JP5822498B2 - Collision avoidance device, helicopter, and collision avoidance program - Google Patents

Description

  The present invention relates to a collision avoidance device, a helicopter, and a collision avoidance program.

A helicopter may fly at a low altitude, but the possibility of colliding with a mountain or the like when visibility is poor increases.
In order to avoid such a collision, Patent Document 1 discloses a helicopter anti-collision device that detects the altitude and position of the aircraft with a GPS (Global Positioning System) receiver and an altimeter. The surrounding terrain information is generated based on the aircraft's altitude, position, time variation, and terrain information. A technology is disclosed in which a flight path to a fixed point hover is generated, a flight path that can avoid a ground collision is selected based on topographic information and a ground collision risk, and an automatic pilot device controls the aircraft.

Japanese Patent Laid-Open No. 11-271442

  However, helicopter pilots may be forced to maneuver to access obstacles, although they have good visibility, for example, rescue rescued rescuers and transporting luggage. In such a case, the pilot must control the helicopter while grasping the distance between the aircraft and the obstacle so that the aircraft does not collide with the obstacle, and the pilot of the helicopter may be difficult. .

  The present invention has been made in view of such circumstances, and a collision avoidance device, a helicopter, and a helicopter that can fly to avoid a collision of the helicopter with an obstacle even when the helicopter is close to the obstacle. An object is to provide a collision avoidance program.

  In order to solve the above problems, the collision avoidance device, helicopter, and collision avoidance program of the present invention employ the following means.

  That is, the collision avoidance device according to the present invention is a collision avoidance device for avoiding a collision between a helicopter mounted on a helicopter and an obstacle, and is based on a received GPS (Global Positioning System) signal. A detection unit that detects a position; a measurement unit that measures a distance between the host device and a surrounding obstacle; and a predetermined area that includes the position of the host device detected by the detection unit from map information stored in the storage unit And generating means for generating detailed information about the surroundings of the own apparatus from the read information and the measurement result by the measuring means, and the surroundings of the own apparatus generated by the generating means Control means for performing control for suppressing the collision of the own apparatus with an obstacle based on the detailed information and the size of the own apparatus.

  According to the present invention, the detecting unit detects the position of the own device based on the received GPS signal, and the measuring unit measures the distance between the helicopter and the surrounding obstacle.

And the information of the predetermined area | region containing the position of the own apparatus detected by the detection means from the map information memorize | stored in the memory | storage means is read by the production | generation means.
Map information generally describes the height difference of land due to contour lines, water areas such as seas, lakes, and rivers, but the size and range of obstacles such as cliffs and trees that obstruct helicopter flight Details are not described. Therefore, when the helicopter stays in the air due to hovering, for example, the pilot must operate the helicopter while grasping the distance between the aircraft and the obstacle so that the aircraft does not collide with the obstacle, Helicopter maneuvers may be difficult.

Therefore, the generating unit generates the own device surrounding detailed information indicating the shape of the surroundings of the own device from the read information and the measurement result by the measuring unit. The shape around the helicopter is a shape of an obstacle including a terrain such as a cliff and trees.
Then, the control unit performs control for suppressing the own device from colliding with the obstacle based on the detailed information of the own device and the size of the own device generated by the generating unit.

  Therefore, the present invention enables the flight to avoid the collision of the helicopter with the obstacle even when the helicopter is close to the obstacle.

  Further, in the collision avoidance device of the present invention, the control means suppresses the movement of the own aircraft in the direction of the obstacle due to steering of the control stick.

  According to the present invention, as control for suppressing the collision of the own aircraft with the obstacle, the movement of the own aircraft in the direction of the obstacle is controlled by steering the control stick. Collisions can be avoided.

  Further, the collision avoidance device of the present invention uses the distance measured by the measuring means as the size of the own aircraft, and when the distance is less than a predetermined distance, Control is performed to prevent the aircraft from colliding with an obstacle.

  According to the present invention, since the flight is performed while measuring the distance between the own aircraft and the obstacle by the measuring means, it is possible to more reliably avoid the collision with the obstacle.

