Patent Description:
An aircraft, such as a helicopter, capable of hovering hovers not only at the time of takeoff and landing but also at the time of rescue work, relief work, and the like. However, since the hovering is restricted by various conditions, stabilizing an airframe of the aircraft by the hovering is generally regarded as difficult, and it is known that the decrease in the stability of the airframe leads to accidents. Therefore, for example, as a measure to avoid the accidents, it is known that in addition to visual monitoring by the pilot, an in-flight assistant (watchman) who monitors an outside of the aircraft to secure the stability during the hovering gets on the aircraft. According to this measure, the pilot and the watchman communicate with each other by using a talking apparatus, or the like.

Further, to deal with the boarding of the watchman, a technique of supporting the piloting of the aircraft, such as the helicopter, is also known. For example, PTL <NUM> discloses an aircraft, an aircraft piloting support method, and an interface, each of which intends to prevent an aircraft capable of hovering from colliding with an obstacle due to a misjudgment of an operator who is in charge of visual monitoring of the obstacle, a communication failure between the operator and the pilot, or the like.

The aircraft disclosed in PTL <NUM> includes: at least one sensor configured to acquire a distance value between the aircraft and the obstacle; and a control unit. The sensor is arranged at a position surrounding a drive shaft of a rotary wing of the aircraft. The sensor includes a planar sweeping region. When an obstacle exists in the planar sweeping region, the sensor acquires a distance value between a point on the obstacle and a point on the aircraft. When the control unit determines based on the distance value acquired by the sensor that the point on the obstacle is located within a safe region of the aircraft, the control unit outputs a warning signal.

The interface disclosed in PTL <NUM> can display, for example, a contour line indicating an intersection between an outer surface of the obstacle and the planar sweeping region of the sensor, a point indicating the position of the aircraft relative to the contour line, a circular image indicating a disc-shaped contour line of the rotary wing, an entire size image of the aircraft, and a vector indicating a recommended back-off direction in which the helicopter is returned from the obstacle.

The aircraft, the aircraft piloting support method, and the interface in PTL <NUM> are disclosed on the basis that the watchman (operator) gets on the aircraft. According to a helicopter for rescue or relief, it is desired that rescue staffs or medical staffs get on the helicopter as many as possible, and relief goods and the like be loaded as many as possible. Therefore, letting the watchman who is in charge of only the monitoring of the outside of the helicopter get on the helicopter leads to the decrease in the number of rescue staffs and the like in the helicopter and the decrease in the number of relief goods and the like in the helicopter. Regarding not only the helicopter for rescue or relief but also the aircraft capable of hovering, it is desirable that the pilot can properly recognize the existence of the obstacle or the like during the hovering work without the watchman on the aircraft.

A helicopter hazardous ground object warning system has a horizontally rotating beam from a laser rangefinder which detects and measures the distance to ground objects which may present a hazard to a helicopter during hover is disclosed in document <CIT>.

The present invention was made to solve the above problems, and an object of the present invention is to provide an aircraft hovering work support system by which a pilot can properly recognize the existence of an obstacle during hovering work of an aircraft capable of hovering.

To solve the above problems, an aircraft hovering work support system according to the present invention is mounted on an aircraft capable of hovering and includes: a detecting portion configured to detect a target object which is located outside an airframe of the aircraft and may become an obstacle during hovering of the aircraft; a data processing portion configured to process data acquired from at least one of the detecting portion and an avionics system of the aircraft; and a display portion. The data processing portion generates target object schematic image data by using detected data acquired from the detecting portion and avionics data acquired from the avionics system and outputs the target object schematic image data to the display portion, the target object schematic image data indicating approach of the target object to the aircraft or possibility of the approach of the target object to the aircraft. Based on the target object schematic image data, the display portion displays an obstacle state display image schematically showing a state of the obstacle around the aircraft.

According to the above configuration, the data processing portion generates the target object schematic image data by using the data acquired from the detecting portion and the avionics system, and the display portion displays, based on the target object schematic image data, the obstacle state display image containing a schematic image of the target object that may become an obstacle. Since the target object schematic image data is generated by using not only the detected data acquired from the detecting portion but also the avionics data of the aircraft, the target object schematic image data is the image data having more excellent accuracy. With this, the pilot can easily recognize the presence or absence of the obstacle around the aircraft or the state of the approach of the obstacle only by temporarily confirming the display portion during the hovering. Therefore, the pilot can properly recognize the existence of the obstacle during the hovering work of the aircraft capable of hovering.

To solve the above problems, an aircraft hovering work support system according to the present invention is mounted on an aircraft capable of hovering according to claim <NUM>.

According to the above configuration, the data processing portion generates the state image data and the target object schematic image data from the data acquired from the detecting portion and the avionics system, and the display portion displays, based on the state image data and the target object schematic image data, the circular image and the plural-stage target object schematic image which show the state around the aircraft. Especially, the target object schematic image is displayed so as to project toward the airframe from a direction corresponding to a direction of the existence of the target object as the target object approaches. With this, the pilot can easily recognize the presence or absence of the obstacle around the aircraft or the state of the approach of the obstacle only by temporarily confirming the display portion during the hovering. Therefore, the pilot can properly recognize the existence of the obstacle during the hovering work of the aircraft capable of hovering.

The aircraft capable of hovering according to the present invention includes any one of the above aircraft hovering work support systems.

By the above configuration, the present invention has an effect of being able to provide an aircraft hovering work support system by which a pilot can properly recognize the existence of an obstacle during hovering work of an aircraft capable of hovering.

Hereinafter, a typical embodiment of the present disclosure will be described with reference to the drawings. In the following description and the drawings, the same reference signs are used for the same or corresponding components, and a repetition of the same explanation is avoided.

One example of the configuration of an aircraft hovering work support system according to the present disclosure will be specifically described with reference to <FIG> and <FIG>. As shown in <FIG>, an aircraft hovering work support system 10A according to the present embodiment includes a data processing portion <NUM>, a detecting portion <NUM>, a display portion <NUM>, imaging portions <NUM>, and a communication portion <NUM>. As shown in <FIG>, the aircraft hovering work support system 10A is mounted on a helicopter <NUM> that is an aircraft capable of hovering. In the following description, for convenience sake, the "aircraft hovering work support system" is simply referred to as a "support system.

The data processing portion <NUM> is connected to an avionics system <NUM> mounted on an airframe <NUM> of the helicopter <NUM>. Data input and output can be bidirectionally performed between the data processing portion <NUM> and the avionics system <NUM>. This means that the support system 10A is connected to the helicopter <NUM>. The avionics system <NUM> is a system constituted by a plurality of avionics apparatuses provided at the airframe <NUM>. The avionics system <NUM> is only required to be a known system provided at the airframe <NUM> depending on the type of the helicopter <NUM> (or the aircraft capable of hovering).

In <FIG> and <FIG>, for convenience of explanation, the avionics system <NUM> is shown by a single block. As shown in <FIG>, the avionics system <NUM> includes navigation systems, such as an inertial navigation system (INS) <NUM> and a global positioning system (GPS) <NUM> and may include an informing apparatus <NUM>. In <FIG>, for convenience of explanation, the INS <NUM>, the GPS <NUM>, and the informing apparatus <NUM> are shown by respective blocks separately from the avionics system <NUM>.

The data processing portion <NUM> processes data acquired from at least one of the detecting portion <NUM>, the display portion <NUM>, the imaging portions <NUM>, and the avionics system <NUM>. For convenience of explanation, data obtained by processing the data (acquired data) acquired by the data processing portion <NUM> is referred to as "processed data. " As described below, the data processing portion <NUM> generates, as the processed data, various image data used for a display operation of the display portion <NUM> and outputs the image data to the display portion <NUM>.

Especially in the present disclosure, the data processing portion <NUM> generates the image data as the processed data by using not only detected data acquired from the detecting portion <NUM> but also avionics data acquired from the avionics system <NUM>. Needless to say, the data processing portion <NUM> may generate the processed data other than the image data. One example of the processed data other than the image data is below-described warning data. The data processing portion <NUM> outputs the generated warning data to the informing apparatus <NUM> included in the helicopter <NUM>. The specific configuration of the data processing portion <NUM> is not especially limited, and examples of the data processing portion <NUM> include known calculating devices, such as a microcomputer and a microcontroller.

