JP7055324B2 - Display device - Google Patents

Description

The present invention relates to augmented reality techniques.

The following Patent Document 1 discloses a navigation device that superimposes and displays an image for route guidance on a live-action image taken by a camera.

International Publication No. 2012/120607

After specifying the movement route of a moving object that performs automatic driving or automatic flight on the map data, it may be desirable to confirm in advance how the moving object will move on the actual site. For example, when the position or shape of the feature on the map data may be different from the actual feature, or when you want to confirm the three-dimensional movement route including the height.

In view of the above problems, an object to be solved by the present invention is to provide a display device capable of superimposing a path on which a moving body automatically travels or automatically flies on an actual scene and confirming it.

In order to solve the above problems, the display device of the present invention has a display unit which is a transparent member or a display for displaying an image, a horizontal coordinate acquisition unit for acquiring the position of the own device on a horizontal plane, and a front of the own device. A identifiable forward acquisition unit, a vertical coordinate acquisition unit that acquires the position of the own device in the vertical direction, an inclination acquisition unit that detects the inclination of the own device, and movement route information of a moving body capable of automatic traveling or autonomous flight. On the display unit, a virtual path, which is a virtual point or line indicating the movement path of the moving object, is superimposed on the movement path storage unit in which the moving object is stored and the actual scene or its image visually recognized through the display unit. It is characterized by comprising a route mapping means for projecting.

Since the display device can detect the position and orientation of its own device and can display the movement path of the moving object on top of the actual scene, it is possible to confirm in advance how the moving object will move in the actual site. It becomes possible to do.

Further, it is preferable that the moving body is an unmanned aerial vehicle.

A small unmanned aerial vehicle represented by a multicopter is equipped with a control device called a flight controller that controls the flight operation of the aircraft. Some flight controller products on the market have an autopilot function. The autopilot function is a function that automatically maintains the attitude and flight position of the unmanned aerial vehicle, and autonomously flies the unmanned aerial vehicle based on the flight plan created by the operator. In a flight plan with a general autopilot function, it is possible to specify the takeoff and landing point of the aircraft, the latitude and longitude, altitude, speed, and azimuth of the nose of the flight route. In addition, some flight controllers that specialize in aerial photography can specify the start / end of shooting with the camera, PTZ, and so on. When creating a flight plan on two-dimensional map data, it is difficult to grasp the actual flight path including the flight altitude in three dimensions. According to the display device of the present invention, the flight path of an unmanned aerial vehicle at an actual site can be confirmed three-dimensionally including its altitude.

Further, the horizontal coordinate acquisition unit has a GPS receiver that acquires latitude and longitude information of the own device, and the front acquisition unit has an orientation sensor that can specify the front direction of the own device, and the vertical coordinates. The acquisition unit has an altitude sensor capable of measuring the altitude above sea level or the altitude above the ground of the own device, or an altitude storage unit that stores the altitude above the ground specified by the user, and the inclination acquisition unit has two or three axes. It is preferable to have an accelerometer.

With the above configuration, the display device of the present invention can be efficiently realized by using, for example, a commercially available smartphone or tablet terminal.

Further, it is preferable that the route mapping means can display each part of the virtual route with a different appearance based on the attribute information added to each part of the virtual route.

By being able to display the speed of the moving object and the shooting operation at each position on the path using the appearance of the virtual path, it is possible to grasp the operation of the moving object in more detail.

Further, the display device of the present invention further includes a map data acquisition means for acquiring map data in which the position and shape of a feature on a horizontal plane are mapped, and the route mapping means is the ground when viewed from its own device. It is preferable that the virtual path passing behind an object can be displayed with a different appearance from other parts of the virtual path.

When a virtual route that actually passes behind a feature is displayed in front of the feature, the user may misunderstand the movement path of the moving object. By displaying the virtual route that passes behind the feature with the appearance that it is behind the feature, the user of the display device can grasp the movement path of the moving object more accurately. Become.