  Moreover, the collision avoidance device of the present invention includes a winding unit that raises and lowers a hanging tool, an imaging unit that images the lifting tool and a target that lowers the hanging tool from above the lifting tool and the target, and the imaging unit. And a control means for controlling the own device so that the position of the hanger and the position of the target imaged in the above are within a predetermined range.

  According to the present invention, the image pickup means picks up the lifting tool that is lifted and lowered by the winding means and the target for lowering the hanging tool from above, and the control means sets the position of the picked lifting tool and the target position to a predetermined value. Since the own machine is controlled so as to be within the range, the hanging tool can be lowered to the target more reliably.

  Moreover, the collision avoidance device of the present invention includes the measuring means on the front surface, the lower surface, the upper surface, both side surfaces, and the back surface of the own aircraft.

  According to the present invention, the distance between the own device and the obstacle can be measured more accurately.

  Moreover, the collision avoidance device of the present invention includes the measuring means at the tip of the rotor blade.

  According to the present invention, since the rotor blades move up and down according to the moving direction of the helicopter, the measurement means is provided at the tip of the rotor blades, so that the distance from the rotor blades to the obstacle when the rotor blades move up and down Can be measured, and the distance between the aircraft and the obstacle can be measured more accurately.

  Meanwhile, a helicopter according to the present invention includes the collision avoidance device described above.

  Furthermore, a collision avoidance program according to the present invention is a collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle, and detects the position of the aircraft based on the received GPS signal. 1 step, a second step of measuring the distance between the own device and surrounding obstacles, and information on a predetermined area including the position of the own device detected by the first step from the map information stored in the storage means , And from the read information and the measurement result of the second step, a third step of generating detailed information of the surroundings of the own device indicating the shape of the surroundings of the own device, and the surroundings of the own device generated by the third step And a fourth step of performing control for suppressing the own machine from colliding with an obstacle based on the detailed information and the size of the own machine.

  A collision avoidance program according to the present invention is a collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle, and detects the position of the helicopter based on a received GPS signal, The distance between the helicopter and surrounding obstacles is measured, information on a predetermined area including the detected position of the helicopter is read from predetermined map information, and generated from the read information and the measurement result by the measurement. A first step of reading out the detailed information of the surroundings of the aircraft according to the position of the aircraft based on the received GPS signal from the storage means in which the detailed information of the surroundings of the aircraft indicating the shape of the periphery of the helicopter is stored in advance; Second control is performed to suppress the collision of the aircraft with an obstacle based on the detailed information of the surroundings of the aircraft and the size of the aircraft, which are read out in one process. Including the extent, the.

  According to the present invention, even when the helicopter is close to an obstacle, the present invention has an excellent effect of enabling flight that avoids the collision of the helicopter with the obstacle.

BRIEF DESCRIPTION OF THE DRAWINGS It is an external view of the helicopter based on embodiment of this invention, (A) is a front view, (B) is a side view. It is a mimetic diagram in case a helicopter concerning an embodiment of the present invention hovers around an obstacle. It is a functional block diagram which shows the function of the main controller which concerns on embodiment of this invention. It is a schematic diagram which shows the state of the imaging by the imaging device of the helicopter which concerns on embodiment of this invention. It is a flowchart which shows the flow until the helicopter based on embodiment of this invention arrives at the destination and descends a hoist. It is a flowchart which shows the flow of the obstruction approach process which concerns on embodiment of this invention. It is a schematic diagram which shows the approachable distance and movable distance of the helicopter which concern on embodiment of this invention. It is a flowchart which shows the flow of the hoist descent | fall process which concerns on embodiment of this invention.

  Hereinafter, embodiments of a collision avoidance device, a helicopter, and a collision avoidance program according to the present invention will be described with reference to the drawings.

FIG. 1 is an external view of a helicopter 10 according to this embodiment, FIG. 1 (A) is a front view, and FIG. 1 (B) is a side view.
The helicopter 10 according to the present embodiment includes a hoist 14 that raises and lowers a hook 12 (hanging tool) to a target.

