JP2003127997A - Obstacle avoiding system for flying object and manned flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent collision accidents with obstacles of a flying object such as a helicopter. SOLUTION: GPS signal receivers 11, 21 are provided in a helicopter 10 and a ground station 20, respectively, for correctly detecting the position of the helicopter 10 using GPS signals from a GPS satellite 30. Satellite communicators 12, 22 are also provided in the helicopter 10 and the ground station 20, respectively, for transmitting/receiving control data between the data communication satellite 40 and each of them. The coordinates of the obstacles 50 including steel towers and feeders are previously input so that too close approach of the helicopter 10 to the obstacles 50 is avoided by alarming or automatic control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an obstacle avoidance system for manned helicopters and the like.

[0002]

2. Description of the Related Art Conventionally, helicopters have been used for spraying pesticides, aerial photography, and transportation of materials. In the case of such an industrial helicopter, a visual flight by a parilot is performed exclusively, and obstacles and the like are avoided by visual observation of the pilot.

On the other hand, as is well known, the present applicant owns dam lakes for power generation in various places, and it is necessary to regularly observe the conditions around the dam lake. However, the area around the dam lake is complicated and steep. Furthermore, it reaches several tens of kilometers to the deepest part of the dam lake. Therefore, it is virtually impossible for a person to observe the area around the dam lake on foot, and it is the current situation that helicopters are skipped to observe from above.

[0004]

Generally, since the dam lake is constructed near the water source upstream of the river, the area around the dam lake is complicated and the weather changes drastically. Around the dam lake, there are towers and transmission lines for supplying power from the hydroelectric power station. Therefore, when the weather suddenly changes during the observation of the dam lake and it becomes a thick fog,
It is difficult to return to the airfield while avoiding obstacles such as a tower by visual flight, and there is a risk that the helicopter may come into contact with the tower or the power transmission line and crash. In addition, when a manned helicopter comes into contact with a power transmission line or the like, there is a high possibility that secondary damage such as a steel tower collapses or the power transmission line is disconnected. Therefore, it is necessary to prevent accidents where the helicopter comes into contact with the steel tower and power transmission line.

The present invention has been made in order to solve the problems of the above-mentioned conventional example, and detects the position of a flying object such as a helicopter, and informs the pilot to that effect if he or she gets too close to an obstacle or the like. It is an object of the present invention to provide an obstacle avoidance system for a flying object capable of avoiding obstacles by notifying.

[0006]

In order to achieve the above object, a first flying object obstacle avoidance system according to the present invention comprises:
A GPS signal receiving unit provided on the flying object and receiving GPS signals from GPS satellites; and provided on the flying object,
An object position detection unit that detects the position of the flying object using the received GPS signal, and an obstacle data storage unit that stores the preset position of the obstacle and / or data of the flight prohibited area are detected. The position of the flying object is compared with the position of the obstacle and / or the data of the flight prohibited area, and when the flying object approaches the obstacle or the flight prohibited area within a predetermined distance, the pilot And an alarm generation unit that generates a predetermined alarm.

The first obstacle avoidance system for a flying object according to the present invention is provided in a flying object, a first GPS signal receiving section for receiving a first GPS signal from a GPS satellite, and a ground station. A second GPS signal receiving unit that receives a second GPS signal from a satellite, a correction data calculation unit that is provided in the ground station and calculates correction data using the second GPS signal, and a correction data calculation unit that is provided in the ground station A correction data transmission unit for transmitting data to the flying object,
A correction data receiving unit which is provided on the flying object and receives the correction data; and a correction data receiving unit which is provided on the flying object,
A current position detection unit that detects the current position of the self using a GPS signal and the correction data, and an obstacle that is provided in the flying object and that stores the preset position of an obstacle and / or data of a flight prohibited area Object data storage unit, provided in the flying object, and compares the detected current position and the data of the position of the obstacle and / or the flight prohibited area, the flying object is in the obstacle or the flight prohibited area. On the other hand, an alarm generation unit for generating a predetermined alarm to the pilot when approaching within a predetermined distance is provided.

In the second obstacle avoiding system for a flying object, the correction data transmitting section transmits the correction data to a data communication satellite and outputs the correction data transferred from the data communication satellite. It is preferable to receive.

