JP3521593B2 - Landing position prediction method and apparatus - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a landing position predicting method and apparatus when a helicopter, a vertical take-off and landing aircraft, etc. vertically descends and lands at a descent point on a ship swayed by waves.

[0002] Generally, for safety reasons, a ship that takes off and landing a helicopter sets a descent point on an open area on the deck as a descent point, marks it so that it can be seen from the sky, and descents the helicopter only at the descent point. Let

However, since the ship is floating above the sea, the deck is constantly swayed up and down, left and right, and back and forth due to the waves, and it is difficult to land accurately on the descent point because the descent point greatly moves. In addition, if the deck rises during landing, the helicopter may be damaged by a sudden shock, and if the deck tilts during landing, the helicopter may lose balance and roll over, resulting in injury to the occupants.

In particular, in pitching, since the distance from the center of swinging to the descent point becomes long, the helicopter is likely to be impacted by the ascent of the deck when landing. Therefore, because the helicopter is likely to lose balance due to the force from either the right or the left due to the inclination of the deck at the time of landing, the descent point becomes horizontal with respect to the roll and becomes the descent point when it reaches the highest position due to pitching. Accurate landing is necessary for occupant safety and equipment damage prevention.

[0005]

2. Description of the Related Art Conventionally, an instructor on the deck predicts the landing timing and guides the helicopter based on the experience of the inclination of the deck measured by a gyro and the sway experienced by the instructor.
While operating the helicopter so that the helicopter always occupies the sky above the descent point and the front-back direction of the helicopter matches the front-back direction of the ship, wait for a signal to inform the landing timing of the guideman, and signal the guideman. I was landing according to.

Therefore, an experienced guide member is required on the ship, and the pilot also guides the helicopter over the descent point while maneuvering the helicopter so that the front-rear direction of the helicopter and the front-rear direction of the ship coincide with each other. It was necessary to wait for the signal of the member.

[0007]

As described above, since the landing position cannot be predicted conventionally, the pilot must operate so that the helicopter always occupies the sky above the descent point according to the movement of the descent point. There was a problem that it had to be.

According to the present invention, by automatically predicting the landing position and notifying the pilot, it is not necessary for the pilot to operate the helicopter so as to always occupy the sky above the descent according to the movement of the descent. The purpose is to provide a stable and accurate landing method.

[0009]

FIG. 1 shows the principle of the present invention. In FIG. 1, 1 is a landing position prediction device, and 2
Is an image information storage means, 3 is a landing position prediction means, 4 is a display format generation means, 5 is an image information input means, 6 is specification information input means, and 7 is a predicted position display. It is a means.

The landing position predicting device 1 is composed of an image information storing means 2, a landing position predicting means 3 and a display format generating means 4, and descends continuously inputted as image information from the image information input means 5. From the position of the point and the inclination with respect to the horizontal plane of the vessel, and the inclination with which the straight line connecting the center of gravity of the vessel and the descent point, which is input as the characteristic information from the characteristic information input means 6, with the horizontal plane, the helicopter on the vessel is safe. The predicted position display means 7 indicates the position of the descent point at which the landing can be performed when the descent point becomes horizontal with respect to the horizontal vibration and reaches the highest position due to vertical vibration.
It is a device that generates and outputs on an XY plane whose origin is the position of the aircraft, which is reduced to a size that can be displayed on the screen.

The image information storage means 2 is means for storing the image information input from the image information input means 5 and the specification information input from the specification information input means 6. The landing position predicting means 3 reads out the image information and the specification information from the image information storage means 2, and determines the landing position of the descent point when the descent point becomes horizontal with respect to the horizontal shake and reaches the highest position by the vertical shake. It is means for generating a position as a position on a horizontal plane with the current position of the helicopter as the origin.

The display format generation means 4 reduces the landing position generated by the landing position prediction means 3 as a position on the horizontal plane with the current position of the helicopter as the origin to a size that can be displayed by the predicted position display means 7 and outputs it. It is a means.

The principle of the present invention will be described below with reference to FIG. The coordinate axes used as the reference in this description are
The horizontal plane is the XY coordinates, the axis connecting the bow and stern is the X axis, and the axis connecting the starboard and port is the Y axis.

The image information storage means 2 stores in advance from the specification information input means 6 an inclination formed by the straight line connecting the center of gravity G and the descending point P from the specification information input means 6 with respect to the horizontal plane at rest. Further, during flight, the coordinates of the descending point P when the position H of the helicopter is the origin and the inclination of the ship with respect to the horizontal plane are stored as image information from the image information input means 5.