The detecting portion <NUM> is provided outside the airframe <NUM> of the helicopter <NUM>. The detecting portion <NUM> detects a target object that may become an obstacle during the hovering of the helicopter <NUM>. Then, the detecting portion <NUM> generates the detected data and outputs the detected data to the data processing portion <NUM>. The specific configuration of the detecting portion <NUM> is not especially limited. The detecting portion <NUM> is only required to be a known sensor capable of detecting the target object. It is preferable that the detected data contain distance data indicating a distance to the target object. It is more preferable that the detected data contain the distance data and position data indicating a position of the target object.

A typical example of the detecting portion <NUM> capable of detecting the distance data and the position data is a detecting portion configured to irradiate the target object with an electromagnetic wave and receive its reflected wave. Specifically, examples of the detecting portion <NUM> include a known radar and a LIDAR (Light Detection and Ranging). Especially, the LIDAR is preferably used. The LIDAR irradiates the target object with, as pulsed laser, light (visible light, ultraviolet, infrared light, or the like) that is an electromagnetic wave having a shorter wavelength than a radar, and receives its reflected wave. The LIDAR acquires the direction and distance of the received reflected wave as three-dimensional information. Therefore, the LIDAR can obtain the characteristics of the target object with higher resolution than the radar.

In the example shown in <FIG>, the detecting portion <NUM> is provided on an upper surface of a tail portion <NUM> located outside the airframe <NUM>. However, the installation position of the detecting portion <NUM> is not especially limited as long as it is outside the airframe <NUM> and is a position where the detecting portion <NUM> can detect the target object that may become an obstacle during the hovering. Typically, it is preferable that the installation position of the detecting portion <NUM> be a position where the detecting portion <NUM> can detect an obstacle around the airframe <NUM>. It is more preferable that the installation position of the detecting portion <NUM> be a position where the detecting portion <NUM> can detect an obstacle located in a direction corresponding to a blind spot of a pilot <NUM>, or the installation position of the detecting portion <NUM> be a position where the detecting portion <NUM> can detect an obstacle around a main rotor <NUM>.

The display portion <NUM> is only required to display an image based on the image data output from the data processing portion <NUM>. The specific configuration of the display portion <NUM> is not especially limited. In the present embodiment, as shown in <FIG> and <FIG>, a pad-type mobile terminal (mobile terminal) 13A and a head mount display (HMD) 13B are used as the display portion <NUM>. It should be noted that when a piloting display system is provided at a pilot seat <NUM> of the helicopter <NUM>, such piloting display system can be used as the display portion <NUM> of the support system 10A. In this case, the image data is only required to be output from the data processing portion <NUM> through the avionics system <NUM>.

The imaging portions <NUM> are provided outside the airframe <NUM> of the helicopter <NUM>. Each of the imaging portions <NUM> takes an image of part of surroundings of the helicopter <NUM> and outputs the image as taken-image data (video image data). The specific configurations of the imaging portions <NUM> are not especially limited. Known video cameras can be suitably used as the imaging portions <NUM>. In the present embodiment, as shown in <FIG> and <FIG>, a rear-side imaging portion 14A and a lower-side imaging portion 14B are included as the imaging portions <NUM>. The rear-side imaging portion 14A takes an image of a rear direction (rear side) of the helicopter <NUM>, and the lower-side imaging portion 14B takes an image of a lower direction (lower side) of the helicopter <NUM>. Each of the rear direction and the lower direction is a direction which may correspond to the blind spot of the pilot <NUM> seated on the pilot seat <NUM>.

Since a front direction of the airframe <NUM> is within the field of view of the pilot <NUM>, the pilot <NUM> can visually confirm the approach of the target object that may become an obstacle. However, since the rear direction of the airframe <NUM> corresponds to the blind spot, the pilot <NUM> cannot visually confirm the approach of the target object. As shown in <FIG>, a rear portion of the airframe <NUM> of the helicopter <NUM> extends in the rear direction as the tail portion <NUM>, and a tail rotor <NUM> is provided at a rearmost end of the tail portion <NUM>. Therefore, for example, in order to confirm the approach of the target object to the main rotor <NUM> or the tail rotor <NUM> (or the tail portion <NUM>) at the rear side of the airframe <NUM>, it is preferable to provide the rear-side imaging portion 14A.

In the example shown in <FIG>, the helicopter <NUM> includes a skid <NUM> as a landing gear. Since the skid <NUM> is provided on a lower surface of the airframe <NUM>, the skid <NUM> may be caught by an overhead contact line, a tree, or the like during the hovering work. Further, during the hovering work of the helicopter <NUM>, a rescue staff may come down, or a person to be rescued may be pulled up with a rescue winch (hoist). Therefore, in order to allow the pilot <NUM> to confirm the lower direction of the airframe <NUM> during the hovering, it is preferable to provide the lower-side imaging portion 14B.

In the example shown in <FIG>, the rear-side imaging portion 14A is provided at a lower portion of a rear surface of a body portion <NUM> located outside the airframe <NUM>, and the lower-side imaging portion 14B is provided on a lower surface of the body portion <NUM>. However, the installation positions of the imaging portions <NUM> are not limited to this. Each of the installation positions of the imaging portions <NUM> is only required to be a position where the imaging portion <NUM> can take an image of a direction corresponding to the blind spot of the pilot <NUM>, a direction which does not correspond to the blind spot but is difficult for the pilot <NUM> to visually confirm during the hovering, or the like. Further, in the present embodiment, the rear-side imaging portion 14A and the lower-side imaging portion 14B are only required to be general optical video cameras. However, a special imaging apparatus, such as an infrared video camera, may be used depending on the type of the hovering work of the helicopter <NUM>.

As described above, in the present embodiment, the mobile terminal 13A and the HMD 13B are used as the display portion <NUM> and are independent apparatuses which are not fixedly mounted on the helicopter <NUM>. Therefore, in the present embodiment, the support system 10A includes the communication portion <NUM> configured to transmit the image data, output from the data processing portion <NUM>, to the mobile terminal 13A or the HMD 13B through wireless communication. The specific configuration of the communication portion <NUM> is not especially limited. A known wireless LAN, such as Wi-Fi (trademark), Bluetooth (trademark), or wireless Ethernet (trademark), can be used as the communication portion <NUM>. Further, the data processing portion <NUM> and the display portion <NUM> may be connected to each other through a wire instead of wireless connection.

In the support system 10A, the data processing portion <NUM> acquires the detected data from the detecting portion <NUM> and the taken-image data from the imaging portion(s) <NUM>, generates the image data, and outputs the image data to the display portion <NUM> through the communication portion <NUM>. As shown in <FIG> and <FIG>, the data processing portion <NUM> is connected to the airframe <NUM> of the helicopter <NUM> through the avionics system <NUM> and the like. Therefore, the data processing portion <NUM> can output the generated image data (or the other processed data) to the helicopter <NUM>. In addition, the data processing portion <NUM> can acquire the data from the helicopter <NUM> and use the data for the generation of the image data and the like.

For example, the informing apparatus <NUM>, such as a warning light, a sound alarm device, or a piloting display system displaying various messages, is mounted on the helicopter <NUM>. As the other processed data, the data processing portion <NUM> can generate the warning data for giving a warning of the approach of the target object. The data processing portion <NUM> may output the warning data to the avionics system <NUM>, and the informing apparatus <NUM> may operate based on the warning data. As described above, the avionics system <NUM> includes the navigation systems, such as the INS <NUM> and the GPS <NUM>. However, navigation data from the navigation systems may be output as the avionics data to the data processing portion <NUM>. The data processing portion <NUM> can use the navigation data when generating the processed data, such as the image data or the warning data.

In the support system 10A according to the present embodiment, based on the image data generated by the data processing portion <NUM>, the display portion <NUM> displays an image containing a schematic image of the target object that may become an obstacle. One example of the image displayed on the display portion <NUM> as above will be specifically described with reference to <FIG>, <FIG> in addition to <FIG> and <FIG>.