In any one of the above configurations, when the flying object is provided on the flying object and approaches the obstacle or the flight prohibited area within a predetermined distance,
It further comprises a control data calculation unit that calculates control data so as to move away from the obstacle or the flight prohibited area, and a control data notification unit that is provided for the flying object and notifies the pilot of the calculated control data. It is preferable.

Alternatively, the operation data is provided on the flying object, and when the flying object approaches the obstacle or the flight prohibited area within a predetermined distance, the control data is set to separate from the obstacle or the flight prohibited area. It is preferable to further include a maneuvering data calculation unit for computing the above, and an automatic control unit which is provided in the flying object and which controls the flight of the flying object using the calculated maneuvering data.

Furthermore, a third flying object obstacle avoidance system according to the present invention is provided on a flying object, and includes a first GPS signal receiving section for receiving a first GPS signal from a GPS satellite.
A position data transmission unit provided on the flying object for converting the first GPS signal into predetermined position data and transmitting the predetermined position data to the ground station, and a second G from a GPS satellite provided on the ground station.
A second GPS signal receiving unit that receives a PS signal, a correction data calculation unit that is provided in the ground station and calculates correction data using the second GPS signal, and a correction data calculation unit that is provided in the ground station and receives the position data A position data reception unit, a current position detection unit that is provided in the ground station and detects the current position of the flying object using the position data and the correction data, and is provided in the ground station and is preset. An obstacle data storage unit that stores data on the position of an obstacle and / or a flight-prohibited area, and a current position detected at the ground station and data on the position of the obstacle and / or a flight-prohibited area are stored. In comparison, an alarm signal output unit that outputs a predetermined alarm signal when the flying object approaches the obstacle or the flight-prohibited area within a predetermined distance is provided in the ground station. An alarm signal transmitting unit for transmitting the alarm signal to the flying object, an alarm signal receiving unit provided on the flying object for receiving the alarm signal, and an alarm signal receiving unit provided on the flying object for receiving the alarm signal And an alarm generation unit for generating an alarm to the pilot in the case of doing so.

In the above structure, the position data transmitter transmits the position data to a data communication satellite,
The position data receiving unit preferably receives the position data transferred from the data communication satellite.

Further, when the flying object is provided in the ground station and approaches the obstacle or the flight-prohibited area within a predetermined distance, the control data is set so as to move away from the obstacle or the flight-prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. It is preferable to further include a control data notifying unit for notifying the pilot of the data.

Further, it is preferable that the operation data transmission unit transmits the operation data to a data communication satellite, and the operation data notification unit receives the operation data transferred from the data communication satellite.

Alternatively, when the flying object approaches the obstacle or the flight-prohibited area within a predetermined distance provided in the ground station, the control data is set so as to move away from the obstacle or the flight-prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. It is preferable to further include an automatic control unit that controls the flight of the flying object using data.

Further, it is preferable that the operation data transmission unit transmits the operation data to a data communication satellite, and the automatic control unit receives the operation data transferred from the data communication satellite.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION An obstacle avoidance system for a flying object according to a first embodiment of the present invention will be described. A helicopter will be described as an example of a flying object.

FIG. 1 shows a conceptual diagram of the obstacle avoidance system for a flying object in the first embodiment. At least three (preferably four or more) helicopters 10 that are flying objects
GPS signal from the first GPS satellite 30 (first GPS signal)
A GPS signal receiving device 11 for receiving a signal and a satellite communication device 12 for transmitting and receiving a signal between the data communication satellite 40 are mounted.

On the other hand, the ground station 20 is a GP for receiving GPS signals (second GPS signals) from GPS satellites 30.
The S signal receiving device 21 and the satellite communication device 22 for transmitting and receiving signals between the data communication satellite 40 are provided. Signal transmission / reception between the helicopter 10 and the ground station 20 is performed via the data communication satellite 40.

Next, FIG. 2 is a block diagram of the hardware of the obstacle avoidance system for a flying object in the first embodiment.
Shown in.