When the descent preparation is started, first, the landing position predicting means 3 makes an inclination between a straight line connecting the center of gravity G stored as the specification information from the image information storing means 2 and the descending point P to the horizontal plane at rest, and image information. The coordinates of the descending point P when the position H of the helicopter is stored as the origin and the image information for one cycle of the latest shaking of the inclination formed with the horizontal plane of the ship are read.

Next, the landing position predicting means 3 calculates the coordinates of the current descent point P, the inclination of the ship with respect to the horizontal plane, and the coordinates of the descent point P at time t in the image information for one cycle of the latest shaking. And the inclination between the ship and the horizontal plane, 2
Center of shaking K as the intersection of two straight lines with different slopes passing through the points
Coordinates are generated when the position H of the helicopter is set as the origin.

Next, from the coordinates of the current descent point P, the inclination with respect to the horizontal plane of the ship, and the coordinates of the center K of the shaking by the landing position predicting means 3, when the origin is K, the ship and the Y axis form. Coordinates T of the descending point P having an inclination of 0 are generated.

Next, the landing position predicting means 3 generates the T coordinate when H is the origin from the K coordinate when H is the origin and the T coordinate when K is the origin. It Next, the landing position prediction means 3 generates the distance D from P to K from the coordinates of the current descent point P and the coordinates of K.

Next, in the image information for the last one cycle of the sway by the landing position predicting means 3, the inclination between the ship and the Y axis becomes 0 in the inclination between the ship and the horizontal plane, and the inclination between the ship and the X axis becomes 0. The descent point when the descent point P reaches the highest position due to pitching when K is the origin based on the inclination between the ship and the X axis when the angle of inclination is maximum and the distance D from P to K The coordinates of the position Tm of are generated.

Next, the landing position prediction means 3 generates the coordinates of Tm when H is the origin from the coordinates of K when H is the origin and the coordinates of Tm when K is the origin. It
Next, the display format generation means 4 generates and outputs the position Tm of the descent point reduced to a size that can be displayed by the predicted position display means 7 on the XY plane having the current position H of the helicopter as the origin.

[0021]

2 is a schematic diagram of the first embodiment of the present invention, FIG. 3 is a conceptual diagram of a coordinate axis system of the first embodiment of the present invention, and FIG. 4 is a schematic diagram of the first embodiment of the present invention. 6 is an explanatory diagram of the center of shaking of the first embodiment, and FIG. 5 is an explanatory diagram of a descent point when the inclination with respect to the Y axis of the first embodiment of the present invention is 0, and FIG.
FIG. 7 is an explanatory diagram of a descent point when the inclination with respect to the X-axis according to the first embodiment of the present invention is maximum, FIG. 7 is an output information image diagram of the first embodiment of the present invention, and FIG. FIG. 9 is a flowchart (No. 1) of the first embodiment of the present invention, FIG. 9 is a flowchart (No. 2) of the first embodiment of the present invention, and FIG. 10 is a flowchart of the first embodiment of the present invention. It is a figure (the 3).

In FIG. 2, 1 is a landing position prediction device, 10 is a processor, 20 is a memory circuit,
Reference numeral 22 is an information storage unit, 23 is a position prediction unit, and 2
4 is a screen generation unit, 50 is an image input device, 6
Reference numeral 0 is a specification input device, and 70 is a display device.

The information storage section 22 is an area provided in the storage circuit 20 for storing the image information input from the image input device 50 and storing the specification information input from the specification input device 60. .

The position predicting unit 23 runs on the processor 10 and, based on the image information and the specification information stored in the information storing unit 22, the vessel has a tilt of 0 with respect to the Y axis and has a maximum with respect to the X axis. It is a program for generating a position when the current position H of the helicopter at the position Tm of the descending point P when the inclination is taken is the origin.

The screen generation unit 24 runs on the processor 10 and can display the position on the XY plane of Tm generated by the position prediction unit 23 with the current position H of the helicopter as the origin. It is a program that reduces the size and outputs it.

The storage circuit 20 is a circuit that stores an information storage unit 22, a position prediction unit 23, and a screen generation unit 24. The processor 10 is a circuit in which the position predicting unit 23 and the screen generating unit 24 run, predict the position Tm of the descending point P, reduce the size to a size that can be displayed on the display device 70, and output the size.