In the support system 10A, the data processing portion <NUM> collectively stores, and with this, commonizes the acquired data (the detected data from the detecting portion <NUM>, the taken-image data from the imaging portion(s) <NUM>, and the avionics data from the avionics system <NUM>). From at least the detected data and the avionics data among the acquired data, the data processing portion <NUM> generates target object schematic image data indicating the approach of the target object to the helicopter <NUM> or the possibility of the approach of the target object to the helicopter <NUM> and outputs the target object schematic image data to the display portion <NUM>. Further, the data processing portion <NUM> generates, from the acquired data, state image data indicating the state of surroundings of the airframe <NUM> as a center, and outputs the state image data to the display portion <NUM>. At this time, the target object schematic image data is generated as plural-stage image data corresponding to the distance between the helicopter <NUM> and the target object.

Based on the target object schematic image data from the data processing portion <NUM>, the display portion <NUM> displays an obstacle state display image schematically showing the state of the obstacle around the helicopter <NUM>.

The specific configuration of the obstacle state display image is not especially limited. Typically, one example of the obstacle state display image is that: as shown in <FIG>, <FIG>, a circular image <NUM> based on the state image data and corresponding to the front, rear, left, and right directions of the airframe <NUM> as a center is displayed; and as shown in <FIG>, <FIG>, a target object schematic image <NUM> corresponding to a circumference portion of the circular image <NUM> and based on the target object schematic image data is displayed in a direction corresponding to a direction in which the target object exists.

Especially, as shown in <FIG>, when the target object approaches the airframe <NUM>, the target object schematic image <NUM> is displayed so as to project from the circumference portion of the circular image <NUM> toward a center portion of the circular image <NUM> in accordance with stages of the target object schematic image data.

More specifically, each of <FIG>, <FIG> shows an obstacle display screen image <NUM> that is one example of the display screen image of the display portion <NUM>. The obstacle display screen image <NUM> contains the obstacle state display image. A display configuration of the obstacle display screen image <NUM> contains: the circular image <NUM> corresponding to the front, rear, left, and right directions of the airframe <NUM>; and the target object schematic image <NUM> displayed at the circumference portion of the circular image <NUM>.

As shown in <FIG>, <FIG>, according to an airframe schematic image <NUM> at a center of the circular image <NUM>, a nose of the airframe <NUM>, i.e., the helicopter <NUM> is located at an upper side in <FIG>. Therefore, in the drawings, the upper side corresponds to the front direction of the helicopter <NUM>, and the lower side corresponds to the rear direction of the helicopter <NUM>. In addition, the left side corresponds to the left direction of the helicopter <NUM>, and the right side corresponds to the right direction of the helicopter <NUM>. In <FIG>, a near side of a paper surface (screen image) corresponds to the upper direction of the helicopter <NUM>, and a deep side of the paper surface corresponds to the lower direction of the helicopter <NUM>. This correspondence relation is true also in <FIG>, <FIG>.

The circular image <NUM> includes concentric circles. In the examples shown in <FIG>, <FIG>, an annular region 40a and a five-ring annular region 40b are displayed. The annular region 40a is located at an outermost portion of the circumference of the circular image <NUM>, and the five-ring annular region 40b is adjacently located inside the annular region 40a These annular regions 40a and 40b are regions where the target object schematic image <NUM> is displayed, and indicate the distance between the helicopter <NUM> and the detected target object. The annular region 40a at the outermost portion is a caution region, and the annular region 40b inside the annular region 40a is a warning region. Therefore, for convenience of explanation, the annular region 40a at the outermost portion is referred to as a "caution annular region 40a," and the annular region 40b inside the annular region 40a is referred to as a "warning annular region 40b. " The warning annular region 40b is constituted by five rings arranged at regular intervals. These five rings are referred to as a first ring, a second ring, a third ring, a fourth ring, and a fifth ring in this order from an outside. The degree of warning increases in order from the first ring to the fifth ring. Therefore, the annular region 40b can display the warning by five levels.

First, in the obstacle display screen image <NUM> shown in <FIG>, only the circular image <NUM> and the airframe schematic image <NUM> are displayed, and the target object schematic image <NUM> is not displayed. Therefore, in the state shown in <FIG>, the target object that may become an obstacle does not exist around the helicopter <NUM>.

Next, in the obstacle display screen image <NUM> shown in <FIG>, the target object schematic image <NUM> is displayed in the caution annular region 40a of the circular image <NUM> in a diagonally right rear direction when viewed from the airframe schematic image <NUM>. In the present embodiment, in the annular regions 40a and 40b, the target object schematic image <NUM> can be displayed in stages by <NUM>° angular ranges. An image of a <NUM>° range shown in black is a first-stage image 42a, and an image of a <NUM>° range located at each of both sides of the first-stage image 42a and shown by grid-line hatching is a second-stage image 42b.

The first-stage image 42a indicates a target object located close to the helicopter <NUM>, and the second-stage image 42b indicates a target object located farther from the helicopter <NUM> than the first-stage image 42a. Further, a below-described third-stage image 42c indicates a target object located farther from the helicopter <NUM> than the second-stage image 42b. Therefore, the degree of caution increases in order from the third-stage image 42c to the first-stage image 42a. The stages that are the first-stage image 42a, the second-stage image 42b, and the third-stage image 42c are displayed in accordance with the stages of the target object schematic image data generated by the data processing portion <NUM>.

As described above, in <FIG>, <FIG>, the first-stage image 42a is schematically shown in black. However, the first-stage image 42a may be actually shown in red, for example. Further, the second-stage image 42b is schematically shown by the grid-line hatching. However, the second-stage image 42b may be actually shown in yellow, for example. In <FIG>, the third-stage image 42c is schematically shown by horizontal-line hatching However, the third-stage image 42c may be actually shown in green, for example. As above, the target object schematic image <NUM> is only required to be displayed by different colors in accordance with the stages of the target object schematic image data. In the state shown in <FIG>, the target object that may become an obstacle exists at a position at a diagonally right rear side of the helicopter <NUM>, i.e., a position in a relatively short distance range corresponding to the caution region.

Next, in the obstacle display screen image <NUM> shown in <FIG>, the target object schematic image <NUM> is displayed in a <NUM>° range spreading from the right side of the airframe schematic image <NUM> to the rear side of the airframe schematic image <NUM>, and the target object schematic image <NUM> is also displayed in a <NUM>° range at a diagonally left rear side of the airframe schematic image <NUM>. In this target object schematic image <NUM>, the first-stage image 42a displayed at a diagonally right rear side of the airframe schematic image <NUM> is displayed in a <NUM>° range so as to project from the caution annular region 40a of the circular image <NUM> to the second ring of the warning annular region 40b.

In the caution annular region 40a at each of both sides of the first-stage image 42a, the second-stage image 42b is displayed in a <NUM>° range. In the caution annular region 40a located at an outside of the second-stage image 42b, the third-stage image 42c is displayed in a <NUM>° range. Further, the third-stage image 42c is displayed in a <NUM>° range at a diagonally left rear side of the airframe schematic image <NUM>. In the state shown in <FIG>, a large target object exists in the distance range corresponding to the caution region spreading from the right side of the helicopter <NUM> to the rear side of the helicopter <NUM>, and part of the target object is very close to the distance range corresponding to the second stage of the warning region at a right rear side of the helicopter <NUM>.

Next, in the the obstacle display screen image <NUM> shown in <FIG>, the target object schematic image <NUM> is displayed in a <NUM>° range spreading from the right side of the airframe schematic image <NUM> to a diagonally left rear side of the airframe schematic image <NUM>. In this target object schematic image <NUM>, the first-stage image 42a displayed in a <NUM>° range at a diagonally right rear side of the airframe schematic image <NUM> projects to the fifth ring of the warning annular region 40b at most. At the right side of this most projecting position, the projecting positions change in stages, i.e., the projecting positions are located at the fourth ring, the third ring, the second ring, and the first ring. On the other hand, at the left side of the most projecting position, the projecting positions are located at the fourth ring and the first ring, i.e., the left side of the most projecting position projects steeply.

In the caution annular region 40a at both sides of the first-stage image 42a, the second-stage image 42b is displayed in a <NUM>° range at the right side of the first-stage image 42a, and the second-stage image 42b is displayed in a <NUM>° range at the left side of the first-stage image 42a. Further, at an outside of the left-side second-stage image 42b (i.e., at the left side of the left-side second-stage image 42b; at the rear side of the helicopter <NUM>), the third-stage image 42c is displayed in a <NUM>° range, and at an outside of the third-stage image 42c (i.e., at the left side of the third-stage image 42c; at a diagonally left rear side of the helicopter <NUM>), the second-stage image 42b is displayed in a <NUM>° range.