In addition to the GPS signal receiving device 11 and the satellite communication device 12, the helicopter 10 has a backup communication device 13 for directly transmitting and receiving control data and the like to and from the ground station 20.
A ROM for storing a predetermined control program, a RAM for temporarily storing a predetermined control program and control data, and a predetermined operation for executing a predetermined calculation using the predetermined control program and control data. When a main controller 14 configured by a CPU or the like for controlling the entire helicopter 10 and an automatic pilot mode are selected,
A drive unit 15 for controlling the moving direction and moving speed of the helicopter using the steering data calculated by the main control unit 14, an obstacle 50 such as a tower or a transmission line, and a flight prohibited area (hereinafter referred to as "obstacle"). Storage device 16 for storing position data of “50, etc.”, and an alarm device 1 for issuing an alarm to a pilot when an obstacle 50 or the like is approached too much.
It is composed of 7, etc.

The ground station 20 includes the GPS signal receiving device 2
1. In addition to the satellite communication device 22, a standby communication device 23 that directly transmits correction data and the like to and from the helicopter 10,
It is composed of a main controller 24 and the like for calculating correction data from the received GPS signal (second GPS signal) and the coordinates of the ground station known in advance. Main controller 2
Reference numeral 4 is a ROM or R storing a predetermined control program or the like.
It is composed of a memory including an AM and a hard disk, and a CPU for executing a predetermined control program. A well-known personal computer may be used as the main controller 24, or a dedicated one may be prepared.

Further, FIG. 3 shows a functional block configuration of the control system for the unmanned flying object in the first embodiment. Elements having the same reference numerals as those in FIG. 2 mean substantially the same elements even if their names are changed.

The first GPS signal receiving section 11 on the helicopter 10 side and the second GPS signal receiving section 21 on the ground station 20 side are
Each receives GPS signals from GPS satellites at the same time. The second GPS signal received by the second GPS signal receiving unit 21 on the ground station 20 side is input to the correction data calculation unit 60 configured by the main controller 24 and the like, and the position of the ground station 20 is determined based on the second GPS signal. In addition to being calculated, the correction data is calculated by comparing with the position (coordinates) of the ground station 20 which is known in advance. The calculated correction data is transmitted to the correction data receiving unit 62 of the helicopter 10 via the data communication satellite 40 or directly by the correction data transmitting unit 61 including the satellite communication device 22 and the standby communication device 23. To be done.

The first GPS signal received by the first GPS signal receiver 11 is input to the current position detector 63, which is composed of the main controller 14 and the like. Further, the correction data is received by the correction data receiving unit 62 including the satellite communication device 12 and the standby communication device 13, and then input to the current position detection unit 63. Current position detector 63
Detects the current position of the helicopter 10 using the first GPS signal and the correction data.

The alarm generation unit 64 including the main controller 14 and the alarm device 17 is an obstacle that records the detected current position and the position of the obstacle 50 stored in the obstacle data storage unit 16. It is compared with the data to determine whether or not the obstacle 50 or the like is approached too much beyond a predetermined safety distance. Then, the alarm device 17 is driven to generate an alarm sound or the like to notify the pilot that the obstacle 50 or the like is approaching.

Under the condition that visible flight is possible, when the pilot knows that he is approaching the obstacle 50 or the like by an alarm sound or the like, the pilot visually confirms the obstacle 50 or the like,
The flight course can be changed so as to avoid the obstacle 50 and the like, and it is possible to avoid contact with the obstacle 50 and flight in a flight prohibited area.

On the other hand, in the case of bad weather such as thick fog, it is difficult for the pilot to recognize the obstacle 50 or the like with the naked eye, and just knowing that the obstacle 50 or the like is approaching the obstacle 50 or the like. Cannot be avoided.
Therefore, the control data calculation unit 65 configured by the main control device 14 or the like outputs control data for avoiding the obstacle 50 or the like from the current position of the helicopter 10, the moving direction, the moving speed, the position of the obstacle 50, or the like. The pilot data notifying unit 66 including the alarm device 17 and the like informs the pilot of the direction of the obstacle 50, the distance to the obstacle 50, the avoidance direction of the helicopter 10 and the like by voice and / or image display. By manipulating the helicopter 10 according to the maneuvering data, the pilot can avoid contact with the obstacle 50, flight in the no-fly zone, etc. even in neglected field flight.