The image input device 50 is a device, such as a camera, for continuously inputting the inclination with respect to the horizontal plane of the ship and the coordinates of the descending point from the helicopter to the landing position prediction device 1.

The specification input device 60 is a device, such as a keyboard device, for inputting the inclination formed by a straight line connecting the center of gravity G of the ship and the point P defined as the descent point with the horizontal plane when stationary.

The display device 70 is a device such as a display device for displaying the position on the XY plane of the landing position Tm with the current position H of the helicopter as the origin. In this description, as shown in FIG. 3, the horizontal plane is the XY coordinates, the axis connecting the bow and stern is the X axis, and the axis connecting the starboard and port is the Y axis.

The first embodiment of the present invention will be described below with reference to FIGS. Before the helicopter takes off, the landing position prediction device 1 from the specification input device 60
In the stationary state, the inclination Θ (Θx, Θy) formed by the straight line connecting the descending point P and the center of gravity G of the ship with the horizontal plane is input and stored in the information storage unit 22. [Step S1] During flight, the image input device continuously inputs the inclination of the ship to the horizontal plane and the coordinates of the descending point P from the helicopter into the landing position prediction device 1, and the information storage unit 22 receives the information. Is stored. [Step S2] Prior to landing, the position prediction unit 23 calculates from the information storage unit 22 the inclination ΔΘt (ΔΘxt, ΔΘyt) formed by the horizontal plane and the ship at an appropriate time t in the latest one cycle of the sway, and The inclination ΔΘ (ΔΘx, ΔΘy) formed by the horizontal plane and the ship is read [step S3], and the coordinates (dx, d) of the current position R of the descending point P when the current position H of the helicopter is the origin. d
y, dz) and the coordinates (dxt, dyt) of the descent point P at time t
, dzt) is read [step S4], and the inclination Θ (Θx, Θy) formed by the straight line connecting the descent point P and the center of gravity G with the horizontal plane at rest is read [step S5], and the most recent shake 1 The inclination ΔΘxm formed by the ship and the X axis when the inclination between the ship and the Y axis is 0 and the inclination between the ship and the X axis is maximum in the cycle is read [step S6].

Next, the position prediction unit 23 causes the center of gravity G of the ship to
From the inclination Θ formed by the straight line connecting the horizontal plane and the horizontal plane, the inclination ΔΘt formed by the horizontal plane and the ship at time t, and the inclination ΔΘ formed by the horizontal plane and the ship at present, the coordinates (dxt,
A straight line passing through dyt, dzt) and the coordinates of the current position R (dx, d
The center K of the shaking is generated as an intersection of straight lines passing through y, dz) and having different inclinations, and a point at the position of coordinates (rx, ry, rz) when R is the origin [step S7].

Next, the position predicting unit 23 causes the K coordinates (rx, ry, rz) when R is the origin and the R coordinates (dx, dy) when the current helicopter position H is the origin. , dz) and the coordinates of K when H is the origin (dx + rx, dy + ry,
dz + rz) is generated. [Step S8] Next, the position prediction unit 23 determines the ship from the coordinates (-rx, -ry, -rz) of R when K is the origin and the inclination ΔΘ formed by the horizontal plane and the ship at present. X when the origin K is the center K of the swing of the position T taken by the descending point P when the inclination of the Y axis is 0
Coordinates (tx) are generated [step S9].

Next, the position predicting unit 23 determines the coordinates (dx + rx, dy + ry, dz + rz) of the center K of the shaking when the current position H of the helicopter is the origin and the center K of the shaking. From the X coordinate (tx) of T when the origin is used, the X coordinate (dx + rx-tx) of T when H is used as the origin is generated [step S1.
0].

Next, the position predicting unit 23 generates the distance D between the descending point P and the center of shake K from the coordinates (rx, ry, rz) of K when R is the origin [step S11]. . Next, the position predicting unit 23 determines the descent point P from the descent point P and the distance D between the swaying center K and the inclination Θxm formed by the ship and the X axis when the inclination between the ship and the X axis is maximum. When the inclination between the ship and the Y-axis is 0 and the inclination between the ship and the X-axis is maximum (that is, the descending point P is the highest), the position Tm is generated, and the center K of the sway is used as the origin. The X coordinate (tm) of Tm is generated [step S12].