In the state shown in <FIG>, a large target object exists in the distance range corresponding to the caution region spreading from the right side of the helicopter <NUM> to the rear side of the helicopter <NUM>, and part of the target object is very close to the distance range corresponding to the fifth stage of the warning region at the right rear side of the helicopter <NUM>. Further, the right part of this large target object gently changes, but the left part of the large target object steeply changes. Part (corresponding to the position of the third-stage image 42c) of the target object at the rear side of the helicopter <NUM> is concave.

As above, the circular image <NUM> in the obstacle display screen image <NUM> is divided into the caution annular region 40a and the warning annular region 40b. In the caution annular region 40a located at the outermost portion, the differences of the degree of caution are shown by the types of the images. In the warning annular region 40b located inside the caution annular region 40a, the differences of the degree of warning are shown by the heights of the images in a direction toward the center portion (i.e., the differences of the degree of warning are shown by whether the projection reaches the first, second, third, fourth, or fifth ring).

When the degree of caution in the caution annular region 40a and the degree of warning in the warning annular region 40b are regarded as a change in one continuous "obstacle information importance degree" with respect to a viewer (pilot <NUM>) of the obstacle display screen image <NUM>, the "obstacle information importance degree" increases in order of the third-stage image 42c in the caution annular region 40a, the second-stage image 42b in the caution annular region 40a, the first-stage image 42a in the caution annular region 40a, the first-stage image 42a in the first ring of the warning annular region 40b, the first-stage image 42a in the second ring of the warning annular region 40b, the first-stage image 42a in the third ring of the warning annular region 40b, the first-stage image 42a in the fourth ring of the warning annular region 40b, and the first-stage image 42a in the fifth ring of the warning annular region 40b.

Next, the determination of the detected data by the data processing portion <NUM> will be specifically described with reference to <FIG> and <FIG> in addition to <FIG>.

As described above, in the support system 10A according to the present embodiment, a detecting portion capable of detecting the distance data and the position data can be suitably used as the detecting portion <NUM>. A specific example of the detecting portion <NUM> is the LIDAR.

As described above, since the LIDAR uses light that is an electromagnetic wave having shorter wavelength than a radar, the LIDAR can detect a minuter object than the radar. Therefore, the LIDAR is suitably used for measurements in the field of weather, such as steam, aerosol, wind and rain, and cloud. However, as in the present disclosure, in the case of detecting a larger object (target object that may become an obstacle) around the helicopter <NUM> when, for example, it rains or snows, the LIDAR may detect rain or snow and may not be able to appropriately detect the target object.

For example, it is snowing in the state of the obstacle display screen image <NUM> shown in <FIG>, i.e., in the state where the support system 10A detects the target object located in a <NUM>° range spreading from the right side of the airframe schematic image <NUM> to a diagonally left rear side of the airframe schematic image <NUM>. In this case, the detecting portion <NUM> detects snow therearound. Therefore, the existence of the target object may be strongly detected in a region where the target object does not exist. For example, as in the obstacle display screen image <NUM> shown in <FIG>, the first-stage image 42a may be entirely displayed as noise.

In the example shown in <FIG>, the target object schematic image <NUM> surrounded by a while line in <FIG> indicates the target object to be actually detected (and is the same as the target object schematic image <NUM> shown in <FIG>). However, when the detecting portion <NUM> detects snow therearound, for example, the first-stage image 42a projecting to the fifth ring is displayed in a <NUM>° range spreading from the right side of the airframe schematic image <NUM> to the diagonally left rear side of the airframe schematic image <NUM> and in a <NUM>° range located at a diagonally left rear side of the airframe schematic image <NUM>. In addition, the first-stage image 42a projecting to the first ring is displayed in a <NUM>° range located at the rear left side where the target object is not detected.

Although not shown, in mountain areas and the like, the helicopter <NUM> may raise dry leaves and the like on the ground during the hovering work. When the detecting portion <NUM> is the LIDAR, the detecting portion <NUM> may detect the dry leaves and the like, and as a result, the display portion <NUM> may display the raised dry leaves and the like as the target object schematic image <NUM>.

When the detecting portion <NUM> performs detecting operations of the same region or the same target plural times, ideally, the detecting portion <NUM> can detect the target object that may become an obstacle, in each of the detecting operations performed plural times. On the other hand, when the detecting portion <NUM> detects minute objects, such as rain, snow, or dry leaves, which temporarily exist around the helicopter <NUM>, the detecting portion <NUM> detects the minute objects only in some of all the detecting operations performed plural times. Therefore, it is determined that the number of times of the detection of the minute objects that exist temporarily is smaller than the number of times of the detection of the target object that may become an obstacle.

Therefore, in the present embodiment, the data processing portion <NUM> determines whether or not the number of times of the detection of the detected data of the same region or the same target by the detecting portion <NUM> is a preset determination threshold or more. When the detecting portion <NUM> is the LIDAR, the detecting portion <NUM> measures the distance data and the position data by irradiating the target object with the pulsed laser and acquiring its reflected wave. Therefore, for example, as shown in the flow chart of <FIG>, the data processing portion <NUM> acquires the detected data of the same distance and the same position from the detecting portion <NUM> plural times within a predetermined period of time (Step S11). Then, the data processing portion <NUM> determines whether or not the number of times of the detection of the detected data acquired plural times is the determination threshold or more (Step S12).

When the number of times of the detection is less than the determination threshold (NO in Step S12), it is determined that the detecting portion <NUM> detects the minute objects, such as rain, snow, or dry leaves raised by wind, which temporarily exist around the helicopter <NUM>. Therefore, the data processing portion <NUM> ignores the detected data (Step S13) and does not generate the target object schematic image data.

In contrast, when the number of times of the detection is the determination threshold or more (YES in Step S12), it is determined that the detecting portion <NUM> detects the target object that may become an obstacle, not the minute objects that temporarily exist around the helicopter <NUM>. Then, the data processing portion <NUM> generates the target object schematic image data by using the detected data and the avionics data (and also using the other acquired data, such as the taken-image data, according to need) and outputs the target object schematic image data to the display portion <NUM> (Step S14). With this, the display portion <NUM> does not display the obstacle display screen image <NUM> of <FIG> in which the first-stage image 42a is entirely displayed as the noise. The display portion <NUM> can display the obstacle display screen image <NUM> of <FIG> in which the noise is eliminated or reduced.

The determination threshold may be fixed as a preset number of times of the detection but may be suitably set in accordance with the state of the hovering of the helicopter <NUM> With this, the appropriateness of the detected data can be determined more efficiently or properly For example, as shown in the flow chart of <FIG>, the determination threshold is set after whether or not the distance data contained in the detected data falls within a predetermined range is determined. As shown in the flow chart of <FIG>, the determination threshold is set in accordance with the movement speed data of the helicopter <NUM>.

For example, it is determined that the detected data acquired from the position quite close to the helicopter <NUM> is the detection result of the minute objects that temporarily exist, not the detection result of the target object that may become an obstacle. Further, the detected data acquired from the position quite far from the helicopter <NUM> is ignorable as the target object that may become an obstacle even if the object is not the minute objects that exist temporarily. Therefore, for example, as shown in the flow chart of <FIG>, after the data processing portion <NUM> acquires the detected data from the detecting portion <NUM> plural times within a predetermined period of time (Step S21), the data processing portion <NUM> determines whether or not the distance data contained in the detected data falls within a predetermined range (Step S22).

When the distance data falls outside the predetermined range (NO in Step S22), it is determined that the detected data is acquired from the position quite close to or quite far from the helicopter <NUM>. Therefore, the data processing portion <NUM> ignores the detected data (Step S23) and does not generate the target object schematic image data. In contrast, when the distance data falls within the predetermined range (YES in Step S22), the data processing portion <NUM> sets the determination threshold in accordance with the value of the distance data (Step S24).