  In the present embodiment, the target is a rescuer and the helicopter 10 will be described as a helicopter to rescue the rescuer. For this reason, the helicopter 10 according to the present embodiment, for example, lowers the hoist 14 and rescues the rescuer as shown in FIG. However, the rescuer is often located in the vicinity of obstacles such as cliffs and trees. Therefore, there is a case where the rescue of a person in need of rescue by the helicopter 10 involves a risk that the helicopter 10 main body or the hoist 14 comes into contact with an obstacle. In particular, when a gust of wind blows, the hovering helicopter 10 is likely to disturb the behavior in order to lower the hoist 14, and the helicopter 10 has a risk of coming into contact with an obstacle as indicated by a broken line. Increase more.

  Therefore, as shown in FIG. 1, the helicopter 10 according to the present embodiment has an obstacle around itself and the surroundings at the front surface, the bottom surface, the top surface, both side surfaces, the back surface, and the tip of the blade (rotary blade) 16. Distance sensors 18A to 18K (11 pieces) for measuring the distance to the object are provided, and flight is controlled based on the measurement results of the distance sensors 18A to 18K. More specifically, for example, a distance sensor 18A is provided at the front end of the own device, a distance sensor 18B is provided on the lower surface of the own device, and a distance sensor 18C is provided on the main rotor 20 as an upper surface of the own device. The distance sensors 18D and 18E include a distance sensor 18F at the center of the tail rotor 22 as a rear surface of the aircraft, and a distance sensor 18G substantially directly below a portion where the tail rotor 22 is provided. Distance sensors 18H to 18K are provided at the tip of four blades 16 of this embodiment. Since the blade 16 moves up and down in accordance with the moving direction of the helicopter 10, the distance from the blade 16 to the obstacle when the blade 16 moves up and down is provided by providing distance sensors 18H to 18K at the tip of the blade 16. Can be measured.

  The distance sensors 18A to 18K transmit lasers or millimeter wave radars to the surroundings and detect the reflected waves. Based on the detected signal, the distance from the periphery of the helicopter 10 is measured. In the following description, when each distance sensor 18 is distinguished, any one of A to K is added to the end of the reference numeral, and when each distance sensor 18 is not distinguished, A to K are omitted. Moreover, the attachment position of the distance sensor 18 is an example, and is not limited to the attachment position. More distance sensors 18 may be attached to the helicopter 10 or fewer distance sensors 18 may be attached to the helicopter 10. May be.

FIG. 3 is a functional block diagram showing functions of the main controller 30 according to the present embodiment.
The helicopter 10 includes a main control device 30. The main control device 30 includes a flight control unit 32, a GPS reception unit 34, a distance sensor signal reception unit 36, a self-machine information generation unit 38, a detailed information generation unit 40, and an image processing unit 42.

  The flight control unit 32 receives various information and controls the flight of the helicopter 10 based on the information.

  The GPS receiving unit 34 receives a GPS signal from a GPS satellite via the GPS antenna 44, detects the position of the own device based on the received GPS signal, and detects the detected position information (latitude and longitude) of the own device. It outputs to the detailed information generation part 40.

  The distance sensor signal receiving unit 36 measures the distance between itself and the surrounding obstacle based on the signal from each distance sensor 18 and outputs the distance to the detailed information generating unit 40 as obstacle information.

The helicopter 10 also includes a blade position detection device 46 (also referred to as a blade tracker) that detects the phase of the blades 16 of the main rotor 20, that is, the position (orientation) of each blade 16.
The blade position detection device 46 outputs the detected orientation of each blade 16 to the detailed information generation unit 40 as obstacle information.
Since the blade 16 rotates together with the main rotor 20, even if the distance to the obstacle is measured by the distance sensors 18H to 18K provided in the blade 16, the distance sensor indicates in which direction the obstacle exists. I don't know just 18H-18K. Therefore, in the helicopter 10 according to the present embodiment, the orientation of the obstacle measured by the distance sensors 18H to 18K is clarified by detecting the orientation of each blade 16 by the blade position detection device 46.

  The own aircraft information generation unit 38 receives signals from the compass 48 and the altimeter 50 and outputs the azimuth and altitude to which the own aircraft is directed to the detailed information generation unit 40 and the flight control unit 32 as own aircraft information.

