JPH08321000A - Spatial route search device - Google Patents

Abstract

(57) [Summary] [Purpose] Not just a simple shortest path search, but human knowledge /
Use the judgment criteria to search for the optimum flight route according to the flight purpose. When a flight purpose is input from a flight purpose input unit 18, a judgment reference storage unit 20 generates judgment reference data according to the flight purpose and supplies it to a flight suitability scorer 22. The flight suitability scoring unit 22 divides the flight space into predetermined cubes, and scores the suitability / unsuitability as a flight route according to the flight purpose based on the route environment information and the judgment reference data for each cube. I do. Search unit 24
Searches for the optimum route from the flight space based on the added points and displays it on the display unit 12. Therefore, the optimum flight route is automatically determined without disturbing the operator of the aircraft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an airborne route search system for obtaining an optimum flight route according to a purpose when a flight plan of an aircraft is planned.

[0002]

2. Description of the Related Art FIG. 7 shows, for example, Japanese Patent Application Laid-Open No. 4-328789.
FIG. 7 is a configuration diagram of a conventional route search device disclosed in Japanese Patent Publication No.

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

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

Next, the operation will be described.

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

Further, when attribute information such as one-way traffic or prohibition of traffic obtained by actually traveling between the intersections is input from the operation unit 36, the link attribute information creation unit 35h links based on these information. Attribute information is created, and this information is added to the intersection netlist stored in the intersection netlist storage unit 35g. Then, the route search unit 35i
The shortest route from the current position to the destination position is searched using the intersection netlist to which the link attribute information is added, and the obtained shortest route information is displayed on the display device 33 as guide route information.

[0008]

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

For this reason, conventionally, the spatial route (route) of the aircraft has been determined by using the topographic map in consideration of the separately obtained flight environment information such as the weather and the flight restricted area. Therefore, despite actually flying in the space, it is necessary to fly based on the route expressed on the topographic map, and there are many places that rely on human experience and intuition, which may be a burden on the operator. there were. Furthermore, it has been difficult to quickly search for the shortest route or the like according to the flight purpose (eg, which of safety, time, and fuel is prioritized).

The present invention has been made to solve the above problems, and an object of the present invention is to provide a spatial route search method capable of easily calculating an optimum flight route in a three-dimensional space.

[0011]

In order to achieve the above object, the spatial route search device of the present invention has the following features.

In claim 1 of the present invention, route environment storage means for storing spatial route environment information of the flight space, display means for displaying the flight space and the spatial route environment information,
Route selection means for selecting a flight route from the displayed flight space.

In addition to the above-mentioned spatial route search device, a flight purpose input means for inputting a flight purpose as a flight path selection standard, and an extraction standard for accumulating the extraction standard information of the flight proper position corresponding to each flight purpose. A storage means, a flight suitability point extraction means for extracting each flight suitability point in the flight space based on the input flight reference information according to the input flight purpose, and the space route environment information are provided, and the display is provided. It is characterized in that the extracted flight suitability portion is displayed on the means, and the flight route is determined by selecting an arbitrary space of the flight space by using the route selecting means.

Further, according to claim 3 of the present invention, route environment storage means for storing spatial route environment information of the flight space, flight purpose input means for inputting a flight purpose as a flight route selection criterion, and each flight purpose. Divided into predetermined blocks based on the judgment criterion accumulating means for accumulating judgment criteria for flight suitability in the flight space corresponding to the above, the judgment criterion according to the input flight purpose, and the spatial route environment information. A flight suitability scoring means for scoring each block as a flight suitability point for each flight space, display means for displaying the flight space and the score for each block, and an arbitrary block from the flight space And a route selecting means for selecting a flight route.

Further, according to claim 4 of the present invention, route environment storage means for storing spatial route environment information of the flight space, flight purpose input means for inputting a flight purpose as a flight route selection criterion, and each flight purpose. Divided into predetermined blocks based on the judgment criterion accumulating means for accumulating the judgment criteria for the flight suitability score of the flight space, the judgment criterion according to the input flight purpose, and the spatial route environment information. The flight space, the flight suitability scoring means for scoring each block as a flight suitability point, the search means for searching an optimal flight route based on the score for each block, the flight space and Display means for displaying the search results,
It is characterized by having.

Further, the judgment criteria stored in the above-described judgment criteria storage means are updated.

Further, the present invention is characterized by further comprising route correction input means for correcting the flight route searched by the searching means.

Further, the apparatus has specification calculation means for calculating at least one of the fuel consumption and the required time when the searched or selected flight route is flown as specification information, and the calculated specification information is the above-mentioned It is characterized in that it is displayed on the display means.