For example, when the value of the distance data indicates a position relatively close to the helicopter <NUM>, the detected data containing this distance data may indicate the minute objects that exist temporarily. Further, since the distance to the helicopter <NUM> is short, the number of times of the detection may become relatively large even in the case of the minute objects that exist temporarily. Therefore, when the distance is short, the determination threshold can be set high. Further, when the value of the distance data indicates a position far from the helicopter <NUM>, the number of times of the detection of the minute objects that exist temporarily tends to become relatively small. Therefore, as the distance data increases, the determination threshold can be set to gradually decrease.

After that, the data processing portion <NUM> determines based on the set determination threshold whether or not the number of times of the detection of the detected data is the determination threshold or more (Step S25). When the number of times of the detection of the detected data is less than the determination threshold (NO in Step S25), the data processing portion <NUM> ignores the detected data (Step S23) and does not generate the target object schematic image data. In contrast, when the number of times of the detection of the detected data is the determination threshold or more (YES in Step S25), the data processing portion <NUM> generates the target object schematic image data by using the detected data and the avionics data (and also using the other acquired data, such as the taken-image data, according to need) and outputs the target object schematic image data to the display portion <NUM> (Step S26).

For example, even while the helicopter <NUM> is hovering, the helicopter <NUM> may sideslip in a predetermined direction depending on the state of the hovering work. Herein, for example, when it is assumed that the detecting portion <NUM> (LIDAR) irradiates a predetermined region based on a global coordinate system with the pulsed laser, the probability of irradiating the predetermined region with the pulsed laser decreases due to a change in the posture of the helicopter <NUM> (the posture of the detecting portion <NUM>). Therefore, the determination threshold is set in accordance with the movement speed of the helicopter <NUM> in consideration of the probability of irradiating the predetermined region with the pulsed laser. With this, the accuracy of the determination of the detected data can be improved.

For example, as shown in the flow chart of <FIG>, after the data processing portion <NUM> acquires the detected data from the detecting portion <NUM> plural times within a predetermined period of time (Step S31), the data processing portion <NUM> sets the determination threshold based on the movement speed data of the helicopter <NUM> (Step S32) and determines based on the set determination threshold whether or not the number of times of the detection of the detected data is the determination threshold or more (Step S33). The movement speed data may be contained in the detected data, or the data processing portion <NUM> may calculate the movement speed based on, for example, the detected data. Or, for example, the data, such as the navigation data that is the avionics data, contained in the acquired data of the data processing portion <NUM> may be utilized.

When the number of times of the detection of the detected data is less than the determination threshold (NO in Step S33), the data processing portion <NUM> ignores the detected data (Step S34) and does not generate the target object schematic image data. In contrast, when the number of times of the detection of the detected data is the determination threshold or more (YES in Step S33), the data processing portion <NUM> generates the target object schematic image data by using the detected data and the avionics data (and also using the other acquired data, such as the taken-image data, according to need) and outputs the target object schematic image data to the display portion <NUM> (Step S35).

Each of the flow charts shown in <FIG> includes a step of setting the determination threshold based on the distance data or the movement speed data. Herein, setting the determination threshold denotes not only setting a specific numerical value (number of times) but also selecting one of a plurality of present determination thresholds based on the value of the distance data or the value of the movement speed data. Further, the determination process of the flow chart shown in <FIG> and the determination process of the flow chart shown in <FIG> may be used in combination. One example may be such that after it is determined whether or not the distance data of the acquired detected data falls within a predetermined range, the value of the movement speed data is determined, and the determination threshold is set.

Next, one example of the obstacle display screen image <NUM> displayed on the display portion <NUM> and an entire display screen image including the obstacle display screen image <NUM> will be specifically described with reference to <FIG> and <FIG>.

In the present embodiment, as shown in <FIG> and <FIG>, the pad-type mobile terminal (mobile terminal) 13A and the head mount display (HMD) 13B are used as the display portion <NUM>. The mobile terminal 13A does not have to be fixedly mounted on the pilot seat <NUM> of the helicopter <NUM>. As schematically shown in <FIG>, the mobile terminal 13A is only required to be detachably attached to a position within the field of view of the pilot <NUM>. The HMD 13B is only required to be attached to the head of the pilot <NUM>.

The pilot <NUM> does not always view the mobile terminal 13A and the HMD 13B but glances at the mobile terminal 13A and the HMD 13B according to need for reference, i.e., for confirming the state of the obstacle during the hovering. Therefore, the display screen image of the display portion <NUM> is only requited to display the obstacle state display image (image containing the circular image <NUM>, the target object schematic image <NUM>, and the like) as shown in <FIG>, <FIG>, and <FIG>. Further, other information useful for the pilot <NUM> during the hovering may be displayed on the display screen image of the display portion <NUM> together with the obstacle state display image.

Typically, as shown in <FIG>, each of the mobile terminal 13A and the HMD 13B may be configured to display an obstacle display screen image <NUM> in which various instrument data is displayed around the obstacle state display image (the circular image <NUM>, the target object schematic image <NUM>, and the like). The instrument data is not especially limited, and typical examples of the instrument data include a ground speed, a pressure altitude, an ascending/descending ratio, and a sideslip angle. The instrument data is only required to be displayed on the display portion <NUM> based on instrument data image data generated by the data processing portion <NUM>. The data processing portion <NUM> is only required to generate the instrument data image data based on the avionics data (especially the navigation data) and/or the detected data.

In the example shown in <FIG>, the circular image <NUM> (and the airframe schematic image <NUM> and the target object schematic image <NUM>) is displayed at a center-left region in the display screen image, and a ground speed vector image <NUM>, a ground speed numerical value image <NUM>, a pressure altitude numerical value image <NUM>, an ascending/descending ratio numerical value image <NUM>, and an ascending/descending ratio bar image <NUM> are also displayed as instrument data images.

The ground speed vector image <NUM> is a vector-shaped image which is displayed at a position overlapping the airframe schematic image <NUM> located at the center of the circular image <NUM> and extends from the center of the circular image <NUM> toward an outside. The angle of the vector indicates the sideslip angle, and the length of the vector indicates the magnitude of the ground speed. In the example of <FIG>, the helicopter <NUM> is sideslipping in a diagonally left front direction. The length of the ground speed vector image <NUM> is not especially limited and is only required to be such a length that the viewer (pilot <NUM>) can recognize the magnitude of the ground speed. In the example shown in <FIG>, a tip end of the ground speed vector image <NUM> is located at a position overlapping an inner circumference of the annular region 40b of the circular image <NUM> but may overlap the circular image <NUM>.

In the example shown in <FIG>, the ground speed numerical value image <NUM> is located at a region surrounded by a dotted line at an upper left side of the circular image <NUM> and displays the ground speed (abbreviated as G/S) corresponding to the length of the ground speed vector image <NUM> by a numerical value (in <FIG>, "G/S<NUM>" is displayed). In the example shown in <FIG>, the pressure altitude numerical value image <NUM> is located at a right side of the circular image <NUM> and displays the pressure altitude (abbreviated as ALT) by a numerical value (in <FIG>, "ALT<NUM>" is displayed). In the example shown in <FIG>, the ascending/descending ratio numerical value image <NUM> is located at a region surrounded by a dotted line at an upper right side of the circular image <NUM> and displays the ascending/descending ratio (abbreviated as V/S) by a numerical value (in <FIG>, "V/S<NUM>" is displayed). In <FIG>, each of the ground speed numerical value image <NUM> and the ascending/descending ratio numerical value image <NUM> is shown as the region surrounded by a thin dotted line. However, the region surrounded by the thin dotted line is used for convenience sake, and actually, the ground speed numerical value image <NUM> and the ascending/descending ratio numerical value image <NUM> are abbreviated and displayed only by the numerical values.

In the example shown in <FIG>, the ascending/descending ratio bar image <NUM> is displayed at the right side of the circular image <NUM> in the form of a bar (band) that can expand and contract upward or downward based on a white line overlapping the pressure altitude numerical value image <NUM>. To be specific, the ascending/descending ratio bar image <NUM> indicates the ascending/descending ratio by the length of the bar (band) instead of the numerical value. The bar expanding upward indicates a positive (plus) ascending/descending ratio, and the bar expanding downward indicates a negative (minus) ascending/descending ratio. In <FIG>, a region shown by upper and lower broken lines corresponds to a maximum displayable region of the bar.

