JP2568109B2 - Terrain information display device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a terrain information display device for displaying the current position and terrain data of a moving body that is self-propelled on the ground.

[Conventional technology]

As a conventional means for displaying the position of a moving body, position information obtained from a gyro sensor, loran, etc. is plotted or traced on the display screen, and terrain information is displayed on a map sheet with a map printed on a transparent sheet. Some of them are attached to the front surface, or the maps are stored in advance in a large-capacity memory such as a CD-ROM so that they can be read and displayed as needed.

[Problems to be Solved by the Invention]

Since the display means is based on the assumption that the terrain does not change at all, it cannot be used at all for displaying when the terrain itself is unknown and changes from moment to moment as in civil engineering work.

Therefore, as an application to such a site, an in-vehicle display device that can be used even when the terrain changes from moment to moment is disclosed in JP-A-63-135815.

This on-vehicle display device has a three-dimensional position measuring means for detecting the position of a moving body (vehicle), a calculating means for calculating the terrain based on the position information from the three-dimensional position measuring means, and a memory for storing the terrain information. And a display means for displaying the current position of the moving body while rewriting the map on the display screen in real time based on the above-mentioned topographical information. This is a display of topographical information on the body, and it is not sufficient to assume a ground-based control system for unmanned and multiple units.

The present invention has been made in view of the above, and can be applied to a control system on the ground side in unmanned and multiple units, and a new device similar to the above conventional in-vehicle display device is added to the in-vehicle display device. It is an object of the present invention to provide a terrain information display device capable of achieving the above-mentioned object by using the above, and having a simple structure and an inexpensive device.

[Means for solving the problem]

In order to achieve the above object, the terrain information display device according to the present invention is mounted on a vehicle, and a three-dimensional position measuring device 4 for measuring a position and an attitude angle at a certain point of the vehicle 1,
A central processing unit 5 which is connected to the three-dimensional position measuring device 4 via an input / output driver 5a, and which calculates three-dimensional position measuring landform information based on an input signal from the three-dimensional position measuring device 4; An in-vehicle display device 2 including a storage device 6 for storing the terrain information calculated by the central processing unit 5, a display 8 for displaying the terrain information, and an in-vehicle communication device 9 for transmitting the terrain information. In-vehicle display device 2
Ground communication device 9'for receiving the terrain information signal from the vehicle-mounted communication device 9, a central processing unit 5'for processing the terrain information signal received by the ground communication device 9 ', and this central processing unit A ground display device 3 having a storage device 6'for storing the topographical information calculated in 5'and a display 8'for displaying the topographical information, and having a configuration substantially similar to that of the on-vehicle display device 2. It consists of

[Action]

The position and posture angle of the vehicle 1 measured by the three-dimensional position measuring device 4 are calculated and stored as topographical information on the vehicle-mounted display device 2 and are displayed, and the topographical information has substantially the same configuration as the vehicle-mounted display device. It is transmitted to the above-mentioned ground display device 3.
On the ground display device 3, the received topographical information is arithmetically stored and displayed.

〔Example〕

 An embodiment of the present invention will be described with reference to the drawings.

FIG. 2 shows the calculation principle of the terrain data, and the position (x, y, z) of the vehicle 1 obtained from the position measurement position indicates the point A on the vehicle. If the point where the vehicle 1, which is a moving body, is in contact with the ground is point B, then B (x, y, z−h / cos θ) is calculated. However, ▲ ▼ = h / cos θ, h is a known length,
θ is the inclination angle of the vehicle 1.

FIG. 1 shows an on-vehicle display device 2 mounted on the vehicle 1 side and a ground side display device 3 installed on the ground side. The in-vehicle display device 2 is a GPS (Grobal Positioning System).
A three-dimensional position measuring device 4 consisting of a receiver for measuring the position and attitude angle of the vehicle 1 at the point A, and a central processing unit (CPU) for calculating three-dimensional position measuring terrain information via the input / output driver 5a. 5, a storage device 6 that stores the calculated topographical information, a display 8 that is a CRT that displays the topographical information as a map through the display driver 7, and an in-vehicle communication device 9 that transmits the topographical information. The devices are connected by a bus line 10 to exchange data.

On the other hand, the ground-side display device 3 calculates the on-vehicle display device 2,
A central processing unit (CPU) 5 ', which is similar to the processing unit
A storage device 6 ', a display driver 7', and a display 8 '.
And a ground communication device 9 '. The ground communication device 9'receives the terrain information signal from the vehicle-mounted communication device 9, and the central processing unit 5'calculates based on the received signal, and the result, that is, the display on the display 8 on the vehicle-mounted side The contents are displayed on the display 8 '.

