case of the present embodiment, When the angle changes from below 60 °, a position shifted by the changed angle from the imaging center of the imaging means 3 or 4 is calculated, and a range corresponding to the viewing angle of the pilot is displayed with the calculated position as the center. It is cut out as an image and displayed on the HMD2.
As described above, the position corresponding to the pilot's line-of-sight direction is cut out from the captured image and displayed based on the line-of-sight direction detection sensor 18, so that the pilot can visually recognize the desired direction with the imaging units 3 and 4 fixed. it can.

The image pickup means 3 and 4 take images using a wide-angle lens such as a fish-eye lens, and the reproduced image signal from the image pickup means 3 and 4 is distorted. Is corrected to obtain a display image.

The image pickup means 3 and 4 are mounted on the left and right at an interval, and are displayed on the corresponding half mirrors 5 and 6, respectively. That is, the display image of the imaging unit 3 arranged on the left side is projected on the half mirror 5 arranged in front of the left eye, and the display image from the imaging unit 4 arranged on the right side is displayed on the half mirror 5 arranged in front of the right eye. 6 is projected. Since the imaging units 3 and 4 are respectively mounted at intervals substantially equal to the interval between the eyes of the pilot, a parallax is generated between the left and right display images, whereby the pilot can view stereoscopically.

The operation panel 16 is provided with a zoom-in button and a zoom-out button. When the zoom-in button is pressed, the calculation means 14 reduces and reduces the range of the image cut out as the display image. The image cut out is enlarged and displayed according to the half mirrors 5 and 6 serving as a display screen. This allows the pilot to zoom in and zoom in on the current location. The enlargement ratio at this time is configured to be proportional to, for example, the time during which the zoom-in button is pressed, and can be adjusted by the time during which the button is pressed. Conversely, when the zoom-out button is pressed, the calculating means 14 enlarges the current cut-out range, and displays the enlarged and cut-out range in accordance with the display screen.
This allows the pilot to broaden his field of view.

An illuminance sensor 17 is provided on the helicopter body 15.
Is attached, and a detection signal from the illuminance sensor 17 is input to the calculating means 14, and the calculating means 14 adjusts the sensitivity of the imaging means 3, 4 based on the detection signal. For example, during the day,
If it is bright, lower the sensitivity.If it is dark, such as in the evening or night, raise the imaging sensitivity with a high-sensitivity CCD camera, etc.
It is automatically adjusted to always display the best. The sensitivity may be adjusted manually by using a switch provided on the operation panel 16, for example.

Flight information is input to the arithmetic means 14 from a barometric altimeter, a ground speed meter, a gyro for measuring the attitude of the aircraft, and the like attached to the aircraft 15. Furthermore, GPS (Global Positioning System) or MT
Flight information from a navigation support system such as a SAT (Multi-functional Transport Satellite) is input to the calculation means 14. These flight information are numbers or symbols,
The image is superimposed and displayed on the display image from the imaging units 3 and 4.

FIG. 3 is a view showing a display screen of flight information. Reference numeral 20 indicates a heading, reference numeral 21 indicates a numerical value of the engine torque, reference numeral 22 indicates a pitch ladder in the case of nose up, and reference numeral 23 indicates a pitch ladder in the case of nose down. Is shown. Reference numeral 24 indicates an airspeed by a number, and reference numeral 25 indicates a ground speed by a number. Reference numeral 26 indicates a master warning / caution, and reference numerals 27 and 28 respectively indicate a barometric altitude and a ground altitude by numbers, and the unit is feet. Reference numeral 29 is a reference symbol indicating the aircraft attitude,
Reference numeral 30 is a slip ball. The display of the altitude is not limited to the case of displaying by a numeral, but may be a display imitating an instrument panel as indicated by reference numeral 31, for example. Similarly, the speed display may be a display imitating an instrument panel as indicated by reference numeral 32.

The flight information is combined with the display image by the arithmetic means 14 and displayed on the HMD 2.