Obstacle data such as the current position of the helicopter 10 and the obstacle 50 includes the altitude from the ground in addition to the latitude and longitude on the map. It is also possible to detect three-dimensional position information by using GPS signals from four GPS satellites.

In the above-mentioned configuration example, the pilot data is notified to the pilot by the pilot data computing unit 65, but instead of the pilot data reporting unit 66, as shown in FIG. Automatic control unit 6
7 may be provided. The automatic control unit 67 includes the main controller 14
And the driving device 15 and the like, and uses the steering data calculated by the steering data calculator 65 to detect the obstacle 5
The helicopter 10 is automatically piloted so as to avoid 0 or the like.

Generally, unlike a regular airliner, an industrial helicopter has a low possibility of repeatedly flying the same flight route, a short flight distance, and a complicated flight route. Therefore, it is not necessary to automatically control all the flight routes, but as described above, if the obstacle 50 or the like is approached too much, it is possible to automatically avoid the obstacle 50 or the like. In addition, it is possible to prevent accidents such as contact with the obstacle 50 due to erroneous judgment of the pilot or reaction delay.

Next, an obstacle avoidance system for a flying object according to the second embodiment of the present invention will be described. In the first embodiment, the correction data transmitted from the ground station 20 is received, and the current position is detected and the obstacle 5 is detected on the helicopter 10 side.
Although it is determined whether or not it is too close to 0, in the second embodiment, the first GPS transferred from the helicopter is used.
The signal or the position data obtained by processing the signal and the correction data are used to detect the current position of the helicopter 10 on the side of the ground station 20 and determine whether the helicopter 10 is too close to the obstacle 50 or the like.

FIG. 5 shows a block diagram of the hardware of the obstacle avoidance system for a flying object in the second embodiment.

The helicopter 10 has, in addition to the GPS signal receiving device 11 and the satellite communication device 12, a standby communication device 13 for directly transmitting and receiving control data and the like to and from the ground station 20.
A ROM for storing a predetermined control program, a RAM for temporarily storing a predetermined control program and control data, and a predetermined operation for executing a predetermined calculation using the predetermined control program and control data. When a main controller 14 configured by a CPU or the like for controlling the entire helicopter 10 and an automatic pilot mode are selected,
A driving device 15 for controlling the moving direction and moving speed of the helicopter using the steering data calculated by the main control device 14, and an alarm device for issuing an alarm to the pilot when the obstacle 50 or the like is approached too much. It is composed of 17, etc.

The ground station 20 includes a GPS signal receiving device 21,
In addition to the satellite communication device 22, a backup communication device 23 that directly transmits position data and the like to and from the helicopter 10, and correction data from the coordinates of the ground station that is known beforehand as the received GPS signal (second GPS signal). With the calculation
The current position of the helicopter 10 is detected using the position data and the correction data transmitted from the helicopter 10, and the obstacle 5
Main controller 24 for comparison with position data such as 0
And a storage device 2 for storing position data of the obstacle 50 and the like.
It is composed of 5, etc.

Next, FIG. 6 or 7 shows a functional block configuration of the control system for the unmanned flying object in the second embodiment. Elements having the same reference numerals as those in FIG. 5 mean substantially the same elements even if their names are changed.

The first GPS signal receiving section 11 on the helicopter 10 side and the second GPS signal receiving section 21 on the ground station 20 side are
Each receives GPS signals from GPS satellites at the same time. The first GPS signal received by the first GPS signal receiving unit 11 on the helicopter 10 side is the position data transmitting unit 70 including the main control device 14, the satellite communication device 12, and the like.
Is converted into position data of a predetermined format by and transmitted to the satellite 40 for data communication. Further, the position data is transmitted from the data communication satellite 40 to the position data receiving unit 71 including the satellite communication device 22 of the ground station 20.

The second GPS signal receiving section 21 on the ground station 20 side
The second GPS signal received by the second GPS signal is input to the correction data calculation unit 72 including the main controller 24,
The position of the ground station 20 is calculated based on the GPS signal, and the correction data is calculated by comparing the position (coordinates) of the ground station 20 which is known in advance.