  The detailed information generation unit 40 includes a map information storage device 52 that stores map information (terrain information that has been converted into digital data) and a self-machine surroundings detailed information generation unit 54.

Based on the position information input from the GPS receiving unit 34, the detailed information generating unit 40 reads map information of a predetermined area including the position of the own device (hereinafter referred to as “own device surrounding information”). A specific example of the own device surrounding information is map information of a rectangular area or a circular area of several tens of meters around the position of the own apparatus.
The helicopter 10 according to the present embodiment is controlled for flight using the read-out information about the own aircraft. However, the map information, which is the surrounding information of the own aircraft, generally describes the height difference of the land due to the contour line, the water area such as the sea, the lake, and the river, but the cliffs and trees that obstruct the flight of the helicopter 10 Details of the size and range of obstacles such as are not described.

Therefore, when the helicopter 10 stays in the air due to hovering, for example, the pilot must operate the helicopter 10 while grasping the distance between the aircraft and the obstacle so that the aircraft does not collide with the obstacle. Therefore, it may be difficult to control the helicopter 10.
Therefore, the detailed information generation unit 40 generates own device surrounding detailed information indicating the surrounding shape of the own device from the read own device surrounding information and the measurement result by the distance sensor 18. The shape around the helicopter 10 is the shape of an obstacle including terrain such as a cliff and trees.

  More specifically, the distance sensor 18A measures the distance from the own device to an obstacle ahead of the own device, and the distance sensor 18B measures the distance from the own device to an obstacle (ground) below the own device. The distance sensor 18C measures the distance from the own device to the obstacle above the own device, the distance sensors 18D and 18E measure the distance from the own device to the obstacles on both sides of the own device, and the distance sensor 18F. , 18G measure the distance from the own machine to the obstacle behind the own machine, and the distance sensors 18H to 18K measure the distance from the tip of each blade 16 to the obstacle. Then, the own device surrounding detailed information generating unit 54 generates the own device surrounding detailed information by combining the altitude and direction of the own device, the direction of each blade 16, and the terrain information indicated by the read surrounding information of the own device. The generated own device surrounding detailed information is stored in the storage device 56.

  In addition, as shown in FIG. 4, the image processing unit 42 receives an imaging signal output from the imaging device 58 for imaging the hoist 14 and the target (required rescuer) from above. Then, the image processing unit 42 calculates the plane position (X, Y) of the hoist 14 and the target plane position (Xp, Yp) by image recognition based on the input imaging signal. Note that the imaging device 58 performs imaging with a solid-state imaging device such as a CCD (Charge Coupled Device) sensor or a CMOS (Complementary Metal-Oxide Semiconductor) sensor.

Furthermore, the helicopter 10 includes a hoist lifting device 60.
The hoist lifting device 60 lifts and lowers the hoist 14 based on the hoist position control command input from the flight control unit 32, and outputs hoist position information indicating the position of the hoist 14 to the flight control unit 32. The hoist position information is specifically a distance (length) from the lower surface of the own device to the tip of the hook 12.

  Then, the flight control unit 32 performs various information processing and generates a steering control command for operating the helicopter 10 based on the input various information and the steering amount of the control stick 70, and the steering control command is transmitted to the actuator. 72. The actuator 72 operates based on the steering control command, and drives the main rotor 20 and the tail rotor 22.

  FIG. 5 is a flowchart showing a flow until the helicopter 10 arrives at the destination and lowers the hoist 14 to the target rescuer. Since the obstacle approach process is executed even during the hoist descent process, the obstacle approach process is always repeated until the hoist descent process in step 106 is completed.

  When the helicopter 10 arrives in the vicinity of the area where the rescuer is located, in step 100, an obstacle approach process is executed.

  In the next step 102, the pilot determines whether or not the helicopter 10 has reached the destination, that is, the person in need of the rescuer. If it is determined that the pilot has arrived, the process proceeds to step 104 and has not arrived. If it is determined, the process returns to step 100 again to perform obstacle approach processing or to suspend the rescuer.