Further, it is preferable that the display device of the present invention further includes a calibration means for the vertical coordinate acquisition unit and / or the inclination acquisition unit.

When, for example, a barometric pressure sensor is used as the vertical coordinate acquisition unit of the display device, the altitude above ground level of the display device cannot be directly acquired from the barometric altitude. Further, when the tilt acquisition unit is not dedicated to the route mapping means of the present invention, the detection value of the inclination acquisition unit when the own device is directed straight to the front, and the change in the angle and the detected value when the own device is tilted. The relationship with is unknown. Therefore, by providing the calibration means of the vertical coordinate acquisition unit and the inclination acquisition unit, the route mapping means can obtain a reference regarding the altitude and inclination of the own device. This makes it possible to improve the mapping accuracy of the virtual path to the actual scene.

As described above, according to the flight control device of the present invention, it is possible to actually confirm the movement path of the moving body.

It is a top view and the bottom view which shows the appearance of a display device. It is a block diagram which shows the functional structure of a display device. It is a block diagram which shows the functional structure of a multicopter. It is a schematic diagram which saw from above how the user confirms the flight path of a multicopter using a display device. It is a schematic diagram which a user confirms a flight path of a multicopter using a display device from the side. 4 is a schematic diagram showing how the virtual paths of FIGS. 4 and 5 are displayed on the display of the display device.

Hereinafter, embodiments of the present invention will be described. The present embodiment (hereinafter, also referred to as “this example”) is an example of confirming in advance the route to which the multicopter 50, which is a small unmanned rotary wing aircraft, flies by using the display device of the present invention. The mobile body to which the display device of the present invention can be applied is not limited to the multicopter 50 of this example. The display device of the present invention is applicable as long as it is a moving body that automatically travels or automatically flies along a predetermined route. For example, it can be applied to other unmanned aerial vehicles such as unmanned fixed-wing aircraft, unmanned vehicles, and even manned moving objects, regardless of whether the moving objects are large or small.

[Display device]
(Outline of configuration)
FIG. 1 is a plan view and a bottom view showing the appearance of the display device 10 of this example. FIG. 1A shows the front surface of the display device 10. A display 13 for displaying information to the user is provided on the front side of the display device 10. The display 13 of this example is a touch screen and also serves as an input means 131 of the display device 10. FIG. 1B shows the back surface of the display device 10. A camera 14 is provided on the back side of the display device 10. The image of the scene taken by the camera 14 is displayed on the display 13 in real time.

FIG. 2 is a block diagram showing a functional configuration of the display device 10. In addition to the display 13 and the camera 14, the functions of the display device 10 include a CPU 11 as a central processing device, a memory 12 composed of storage devices such as RAM and ROM / flash memory, and an LTE (Long Term Evolution) module 16 as a communication module. It is composed of a Wi-Fi (Wireless Fidelity) module 17, a sensor 15 for detecting the position and orientation of the display device 10 (hereinafter referred to as "position / attitude sensor 15"), and a battery 19 for supplying power to these. ing.

(Position / posture sensor)
The position / attitude sensor 15 of this example includes a GPS receiver 151, an acceleration sensor 152, an electronic compass 153, and a barometric pressure sensor 154.

The GPS receiver 151 is a horizontal coordinate acquisition unit that acquires the position of the display device 10 on the horizontal plane. The GPS receiver 151 is, to be exact, a receiver of a navigation satellite system (NSS). The GPS receiver 151 acquires the current latitude and longitude value and time information from the Global Navigation Satellite System (GNSS) or the Regional Navigational Satellite System (RNSS).

The acceleration sensor 152 is an inclination acquisition unit that detects the inclination of the display device 10. The acceleration sensor 152 of this example is a three-axis acceleration sensor, and detects acceleration in three directions of the XYZ axes. The display device 10 specifies the posture of the display device 10 at that time from the detected value of the acceleration sensor 152. The acceleration sensor 152 does not always have to be a 3-axis acceleration sensor, and a 2-axis acceleration sensor can be used depending on the required detection accuracy.