As above, the above-described instrument data is displayed in the obstacle display screen image <NUM> together with the obstacle state display image. With this, the pilot <NUM> can refer to the data for the piloting during the hovering. The instrument data displayed in the obstacle display screen image <NUM> is not limited to the ground speed, the pressure altitude, the ascending/descending ratio, and the sideslip angle. The other instrument data may be displayed, or some of the instrument data may not be displayed. In the example shown in <FIG>, the ground speed, the pressure altitude, and the ascending/descending ratio are displayed by the numerical values, but the ground speed, the sideslip angle, and the ascending/descending ratio are displayed by images, such as the vector and the bar. Therefore, the other instrument data may be displayed by an image instead of a numerical value.

When the mobile terminal 13A is attached to the pilot seat <NUM> such that the display screen image thereof becomes a vertically long state (i.e., a longitudinal direction of the mobile terminal 13A extends along a vertical direction), as shown by a mobile terminal display screen image <NUM> in <FIG>, the obstacle display screen image <NUM> that is the same as <FIG> may be displayed at an upper side in the display screen image, and for example, an imaging portion display screen image <NUM> taken by the imaging portion <NUM> may be displayed at a lower side in the display screen image. In the example shown in <FIG>, a rear-side taken image 52a taken by the rear-side imaging portion 14A is displayed in the imaging portion display screen image <NUM>. For example, the imaging portion display screen image <NUM> may be able to be switched by an operation of the pilot <NUM> from the rear-side taken image 52a shown in <FIG> to a lower-side taken image taken by the lower-side imaging portion 14B.

The data processing portion <NUM> may generate taken image display data based on the taken-image data acquired from the imaging portion <NUM> and output the taken image display data to the display portion <NUM>. Or, the data processing portion <NUM> may output the taken-image data to the display portion <NUM> without substantially processing the taken-image data depending on the type of the taken-image data. The display portion <NUM> is only required to be able to display both the taken image based on the taken-image data (or the taken image display data) and the obstacle state display image on the same screen image in parallel. Therefore, the configuration of the mobile terminal display screen image <NUM> is not limited to the configuration of <FIG> in which the screen image is divided into upper and lower parts.

As shown in <FIG>, for example, an imaging direction schematic image <NUM> may be displayed at an upper left side in the imaging portion display screen image <NUM>. For example, the imaging direction schematic image <NUM> is designed such that: an image showing the airframe <NUM> in the same manner as the airframe schematic image <NUM> is displayed in a small circular image; and an image showing an imaging direction by diagonal line is displayed in an overlapping manner. In the example shown in <FIG>, since the image displayed in the imaging portion display screen image <NUM> is the rear-side taken image 52a, the imaging direction schematic image <NUM> shows that the image of the rear side of the airframe <NUM> is being taken.

In the present embodiment, the support system 10A includes a plurality of imaging portions <NUM>, such as the rear-side imaging portion 14A and the lower-side imaging portion 14B. In this case, as described above, the taken images of the imaging portions <NUM> can be switched in the imaging portion display screen image <NUM> at the lower side in the mobile terminal display screen image <NUM>. Therefore, in order to make it clear that the taken image that is currently displayed is supplied from which of the the imaging portions <NUM>, the imaging direction schematic image <NUM> may be displayed in part of the taken image. Further, instead of the imaging direction schematic image <NUM>, a letter(s) indicating the imaging direction or the type of the imaging portion <NUM> may be simply displayed (in the example shown in <FIG>, letters, such as "lower-side imaging portion," are only required to be displayed).

As shown in <FIG>, both the obstacle state display image and the taken image may be displayed in the display screen image of the HMD 13B in parallel. It should be noted that the HMD 13B is mounted on the head of the pilot <NUM> and displays a screen image in front of the eyes of the pilot <NUM>. Therefore, the amount of information displayed on the display screen image of the HMD 13B may be made smaller than that displayed on the display screen image of the mobile terminal 13A. One example may be such that: only the obstacle display screen image <NUM> shown in <FIG> is displayed as the display screen image of the HMD 13B; and the obstacle display screen image <NUM> is switched to the taken image of the imaging portion <NUM> by the operation of the pilot <NUM>.

Further, the support system 10A may be configured such that an annotation image is displayed so as to overlap the taken image displayed in the imaging portion display screen image <NUM>. Specifically, for example, as described above, the data processing portion <NUM> generates the target object schematic image data from at least the detected data and the avionics data among the acquired data and outputs the target object schematic image data to the display portion <NUM>. However, the data processing portion <NUM> may generate annotation image data of the annotation image displayed so as to overlap the taken image, together with the generation of the target object schematic image data, and may output the annotation image data to the display portion <NUM> together with the target object schematic image data. With this, the display portion <NUM> displays the annotation image based on the annotation image data such that the annotation image overlaps the taken image.

The specific type of the annotation image is not especially limited and is only required to be an image which is useful for the viewer (pilot <NUM>) of the imaging portion display screen image <NUM> or can alert the viewer (pilot <NUM>). Examples of the annotation image include a figure, a sign, a letter, image processing of part of the taken image, and combinations thereof. As described above, the imaging portion display screen image <NUM> can be displayed together with the obstacle display screen image <NUM> in parallel. Therefore, as shown in <FIG>, examples of the annotation image include marking images 54a and 54b corresponding to the target object schematic image <NUM>.

As with <FIG>, the rear-side taken image 52a is displayed in the imaging portion display screen image <NUM> shown in <FIG>. The obstacle display screen image <NUM> is shown at the upper side of the imaging portion display screen image <NUM>. The existence of the target object that may become an obstacle at a diagonally right rear side of the airframe <NUM> is displayed by the first-stage image 42a. Herein, a first-stage marking image 54a is only required to be displayed so as to emphasize the target object that may become an obstacle displayed in the rear-side taken image 52a. In the example shown in <FIG>, the first-stage marking image 54a is displayed as an image of a numeral in a rectangular box at a position of part of the target object which part is located closest to the airframe <NUM>.

In the present embodiment, the first-stage image 42a is displayed in red, for example. In <FIG> (and <FIG>, <FIG>, <FIG>, <FIG>, and <FIG>), the first-stage image 42a is schematically shown in black. Therefore, the first-stage marking image 54a (the rectangular box and the numeral) corresponding to the first-stage image 42a is only required to be displayed also in red (in the drawings, in black). Further, for example, the numeral in the rectangular box is only required to indicate a distance from the airframe <NUM>. The example shown in <FIG> displays that the target object exists at a diagonally right rear side of the airframe <NUM> at a position away from the helicopter <NUM> by about <NUM> meters.

Similarly, a second-stage marking image 54b corresponding to the second-stage image 42b of the obstacle display screen image <NUM> is displayed in the imaging portion display screen image <NUM> shown in <FIG>. In the present embodiment, the second-stage image 42b is displayed in yellow, for example. In <FIG>, etc., the second-stage image 42b is schematically displayed by the grid-line hatching. Therefore, the second-stage marking image 54b (the rectangular box and the numeral) is only required to be displayed also in yellow (in the drawings, by the grid-line hatching). The example shown in <FIG> displays that the target object exists at a diagonally left rear side of the airframe <NUM> at a position away from the helicopter <NUM> by about <NUM> meters.

As above, in the support system 10A according to the present disclosure, the data processing portion <NUM> generates the target object schematic image data by using the data acquired from at least the detecting portion <NUM> and the avionics system <NUM>. Based on the target object schematic image data, the display portion <NUM> displays the obstacle state display image containing a schematic image of the target object that may become an obstacle. Since the target object schematic image data is generated by using not only the detected data acquired from the detecting portion <NUM> but also the avionics data of the helicopter <NUM>, the target object schematic image data is image data having more excellent accuracy. With this, the pilot <NUM> can easily recognize the presence or absence of the obstacle around the aircraft or the state of the approach of the obstacle only by temporarily confirming the display portion <NUM> during the hovering. Therefore, during the hovering work of the aircraft capable of hovering, the pilot <NUM> can properly recognize the existence of the obstacle.