The display screens of the display devices 8 and 8'are shown in FIGS. 3 (a) and 3 (b).
As shown in FIG. 4, the mesh is divided into areas, and the height is displayed as a pattern in each section.

The above-mentioned correspondence between the coordinates of the ground and the height of the mesh is performed as follows.

FIG. 3 (a) shows a display in the vicinity of the vehicle body 1, where each mesh corresponds to a vertical area of 2 (m) and a horizontal area of 2 (m). Terrain data is calculated every 0.1 (sec), and if the speed of the vehicle 1 is 2 (m / sec) (7.2 [km / h]), 5 terrain data will be obtained while the vehicle body 1 is traveling 1 (m). Is obtained.
The height divisions (Z coordinates) of these five topographical data are averaged,
The height of the corresponding mesh. The height display is, for example, as shown in FIG. The area without topographic data is displayed by filling the mesh with black.

The current position of the vehicle body 1 is fixedly displayed at the center of the screen, and the screen is scrolled as the vehicle body 1 advances.

FIG. 3 (b) shows a specific example of the display contents of the entire area. As in the case of FIG. 3 (a), the display screen is divided into meshes, and the height difference is displayed in each division unit. Further, the current position of the moving body is displayed by displaying the mesh where the vehicle is present in a pattern different from the height difference display.

The patterns described above need only be capable of identifying symbols, patterns, color tones, and the like. Also, the display stage is not limited. The height data is written in the storage device based on a predetermined threshold value.

The topographical information obtained on the vehicle body 1 is transmitted to the ground side by wireless data transmission from the communication device 9 of the vehicle-mounted display device 2 to the communication device 9'of the ground-side display device 3. This is because if the display screen of the in-vehicle display 8 is sent out as a video signal as it is and a hard copy is made to the display screen of the ground-side display 8 ', the same display can be made at the same time. Is transmitted, the information from a plurality of moving bodies can be combined or separated and selected and displayed on the ground side.

The operation of the central processing unit 5 in the in-vehicle display device 2 is shown in a flowchart of FIG. Then, the terrain data written in the storage device 6 when the vehicle passed the same place last time is called by the CPU and displayed on the display screen of the display unit 8. Further, at each address of the storage device 6, the terrain data that changes during the current passage is rewritten with new data at any time.

In this way, even when the terrain changes from moment to moment, it is possible to display the correct terrain map and indicate the display position.

The display devices 8 and 8'are not limited to CRTs, and graphic display devices such as liquid crystal, plasma, and EL may be used.

〔The invention's effect〕

When the terrain itself is unknown, such as civil engineering, and when the terrain changes from moment to moment, the height difference of the terrain is displayed and the operator on the vehicle or on the ground is notified of the volume of work, or even unmanned. It is possible to obtain a device that is effective as a control monitor on the ground side in the case of using multiple units or with multiple units.

In particular, according to the present invention, the terrestrial display device has substantially the same configuration as the in-vehicle display device that has been conventionally used, so that the terrain display device that exhibits the above-described operational effects is simple and inexpensive. It can be a device.

[Brief description of drawings]

FIG. 1 is a block diagram of a vehicle-mounted and ground-side display device according to an embodiment of the present invention, FIG. 2 is a principle diagram of calculation of terrain data, and FIGS. 3 (a) and 3 (b) are display screens showing an example of display contents. , 4th
The figure is a flowchart of the arithmetic operation of the central processing unit in the vehicle-mounted display device. 1 is a vehicle body, 2 is an in-vehicle display device, 3 is a ground side display device, 4
Is a three-dimensional position measuring device, 5 is a central processing unit, 6 and 6 are storage devices, 8 and 8'are indicators, 9 and 9'are communication devices, and 10 is a bus line.

Claims (1)

(57) [Claims] 1. A three-dimensional position measuring device 4 mounted on a vehicle for measuring a position and an attitude angle at a certain point of the vehicle 1.
And a central processing unit 5 which is connected to the three-dimensional position measuring device 4 via an input / output driver 5a and which calculates three-dimensional position measuring landform information based on an input signal from the three-dimensional position measuring device 4. An in-vehicle display device 2 including a storage device 6 for storing the terrain information calculated by the central processing unit 5, a display 8 for displaying the terrain information, and an in-vehicle communication device 9 for transmitting the terrain information. And a terrestrial communication device 9'for receiving the terrain information signal from the in-vehicle communication device 9 of the in-vehicle display device 2 and a central processing unit 5'for arithmetically processing the terrain information signal received by the terrestrial communication device 9 '. And a storage device 6'for storing topographical information processed by the central processing unit 5'and a display 8'for displaying the topographical information. Ground display A terrain information display device comprising the device 3.