The position data received by the position data receiving section 71 and the correction data calculated by the correction data calculating section 72 are input to the current position detecting section 73 composed of the main controller 24 and the like. The current position detector 73 corrects the position data using the correction data, and the helicopter 10
Calculate the coordinates of the current position of.

The alarm signal generator 74, which is composed of the main controller 24 and the like, is an obstacle data recording device that records the coordinates of the current position of the helicopter 10 and the position of the obstacle 50 and the like stored in the obstacle data storage unit 25. Then, it is determined whether or not the vehicle 50 is too close to the obstacle 50 or the like beyond a predetermined safety distance. Then, when the obstacle 50 or the like is approached too much, the alarm signal generator 74 outputs a predetermined alarm signal. The alarm signal transmitting unit 75 including the satellite communication device 22 transmits the alarm signal output from the alarm signal generating unit 74 to the data communication satellite 40. Further, the alarm signal is transmitted from the data communication satellite 40 to the alarm signal receiving unit 76 including the satellite communication device 12 of the helicopter 10. When the alarm signal is received, the alarm generation unit 77 including the main control device 14, the alarm device 17, etc.
Drives the alarm device 17 to generate an alarm sound or the like to notify the pilot that the obstacle 50 or the like is approaching.

When an alarm signal is output from the alarm signal generation unit 74, the operation data calculation unit 78 including the main control unit 24 on the ground station 20 side, if necessary, displays the current position of the helicopter 10, Moving direction, moving speed, obstacle 50
Manipulation data for avoiding the obstacle 50 and the like is calculated from the position such as. The maneuvering data transmitting unit 79 including the satellite communication device 22 and the like transmits the calculated maneuvering data to the data communication satellite 40. Further, the control data is transmitted from the data communication satellite 40 to the control data receiving unit 80 including the satellite communication device 12 of the helicopter 10. When the operation data is received, the operation data notification unit 81 including the alarm device 17 or the like displays to the pilot voice and / or image information such as the direction of the obstacle 50, the distance to the obstacle 50, and the avoidance direction of the helicopter 10. Inform by

Alternatively, as shown in FIG. 7, an automatic control unit 82 may be provided instead of the operation data notification unit 81.
The automatic control unit 82 is configured by the main control device 14, the drive device 15, and the like, and uses the calculated steering data transmitted from the ground station 20 to automatically steer the helicopter 10 so as to avoid the obstacle 50 and the like. To do.

As described above, in the second embodiment, the ground station 2
0 detects the current position of the helicopter 10 with w, further judges whether the helicopter 10 is too close to the obstacle 50 or the like, calculates steering data as necessary, and informs the pilot, or Since the aircraft is automatically piloted using the pilot data, it is possible to detect the current positions of the helicopters 10 with one ground station 20 and to avoid the risk of air collision when the helicopters are too close to each other. is there.

Examples of the above-mentioned flight prohibited area include, for example, power facilities such as power plants and substations, airfields for manned airplanes, airplane takeoff and landing courses, military facilities, and tourist / entertainment facilities where many people gather. , Around office buildings, etc. can be considered.

Further, in each of the above-mentioned embodiments, the differential GPS for detecting the position of the unmanned flying object by receiving the GPS signal at two points of the unmanned flying object and the ground station has been described, but the present invention is not limited to this. The GPS signal may be received only on the helicopter side. In that case, although the accuracy of detecting the current position of the helicopter is lowered, it has the effect of simplifying the configuration and arithmetic processing of the control system.

Further, in each of the above-mentioned embodiments, a helicopter is exemplified as the flying object, but the present invention is not limited to this and can be applied to an airplane, an airship, and the like.

[0047]

As described above, according to the first obstacle avoidance system for a flying object of the present invention, a GPS signal receiving section provided on a flying object for receiving GPS signals from GPS satellites, and GPS received on a flying object
An object position detection unit for detecting the position of the flying object using a signal, and a preset obstacle position and / or
Or, an obstacle data storage unit that stores the data of the flight prohibited area is compared with the detected position of the flying object and the position of the obstacle and / or the data of the flight prohibited area, and the flying object is the obstacle. Alternatively, since the aircraft is provided with an alarm generation unit which issues a predetermined alarm to the pilot when the flight prohibited area is approached within a predetermined distance, a flying object such as a helicopter is too close to an obstacle or the like. In this case, an alarm can be used to inform the pilot of that fact, and accidents such as contact with obstacles can be avoided.