In the support system 10A according to the present disclosure, the data processing portion <NUM> generates the state image data and the target object schematic image data from the data acquired from at least the detecting portion <NUM> and/or the avionics system <NUM>, and the display portion <NUM> displays, based on the state image data and the target object schematic image data, the circular image <NUM> and the plural-stage target object schematic image <NUM> which show the state around the aircraft. Especially, the target object schematic image <NUM> is displayed so as to project toward the airframe <NUM> from a direction corresponding to a direction of the existence of the target object as the target object approaches. With this, the pilot <NUM> can easily recognize the presence or absence of the obstacle around the aircraft or the state of the approach of the obstacle only by temporarily confirming the display portion <NUM> during the hovering. Therefore, the pilot <NUM> can properly recognize the existence of the obstacle during the hovering work of the aircraft capable of hovering.

The present disclosure is not limited to the support system 10A configured as above. In the present embodiment described above, as schematically shown in <FIG>, the support system 10A can be retrofitted to the helicopter <NUM>. Therefore, in the support system 10A configured as above, the detecting portion <NUM>, the display portion <NUM>, the imaging portions <NUM>, and the data processing portion <NUM> are only required to be configured as independent apparatuses which are attachable to the airframe <NUM> of the helicopter <NUM> (aircraft capable of hovering). However, in the support system 10A, some of the detecting portion <NUM>, the display portion <NUM>, the imaging portions <NUM>, and the data processing portion <NUM> may be configured as independent apparatuses, and the other may be mounted on the helicopter <NUM> in advance.

For example, the display portion <NUM> may be a piloting display system provided at a piloting panel of the pilot seat <NUM>, not the mobile terminal 13A and the HMD 13B. Further, the data processing portion <NUM> may be a calculating unit included in the avionics system <NUM> of the helicopter <NUM>, not an independent calculating device. In this case, the data processing portion <NUM> may be realized as software in such a manner that the calculating unit of the avionics system <NUM> reads a program that realizes the data processing portion <NUM>.

In the examples shown in <FIG> and <FIG>, as the imaging portions <NUM>, the support system 10A includes the rear-side imaging portion 14A provided at the rear portion of the airframe <NUM> and the lower-side imaging portion 14B provided at the lower portion of the airframe <NUM>. However, the positions and types of the imaging portions <NUM> are not limited to these. For example, the present disclosure may include a support system 10B including only the rear-side imaging portion 14A as the imaging portion <NUM> as shown in <FIG> and a support system 10C including the rear-side imaging portion 14A, the lower-side imaging portion 14B, and a lateral-side imaging portion 14C as the imaging portion <NUM> as shown in <FIG>.

As shown in <FIG> and <FIG>, when the helicopter <NUM> includes a plurality of imaging portions <NUM>, and the imaging portions <NUM> can take images in different directions around the airframe <NUM>, the display portion <NUM> may be configured to automatically display the taken image of the target object that may become an obstacle. Specifically, among the plurality of imaging portions <NUM>, one imaging portion that is taking the image of the target object is referred to as a "specific imaging portion" for convenience sake. In this case, the display portion <NUM> is only required to display both the obstacle state display image (the circular image <NUM> and the target object schematic image <NUM>) and the taken image, which is based on the taken-image data taken by the specific imaging portion, on the same screen image in parallel.

For example, in the support system 10C shown in <FIG>, as described above, the rear-side imaging portion 14A, the lower-side imaging portion 14B, and the lateral-side imaging portion 14C are included as the plurality of imaging portions <NUM>. In a block diagram of <FIG>, the lateral-side imaging portion 14C is shown by a single block. However, when an imaging portion (right-side imaging portion) configured to take an image of the right side of the airframe <NUM> and an imaging portion (left-side imaging portion) configured to take an image of the left side of the airframe <NUM> are included as the lateral-side imaging portions 14C, the support system 10C includes four imaging portions <NUM> in total.

The following will describe an example in which while the left-side imaging portion is taking the image of the left side of the airframe <NUM>, the approach of the target object that may become an obstacle occurs at a diagonally right rear side of the airframe <NUM>. In this case, at first, as shown at a left side in <FIG>, the same image as <FIG> or <FIG> (or <FIG>) is displayed in the obstacle display screen image <NUM> displayed at an upper side in the mobile terminal display screen image <NUM>, and a lateral-side taken image 52b taken by the left-side imaging portion is displayed in the imaging portion display screen image <NUM> displayed at a lower side in the mobile terminal display screen image <NUM>. The imaging direction schematic image <NUM> is displayed at the upper left side in the imaging portion display screen image <NUM> as with <FIG> (or <FIG>), and the imaging direction corresponds to the left side of the airframe <NUM>.

The data processing portion <NUM> generates the target object schematic image data for displaying that the target object is approaching at a diagonally right side of the airframe <NUM>. Then, for example, in accordance with the generation of the target object schematic image data, the data processing portion <NUM> is only required to: select the rear-side imaging portion 14A, which is taking (or may be taking) the image of the target object, from the plurality of imaging portions <NUM>; generate a command (taken-image data switching command) for switching from the taken-image data of the left-side imaging portion to the taken-image data of the rear-side imaging portion 14A; and output the command to the display portion <NUM> (mobile terminal 13A).

As described above, in the mobile terminal display screen image <NUM> displayed on the mobile terminal 13A, at first, the lateral-side taken image 52b is displayed in the imaging portion display screen image <NUM> located at the lower side (see the left side in <FIG>). When the taken-image data switching command is output from the data processing portion <NUM> to the mobile terminal 13A, the lateral-side taken image 52b is switched to the rear-side taken image 52a (that is the same as <FIG> or <FIG>) in the imaging portion display screen image <NUM> located at the lower side as shown in the right side in <FIG>.

The display portion <NUM> is only required to display both the obstacle state display image and the taken image, which is based on the taken-image data taken by the specific imaging portion, on the same screen image in parallel. Therefore, the present disclosure is not limited to the configuration of switching the taken image displayed in the imaging portion display screen image <NUM>. One example may be such that: at first, the imaging portion display screen image <NUM> is not displayed in the mobile terminal display screen image <NUM>, and only the obstacle display screen image <NUM> is displayed in the mobile terminal display screen image <NUM> (see <FIG>); and after that, when the target object that may become an obstacle approaches, and the first-stage image 42a is displayed in the obstacle display screen image <NUM>, the imaging portion display screen image <NUM> is displayed at the lower side in the obstacle display screen image <NUM>.

In the present embodiment, the support system 10A includes only one detecting portion <NUM>. However, the support system 10A may include a plurality of detecting portions <NUM>. For example, as in the support system 10B shown in <FIG>, a second detecting portion <NUM> may be included in addition to the detecting portion <NUM>. The second detecting portion <NUM> may be the same type of sensor (for example, a LIDAR) as the detecting portion <NUM> or may be a different type of sensor (for example, a radar). Further, when the plurality of detecting portions <NUM>, such as the detecting portion <NUM> and the second detecting portion <NUM>, are different in type from each other, the plurality of detecting portions <NUM> may be provided at the same position or may be provided at different positions. For example, when the detecting portion <NUM> is provided on the upper surface of the tail portion <NUM> as described above (see <FIG>), the second detecting portion <NUM> may be provided at the body portion <NUM> although not shown.

In the present embodiment, as described above, the data processing portion <NUM> can generate the warning data in addition to the image data from the acquired data, and the informing apparatus <NUM> mounted on the helicopter <NUM> can operate based on the warning data. The informing apparatus <NUM> is, for example, a warning light, a sound alarm device, or a piloting display system, but is not limited to these. Another example of the informing apparatus <NUM> is a vibration apparatus provided at a control stick.

When the detecting portion <NUM> detects the approach of the target object, and the data processing portion <NUM> generates the warning data together with the image data and outputs the data to the avionics system <NUM>, the vibration apparatus that is the informing apparatus <NUM> operates to vibrate the control stick. With this, the pilot <NUM> can recognize the approach of the target object by the vibration of the control stick in addition to the image of the warning on the display portion <NUM>, the informing of the light emission of the warning light, and the informing of the sound of the sound alarm device. The sound alarm device may be configured to emit not only warning sound or warning message sound but also warning sound from an approaching direction of the target object by stereophonic sound (3D sound field).