FIG. 4 is a diagram showing a method of operating the helicopter operation support device 1 of the present embodiment. When the helicopter 33 is at a predetermined altitude H, for example, 100 feet or more, the calculating means 14 displays only the flight information on the half mirrors 5 and 6 which are display screens, and the pilot uses the predetermined information provided from the navigation support system on the basis of the flight information. Fly along the flight course. Therefore, even when fog or the like occurs and visual flight is poor, it is possible to fly accurately along a predetermined flight course.

Helicopter 3 targeted by helicopter 31
Approaching 4, lowering the altitude, based on the signal from the altimeter,
If the calculating means 14 determines that the helicopter 33 has dropped below the predetermined altitude H, the calculating means 14
The image from the imaging means 3 and 4 is displayed on 2. As a result, the pilot can select the target heliport 3 below the fuselage 15
The position of No. 4 can be accurately grasped, and it is possible to easily land on the heliport 34 at a deep approach angle even when fog or the like is generated.

Although the imaging means of the present invention is a high-sensitivity CCD camera capable of imaging in the visible region, another embodiment of the present invention may be, for example, an infrared camera capable of obtaining high sensitivity in the infrared region. As a result, nighttime operation is improved. Further, the configuration may be such that the imaging unit is appropriately changed according to the operation situation.

Further, as still another embodiment of the present invention,
The imaging means 3 and 4 may be mounted so as to be directly below the body 15 of the helicopter, that is, downward at 90 °, so that the imaging center is vertically below. This allows the pilot to grasp the state below the aircraft while maneuvering. This is particularly effective during rescue operations. Further, both the image pickup means attached below and the image pickup means attached to the front may be provided so as to be appropriately switched according to the situation.

In still another embodiment, HMD2
And a line-of-sight detection sensor 18 are separately added,
By connecting to the crew 4, the images taken by the imaging means 3 and 4 can be shared with other crew members.
That is, the crew other than the pilot also wears the HMD,
It is possible to cut out and display the image in the direction desired to be viewed individually. As a result, a plurality of locations can be monitored by one set of imaging means 3 and 4, and can be suitably used, for example, for search activities.

Furthermore, instead of displaying a display image on the HMD, for example, an MFD (Multi Function Display)
May be displayed. The HMD is not limited to a transmission type using a half mirror, and may be a closed type HMD in which external light does not enter.

[0043]

According to the first aspect of the present invention, there is no blind spot in the pilot, so that helicopter landing and rescue activities can be easily performed. Also, since the field of view is reinforced, landing is possible even when visibility is poor, and the helicopter operation rate is improved. Furthermore, landing approach at a deep angle becomes possible, and noise reduction near a heliport (landing point) can be achieved. Also, the pilot can view stereoscopically.

According to the second aspect of the present invention, the display means and the line-of-sight direction detection sensor are mounted not only on the pilot but also on the crew other than the pilot, and the pilot and pilot images are obtained from the same image picked up by the image pickup means. Images of the crew's line of sight are cut out and presented. Thereby, a plurality of locations can be monitored simultaneously.

According to the third aspect of the present invention, by presenting different images to the pilot and the crew, a plurality of locations can be monitored at the same time during a rescue operation or a search operation.

According to the present invention, it is possible to image a wide range by using a wide-angle lens. According to the fifth aspect of the present invention, flight information can be displayed at the same time, and the workload of the pilot can be reduced. According to the present invention, the object can be zoomed up and displayed as needed. According to the seventh aspect of the present invention, when the altitude is higher than the predetermined altitude, the image of the lower part of the body imaged by the imaging means is not presented to the pilot, for example, when approaching a helipad and lowering below the predetermined altitude. The captured image of the lower part of the aircraft is presented to the pilot. As a result, the vehicle can land safely. According to the present invention, based on the illuminance sensor, for example, the sensitivity of the imaging unit is reduced in a bright state such as in the daytime, and the imaging sensitivity is increased in a dark state such as in the evening or at night, so that the image is always optimally displayed. Can be adjusted automatically. According to the ninth aspect of the present invention, since the imaging unit capable of imaging the visible region and the imaging unit capable of imaging the infrared region are provided so as to be changeable, the imaging unit is appropriately changed according to, for example, an operation situation. can do.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a helicopter operation support device 1 according to an embodiment of the present invention.