Further, according to the second obstacle avoiding system for a flying object of the present invention, the first GPS signal receiving section provided on the flying object and receiving the first GPS signal from the GPS satellite is provided on the ground station. A second GPS signal receiving unit that receives a second GPS signal from a GPS satellite; a correction data calculating unit that is provided in the ground station and calculates correction data using the second GPS signal; A correction data transmitting unit that transmits the correction data to the flying object, a correction data receiving unit that is provided to the flying object and receives the correction data, and a correction data receiving unit that is provided to the flying object and includes the first GPS signal and the correction data. And a current position detection unit that detects the current position of the self using the, and the position of the obstacle and / or the flight prohibited area that are set in advance on the flying object. An obstacle data storage unit that stores data, compares the detected current position, which is provided in the flying object, with the position of the obstacle and / or the data of the flight prohibited area, and the flying object is the obstacle. Alternatively, since it includes an alarm generation unit that issues a predetermined alarm to the pilot when the flight prohibited area is approached within a predetermined distance, the so-called differential GPS improves the position detection accuracy of the flying object. Can be made.

Further, the correction data transmitting unit transmits the correction data to the data communication satellite, and the correction data receiving unit receives the correction data transferred from the data communication satellite to obtain the terrain. Data can be transmitted and received between the ground station and the flying object without being affected by the above.

Furthermore, when the flying object is provided on the flying object and the flying object approaches the obstacle or the flight prohibited area within a predetermined distance, the control data is set to separate from the obstacle or the flight prohibited area. It is possible to visually confirm obstacles due to bad weather such as thick fog, by further including a steering data calculation unit for calculating the above and a steering data notification unit provided in the flying object for notifying the pilot of the calculated steering data. In this case, it is possible to avoid contact with obstacles and flight in a no-fly zone while flying in the ignore field.

Further, when the flying object is provided on the flying object and approaches the obstacle or the flight-prohibited area within a predetermined distance, the control data is set to separate from the obstacle or the flight-prohibited area. Too close to an obstacle, etc., by further comprising an operation data operation unit for calculating the flight object and an automatic control unit provided on the flying object and controlling flight of the flying object using the operated operation data. In this case, if programmed so as to automatically avoid obstacles, it is possible to prevent accidents such as contact with obstacles caused by the pilot's misjudgment or reaction delay.

Further, according to the third obstacle avoiding system for a flying object of the present invention, the first GPS signal receiving section provided on the flying object and receiving the first GPS signal from the GPS satellite, and the flying object are provided. A position data transmission unit that converts the first GPS signal into predetermined position data and transmits the predetermined position data to the ground station; and a second GPS signal reception unit that is provided in the ground station and receives a second GPS signal from a GPS satellite. A correction data calculator provided in the ground station for calculating correction data using the second GPS signal, a position data receiver provided in the ground station for receiving the position data, and provided in the ground station. A current position detection unit that detects the current position of the flying object using the position data and the correction data, and an obstacle that is preset in the ground station And obstacle data storage unit to the position and / or storing data in the fly area, provided in the ground station, the position of the obstacle and the detected current position and /
Or, comparing with the data of the flight prohibited area, when the flying object approaches within a predetermined distance to the obstacle or the flight prohibited area, a warning signal output unit for outputting a predetermined warning signal, and the ground. A warning signal transmitting unit provided in the station for transmitting the warning signal to the flying object; a warning signal receiving unit provided in the flying object for receiving the warning signal; and a warning signal provided in the flying object. Since it is equipped with an alarm generation unit that issues an alarm to the pilot when a signal is received, the ground station can detect the position of a flying object and judge whether the flying object is too close to an obstacle or the like. The position of a plurality of flying objects can be detected by one ground station. Further, abnormal proximity (near miss) between flying objects can be avoided.

