Sensor-based guidance for rotorcraft

• US 10,532,825 B2
• Filed: 05/07/2018
• Issued: 01/14/2020
• Est. Priority Date: 05/07/2018
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Blanton, Brendan, Dibernardi, Deanna, Allen, Robert, Gresko, Katherine, Paul, Timothy, Kenney, Joseph
• Primary Examiner(s): Volentine, Rebecca A
• Application Number:
  US15/973,228
• Publication Number:
  US 20190337641A1
• Time in Patent Office: 617 Days
• CPC Class Codes: B64C 27/04 Helicopters
• CPC Class Codes: B64C 27/06 with single rotor
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64D 43/00 Arrangements or adaptations of instruments arrangements of cameras B64D47/08; aeronautical measuring instruments per se G01C
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 45/08 optical
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64F 1/20 Arrangement of optical beacons
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G06V 10/751 Comparing pixel values or logical combinations thereof, or feature values having positional relevance, e.g. template matching
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G08G 5/0047 Navigation or guidance aids for a single aircraft details of equipment G08G5/0017

Abstract

Disclosed herein is a method that comprises acquiring one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern. The method also comprises processing, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers. The method further comprises determining guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers. The method additionally comprises providing the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

Claims

1. A method, comprising:

acquiring one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;

processing, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;

determining guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and

providing the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

2. The method according to claim 1, wherein the characteristics of the plurality of markers comprises one of a wireless signal, a color, a frequency of a wireless signal, a pulse, and a shape.

3. The method according to claim 1, wherein the plurality of markers comprises beacons that propagate wireless signals, the wireless signals comprising one or more of ultraviolet light, visible light, infrared light, and short wave infrared light.

4. The method according to claim 1, wherein at least one marker of the plurality of markers comprises a beacon array, the beacon array comprising a plurality of beacons in a single unit for propagating information describing one or more of the predefined pattern of the plurality of markers, distances between the plurality of markers, and a total number of the plurality of markers.

5. The method according to claim 1, wherein the guidance information comprises one or more of range and directional pose information related to the position of the off-board target relative to the rotorcraft based on relative spacing and orientation of the plurality of markers.

6. The method according to claim 1, wherein the guidance information comprises an output graphic of the plurality of markers overlaid on an image of the off-board target on the display.

7. The method according to claim 1, further comprising providing the guidance information to the operator of the rotorcraft as audio information.

8. The method according to claim 1, wherein the plurality of markers comprises at least three markers arranged in the predefined pattern.

9. The method according to claim 1, wherein the off-board target comprises an item intended to be picked-up by the rotorcraft as a sling load, the plurality of markers being arranged in the predefined pattern on a top surface of the item.

10. The method according to claim 1, wherein the off-board target comprises a landing site for the rotorcraft, the plurality of markers being arranged in the predefined pattern around the landing site.

11. The method according to claim 1, wherein the camera is located on a bottom side of the rotorcraft and comprises a wide-angle lens.

20. The method of claim 1, wherein processing the one or more images to identify the predefined pattern based on the pattern indicator marker comprises identifying the pattern indicator marker, and starting with the pattern indicator marker and moving to the next marker, to determine the predefined pattern.

12. A system, comprising:

a rotorcraft;

a camera onboard the rotorcraft;

an image processor for processing images that the camera acquires;

a plurality of markers of an off-board target, the plurality of markers arranged in a predefined pattern; and

a controller, the controller configured to;

acquire one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;

process, using the image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;

determine guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and

provide the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

13. The system according to claim 12, wherein the characteristics of the plurality of markers comprises one of a wireless signal, a color, a frequency of a wireless signal, a pulse, and a shape.

14. The system according to claim 12, wherein the plurality of markers comprises beacons that propagate wireless signals, the wireless signals comprising one or more of ultraviolet light, visible light, infrared light, and short wave infrared light.

15. The system according to claim 12, wherein at least one marker of the plurality of markers comprises a beacon array, the beacon array comprising a plurality of beacons in a single unit for propagating information describing one or more of the predefined pattern of the plurality of markers, distances between the plurality of markers, and a total number of the plurality of markers.

16. The system according to claim 12, wherein the guidance information comprises one or more of range and directional pose information related to the position of the off-board target relative to the rotorcraft based on relative spacing and orientation of the plurality of markers.

17. The system according to claim 12, wherein the guidance information comprises an output graphic of the plurality of markers overlaid on an image of the off-board target on the display.

18. The system according to claim 12, wherein the plurality of markers comprises at least three markers arranged in the predefined pattern.

21. The system of claim 12, wherein the image processor is configured to identify the pattern indicator marker for starting with the pattern indicator marker and moving to the next marker, to determine the predefined pattern.

19. An apparatus, comprising:

an image capturing module configured to acquire one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;

an image processing module configured to process, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;

a guidance module configured to determine guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and

a presentation module configured to provide the determined guidance information to a display device in the field of view of an operator of the rotorcraft.

22. The apparatus of claim 19, wherein the predefined pattern is configured to be identified by identification of the pattern indicator marker, for starting with the pattern indicator marker and moving to the next marker, to determine the predefined pattern.