  In step 104, the pilot controls the helicopter 10 so as to stay by hovering (fixed-point hover) over the rescuer.

  In the next step 106, a hoist descent process is executed. And when a rescuer is rescued by the helicopter 10, this flow will be complete | finished.

  FIG. 6 is a flowchart showing the flow of the obstacle approach program executed by the main controller 30 when the obstacle approach process is performed. The obstacle approach program is provided in the main controller 30, for example, the storage device 56. In the predetermined area.

  First, Step 200 is a process corresponding to the function of the detailed information generation unit 40, and reads out the own device surrounding information included in the map information based on the position information of the own device obtained from the GPS signal.

  The next step 202 is processing corresponding to the function of the distance sensor signal receiving unit 36, and measures the distance between the own device and surrounding obstacles using the distance sensor 18.

  The next step 204 is a process corresponding to the function of the detailed information generating unit 40, and calculates the detailed information about the own device from the read information about the own device and the measurement result of the distance sensor 18.

  The next step 206 to step 218 are processing corresponding to the function of the flight control unit 32. In step 206, the movement distance of the aircraft due to the gust of wind (hereinafter referred to as “airframe movement distance”) is calculated. The aircraft movement distance is obtained according to the maximum wind speed observed in the past, for example, at the position (area) indicated by the position information of the helicopter 10. Specifically, the aircraft movement distance is a diameter (radius) for defining a circle centered on the aircraft center of the helicopter 10 as shown in FIG. 7, and the diameter depends on the size of the aircraft and the maximum wind speed. For example, the data is stored in advance in the storage device 56 as a database.

In the next step 208, an accessible distance M _n (n is a code for distinguishing the distance sensor 18) is calculated. As shown in FIG. 7, the accessible distance M _n is a range wider than the aircraft movement distance centered on the helicopter 10. Then, the accessible distance M _n is calculated, for example, by adding a predetermined distance corresponding to the attachment position of the distance sensor 18 to the airframe movement distance calculated in step 206.

The next step 210 is processing corresponding to the function of the distance sensor signal receiving unit 36, and uses the distance sensor 18 to determine the distance L _n (n is the distance sensor 18) between the own device and surrounding obstacles. Sign). Note that the distance measurement by the distance sensor 18 performed in step 210 is different from the distance measurement in step 202, and is a distance measurement for preventing the helicopter 10 from approaching an obstacle as will be described later. .

  In the next step 212, the steering direction of the control stick 70 by the pilot is detected.

In the next step 214, an accessible determination is made to determine whether or not the distance L _n in the steering direction detected in step 212 is less than or _equal to the accessible distance M _n. If the determination is affirmative, the process proceeds to step 216. If the determination is negative, the process proceeds to step 218.

  In step 216, even if the aircraft is controlled so as to be directed in the steering direction by the control stick 70, the own aircraft does not collide with an obstacle, so the own aircraft moves in the steering direction according to the steering amount by the control stick 70. Let

On the other hand, in step 218, if the aircraft is controlled so as to be directed in the steering direction by the control stick 70, there is a possibility that the aircraft will collide with the obstacle. Therefore, the movement of the control stick 70 in the direction of the obstacle is controlled. Steering suppression control is performed.
In the present embodiment, as the steering suppression control, a reaction force control signal for increasing the reaction force of the control stick 70 is output from the flight control unit 32 to the control stick 70, and the pilot tries to operate the control stick 70 in the steering direction. Control is performed to prevent the control stick 70 from tilting in the steering direction. However, the steering suppression control is not limited to this, for example, control for reducing the sensitivity of the operation amount in the steering direction with respect to the control stick 70, control for not accepting an operation in the steering direction with respect to the control stick 70, etc. Other controls may be performed.

  And helicopter 10 repeats an obstacle approach process until it arrives at the destination.

  FIG. 8 is a flowchart showing a flow of hoist descent program processing executed by the main control device 30 when the hoist descent processing is performed. The hoist descent program is provided in the main control device 30 in a predetermined area of the storage device 56, for example. Is stored in advance.

  First, step 300 is a process corresponding to the function of the own device information generation unit 38, and measures the altitude of the own device.