Further, the position data transmitting unit transmits the position data to the data communication satellite, and the position data receiving unit receives the position data transferred from the data communication satellite. Data can be transmitted and received between the ground station and the flying object without being affected by the above.

Furthermore, when the flying object is provided in the ground station and approaches the obstacle or the flight-prohibited area within a predetermined distance, the operation data is set so as to move away from the obstacle or the flight-prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. By further providing a pilot data notification unit to notify the pilot of data, when obstacles cannot be visually confirmed due to bad weather such as dense fog, contact with obstacles while flying in the neglected field or flight in a flight prohibited area etc. Can be avoided.

The maneuvering data transmitter transmits the maneuvering data to the data communication satellite, and the maneuvering data annunciation unit receives the maneuvering data transferred from the data communication satellite. Data can be transmitted and received between the ground station and the flying object without being affected by the above.

Further, provided in the ground station, when the flying object approaches the obstacle or the flight prohibited area within a predetermined distance, the control data is set so as to move away from the obstacle or the flight prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. By further comprising an automatic control unit that controls the flight of the flying object using the data, it is possible to prevent accidents such as contact with obstacles due to erroneous judgment of the pilot or reaction delay.

Further, the maneuvering data transmitter transmits the maneuvering data to the data communication satellite, and the automatic controller receives the maneuvering data transferred from the data communication satellite. Data can be transmitted and received between the ground station and the flying object without being affected.

[Brief description of drawings]

FIG. 1 is a diagram showing a concept of an obstacle avoidance system for a flying object in each embodiment of the present invention.

FIG. 2 is a diagram showing a hardware block configuration of an obstacle avoidance system for a flying object according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a functional block configuration of an obstacle avoidance system for a flying object in the first embodiment.

FIG. 4 is a diagram showing a modified example of the functional block configuration of the obstacle avoidance system for a flying object in the first embodiment.

FIG. 5 is a diagram showing a hardware block configuration of an obstacle avoidance system for a flying object according to a second embodiment of the present invention.

FIG. 6 is a diagram showing a functional block configuration of an obstacle avoidance system for a flying object in the second embodiment.

FIG. 7 is a diagram showing a modified example of the functional block configuration of the obstacle avoidance system for a flying object in the second embodiment.

[Explanation of symbols]

10: Helicopter 11: GPS signal receiver (first GPS signal receiver) 12: Satellite communication device 13: Standby communication device 14: Main controller 15: Drive device 16: Storage device (obstacle data storage unit) 17: Alarm device 20: Ground station 21: GPS signal receiver (second GPS signal receiver) 22: Satellite communication device 23: Standby communication device 24: Main controller 25: Storage device (obstacle data storage unit) 30: Mobile satellite 40: Satellite for data communication 50: Obstacle 60: Correction data calculation unit 61: Correction data transmitter 62: Correction data receiving unit 63: Current position detector 64: Alarm generator 65: Control data calculation unit 66: Control data notification unit 67: Automatic control unit 70: Position data transmitter 71: Position data receiver 72: Correction data calculation unit 73: Current position detector 74: Alarm signal generating section 75: Warning signal transmitter 76: Warning signal receiving unit 77: Alarm generator 78: Control data calculation unit 79: Control data transmission unit 80: Control data receiving unit 81: Control data notification unit 82: Automatic control unit

Claims (11)