The space route environment information includes at least one of weather information and avoidance ground information, and topographical information.

[0020]

According to the first aspect of the present invention, the flight space and the spatial route environment information about the flight space are displayed on the display means. The spatial route environment information includes various information necessary for flight such as topographical information including obstacles such as mountains and buildings, weather information such as wind speed, avoidance area information such as flight restricted areas, and the like. Therefore, the operator of the aircraft or the like can easily select the optimum flight route based on the information displayed on the display means.

According to the second aspect of the present invention, when the flight purpose such as safety, economic efficiency, flight duration, etc., which is a reference when selecting the flight route, is input, the flight according to the flight purpose is input. Based on the extraction criterion of the appropriateness point and the above-mentioned spatial route environment information, the flight appropriateness point extraction means determines the appropriateness point as the flight route. Then, the judgment result is displayed on the display means, the operator can arbitrarily select the optimum flight route based on the display, and the operator can assist the selection of the optimum route.

According to the third aspect of the present invention, the flight space is divided into predetermined blocks, and each block is automatically scored as to whether or not the flight path is suitable for the flight route according to the flight purpose. Then, by displaying this score on the display means, the operator assists in selecting an optimum route as a block connection. Therefore, the operator can easily and objectively select the optimum route.

According to the fourth aspect of the present invention, the searching means automatically searches for the optimum flight route from the appropriate / unsuitable score according to the flight purpose calculated for each block of the flight space. Therefore, it is possible to automatically know the optimum flight route without disturbing the operator of the aircraft.

Further, as described in claim 5 of the present invention, since the judgment criteria are updated, the experience of the operator or the like can be reflected in the search function of the spatial route search device.

Further, as described in claim 6, the route correction input means is provided, and the operator can correct the route as necessary by looking at the flight route obtained as a result of the search by the search means. It will be possible. Therefore, the optimum flight path can be selected flexibly in a complicated flight environment.

Further, as described in claim 7, it is necessary to obtain and display various information such as fuel consumption and required time when actually flying the flight route obtained as a result of the search or as a result of the selection. This makes it possible to determine the flight path more easily and objectively.

[0027]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to FIG. In addition, the drawings described in the following examples,
The drawings corresponding to each other are designated by the same reference numerals and the description thereof will be omitted.

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

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

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

The generated display data is supplied to the display unit 12, and the display unit 12 displays landmarks as flight targets for each of the cubes, buildings that obstruct flight, bad weather, and the like.

Then, the operator operates the route selecting section 3 to set the optimum flight route as a cube connection based on knowledge and experience while looking at the displayed flight space and route environment information.

The set cubic connection can be displayed, for example, on the display unit 12 as an optimum flight route to be flown until the destination is reached, whereby the operator of the aircraft can always perform three-dimensional operation. The flight can be performed based on the optimal flight path displayed on the screen.

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

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

Example 2. Next, an example obtained by further improving the first embodiment will be described with reference to FIG. In the first embodiment, a person determines suitability as a flight route by looking at the environment of the flight route displayed on the display unit 12, but in the present embodiment, the determination criterion of the flight route is accumulated in the extraction criterion accumulation unit 19. However, the feature is that the accumulated judgment criteria are utilized for selecting a flight route.

In FIG. 2, the flight purpose input section 18 inputs the flight purpose. Flight objectives include flight safety, economic efficiency (fuel consumption, etc.), required time (shortest time), and a combination of these. Using the flight objective input unit 18, what priority is given to these objectives? Enter whether or not.

In the extraction criterion storage unit 19, selection priorities of various route environments corresponding to flight purposes are stored in advance. It should be noted that the priority accumulated according to the number of selections of the route environment selected by the operator in the past may be changed.

The extraction criterion is, for example, for a flight purpose of giving priority to safety, as a route determination criterion, the flight altitude is high, there are no obstacles (mountains, etc.), and the weather is mild (for example, wind speed Xm. Below), there are landmarks such as rivers, and it is easy to fly. On the other hand, when the required time or economy is prioritized, the route determination criterion is, for example, the shortest distance, etc., with a high priority attached to a determination item, and the above priority is given to the safety priority described above. The attached items have a relatively low priority. Furthermore, if you want to avoid the mountains and fly, refer to the topographic map data,
The priority is given to the exclusion of mountainous areas from the flight path.

When the flight purpose is input from the flight purpose input unit 18 to the extraction standard storage unit 19 which stores the above-mentioned extraction standards, the extraction standard storage unit 19 extracts a route according to the flight purpose. Extraction reference data serving as a reference is generated, and this is supplied to the flight suitability portion extraction unit 16.