The electronic compass 153 is a front acquisition unit that specifies the front of the display device 10 (in this example, the direction in which the camera 14 of the display device 10 is directed). In the electronic compass 153 of this example, a three-axis geomagnetic sensor, which is a directional sensor, is used. The display device 10 identifies the direction in which the camera 14 of the display device 10 is directed, that is, the front of the display device 10, from the detected value of the electronic compass 153.

The barometric pressure sensor 154 is a vertical coordinate acquisition unit that acquires a position in the vertical direction of the display device 10. The barometric pressure sensor 154 is an aspect of the altitude sensor, and calculates the altitude above sea level (elevation) of the display device 10 based on the barometric pressure altitude.

An object of the vertical coordinate acquisition unit of the present invention is to finally obtain the altitude above ground level of the display device 10. However, the altitude above sea level obtained by the barometric pressure sensor 154 is not a value that can be directly converted to the altitude above ground level. Therefore, the display device 10 of this example acquires the atmospheric pressure altitude on the ground surface at the position where the display device 10 is used, or the atmospheric pressure altitude at the user's line of sight and its actual height by the calibration program CB described later, and obtains this. The altitude above ground level of the display device 10 is calculated as a reference. The form of the vertical coordinate acquisition unit is not limited to the barometric pressure sensor 154 of this example, and the altitude above ground level of the display device 10 is directly acquired by, for example, a distance measuring sensor using a laser, infrared rays, ultrasonic waves, or the like. May be good. Furthermore, the vertical coordinate acquisition unit is not limited to the form using a sensor. For example, a form in which an altitude storage unit is separately provided in the memory 12, the user is made to input the height of his / her own line of sight, and the value is acquired as the altitude above ground level of the display device 10, or the height of the user's general line of sight is 150. It also includes a form in which a fixed value of, for example, 160 cm is registered in the altitude storage unit and the value is acquired as the altitude above ground level of the display device 10.

Some commercially available smartphones and tablet terminals are provided with these position / attitude sensors 15 in advance. Such a smartphone or tablet terminal is also used in the display device 10 of this example.

In this example, the position / attitude sensor 15 of the display device 10 is configured on the premise that the multicopter 50 is flown outdoors, but the range of use of the moving body and the display device of the present invention is not limited to the outdoors. For example, by arranging beacons that transmit radio signals inside the facility at predetermined intervals and measuring the relative distance between the display device and each beacon from the radio wave strength of the signals received from these beacons, the relative distance between the display device and each beacon is measured in the facility. The position of the display device on the horizontal plane and the position in the vertical direction may be specified. In addition, for example, feature points in the facility are detected by image recognition from the surrounding images taken by the camera of the display device, and based on this, the position of the display device in the facility on the horizontal plane, the position in the vertical direction, and the front are determined. It is also possible to identify.

(program)
The flight plan FP is registered in the memory 12 of the display device 10. Further, the display device 10 is installed with a route mapping program RM, a map data acquisition program MP, and a calibration program CB which is a calibration means of the pressure sensor 154.

The memory 12 of this example is a movement route storage unit in which the movement route of the multicopter 50 is stored in the form of a flight plan FP. The flight plan FP of this example has flight route information r consisting of the takeoff and landing points of the multicopter 50, the latitude and longitude of the flight route, and the altitude, and the route attributes such as the speed at each position of the flight route and the shooting operation by the camera 14. Has information i.

The display device 10 of this example downloads the flight plan FP from the multicopter 50 via the Wi-Fi module 17. In addition, in the field of unmanned aerial vehicles, it is generally called GCS (Ground Control Station), and the flight plan FP may be downloaded from a terminal for creating a flight plan FP, setting various settings of the multicopter 50, monitoring the state, and maneuvering. Alternatively, the display device 10 itself may have a GCS function, the display device 10 may create a flight plan FP, and the display device 10 may be configured to upload the flight plan FP to the multicopter 50.