[Claims] 1. A GPS signal receiver provided on a flying object for receiving GPS signals from GPS satellites; and an object position provided on the flying object for detecting the position of the flying object using the received GPS signal. A detection unit, an obstacle data storage unit that stores preset obstacle position and / or flight prohibited area data, and a detected position of the flying object and the obstacle position and / or flight prohibition A flight including an alarm generation unit that compares data of a region and issues a predetermined alarm to a pilot when the flying object approaches within a predetermined distance with respect to the obstacle or the flight prohibited region. Obstacle avoidance system for objects. 2. A first GPS signal receiving section which is provided on the flying object and receives a first GPS signal from a GPS satellite, and a second GPS signal receiving section which is provided on the ground station and receives a second GPS signal from the GPS satellite. A correction data calculation unit which is provided in the ground station and calculates correction data using the second GPS signal; a correction data transmission unit which is provided in the ground station and transmits the correction data to the flying object; A correction data receiving unit provided on the flying object for receiving the correction data; a current position detecting unit provided on the flying object for detecting the current position of the self using the first GPS signal and the correction data; An obstacle data storage unit that is provided on the flying object and stores data on the position of the obstacle and / or the flight prohibited area set in advance; When the flying object approaches the obstacle or the flight prohibited area within a predetermined distance, the detected current position is compared with the position of the obstacle and / or the data of the flight prohibited area. An obstacle avoidance system for a flying object, comprising: an alarm generating unit for generating a predetermined alarm to a pilot. 3. The correction data transmitting unit transmits the correction data to a data communication satellite, and the correction data receiving unit receives the correction data transferred from the data communication satellite. The obstacle avoidance system for a flying object according to claim 2. 4. The control data provided on the flying object so as to separate from the obstacle or the flight prohibited area when the flying object approaches within a predetermined distance with respect to the obstacle or the flight prohibited area. 4. A steering data calculation unit for calculating the above, and a steering data notifying unit provided on the flying object for notifying the pilot of the calculated steering data, further comprising: Obstacle avoidance system for flying objects as described. 5. The control data provided on the flying object so as to move away from the obstacle or the flight prohibited area when the flying object approaches within a predetermined distance with respect to the obstacle or the flight prohibited area. 4. The control system further comprises: a control data calculation unit for calculating the control value; and an automatic control unit, which is provided in the flying object and controls the flight of the flight object by using the calculated control data. An obstacle avoidance system for a flying object according to any one of 1. 6. A first GPS signal receiving unit provided on a flying object for receiving a first GPS signal from a GPS satellite; and a first GPS signal receiving unit provided on the flying object for converting the first GPS signal into predetermined position data, A position data transmitting section for transmitting to the station, a second GPS signal receiving section provided in the ground station for receiving a second GPS signal from a GPS satellite, and a correction data using the second GPS signal provided in the ground station. A correction data calculation unit that calculates, a position data reception unit that is provided in the ground station and receives the position data, and a current position of the flying object that is provided in the ground station and that uses the position data and the correction data. A current position detection unit for detecting the current position, and an obstacle data stored in the ground station for storing the preset position of the obstacle and / or the data of the flight prohibited area. Data storage unit, which is provided in the ground station, compares the detected current position with the position of the obstacle and / or the data of the flight prohibited area,
An alarm signal output unit that outputs a predetermined alarm signal when the flying object approaches the obstacle or the flight prohibited area within a predetermined distance; An alarm signal transmitting unit that transmits an alarm signal, an alarm signal receiving unit that is provided in the flying object and receives the alarm signal, and an alert signal that is provided in the flying object and alerts the pilot when the alarm signal is received. An obstacle avoidance system for a flying object, comprising: 7. The position data transmitting unit transmits the position data to a data communication satellite, and the position data receiving unit receives the position data transferred from the data communication satellite. The obstacle avoidance system for a flying object according to claim 6. 8. The maneuvering data provided in the ground station so as to move away from the obstacle or the flight prohibited area when the flying object approaches within a predetermined distance from the obstacle or the flight prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. The obstacle avoidance system for a flying object according to claim 6 or 7, further comprising a control data notifying unit for notifying data to a pilot. 9. The operation data transmission unit transmits the operation data to a data communication satellite, and the operation data notification unit receives the operation data transferred from the data communication satellite. The obstacle avoidance system for a flying object according to claim 8. 10. The control data provided in the ground station so as to move away from the obstacle or the flight prohibited area when the flying object approaches within a predetermined distance from the obstacle or the flight prohibited area. A maneuvering data calculating unit for calculating the maneuvering data, a maneuvering data transmitting unit provided in the ground station for transmitting the maneuvering data to the flying object, and the maneuvering data provided in the flying object for receiving the maneuvering data and receiving the maneuvering data. The obstacle avoidance system for a flying object according to claim 6 or 7, further comprising an automatic control unit that controls the flight of the flying object using data. 11. The operation data transmission unit transmits the operation data to a data communication satellite, and the automatic control unit receives the operation data transferred from the data communication satellite. The obstacle avoidance system for a flying object according to claim 10.