Obstacle limitation surface interference checking system and obstacle limitation surface interference checking method

Abstract

To provide an obstacle limitation surface interference checking system which can facilitate selection of a new takeoff and landing area for an aircraft.SOLUTION: An obstacle limitation surface interference checking system is provided, comprising a setting unit for setting an obstacle limitation surface for a takeoff and landing area, an acquisition unit for acquiring point-cloud data containing spatial information of objects in the surroundings of the takeoff and landing area, and a determination unit for determining the presence of objects interfering with the obstacle limitation surface on the basis of the point-cloud data acquired by the acquisition unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a limiting surface interference check system and a limiting surface interference check method for determining the state of an object interfering with a limiting surface of an aircraft takeoff and landing field. [Background technology]

[0002] Around airports, space restrictions are established to ensure the safety of aircraft navigation space. Such space restrictions are called restriction surfaces, and because tall structures and the like near airports impede the safe flight of aircraft, they are established with the aim of prohibiting the construction of such structures near airports, and the installation of structures and the like that interfere with the restriction surfaces is prohibited by the Aviation Act. In this regard, various methods have been proposed for checking the interference between the airport's restriction surfaces and structures and the like near the airport (see Patent Documents 1-4). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-32421 A [Patent Document 2] JP 2010-197414 A [Patent Document 3] JP 2022-116693 A [Patent Document 4] Patent No. 3532560 Summary of the Invention [Problem to be solved by the invention]

[0004] On the other hand, the above publication describes a method for checking interference between restrictive surfaces based on runways at existing airports, etc. and structures around the airport, and is not intended to be used when selecting new takeoff and landing sites for aircraft.

[0005] The present disclosure is intended to solve the above-mentioned problems, and aims to provide a restricting surface interference check system and a restricting surface interference check method that can facilitate the selection of a new takeoff and landing site for an aircraft. [Means for solving the problem]

[0006] The limiting surface interference check system disclosed herein includes a setting unit that sets a limiting surface for a takeoff and landing field, an acquisition unit that acquires point cloud data having spatial information of objects around the takeoff and landing field, and a determination unit that determines a state in which the object interferes with the limiting surface based on the point cloud data acquired by the acquisition unit.

[0007] Preferably, the acquisition unit acquires point cloud data of tangible objects present around the airfield, such as installations, buildings, trees, and terrain.

[0008] Preferably, the setting unit sets the limiting surface for all azimuth angles based on the landing strip, and the determining unit estimates the azimuth angle that results in the least amount of interference between the object and the limiting surface.

[0009] Preferably, the determination unit calculates the volume of the object that interferes with the limiting surface based on the limiting surface, and estimates the azimuth angle among all the azimuth angles at which the volume of the object that interferes with the limiting surface is the smallest based on the calculation result.

[0010] The restricting surface interference check method disclosed herein includes the steps of setting a restricting surface for a landing strip, acquiring point cloud data having spatial information of objects in a management project around the landing and takeoff field, and determining a state in which the object interferes with the restricting surface based on the acquired point cloud data. Effect of the Invention

[0011] The disclosed limiting surface interference checking system and limiting surface interference checking method can facilitate the selection of new takeoff and landing sites for aircraft. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a configuration of a limiting surface interference check system according to an embodiment. [Diagram 2] 11A to 11C are diagrams illustrating setting of a limiting surface by a setting unit 11 according to an embodiment. [Diagram 3] 11A and 11B are conceptual diagrams illustrating a state in which a limiting surface and an object interfere with each other according to an embodiment. [Figure 4] 5 is a diagram illustrating details of a determination made by a determination unit 14 according to the embodiment. FIG. [Diagram 5] 11A to 11C are diagrams illustrating setting of limit surfaces for all azimuth angles by the setting unit 11 according to the embodiment. [Figure 6] 5A to 5C are diagrams illustrating a determination result of a determination unit 14 according to the embodiment. [Figure 7] 11A to 11C are conceptual diagrams illustrating setting of a limiting surface and estimation of an approach direction according to an embodiment. [Figure 8] FIG. 11 is a flow diagram illustrating the processing of the limiting surface interference check system according to the embodiment. [Figure 9] FIG. 11 is a flow diagram illustrating a process of calculating a volume amount in a determination unit 14 according to the embodiment. [Figure 10] 13A and 13B are diagrams illustrating a case where an analysis process is performed on an estimated approach direction in a limiting surface interference check system according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A limiting surface interference check system according to an embodiment will now be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and description thereof will not be repeated. Next, a limiting surface interference check system according to an embodiment will be described with reference to the drawings.