  The next step 302 to step 306 are processing corresponding to the function of the flight control unit 32, and in step 302, the detailed information about the own aircraft is read from the storage device 56. Note that the information created in the obstacle approach process is used as the detailed information around the own aircraft.

  In the next step 304, a distance (hereinafter referred to as “hoist descent distance Zp”) for lowering the hoist 14 from the own aircraft is calculated from the altitude based on the detailed information on the surroundings of the own aircraft and the altitude of the own aircraft.

  In the next step 306, the calculated hoist descent distance is output to the hoist lifting device 60 as a hoist position control command. The hoist lifting / lowering device 60 lowers the hoist 14 according to the hoist position control command.

  The next step 308 is processing corresponding to the functions of the own aircraft information generation unit 38 and the flight control unit 32. From the captured image, the plane position (X, Y) of the hoist 14 and the plane position of the rescue target person who is the target (Xp, Yp) is detected by image recognition (see also FIG. 4). Moreover, this step 308 detects the hoist position information input from the hoist raising / lowering device 60 as the movement amount (position in the height direction, Z) of the hoist 14.

  In the next step 310, steering control (automatic control) is executed so that the plane position (X, Y) of the hoist 14 and the target plane position (Xp, Yp) substantially coincide.

  In the next step 312, it is determined whether or not the absolute value of the difference between the plane position X of the hoist 14 and the target plane position Xp is less than a predetermined difference ΔX (for example, 50 cm). Shifts to step 314, and in the case of negative determination, returns to step 100 of FIG.

  In step 314, it is determined whether or not the absolute value of the difference between the plane position Y of the hoist 14 and the target plane position Yp is less than a predetermined difference ΔY (for example, 50 cm). The process proceeds to step 316. If the determination is negative, the process returns to step 100 in FIG.

  In step 316, the hoist elevating device 60 is controlled so that the hoist descent distance Zp and the distance Z of the hoist 14 are substantially the same.

  In the next step 318, it is determined whether or not the absolute value of the difference between the hoist drop distance Zp and the distance Z of the hoist 14 is less than a predetermined difference ΔZ (for example, 10 cm). When this program is terminated and a negative determination is made, the process returns to step 100 in FIG.

As described above, the helicopter 10 according to the present embodiment detects the position of the own aircraft based on the received GPS signal by the GPS receiving unit 34, and detects the position of the own aircraft and surrounding obstacles by the distance sensor 18. Measure distance. Then, the helicopter 10 reads out the own device surrounding information including the position of the own device detected by the distance sensor 18 from the map information stored in the map information storage device 52 by the detailed information generating unit 40, and read out the own device surroundings From the information and the measurement result of the distance sensor 18, detailed information on the surroundings of the aircraft is generated, which indicates the shape of the surroundings of the aircraft. Control is performed to prevent the aircraft from colliding with obstacles.
Therefore, the helicopter 10 according to the present embodiment enables a flight that avoids a collision with an obstacle even in the vicinity of the obstacle.

  Moreover, since the helicopter 10 according to the present embodiment controls the movement of the aircraft in the direction of the obstacle by steering the control stick 70 as control for suppressing the collision of the aircraft with the obstacle, A collision with an obstacle can be avoided more reliably.

Further, the helicopter 10 according to the present embodiment uses the distance measured by the distance sensor 18 as the size of the aircraft, and the aircraft crashes into an obstacle when the distance becomes less than the accessible distance. Control to suppress this is performed.
According to the present invention, since the flight is performed while measuring the distance between the own aircraft and the obstacle by the measuring means, it is possible to more reliably avoid the collision with the obstacle.

  Further, the helicopter 10 according to the present embodiment images the hoist 14 that is lifted and lowered by the hoist lifting device 60 and the target for lowering the hoist 14 from above, and the position of the picked hoist 14 and the target position are within a predetermined range. Since the own machine is controlled so as to be, the hook 12 (the hoist 14) can be lowered to the target more reliably.