On the other hand, the route environment information stored in the route environment storage unit 1 is read out in response to the operator's identification of the current location and the destination, and is supplied to the flight appropriateness location extraction unit 16.

Further, the flight suitability point extraction unit 16 divides the set space between the two points into a predetermined cube, and reads the read route environment information between the two points and the extraction reference data from the extraction reference storage unit 19. Based on the above, it is determined whether or not each cube is suitable as a flight path.

Next, a data control unit (not shown) creates display data of a cube suitable as a path, for example, as a color different from that of other cubes, based on the judgment data obtained from the extraction unit 16, and the display unit 12 Is supplied to the display device and a predetermined display is made.

The operator selects the optimum flight route based on his / her own knowledge or the like while looking at the display, and operates the route selection unit 14 to set the optimum flight route as a connection of cubes.

As described above, by providing the flight suitability portion extraction unit 16 and the extraction reference storage unit 19 etc. and automatically extracting the flight suitability portion, the operator can more objectively judge the optimum route. Becomes

Example 3. In the spatial route search device of the third embodiment, as shown in FIG. 3, a flight suitability scorer 22 for finely scoring the flight possibility of each cube according to the flight purpose input from the flight purpose input unit 18 is provided. , And a judgment criterion accumulating unit 20 for accumulating the scoring judgment criterion. Then, each cube is attached with a score and displayed on the display unit 12.

An example of scoring the route judgment standard accumulated in the judgment criterion accumulating unit 20 will be described below.

For example, when the flight purpose is safety priority, the score given to the route determination standard "" is "if there is a landmark such as a river, the flight is performed on it. = 5 "Do not fly in areas with wind speeds higher than Xm." ] = -5 "There is a suitable landing area. ] = 6 ...

The route judgment criteria in the above "" are manually or automatically updated at any time based on the information obtained by flying in the past, and the points given are, for example, It is automatically updated according to the number of times selected in the past. As a result, the latest criterion-based judgment criterion data is accumulated in the judgment criterion accumulating unit 20.

Next, the operation of the spatial route search device of this embodiment will be described.

When the flight purpose is input from the flight purpose input unit 18, the score assigned to the route determination reference corresponding to this is supplied to the flight suitability score assigning unit 22 as the determination reference data.

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

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

Further, since the judgment criterion accumulating unit 20 accumulates concrete judgment criterion data based on the experience of the operator or the like, for example, the operator avoids the avoidance area (flight prohibited area, other Even if you do not set the route of the aircraft, if you have flew in that flight space in the past, you can automatically search for the optimal route to avoid a specific area and you can check the flight performance (speed, altitude, cruising range) of the aircraft. It becomes easy to search for the optimum route according to the distance etc.). Then, the level of the judgment reference data, which was a general level at first, gradually becomes a high level corresponding to the characteristics of the operator and the aircraft.

Embodiment 4 FIG. In the third embodiment, the optimum route is searched according to the operator's judgment, but in the present embodiment,
As shown in FIG. 4, a search unit 24 is provided, and the search unit 24 automatically searches for the optimum route. Less than,
A configuration example of the spatial route search device according to the present embodiment will be described with reference to FIG.

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

The search unit 24 automatically searches for a combination of cubes in which the sum of the points of each cube is, for example, the maximum. The obtained search result is displayed on the display unit 12 as the optimum route.
This makes it possible to search for the optimum route without human intervention. In the searching unit 24, what kind of point value is used as a reference for the spatial route search is arbitrary, and depending on the scoring method of each criterion item, the one with the smallest sum of the cube points is optimal. You may search as a route.

Further, as shown in FIG. 5, a correction route input unit 26 is further provided, and the operator uses the correction route input unit 26 for the optimum route obtained by the search unit 24 automatically searching. The route may be further corrected while watching the display. By enabling route correction in this way,
It can flexibly cope with complicated flight environments.

In addition, according to the correction of the route made by the operator,
It is assumed that the criteria and the score of the route accumulated in the criterion accumulation unit 20 are updated. For example, when the same correction is performed a predetermined number of times for the same flight purpose, the score of the item of the route determination standard for the corresponding flight purpose is automatically changed. In this way, by updating the score of the route determination standard with the learning function, the experience of the operator is automatically accumulated as data in the determination criterion storage unit 20 as it is used. Is improved.

Example 5. In the fourth embodiment, the optimum route is displayed as the connection of the cubes and the score of each cube is displayed, but in the present embodiment, as shown in FIG.
8 will be provided.