The route mapping program RM is a route mapping means that superimposes a virtual route v, which is a virtual line indicating the flight route of the multicopter 50, on an image of a real scene taken by a camera 14 and visually recognized through a display 13. be. The virtual path v may be composed of a point cloud instead of a line.

The flight path information r of the flight plan FP is design information that can reproduce the virtual path v on virtual three-dimensional coordinates corresponding to the actual latitude and longitude and height. The route mapping program RM acquires the latitude and longitude, ground altitude, forward direction, and inclination of the display device 10 from the position / attitude sensor 15, and when the display device 10 is at that position and its attitude, it is within the angle of view of the camera 14. Specify the three-dimensional coordinates of the space contained in. Then, the portion of the virtual path v included in the actual space is three-dimensionally drawn on the display 13 by superimposing it on the image taken by the camera 14.

Further, the route mapping program RM of this example refers to the route attribute information i of the flight plan FP and displays each part of the virtual route v with a different appearance to express the speed and shooting operation of the multicopter 50. .. This makes it possible for the user to grasp the operation of the multicopter 50 in more detail.

In this way, the display device 10 can detect the position, orientation, and attitude of the own device, and by displaying the flight path of the multicopter 50 as a virtual path v on the actual scene, the user can display it. It is possible to confirm in advance what kind of route the multicopter 50 will fly in the actual field.

Here, as in this example, when the accelerometer 152 is not dedicated to the route mapping program RM but uses the accelerometer provided in the smartphone or tablet terminal, it depends on the specifications of the API provided by the smartphone or tablet terminal. In some cases, the relationship between the detected value of the accelerometer when the camera of the display device is pointed straight at the front and the change in the detected value of the accelerometer between the angle when the display device is tilted is unclear. In such a case, the calibration function of the acceleration sensor may be added to the above-mentioned calibration means (calibration program CB), and the relationship between the posture of the display device and the detected value of the acceleration sensor may be specified in advance.

The map data acquisition program MP is a map data acquisition means for acquiring map data in which the positions and shapes of features on latitude and longitude are mapped. The map data acquisition program MP of this example acquires map data from the map data server 90 on the Internet via the LTE module 16 included in the display device 10. The LTE module 16 of this example may be a connection module to another mobile communication network such as 3G or WiMAX (Worldwide Interoperability for Microwave Access), or the nearest access with the Wi-Fi module 17. You may connect to the map data server 90 via the point. Furthermore, the display device 10 itself may have map data.

The route mapping program RM refers to the map data acquired from the map data server 90, and the portion of the virtual route v that passes behind the feature when viewed from the position of the display device 10 is other than the virtual route v. It is displayed with a different appearance from the part of. That is, it is displayed with an appearance that shows that the part of the virtual path v passes behind the feature.

[Multicopter]
(Outline of configuration)
FIG. 3 is a block diagram showing a functional configuration of the multicopter 50 of this example. The multicopter 50 mainly receives a flight controller 51, a rotor 54 which is a plurality of brushless motors, an ESC 541 (Electric Speed Controller) which is a drive circuit of the rotor 54, and a control signal from a user (transmitter 521). It is composed of a device 522, a Wi-Fi module 53 that performs bidirectional communication with the display device 10, a camera 55 that can shoot moving images and still images, and a battery 59 that supplies power to these.

The flight controller 51 includes a control device 60 which is a microcontroller. The control device 60 is a central processing unit, a CPU 61, a memory 62 including a storage device such as a RAM, a ROM, and a flash memory, and a PWM (Pulse Width Modulation) that controls the rotation speed of each rotor 54 via an ESC 541. Modulation) It has a controller 63.

The flight control roller 51 further has a position / attitude sensor 65 including an IMU 651 (Inertial Measurement Unit), a GPS receiver 652, a pressure sensor 653, and an electronic compass 654, which are in the control device 60. It is connected.