  In addition, since the helicopter 10 according to the present embodiment includes the distance sensor 18 on the front surface, the upper surface, the lower surface, both side surfaces, the rear surface, and the tip of the blade 16 of the own aircraft, more accurately between the own aircraft and the obstacle. Distance can be measured.

  As mentioned above, although this invention was demonstrated using the said embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiment without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention.

For example, in the above-described embodiment, a description has been given of a mode in which the steering suppression control is performed when the distance L _n between the own device measured using the distance sensor 18 and the surrounding obstacle is less than the accessible distance M _n . However, the present invention is not limited to this, and the distance M between the position of the own device detected by the GPS signal and the obstacle around the own device detected from the detailed information around the own device is accessible distance M. _It is good also as a form which performs steering suppression control, when it becomes less than _n .

  In addition, the helicopter stores in advance its own surroundings detailed information generated by its own aircraft or its own surroundings detailed information generated by another helicopter 10 in a storage device in advance, and the position of the own aircraft based on the received GPS signal. Based on the read-out detailed information on the surroundings of the own device and the size of the own device, the control may be performed so as to prevent the own device from colliding with an obstacle. . In the case of this form, since the storage device stores the own device surrounding detailed information in advance, the helicopter does not need to generate the own device surrounding detailed information every time it arrives at the target position.

  The flow of the obstacle approach program and hoist descent program described in the above embodiments is also an example, and unnecessary steps are deleted or new steps are added without departing from the gist of the present invention. Needless to say, the processing order can be changed.

DESCRIPTION OF SYMBOLS 10 Helicopter 16 Blade 18 Distance sensor 32 Flight control part 34 GPS receiving part 40 Detailed information generation part 52 Map information storage device 70 Control stick

Claims (12)