The parameter calculation unit 28 calculates fuel consumption, flight time, etc. when the vehicle flies along the route. The calculated specification data is displayed on the display unit 12 together with the optimum route and the score. For example, even if the flight purpose is to give priority to safety, it is necessary to arrive at the destination in the shortest possible time. When the specification data is displayed in this manner, it is possible to provide the operator with more specific and objective useful information. Therefore, the search for the optimum route becomes easier.

[0062]

As described above, according to claim 1 of the present invention,
By displaying the flight space and the spatial route environment information about the flight space on the display means, the operator of the aircraft can easily search for the optimum flight route based on the displayed information. .

Further, according to the second aspect of the present invention, since the judgment result about the flight suitability of the flight space is automatically displayed according to the flight purpose, the operator can further easily search the flight route. Can be helped.

Furthermore, according to the third aspect of the present invention, it is possible to display the score of each block in the flight space as an appropriateness as a flight route according to the flight purpose. Therefore, it is possible to obtain detailed information about the suitability of flight in a fine flight space, and it becomes easier for a person to search for a spatial route.

According to the fourth aspect of the present invention, the optimum flight route is automatically searched from the points for each block obtained as described above, so that the flight route can be swiftly and without any trouble of the person. Can be determined.

Further, as described in claim 5 of the present invention, if the judgment criterion is updated, the experience of the operator or the like can be reflected in the search function of the spatial route search device.

Further, as described in claim 6, by providing the route correction input means, in the case where the automatically obtained flight route is deficient, etc. Can be corrected. Therefore,
Even in a complicated flight environment, it is possible to flexibly deal with this and select the optimum flight route.

Further, as described in claim 7, it is necessary to obtain and display various information such as fuel consumption and required time when actually flying the flight route obtained as a result of the search or as a result of the selection. This makes it possible to determine the flight path more easily and objectively.

[Brief description of drawings]

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

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

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

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

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

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

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

[Explanation of symbols]

10 route environment storage unit, 12 display unit, 14 route selection unit, 16 flight proper position extraction unit, 18 flight purpose input unit, 19 extraction criterion accumulation unit, 20 judgment criterion accumulation unit, 2
2 Flight suitability scorer, 24 Search unit, 26 Corrected route input unit, 28 Parameter calculation unit.

Claims (8)

[Claims] 1. A route environment storage unit for storing spatial route environment information of a flight space, a display unit for displaying the flight space and the spatial route environment information, and a flight route for selecting a flight route from the displayed flight space. A spatial route search device comprising: route selection means. 2. The space route search device according to claim 1, further comprising flight purpose input means for inputting a flight purpose as a flight path selection standard, and extraction standard information of a flight suitability portion corresponding to each flight purpose. An extraction reference storage means for storing, and the extraction reference information according to the input flight purpose,
A flight suitability portion extraction unit for extracting each flight suitability portion of the flight space based on the spatial route environment information; and the display unit displaying the extracted flight suitability portion, and the route selection unit. A space route search device characterized in that a flight route is determined by selecting an arbitrary space of the flight space by using the flight route. 3. A route environment storage means for storing spatial route environment information of the flight space, a flight purpose input means for inputting a flight purpose as a flight route selection criterion, and flight suitability of a flight space corresponding to each flight purpose. Judgment criterion accumulating means for accumulating scoring judgment criterion, the judgment criterion according to the input flight purpose, and the space route environment information based on the flight space divided into predetermined blocks. Flight suitability scoring means for scoring each block as a flight suitability point, display means for displaying the score for each of the flight space and the block, and determining a flight path by selecting an arbitrary block from the flight space A spatial route search device comprising: 4. A route environment storage means for storing spatial route environment information of a flight space, a flight purpose input means for inputting a flight purpose as a flight route selection criterion, and flight suitability of a flight space corresponding to each flight purpose. Judgment criterion accumulating means for accumulating scoring judgment criterion, the judgment criterion according to the input flight purpose, and the space route environment information based on the flight space divided into predetermined blocks. Flight suitability scoring means for scoring each block as a flight suitability point, search means for searching an optimal flight route based on the score for each block, and display means for displaying the flight space and search results , A spatial route search device comprising: 5. The spatial route search device according to claim 3, wherein the determination criteria stored in the determination criteria storage means are updated. apparatus. 6. The spatial route search device according to claim 4, further comprising a route correction input unit for correcting the flight route searched by the searching unit. Characteristic spatial route search device. 7. The spatial route search device according to claim 3, further comprising at least one of fuel consumption and required time when flying the searched or selected flight route. A spatial route search device, comprising: specification calculation means for calculating as raw information, wherein the calculated specification information is displayed on the display means. 8. The spatial route search device according to claim 1, wherein the spatial route environment information includes at least one of weather information and avoidance place information, and topographical information. A space route search device characterized by the above.