FIG. 2 is a view showing an attachment position of imaging means 3 and 4;

FIG. 3 is a diagram showing a display example of flight information.

FIG. 4 is a diagram showing a method of operating the helicopter operation support device 1.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Pilot's operation support apparatus 2 HMD 3, 4 Imaging means 5, 6, 11, 12 Half mirror 13 Helmet 14 Calculation means 18 Eye-gaze detection sensor

Continuation of the front page (56) References JP-A-4-358998 (JP, A) JP-A-63-134900 (JP, U) Patent 2699071 (JP, B2) (58) Fields investigated (Int. Cl. ⁷⁾ B64D 45/08 B64D 47/08 G01C 23/00 G02B 27/02 H04N 7/18

Claims (9)

(57) [Claims] 1. A display means mounted on a pilot's head and having two display screens respectively disposed in front of left and right eyes, and having an imaging range wider than a predetermined viewing angle of the pilot and predetermined Imaging means attached to the lower part of the helicopter with the pilot's line of sight as the center of image capturing; a line of sight detection sensor for detecting the pilot's line of sight based on the movement of the pilot's head or the movement of the pilot's pupil; Based on the captured image captured, and based on the pilot's line of sight detected by the line-of-sight detection sensor, centering on the position of the captured image corresponding to the pilot's line-of-sight direction, cut out from the captured image a range corresponding to the pilot's viewing angle, Calculating means for displaying the cut-out image as a display image on each display screen of the display means; The two means are attached at an interval substantially equal to the interval between the left and right eyes of the pilot, and the calculating means calculates display images individually for the left and right imaging means, and displays the calculated display images corresponding to the respective display images. A helicopter operation support device, characterized in that left and right display images are provided with parallax by being displayed on a screen, thereby allowing a pilot to stereoscopically view a captured image. 2. Display means having two display screens respectively mounted on the heads of a pilot and a crew other than the pilot and arranged in front of the left and right eyes, and imaging wider than a predetermined viewing angle of the pilot. An imaging means having a range and a predetermined gaze direction of the pilot as an imaging center and attached to a lower part of the body of the helicopter; and a gaze direction of the pilot and the crew based on movements of the pilot and the crew's head or pupil. A gaze detection sensor that individually detects the image, an image captured by the imaging unit, and an image corresponding to the gaze direction of each of the pilot and the crew based on the gaze direction of the pilot and the crew detected by each gaze detection sensor Centered on the position of A helicopter operation support device, comprising: a calculation unit that cuts out the image from the image and displays the cut-out image as a display image on a display screen of each of the display units of the pilot and the crew. 3. The steering support apparatus according to claim 2, wherein a plurality of locations can be monitored during rescue or search activities by presenting captured images at different positions to the pilot and the crew. 4. The image processing apparatus according to claim 1, wherein the imaging unit has a wide-angle lens, and the calculation unit calculates a display image by correcting a distortion of the clipped image. A helicopter operation support device as described in the above. 5. The steering support device according to claim 1, wherein the arithmetic unit superimposes and displays flight information input from the outside as a number or a symbol on a display image. 6. The apparatus according to claim 1, wherein said calculating means reduces a range of an image to be cut out based on an instruction from a pilot, and enlarges and displays this image in accordance with a display screen. A helicopter operation support device according to any one of the preceding claims. 7. The method according to claim 1, wherein the calculating means includes:
7. An image taken by the image pickup means is not displayed, and when the altitude is lower than the predetermined altitude, the image from the image pickup means is displayed on the display means to assist landing.
A helicopter operation support device according to any one of the above. 8. The apparatus according to claim 1, wherein an illuminance sensor is attached to a body of the helicopter, and the calculation unit changes the sensitivity of the imaging unit based on a detection output of the illuminance sensor. A helicopter operation support device according to any one of the preceding claims. 9. The helicopter according to claim 1, wherein an imaging unit capable of imaging a visible region and an imaging unit capable of imaging an infrared region are provided so as to be changeable. Operation support equipment.