[0014] Fig. 1 is a diagram showing a configuration of a limiting surface interference check system according to an embodiment. The configuration of the limiting surface interference check system 1 will be described with reference to Fig. 1. The limiting surface interference check system 1 according to the embodiment includes a controller 10, a storage unit 2, an input device 4, an output device 6, and a communication interface 8. The communication interface 8 is provided so as to be connectable to an external device via a network.

[0015] The controller 10 includes a hardware processor such as a central processing unit (CPU), a random access memory (RAM), and a read only memory (ROM), and controls each component in response to information processing. The storage unit 2 is, for example, at least one of auxiliary storage devices such as a hard disk drive and a solid state drive, and stores programs and data for processing executed by the controller 10. The input device 4 is, for example, a device for performing at least one of input such as a mouse and a keyboard. The output device 6 is, for example, a device for performing at least one of output such as a display and a speaker. An operator can perform various processes via the input device 4 and the output device 6. The communication interface 8 is, for example, at least one of a wired local area network (LAN) module and a wireless LAN module, and is an interface for performing wired or wireless communication via a network. The type of network may be appropriately selected from, for example, the Internet, a wireless communication network, a mobile communication network, a telephone network, and a dedicated network.

[0016] The controller 10 includes a setting unit 11, an acquisition unit 12, and a determination unit 14. Various functions of the controller 10 are realized by reading a program stored in the storage unit 2. The storage unit 2 includes position data of candidate airfields and various data for setting a model of the limiting surface of the airfield. In this example, the above data is stored in the storage unit 2, but the data may be acquired from an external server (not shown) connected via the communication interface 8.

[0017] The setting unit 11 sets the limiting surface based on the position data of the candidate airfield stored in the memory unit 2 and various data for setting a model of the limiting surface of the airfield. In this example, the approach surface of the limiting surface will be described. The approach surface is one of the limiting surfaces. The limiting surface will be described later, but the approach surface is a surface necessary to ensure the safety of an aircraft in the final stage of approaching the airfield and at the time of takeoff. The model of the limiting surface is determined in advance by laws and regulations. The setting unit 11 sets the limiting surfaces for all azimuth angles based on the airfield. As an example, the setting unit 11 sets the limiting surface for each predetermined angle based on north (0°).

[0018] The acquisition unit 12 acquires point cloud data having spatial information of objects around the airstrip stored in the storage unit 2. The point cloud data is three-dimensional data of tangible objects around the airstrip, such as installations, buildings, trees, and terrain, which are examples of objects. For the point cloud data, point cloud data of a road and its surroundings acquired while the vehicle is running or stopped using the principle of a so-called mobile mapping system, which is a measuring vehicle, can be used. While the measuring vehicle is running or stopped on the landing strip, the laser scanner emits a laser to objects (including buildings, installations, and terrain) around the airstrip and receives the reflected light to acquire the point cloud data. Note that the method of acquiring the point cloud data is one example, and the data may be acquired by other methods other than the measuring vehicle. In this example, the case where the acquisition unit 12 acquires the point cloud data stored in the storage unit 2 will be described, but the acquisition unit 12 may acquire the data from an external server (not shown) in which the point cloud data is stored, which is connected via the communication interface 8.

[0019] The determination unit 14 determines a state in which the object interferes with the limiting surface based on the point cloud data acquired by the acquisition unit 12. The determination unit 14 estimates an azimuth angle at which the amount of interference between the object and the limiting surface is small. The determination unit 14 calculates the volume of the object interfering with the limiting surface based on the limiting surface, and estimates an azimuth angle at which the volume of the object interfering with the limiting surface is small among all azimuth angles based on the calculation result.

[0020] FIG. 2 is a diagram for explaining the setting of the limiting surface by the setting unit 11 according to the embodiment. With reference to FIG. 2, the setting unit 11 sets the position data of the airfield that is the candidate site stored in the storage unit 2 and a model of the limiting surface of the airfield. The setting unit 11 sets the model of the limiting surface of the airfield based on the parameters A1 to A6 and a predetermined ratio, etc. In this example, a case is shown in which the models of the approach surface and the transition surface are set as the model of the limiting surface based on the landing strip of the airfield as an example. The parameters A1 to A6 and the predetermined ratio, etc. are predetermined by regulations.

