Method and system for aircraft taxi strike alerting using adaptive field of view

• US 10,217,371 B1
• Filed: 08/22/2017
• Issued: 02/26/2019
• Est. Priority Date: 08/22/2017
• Status: Active Grant

• Current Assignee: Rosemount Aerospace, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: Rosemount Aerospace, Inc. (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Pesik, Joseph T., Rutkiewicz, Robert, Ell, Todd Anthony
• Primary Examiner(s): Nakhjavan, Shervin K
• Application Number:
  US15/683,215
• Publication Number:
  US 20190066523A1
• Time in Patent Office: 553 Days
• Field of Search: None
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 47/02 Arrangements or adaptations of signal or lighting devices
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10032 Satellite or aerial image; Remote sensing
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/10152 Varying illumination
• CPC Class Codes: G06T 2207/30241 Trajectory
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G08B 3/10 using electric transmission; using electromagnetic transmission
• CPC Class Codes: G08G 5/04 Anti-collision systems
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: G08G 5/065 Navigation or guidance aids, e.g. for taxiing or rolling
• CPC Class Codes: H04N 23/56 provided with illuminating means

Abstract

Apparatus and associated methods relate to controlling, based on a mode selector, the field of view of an external object detector during aircraft taxi operations. For example, during high-speed taxi operations, the field of view can be controlled to have a relatively-small solid-angle of detection capability. The relatively-small solid-angle field of view can be aligned so as to detect more distant objects within a narrow corridor extending forward of the aircraft'"'"'s wingtips. During low-speed taxi operations, for example, the field of view can be controlled to have a relatively-large solid-angle of detection capability. The relatively-large solid-angle field of view can be aligned so as to detect close objects in the vicinity of the aircraft wings and engine nacelle. The object detector projects structured light within the controlled field of view, thereby illuminating the object(s) external to the aircraft that are within the illumination field of view.

Claims

1. A system for calculating position values and/or range data of an object(s) external to an aircraft, the system comprising:

a mode selector configured to determine an illumination field of view;

a projector mounted at a projector location on the aircraft and configured to project structured light within the illumination field of view, thereby illuminating the object(s) external to the aircraft that are within the illumination field of view;

a camera mounted at a camera location on the aircraft and configured to receive a portion of the structured light reflected by the object(s) within the illumination field of view, and further configured to focus the received portion of the structured light onto a focal plane array comprising a plurality of light-sensitive pixels, thereby forming an image of object(s) within the illumination field of view, the image comprising pixel data generated by the plurality of light-sensitive pixels; and

an image processor configured to identify pixel coordinates corresponding to a subset of the plurality of light-sensitive pixels upon which the received portion of the structured light reflected by the object(s) within the illumination field of view is focused, the image processor further configured to use triangulation, based on the projector location, the camera location, and the identified pixel coordinates, to calculate the position values and/or range data of the object(s) within the illumination field.

2. The system of claim 1, wherein the mode selector is further configured to determine an emission power, and the projector is further configured to project structured light of the determined emission power.

3. The system of claim 1, wherein the mode selector is further configured to determine beam dispersion, and the projector is further configured to project structured light of the determined beam dispersion.

4. The system of claim 1, wherein the mode selector comprises a selection input device operable by a pilot of the aircraft.

5. The system of claim 1, wherein the mode selector determines the illumination field of view within which the structured light is projected, based on ground operation modes of the aircraft.

6. The system of claim 5, wherein, if the ground operation mode is a high-speed taxi mode, then the mode selector determines a first illumination field of view within which the structured light is projected, and wherein, if the ground operation mode is a low-speed taxi mode, then the mode selector determines a second illumination field of view within which the structured light is projected, wherein the second illumination field of view has a greater solid-angle than a solid-angle of the first illumination field of view.

7. The system of claim 6, wherein, if the ground operation mode is a moderate-speed taxi mode, then the mode selector determines a third illumination field of view within which the structured light is projected, wherein the third illumination field of view has a greater solid-angle than the solid-angle of the first illumination field of view but less than the solid-angle of the second illumination field of view.

8. The system of claim 1, further comprising:

an aircraft system interface configured to receive signals indicative of aircraft operating parameters.

9. The system of claim 8, wherein the aircraft operating parameters include an aircraft taxi speed, wherein the mode selector is further configured to determine the illumination field of view in response to the received signal indicative of the aircraft taxi speed.

10. The system of claim 8, wherein the aircraft operating parameters include an orientation of a steerable wheel, wherein the mode selector is further configured to determine the illumination field of view in response to the received signal indicative of the orientation of the steerable wheel.

11. The system of claim 1, further comprising:

an audible alarm configured to generate an alert signal, wherein the alert signal is generated if the calculated position values and range data of the object(s) within the illumination field of view indicate that one or more of the object(s) are within a collision zone or on a collision trajectory.

12. The system of claim 1, wherein the projector is an infrared projector configured to project structured light that is infrared light.

13. A method for generating an alert signal of a potential aircraft collision for a taxiing aircraft, the method comprising the steps of:

determining an illumination field of view;

projecting structured light within the determined illumination field of view;

receiving a portion of the structured light reflected by object(s) within the illumination field of view;

focusing the received portion of the structured light onto a focal plane array comprising a plurality of light-sensitive pixels, thereby forming an image of the object(s) within the illumination field of view, the image comprising pixel data generated by the plurality of light-sensitive pixels;

identifying pixel coordinates corresponding to a subset of the plurality of light-sensitive pixels upon which the received portion of the structured light reflected by the object(s) within the illumination field of view is focused;

calculating, based on a projector location, a camera location, and the identified pixel coordinates, position values and/or range data of the object(s) within the illumination field of view by which the structured light is reflected; and

generating an alert signal if the calculated position values and range data of the object(s) indicate that one or more of the object(s) are within a collision zone or on a collision trajectory.

14. The method of claim 13, wherein the illumination field of view external to the aircraft is determined based on ground operation modes of the aircraft.

15. The method of claim 13, further comprising:

determining an emission power;

wherein the projected structured light is of the determined emission power.

16. The method of claim 13, further comprising:

determining a beam dispersion;

wherein the projected structured light is of the determined beam dispersion.

17. The method of claim 13, further comprising:

receiving signals indicative of aircraft operating parameters; and

determining the illumination field of view in response to a received signal indicative of an aircraft taxi speed.

18. The method of claim 13, further comprising:

receiving signals indicative of aircraft operating parameters; and

determining the illumination field of view in response to a received signal indicative of an orientation of a steerable wheel.

19. The method of claim 13, wherein determining the illumination field of view within which the structured light is projected is based on ground operation modes of the aircraft.

20. The method of claim 19, wherein, if the ground operation mode is a high-speed taxi mode, then the mode selector determines a first illumination field of view within which the structured light is projected, and wherein, if the ground operation mode is a low-speed taxi mode, then the mode selector determines a second illumination field of view within which the structured light is projected, wherein the second illumination field of view has a greater solid-angle than a solid-angle of the first illumination field of view.