The IMU 651 is mainly composed of a 3-axis acceleration sensor and a 3-axis angular velocity sensor. The functions of the GPS receiver 652, the barometric pressure sensor 653, and the electronic compass 654 are similar to those included in the display device 10. With these position / attitude sensors 65, the flight controller 51 can acquire the position information of the aircraft including the latitude and longitude during flight, the altitude, and the azimuth angle of the nose, in addition to the tilt and rotation of the aircraft. Has been done.

The control device 60 has a flight control program FC, which is a program for controlling the attitude and basic flight operations of the multicopter 50 during flight. The flight control program FC adjusts the rotation speed of each rotor 54 based on the information acquired from the position / attitude sensor 65, and flies the multicopter 50 while correcting the attitude and position disturbance of the aircraft.

Further, the control device 60 has an autonomous flight program AP, which is a program for automatically flying the multicopter 50. Further, the flight plan FP is registered in the memory 62 of the control device 60. The autonomous flight program AP automatically flies the multicopter 50 according to the flight plan FP, subject to a start instruction from the user (transmitter 521) or a predetermined time as a start condition. In this example, such an automatic flight function is called "autopilot". The multicopter 50 of this example is basically assumed to be flown by an autopilot, but it is also possible for the user to manually control the multicopter 50 sequentially using the transmitter 521.

[Route confirmation method]
Hereinafter, a procedure will be described in which the route mapping program RM of the display device 10 superimposes and displays the virtual route v on the actual scene captured by the camera 14. FIG. 4 is a schematic view of a user u confirming the flight path using the display device 10 at the site where the multicopter 50 is automatically flown, as viewed from above. FIG. 5 is a schematic view of the user u of FIG. 4 as viewed from the side. FIG. 6 is a schematic diagram showing how the virtual path v of FIGS. 4 and 5 is displayed on the display 13 of the display device 10.

(Virtual route)
The virtual route v of this example is defined by the flight route information r and the route attribute information i of the flight plan FP. The route mapping program RM of the display device 10 three-dimensionally superimposes the virtual route v on the actual scene captured by the camera 14 and displays it on the display 13.

More specifically, in the flight path information r of the flight plan FP of this example, the multicopter 50 is vertically taken off from the takeoff point p1 in the northeast of the user u to the altitude a, and is linearly linearly northwest from there. After flying horizontally, a route for landing vertically to the landing point p2 is specified.

Further, the route attribute information i of the flight plan FP specifies an operation of taking a picture of the northeastern part of the multicopter 50 with the camera 55 once in the middle of the route for the multicopter 50 to fly horizontally (arrow s in FIG. 4). ).

(Specification of shooting space)
As shown in FIGS. 4 and 5, the user u in this example stands with the camera 14 of the display device 10 facing north. Further, the user u holds the display device 10 at the height of his / her eyes and tilts the camera 14 diagonally upward.

Here, the GPS receiver 151 of the display device 10 acquires the latitude and longitude of the display device 10 (in this example, latitude 35.xxx654 and longitude 136.xxx430). The acceleration sensor 152 detects the inclination t of the display device 10. The electronic compass 153 identifies that the front of the display device 10 is north. Then, the barometric pressure sensor 154 identifies the altitude h above ground level. The route mapping program RM is based on the detected values of the position / attitude sensor 15, and has three-dimensional coordinates of the real space accommodated in the angle of view f of the camera 14, that is, the actual space accommodated in the angle of view f of the camera 14. Identify the range of latitude and longitude and altitude above ground.