[0021] 3 is a conceptual diagram for explaining a state in which a limiting surface and an object interfere with each other according to an embodiment. Referring to FIG. 3, a case is shown in which a limiting surface (approach surface) is set for a landing strip. The area surrounded by a dotted line is an area in which the object interferes with the limiting surface. In this example, the determination unit 14 calculates the volume of the object interfering with the limiting surface based on the limiting surface, and estimates an azimuth angle among all azimuth angles at which the volume of the object interfering with the limiting surface is the smallest based on the calculation result.

[0022] 4 is a diagram illustrating details of the determination by the determination unit 14 according to the embodiment. With reference to FIG. 4, the determination unit 14 calculates the volume of the region of interest by the point height method (one point method) using the following formula (1).

[0023]

number

[0024] Vi indicates the volume of a rectangular parallelepiped (unit volume calculation area) between the top surface created by the 3D point cloud data and the bottom surface created by the limiting surface. Grid step is an arbitrarily set mesh width. Hi max is the difference between the highest point of the 3D point cloud data included in the unit mesh and the limiting surface height. As an example, h1, h2, h3, and h4 are shown as the height differences of four points, and in this example, h1 is shown as the case where the difference value is the largest. Note that the point height method is not limited to the one-point method, and other methods may be used to calculate the volume of the attention area. The determination unit 14 calculates the above process for each unit mesh to calculate the volume of the object interfering with the limiting surface.

[0025] 5 is a diagram for explaining the setting of limiting surfaces of all azimuth angles by the setting unit 11 according to the embodiment. With reference to FIG. 5, the setting unit 11 sets limiting surfaces of all azimuth angles based on the landing strip. As an example, the setting unit 11 shows a case where limiting surfaces are set in a plurality of directions.

[0026] FIG. 6 is a diagram for explaining the determination result of the determination unit 14 according to the embodiment. With reference to FIG. 6, in this example, the distribution of the volume amount interfering with the limiting surface (approach surface) according to the azimuth angle (north is 0°) is shown. The numerical value on the periphery indicates the azimuth angle. The value in the axial direction indicates the volume amount. The directions of 0° and 255° indicate a case where the volume amount of the feature interfering with the limiting surface (approach surface) is large. On the other hand, in this example, the directions of 45°, 180°, and 315° indicate a case where the volume amount of the feature interfering with the limiting surface is small. Therefore, the determination unit 14 estimates the azimuth angles of 45°, 180°, and 315° with respect to the landing strip. By this process, it is possible to easily grasp from which azimuth angle the approach is easy based on the landing strip. Note that in this example, the distribution of the volume amount has been described, but it is not limited to this, and it may be a distribution of the ratio when the maximum volume amount is used as the denominator.

[0027] FIG. 7 is a conceptual diagram for explaining the setting of a limiting surface and the estimation of an azimuth angle according to an embodiment. Referring to FIG. 7(A), the setting unit 11 sets a limiting surface (approach surface) in all directions based on the landing strip. Referring to FIG. 7(B), the determination unit 14 calculates the distribution of the volume amount interfering with the limiting surface (approach surface) set by the setting unit 11, and estimates the azimuth angle with the small volume amount. In this example, the case where the azimuth angles of 90°, 120°, 150°, and 330° are estimated as the azimuth angles with the small volume amount interfering with the limiting surface (approach surface) is shown. By this process, it is possible to easily grasp from which azimuth angle the approach is easy based on the landing strip. In other words, it is possible to use this information to facilitate the selection of a new takeoff and landing site for an aircraft.

[0028] FIG. 8 is a flow diagram for explaining the processing of the restricting surface interference check system according to the embodiment. Referring to FIG. 8, the setting unit 11 sets the restricting surface in all directions based on the landing strip of the airstrip, based on the position data of the airstrip that is the candidate site and various data for setting the model of the restricting surface of the airstrip stored in the storage unit 2 (step S0). Next, the acquisition unit 12 acquires point cloud data having spatial information of the objects around the airstrip stored in the storage unit 2 (step S1). Next, the determination unit 14 calculates the volume of the feature interfering with the restricting surface based on the point cloud data acquired by the acquisition unit 12 (step S2). The flow of calculation of the volume of the feature interfering with the restricting surface will be described later.