In the present embodiment, the data processing portion <NUM> generates the target object schematic image data by using the detected data acquired from the detecting portion <NUM> and the avionics data acquired from the avionics system <NUM>. However, the generation of the target object schematic image data is not limited to this, and the target object schematic image data is only required to be generated by using at least the detected data and the avionics data. For example, the data processing portion <NUM> may generate the target object schematic image data by using the taken-image data acquired from the imaging portion <NUM> in addition to the detected data and the avionics data. Or, the data processing portion <NUM> may acquire data other than the detected data, the avionics data, and the taken-image data and use the data for the generation of the target object schematic image data.

In the present embodiment, the helicopter <NUM> is described as the aircraft including the support system 10A, 10B, or 10C according to the present disclosure. However, the aircraft is not limited to this and is only required to be able to hover. One example of the specific configuration of the helicopter <NUM> is schematically shown in <FIG>. Needless to say, the specific configuration of the helicopter <NUM> is not limited to the configuration shown in <FIG>, and the helicopter <NUM> may have any of various known configurations.

As above, to solve the above problems, an aircraft hovering work support system according to the present disclosure is mounted on an aircraft capable of hovering and includes: a detecting portion configured to detect a target object which is located outside an airframe of the aircraft and may become an obstacle during hovering of the aircraft; a data processing portion configured to process data acquired from at least one of the detecting portion and an avionics system of the aircraft; and a display portion. The data processing portion generates target object schematic image data by using detected data acquired from the detecting portion and avionics data acquired from the avionics system and outputs the target object schematic image data to the display portion, the target object schematic image data indicating approach of the target object to the aircraft or possibility of the approach of the target object to the aircraft. Based on the target object schematic image data, the display portion displays an obstacle state display image schematically showing a state of the obstacle around the aircraft.

The aircraft hovering work support system may be configured such that the data processing portion generates the target object schematic image data when the number of times of detection of the detected data of a same region or a same target is a preset determination threshold or more.

The aircraft hovering work support system may be configured such that: the detected data acquired from the detecting portion contains distance data indicating a distance to the target object; when the distance data falls within a preset distance range, the data processing portion sets the determination threshold in accordance with the distance to the target object; and when the distance data falls outside the distance range, the data processing portion ignores the detected data.

The aircraft hovering work support system may be configured such that: the avionics data contains movement speed data of the aircraft; and the data processing portion sets the determination threshold based on the movement speed data.

To solve the above problems, an aircraft hovering work support system according to the present disclosure is mounted on an aircraft capable of hovering and includes: a detecting portion configured to detect a target object which is located outside an airframe of the aircraft and may become an obstacle during hovering of the aircraft; a data processing portion configured to process data acquired from at least one of the detecting portion and an avionics system of the aircraft; and a display portion. The data processing portion generates state image data and plural-stage target object schematic image data from the acquired data and outputs the state image data and the plural-stage target object schematic image data to the display portion, the state image data indicating a state of surroundings of the airframe as a center, the plural-stage target object schematic image data indicating approach of the target object to the aircraft or possibility of the approach of the target object to the aircraft and corresponding to a distance to the target object. As an obstacle state display image showing a state of the obstacle around the aircraft, the display portion displays a circular image and a target object schematic image, the circular image being based on the state image data and corresponding to front, rear, left, and right directions of the airframe as a center, the target object schematic image being based on the target object schematic image data and located at a circumference portion of the circular image in a direction corresponding to a direction in which the target object exists. When the target object approaches the airframe, the target object schematic image is displayed so as to project from the circumference portion of the circular image toward a center portion of the circular image in accordance with stages of the target object schematic image data.

The aircraft hovering work support system may be configured such that: the data processing portion generates instrument data image data containing at least one of a ground speed, a pressure altitude, an ascending/descending ratio, and a sideslip angle and outputs the instrument data image data to the display portion; and the display portion displays instrument data together with the circular image and the target object schematic image, the instrument data being based on the instrument data image data.

The aircraft hovering work support system may be configured such that the target object schematic image is displayed in different colors in accordance with the stages of the target object schematic image data.

The aircraft hovering work support system may further include an imaging portion provided outside the airframe of the aircraft and configured to take an image of surroundings of the aircraft.

The aircraft hovering work support system may be configured such that the display portion displays both a taken image and the obstacle state display image on a same screen image in parallel, the taken image being based on the taken-image data.

The aircraft hovering work support system may be configured such that the imaging portion is provided at at least a rear portion of the airframe.

The aircraft hovering work support system may be configured such that the imaging portion is further provided at at least one of a lower portion of the airframe and a side portion of the airframe.

The aircraft hovering work support system may further include a plurality of imaging portions configured to take images in different directions around the aircraft and may be configured such that: among the plurality of imaging portions, one imaging portion configured to take an image of the target object is referred to as a specific imaging portion; and the display portion displays both the obstacle state display image and a taken image on the same screen image in parallel, the taken image being based on the taken-image data taken by the specific imaging portion.

The aircraft hovering work support system may be configured such that: the data processing portion generates the target object schematic image data and also generates annotation image data displayed so as to overlap the taken image, and outputs the target object schematic image data and the annotation image data to the display portion; and the display portion displays an annotation image such that the annotation image overlaps the taken image, the annotation image being based on the annotation image data.

The aircraft hovering work support system may be configured such that the detecting portion is a LIDAR.

The aircraft hovering work support system may be configured such that at least one of the detecting portion, the imaging portion, the display portion, and the data processing portion is configured as an independent apparatus attachable to the airframe of the aircraft.

The aircraft hovering work support system may be configured such that the display portion is at least one of a mobile terminal including a display screen image and a head mount display.

An aircraft capable of hovering according to the present disclosure includes any one of the above aircraft hovering work support systems.

According to the aircraft capable of hovering, the aircraft may be a helicopter.

The aircraft capable of hovering may be configured such that: the avionics system of the aircraft includes a navigation system; and the data processing portion acquires navigation data from the navigation system and uses the navigation data for at least the generation of the target object schematic image data.

The aircraft capable of hovering may further include an informing apparatus configured to inform a pilot of a warning and may be configured such that: the data processing portion generates warning data from the acquired data and outputs the warning data to the informing apparatus, the warning data indicating a warning of the approach of the target object to the aircraft; and the informing apparatus performs an informing operation based on the warning data.

The present disclosure is not limited to the above described embodiments and may be modified in various ways within the scope of the claims, and embodiments obtained by suitably combining technical means disclosed in different embodiments and/or plural modified examples are included in the technical scope of the present disclosure.

From the foregoing explanation, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Therefore, the foregoing explanation should be interpreted only as an example and is provided for the purpose of teaching the best mode for carrying out the present invention to one skilled in the art. The structures and/or functional details may be substantially modified as long as they remain within the scope of the appended claims.

Claim 1:
An aircraft hovering work support system mounted on an aircraft (<NUM>) capable of hovering,
the aircraft hovering work support system comprising:
a detecting portion (<NUM>) configured to detect a target object which is located outside an airframe (<NUM>) of the aircraft (<NUM>) and may become an obstacle during hovering of the aircraft;
a data processing portion (<NUM>) configured to process data acquired from at least one of the detecting portion and an avionics system (<NUM>) of the aircraft; and
a display portion (<NUM>), wherein:
the data processing portion generates state image data and plural-stage target object schematic image data from the acquired data and outputs the state image data and the plural-stage target object schematic image data to the display portion, the state image data indicating a state of surroundings of the airframe as a center, the plural-stage target object schematic image data indicating approach of the target object to the aircraft or possibility of the approach of the target object to the aircraft and corresponding to a distance to the target object;
as an obstacle state display image showing a state of the obstacle around the aircraft, the display portion displays a circular image (<NUM>) and a target object schematic image (<NUM>), the circular image being based on the state image data and corresponding to front, rear, left, and right directions of the airframe as a center, the target object schematic image being based on the target object schematic image data and located at a circumference portion of the circular image in a direction corresponding to a direction in which the target object exists; and
when the target object approaches the airframe, the target object schematic image is displayed so as to project from the circumference portion of the circular image toward a center portion of the circular image in accordance with stages of the target object schematic image data,
characterized in that
the circular image includes:
a caution annular region (40a) located at the outermost portion of the circumference of the circular image (<NUM>) and showing differences of a degree of caution by the types of the images (<NUM>); and
a warning annular region (40b) located inside the caution annular region and showing differences of a degree of warning by height of the images in a direction toward the center portion.