As mentioned above, the altitude above sea level obtained by the barometric pressure sensor 154 is not a value that can be directly converted to the altitude above ground level h. Therefore, in this example, the user u places the display device 10 on the ground at the site, executes the calibration program CB in that state, and acquires the barometric altitude near the ground surface. Then, the route mapping program RM calculates the ground altitude h of the display device 10 from the difference between the barometric altitude near the ground surface and the current barometric altitude of the display device 10. The program for calculating the altitude h may be a program other than the route mapping program RM. Further, as the reference atmospheric pressure altitude for calculating the altitude above ground h, the atmospheric pressure altitude near the ground surface of the site or the atmospheric pressure altitude at the line-of-sight position of the user u can be used. Specifically, the height of the user u's line of sight is determined to be 160 cm above ground level, the calibration program CB is executed once at the user u's line of sight, and the difference from the pressure altitude at that position is the difference from the current ground level. The altitude h may be calculated.

(Display of route)
The route mapping program RM calculates the portion of the virtual route v included in the real space specified by the position / altitude sensor 15, and the positional relationship and distance between each part of the virtual route v and the camera 14. The positional relationship and distance between each part of the virtual path v and the camera 14 are determined by the latitude and longitude of the display device 10 and the latitude and longitude of each part of the virtual path v, and the altitude above ground level of the display device 10 and the altitude of each part of the virtual route v. Once you know it, you can calculate it with a simple calculation using trigonometric functions. For example, as shown in FIG. 4, if the latitude and longitude of the display device 10 (latitude 35.xxx654, longitude 136.xxx430) and the latitude and longitude of the takeoff point p1 (latitude 35.xxx707, longitude 136.xxx487) are known. , The linear distance d1 (around 8 m in this example) between the display device 10 and the takeoff point p1 can be calculated. If the latitude and longitude of the display device 10 (latitude 35.xxx654, longitude 136.xxx430) and the latitude and longitude of the landing point p2 (latitude 35.xxx852, longitude 136.xxx294) are known, the display device 10 and the landing point p2 are known. The linear distance d2 (around 24 m in this example) can be calculated. Further, as shown in FIG. 5, if the linear distance between the display device 10 and the takeoff point p1 and the altitude a to the ground of the virtual route v are known, the linear distance d3 including the height can be calculated.

Then, the route mapping program RM displays the virtual route v included in the space three-dimensionally on the display 13 against the background of the actual scene taken by the camera 14. At this time, the thickness of each part of the virtual path v is automatically adjusted according to the distance from the display device 10, thereby expressing the depth of the virtual path v.

(Display of attribute information)
Further, the flight plan FP of this example has the route attribute information i. In the route attribute information i of this example, information regarding the flight speed in each part of the flight path of the multicopter 50 and the shooting operation by the camera 55 is registered. The narrowly displayed range n of the virtual path v in FIG. 6 is the range in which the multicopter 50 flies at a lower speed than the other parts. The arrow s represents an operation in which the multicopter 50 shoots the camera 55 in that direction. The types of information that can be registered as the route attribute information i are not limited to the flight speed and shooting operation of this example. For example, when the multicopter 50 is an unmanned aerial vehicle for spraying pesticides, it is possible to register the spraying amount of pesticides at each position of the flight path as the route attribute information i and express this by the appearance of the virtual route v. be.

(Drawing the virtual path behind the feature)
Further, the route mapping program RM specifies the shape of the feature in the space contained in the angle of view f together with the height of the feature from the map data acquired by the map data acquisition program MP, and among the virtual routes v, the route mapping program RM specifies the shape of the feature. The portion passing behind the feature when viewed from the position of the display device 10 is displayed with an appearance different from that of the other portions of the virtual path v. In this example, a part of the virtual path v passes behind the tree g when viewed from the position of the display device 10. The route mapping program RM displays only that part with a broken line m so that it can be seen that the part passes behind the tree g. If the virtual path v passing behind the tree g is displayed in front of the tree g, the user u may misunderstand the flight path of the multicopter 50. By displaying the virtual path v passing behind the tree g with an appearance that shows that it is behind the tree g, the user u of the display device 10 can more accurately grasp the flight path of the multicopter 50. Is possible

It should be noted that the function of displaying the virtual path v passing behind the feature so as to be recognized is not essential. When such a function is omitted, the map data server 90 and the map data acquisition program MP can also be omitted. Further, the map data possessed by the map data server 90 of this example is special map data including the shape of a tree g which is a natural object, but other structures such as a building having little change over time. It is also possible to use more general map data in which only the shape of an object is registered.