[0029] Next, the determination unit 14 determines whether the process of calculating the volume of the feature interfering with the limiting surface for all azimuth angles has been completed (step S4). In step S4, if the determination unit 14 determines that the process of calculating the volume of the feature interfering with the limiting surface for all azimuth angles has not been completed (NO in step S4), the process returns to step S2 and repeats the above process. On the other hand, in step S4, if the determination unit 14 determines that the process of calculating the volume of the feature interfering with the limiting surface for all azimuth angles has been completed (YES in step S4), the determination unit 14 estimates the azimuth angle of the limiting surface with fewer interfering features (step S6). Then, the process of the limiting surface interference check system is completed (END).

[0030] Fig. 9 is a flow diagram for explaining the process of calculating the volume in the determination unit 14 according to the embodiment. Referring to Fig. 9, the determination unit 14 generates a mesh for the bottom surface created by the set limiting surface and the top surface created by the three-dimensional point cloud data (step S10). Next, the determination unit 14 obtains the highest point of the three-dimensional point cloud data of the rectangular parallelepiped formed by the mesh between the bottom surface created by the set limiting surface and the top surface created by the three-dimensional point cloud data (step S12).

[0031] Next, the determination unit 14 obtains the height of the bottom surface created by the limiting surface (step S14). Next, the determination unit 14 calculates the difference between the height of the highest point and the limiting surface (step S16). Next, the determination unit 14 calculates the volume of the object interfering with the limiting surface for each unit mesh (step S18). Next, the determination unit 14 calculates the sum of the volumes of the objects interfering with the limiting surface (step S20). Then, the determination unit 14 ends the volume calculation process (return). Through this process, the determination unit 14 can calculate the volume of the object interfering with the set limiting surface.

[0032] In the embodiment, a method has been described in which an approach surface among the limiting surfaces is used to calculate the volume of interference between the limiting surface and the object, and the azimuth angle from which approach is easy based on the landing strip is easily understood. This makes it possible to easily select a takeoff and landing site. Note that it is also possible to calculate the volume of interference between the object and the limiting surface in a similar manner using other limiting surfaces other than the approach surface, and to understand the azimuth angle from which approach is easy based on the landing strip.

[0033] (Other forms) In the above embodiment, a method for determining the state of an object interfering with a limiting surface has been described, but the limiting surface interference check system may also be configured to perform a process of analyzing the surrounding conditions of the takeoff and landing field after estimating the azimuth angle at which the volume of the object interfering with the limiting surface is small.

[0034] FIG. 10 is a diagram for explaining an analysis process of an estimated azimuth angle in a limiting surface interference check system according to another embodiment. With reference to FIG. 10(A), in this example, a plan view of a limiting surface and three-dimensional point cloud data is shown when an azimuth angle with a small volume of an object interfering with the limiting surface is estimated based on a landing strip. Specifically, a plan view of a limiting surface and three-dimensional point cloud data is shown when two mutually symmetrical azimuth angles with a small volume of an object interfering with the limiting surface are estimated based on a landing strip. Also, with reference to FIG. 10(B), in this example, a cross-sectional view is shown when two mutually symmetrical azimuth angles with a landing strip are estimated. The plan view and cross-sectional view make it easy to visually grasp the interference situation between the terrain of the airstrip and the limiting surface. This makes it possible to further facilitate the selection of an airstrip.

[0035] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0036] 1 limit surface interference check system, 2 memory unit, 4 input device, 6 output device, 8 communication interface, 10 controller, 11 setting unit, 12 acquisition unit, 14 judgment unit.

Claims

1. A setting unit for setting a limiting surface for the airfield; An acquisition unit that acquires point cloud data having spatial information of objects around the airfield; A limiting surface interference check system comprising: a determination unit that determines a state in which the object interferes with the limiting surface based on the point cloud data acquired by the acquisition unit.

2. The limiting surface interference check system according to claim 1 , wherein the acquisition unit acquires point cloud data of tangible objects present around an airfield, such as installations, buildings, trees, and terrain.

3. The setting unit sets a limit surface for all azimuth angles based on a landing strip; The limiting surface interference check system according to claim 1 , wherein the determining unit estimates an azimuth angle at which the amount of interference between the object and the limiting surface is small.

4. The determination unit is Calculating a volume of an object interfering with the limiting surface based on the limiting surface; 4. The limiting surface interference check system according to claim 3, further comprising: estimating an azimuth angle at which a volume of said object interfering with said limiting surface is small among all azimuth angles based on a calculation result.

5. establishing a limiting surface for the airfield; acquiring point cloud data having spatial information of objects in the management business around the airfield; and determining whether the object interferes with the limiting surface based on the acquired point cloud data.

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