Next, the position predicting unit 23 determines the coordinates (dx + rx, dy + ry, dz + rz) of the center K of the shake when the current position H of the helicopter is the origin and the center K of the shake. From the X coordinate (tm) of the position Tm of the descent point when the origin is set, H
The X coordinate (dx + rx-tm) of Tm with respect to the origin is generated [step S13].

Next, the screen generator 24 causes the display device 7 to operate.
The coordinates of Tm (dx + rx-tm, dx + rx-tx) with H as the origin are generated as the position on the XY plane of the size that can be displayed at 0,
It is output [step S14].

[0037]

As described above, according to the present invention, the pilot can know the landing position where the pilot can safely land in the position where the descent point moves. Therefore, the pilot can follow the movement of the descent point. Since there is no need to operate a helicopter, it is possible to concentrate on the landing timing at the landing position, which has the industrial effect of being able to land safely.

[Brief description of drawings]

FIG. 1 is a principle diagram of the present invention.

FIG. 2 is a configuration diagram of a first embodiment of the present invention.

FIG. 3 is a conceptual diagram of a coordinate axis system according to the first embodiment of this invention.

FIG. 4 is an explanatory diagram of the center of shaking according to the first embodiment of this invention.

FIG. 5 is a graph showing a zero inclination with the Y axis according to the first embodiment of this invention.
Of the descent point when

FIG. 6 is an explanatory diagram of a descent point when the inclination with respect to the X axis according to the first embodiment of this invention is maximum.

FIG. 7 is an image diagram of output information according to the first embodiment of this invention.

FIG. 8 is a flowchart of the first embodiment of the present invention (No. 1)

FIG. 9 is a flow chart diagram of the first embodiment of the present invention (No. 2)

FIG. 10 is a flowchart diagram of the first embodiment of the present invention (part 3)

[Explanation of symbols]

1 Landing position prediction device 2 Image information storage means 3 Landing position prediction means 4 Display format generation means 5 Image information input means 6 Specification information input means 7 Predicted position display means 10 processors 20 Memory circuit 22 Information storage unit 23 Position predictor 24 screen generator 50 image input device 60 Specifications input device 70 Display

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Claims (4)

(57) [Claims] 1. An angle formed by a straight line connecting a center of gravity of a ship at rest and a descent point with a horizontal plane, a position of the descent point continuously input as image information, and a tilt formed with the horizontal plane of the ship. A landing position prediction method for predicting the position of a descent point on a ship from which an aircraft can safely land, which is the descent at a certain time in the present and past in one cycle of the latest shaking obtained from image information. The center position of the sway is generated from the position of the point and the inclination of the ship with the horizontal plane, and the pre-entered angle between the horizontal plane and the angle formed by the straight line connecting the center of gravity of the ship at rest and the descent point, and the center position of the sway , From the current position of the descent point, the Y coordinate that makes the descent point horizontal to the roll is generated, and the descent point becomes horizontal to the roll in the latest one cycle of the shake obtained from the image information. Highest position due to pitching When the descent point reaches the highest position due to pitching, from the angle formed by the straight line connecting the descent point and the center position of the shake when the The landing position prediction method for generating the X-coordinate of the descent point and predicting the position of the descent point on the ship where the aircraft can safely land on the X-coordinate and the Y-coordinate with the position of the aircraft as the origin. 2. The position of the descent point on the ship where the aircraft can safely land is generated on the XY plane whose origin is the position of the aircraft whose distance is reduced to a size that can be displayed on the display device. The landing position prediction method according to Item 1. 3. A landing position prediction device which is mounted on an aircraft that vertically descends and lands to a swaying descent point on a ship, and which predicts and outputs the position of the descent point on the ship at which the aircraft can land safely. The inclination formed by the straight line connecting the center of gravity of the ship and the descent point inputted from the original information input means with the horizontal plane, and the position of the descending point continuously inputted as image information from the image information input means and the inclination formed with the horizontal plane of the ship. And an angle formed by the straight line connecting the center of gravity of the ship and the descent point from the image information storage means with the horizontal plane, and the position of the descent point continuously input as image information and the horizontal plane of the ship. A landing position prediction unit that reads the inclination and generates a Y coordinate at which the descent point is horizontal with respect to the roll and an X coordinate of the descent point when the highest position is reached by pitching. prediction apparatus. 4. A position of a descent point on a ship at which an aircraft can safely land on an XY plane which is connected to a landing position predicting means and whose origin is a position of the aircraft reduced to a size that can be displayed on a display device is generated. , And output.
The landing position prediction device described in.