Although the embodiments of the present invention have been described above, the scope of the present invention is not limited to this, and various modifications can be made without departing from the gist of the invention.

For example, although a commercially available smartphone or tablet terminal is used for the display device 10 of this example, a wearable device such as a head-mounted display is also considered to be suitable as a form of the display device of the present invention. Furthermore, by displaying the virtual path on a transparent member such as a spectacle lens of the wearable device, it is possible to superimpose the virtual path on the actual scene.

In addition, for example, the GPS receiver 652 and the detection value of the pressure sensor 653 when the multicopter 50 is flown based on the flight plan FP are recorded, and the virtual path v reproduced based on the flight plan FP is used. It is also possible to implement a function on the display device 10 that displays the route actually flown by the multicopter 50 on the display 13 by the flight plan FP and makes it possible to visually and three-dimensionally confirm these deviations. Considered significant.

10 Display device 12 Memory (Movement route storage unit)
FP flight plan r Flight route information i Route attribute information v Virtual route g Feature RM route mapping program (route mapping means)
MP map data acquisition program (map data acquisition means)
CB calibration program (calibration means)
15 Position / Attitude Sensor 151 GPS Receiver (Horizontal Coordinate Acquisition Unit)
152 Accelerometer (tilt acquisition unit)
153 Electronic compass (front acquisition part)
154 Barometric pressure sensor (altitude sensor (vertical coordinate acquisition unit))
13 Display (display unit)
14 Camera 90 Map data server 50 Multicopter (unmanned aerial vehicle)
51 Flight controller 54 Rotor 60 Controller FC Flight control program AP Autonomous flight program (autonomous flight control means)
65 Position / Attitude Sensor 651 IMU
652 GPS receiver 653 barometric pressure sensor 654 electronic compass 55 camera

Claims (6)

A display unit that is a transparent member or a display that displays images,
A horizontal coordinate acquisition unit that acquires the position of the own device on the horizontal plane,
A front acquisition unit that can identify the front of the own device,
A vertical coordinate acquisition unit that acquires the position of the own device in the vertical direction,
The tilt acquisition unit that detects the tilt of the own device, and
A movement route storage unit that stores movement route information of unmanned moving objects capable of automatic driving or autonomous flight, and a movement route storage unit.
A route mapping means for superimposing a virtual path, which is a virtual point or line indicating a movement path of the unmanned moving object, on a real scene or an image thereof visually recognized through the display unit and projecting it on the display unit.
A display device characterized by comprising. The display device according to claim 1, wherein the unmanned moving object is an unmanned aerial vehicle. The horizontal coordinate acquisition unit has a GPS receiver that acquires latitude and longitude information of its own device.
The front acquisition unit has an orientation sensor capable of identifying the front orientation of the own device.
The vertical coordinate acquisition unit has an altitude sensor capable of measuring the altitude above sea level or the altitude above ground level of its own device, or an altitude storage unit that stores the altitude above ground level specified by the user.
The display device according to claim 1, wherein the tilt acquisition unit has a 2-axis or 3-axis accelerometer. The display device according to claim 1, wherein the route mapping means can display each part of the virtual route with a different appearance based on the attribute information added to each part of the virtual route. Further equipped with a map data acquisition means for acquiring map data in which the position and shape of a feature on a horizontal plane are mapped,
4. The route mapping means is characterized in that the virtual route passing behind the feature when viewed from the own device can be displayed with an appearance different from that of other parts of the virtual route. The display device described in. The display device according to claim 1, further comprising a calibration means for the vertical coordinate acquisition unit and / or the inclination acquisition unit.

Images