A collision avoidance device for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detection means for detecting the position of the own device based on a received GPS (Global Positioning System) signal;
Measuring means for measuring the distance between the aircraft and the surrounding obstacles;
Read out information of a predetermined area including the position of the own device detected by the detecting means from the map information stored in the storage means, and based on the read information and the measurement result by the measuring means, the shape around the own device Generating means for generating detailed information around the own aircraft,
Control means for performing control for suppressing the own machine from colliding with an obstacle based on the detailed information about the own machine generated by the generating means and the size of the own machine;
With
The said control means is a collision avoidance apparatus which suppresses the movement to the direction of the obstruction of the own machine by steering of a control stick. A collision avoidance device for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detection means for detecting the position of the own device based on a received GPS (Global Positioning System) signal;
Measuring means for measuring the distance between the aircraft and the surrounding obstacles;
Read out information of a predetermined area including the position of the own device detected by the detecting means from the map information stored in the storage means, and based on the read information and the measurement result by the measuring means, the shape around the own device Generating means for generating detailed information around the own aircraft,
Control means for performing control for suppressing the own machine from colliding with an obstacle based on the detailed information about the own machine generated by the generating means and the size of the own machine;
With
The control means uses the distance measured by the measuring means as the size of the own aircraft, and when the distance becomes less than a predetermined distance, A collision avoidance device that performs control for suppression. A collision avoidance device for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detection means for detecting the position of the own device based on a received GPS (Global Positioning System) signal;
Measuring means for measuring the distance between the aircraft and the surrounding obstacles;
Read out information of a predetermined area including the position of the own device detected by the detecting means from the map information stored in the storage means, and based on the read information and the measurement result by the measuring means, the shape around the own device Generating means for generating detailed information around the own aircraft,
Control means for performing control for suppressing the own machine from colliding with an obstacle based on the detailed information about the own machine generated by the generating means and the size of the own machine;
With
The measurement means is a collision avoidance device provided at the tip of a rotor blade. Hoisting means for raising and lowering the hanger,
Imaging means for imaging the suspension and the target for lowering the suspension from above the suspension and the target;
Control means for controlling the own machine so that the position of the hanging tool imaged by the imaging means and the target position are within a predetermined range;
The collision avoidance device according to any one of claims 1 to 3, further comprising:   The collision avoidance device according to any one of claims 1 to 4, wherein the measuring unit is provided on a front surface, an upper surface, a lower surface, both side surfaces, and a rear surface of the aircraft.   A helicopter comprising the collision avoidance device according to any one of claims 1 to 5. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
A first step of detecting the position of the device based on the received GPS signal;
A second step of measuring the distance between the aircraft and the surrounding obstacles;
Read out information of a predetermined area including the position of the own device detected by the first step from the map information stored in the storage means, and based on the read information and the measurement result by the second step, A third step of generating detailed information around the own aircraft indicating the shape of the aircraft,
A fourth step of performing control for preventing the own aircraft from colliding with an obstacle based on the detailed information about the own device and the size of the own device generated by the third step;
Including
The fourth step is a collision avoidance program that suppresses the movement of the aircraft in the direction of the obstacle by steering the control stick. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
A first step of detecting the position of the device based on the received GPS signal;
A second step of measuring the distance between the aircraft and the surrounding obstacles;
Read out information of a predetermined area including the position of the own device detected by the first step from the map information stored in the storage means, and based on the read information and the measurement result by the second step, A third step of generating detailed information around the own aircraft indicating the shape of the aircraft,
A fourth step of performing control for preventing the own aircraft from colliding with an obstacle based on the detailed information about the own device and the size of the own device generated by the third step;
Including
The fourth step uses the distance measured in the second step as the size of the own device, and the own device collides with an obstacle when the distance becomes less than a predetermined distance. A collision avoidance program that performs control to prevent this. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
A first step of detecting the position of the device based on the received GPS signal;
A second step of Measure the distance between the host machine and the surrounding obstacles,
Read out information of a predetermined area including the position of the own device detected by the first step from the map information stored in the storage means, and based on the read information and the measurement result by the second step, A third step of generating detailed information around the own aircraft indicating the shape of the aircraft,
A fourth step of performing control for preventing the own aircraft from colliding with an obstacle based on the detailed information about the own device and the size of the own device generated by the third step;
Including
The second step is a collision avoidance program for measuring the distance by a measuring means provided at the tip of the rotor blade. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detecting the position of the helicopter based on the received GPS signal, measuring the distance between the helicopter and surrounding obstacles, reading out information on a predetermined area including the detected position of the helicopter from predetermined map information, According to the position of the own aircraft based on the received GPS signal from the storage means preliminarily memorized around the helicopter, which is generated from the read information and the measurement result of the measurement, and shows the shape of the helicopter. A first step of reading out detailed information around the aircraft,
A second step of performing control to prevent the own device from colliding with an obstacle based on the detailed information of the own device and the size of the own device read out in the first step;
Including
The second step is a collision avoidance program that suppresses the movement of the aircraft in the direction of the obstacle by steering the control stick. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detecting the position of the helicopter based on the received GPS signal, measuring the distance between the helicopter and surrounding obstacles, reading out information on a predetermined area including the detected position of the helicopter from predetermined map information, According to the position of the own aircraft based on the received GPS signal from the storage means preliminarily memorized around the helicopter, which is generated from the read information and the measurement result of the measurement, and shows the shape of the helicopter. A first step of reading out detailed information around the aircraft,
A second step of performing control to prevent the own device from colliding with an obstacle based on the detailed information of the own device and the size of the own device read out in the first step;
Including
The second step uses the distance measured in the second step as the size of the own device, and the own device collides with an obstacle when the distance becomes less than a predetermined distance. A collision avoidance program that performs control to prevent this. A collision avoidance program for avoiding a collision between a helicopter mounted on a helicopter and an obstacle,
Detecting the position of the helicopter on the basis of the received GPS signals, and measure the distance between the helicopter and the surrounding obstacles, reads information of a predetermined area from the map information determined in advance, including the position of the helicopter that the detection From the storage means, which is generated from the read information and the measurement result of the measurement and indicates the surrounding shape of the helicopter and indicating the surrounding shape of the aircraft, the position of the aircraft based on the received GPS signal is stored. A first step of reading out detailed information on the surroundings of the device,
A second step of performing control to prevent the own device from colliding with an obstacle based on the detailed information of the own device and the size of the own device read out in the first step;
Including
The first step is a collision avoidance program for measuring the distance by a measuring means provided at a tip of a rotor blade.

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