Optical Detection and Ranging Sensor System For Sense and Avoid, and Related Methods
First Claim
1. An object detection and avoidance apparatus carried by an unmanned aerial vehicle to provide passive sensing and facilitate avoiding airborne obstacles, the apparatus including at least one optical system comprising:
- a collimator positioned to receive and collimate light waves defining an optical image of an aerial environment within a substantial portion of a field of regard defining a wide field of view and to align the light waves having differing wavelengths entering the collimator to reduce dispersion of separate color components thereof, the aerial environment including one or more airborne objects;
a plurality of light-sensing elements defining a focal plane array positioned to receive at least a portion of the optical image within the wide field of view to generate image data;
a scan mirror assembly positioned in optical communication with the collimator and in optical communication with the focal plane array to selectively direct light reflected from the one or more airborne objects to the focal plane array according to a narrow field of view, the narrow field of view comprising an image area of less than at least approximately 10 percent of an image area of the wide field of view; and
a spatial light modulator comprising a plurality of micro-mirrors, the spatial light modulator positioned in optical communication with the scan mirror assembly and the focal plane array and configured to adjust light intensity of light directed to the focal plane array responsive to environmental lighting conditions of the light received from the scan mirror assembly to thereby maintain the light intensity of the light directed to the focal plane array below a maximum intensity level.
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Accused Products
Abstract
An apparatus carried by an unmanned vehicle to provide passive sensing and facilitate avoiding airborne aerial obstacles is provided. The apparatus can include at least one, but typically multiple optical systems installed, for example, in the nose of the aerial vehicle to passively sense and determine a range, direction, and velocity of the airborne obstacles to allow the aerial vehicle to avoid the airborne obstacles. The typical optical system includes at least one focal plane array or other imaging device configured to receive a wide field of view and at least one focal plane array or other imaging device configured to receive a steerable narrow field of view within the wide field of view to allow concentrated determination of the range, direction, and/or velocity of obstacles detected by the wide field of view imaging devices.
92 Citations
30 Claims
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1. An object detection and avoidance apparatus carried by an unmanned aerial vehicle to provide passive sensing and facilitate avoiding airborne obstacles, the apparatus including at least one optical system comprising:
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a collimator positioned to receive and collimate light waves defining an optical image of an aerial environment within a substantial portion of a field of regard defining a wide field of view and to align the light waves having differing wavelengths entering the collimator to reduce dispersion of separate color components thereof, the aerial environment including one or more airborne objects; a plurality of light-sensing elements defining a focal plane array positioned to receive at least a portion of the optical image within the wide field of view to generate image data; a scan mirror assembly positioned in optical communication with the collimator and in optical communication with the focal plane array to selectively direct light reflected from the one or more airborne objects to the focal plane array according to a narrow field of view, the narrow field of view comprising an image area of less than at least approximately 10 percent of an image area of the wide field of view; and a spatial light modulator comprising a plurality of micro-mirrors, the spatial light modulator positioned in optical communication with the scan mirror assembly and the focal plane array and configured to adjust light intensity of light directed to the focal plane array responsive to environmental lighting conditions of the light received from the scan mirror assembly to thereby maintain the light intensity of the light directed to the focal plane array below a maximum intensity level. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An object detection and avoidance apparatus carried by an unmanned aerial vehicle to provide passive sensing and facilitate avoiding airborne obstacles, the apparatus including at least one optical system comprising:
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a collimator positioned to receive and collimate light waves defining an optical image of an aerial environment within a substantial portion of a field of regard defining a wide field of view and to align the light waves having differing wavelengths entering the collimator to reduce dispersion of separate color components thereof, the aerial environment including one or more airborne objects; a first plurality of light-sensing elements defining a first focal plane array positioned to receive at least a portion of the optical image within the wide field of view to generate image data according to a narrow field of view; a scan mirror assembly positioned in optical communication with the collimator and in optical communication with the focal plane array to selectively direct light reflected from the one or more airborne objects to the focal plane array according to a narrow field of view, the narrow field of view comprising an image area of less than at least approximately 10 percent of an image area of the wide field of view, the scan mirror assembly including a first and a second scan mirror to provide airborne object selection according to a narrow field of view from within the wide field of view; a first infrared spatial light modulator comprising a plurality of micro-mirrors and positioned in optical communication with the scan mirror assembly and the first focal plane array and configured to adjust relative aperture size of light received from the scan mirror assembly to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the first focal plane array to enhance determining atmospheric blur and object range estimates, and to adjust light intensity of light directed to the first focal plane array responsive to environmental lighting conditions of the light received from the scan mirror assembly to thereby maintain the light intensity of the light directed to the first focal plane array below a maximum intensity level; a second plurality of light-sensing elements defining a second focal plane array positioned to receive the optical image within the wide field of view to generate image data according to the wide field of view; a beam splitter positioned to simultaneously provide the optical image of the aerial environment according to the wide field of view to both the scan mirror assembly and to the second focal plane array; and a second infrared spatial light modulator comprising a plurality of micro-mirrors, the second spatial light modulator positioned in optical communication with the beam splitter and the second focal plane array and configured to adjust relative aperture size of light directed to the second focal plane array to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the second focal plane array to enhance determining atmospheric blur and range estimates, and to adjust light intensity of light directed to the second focal plane array responsive to environmental lighting conditions of the light received from the beam splitter to thereby maintain the light intensity of the light directed to the second focal plane array below a maximum intensity level. - View Dependent Claims (16, 17, 18, 19)
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20. An object detection and avoidance apparatus carried by an unmanned aerial vehicle to provide passive sensing and facilitate avoiding airborne obstacles, the apparatus including at least one optical system comprising:
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a collimator positioned to receive and collimate light waves defining an optical image of an aerial environment within a substantial portion of a field of regard defining a wide field of view and to align the light waves having differing wavelengths entering the collimator to reduce dispersion of separate color components thereof, the aerial environment including one or more airborne objects, the collimator comprising a collimating mirror positioned in optical communication with a primary parabolic mirror having a center aperture extending therethrough; a plurality of light-sensing elements defining a focal plane array positioned to alternatingly receive the optical image within the wide field of view to generate image data according to the wide field of view to receive at least a portion of the optical image within the wide field of view to generate image data according to a narrow field of view; a first spatial light modulator comprising a plurality of micro-mirrors and positioned in optical communication with the collimator and the focal plane array and configured to adjust relative aperture size of light received from the collimator to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the focal plane array to enhance determining atmospheric blur and object range estimates, and to adjust light intensity of light directed to the focal plane array responsive to environmental lighting conditions of the light received from the collimator to thereby maintain the light intensity of the light directed to the focal plane array via a first optical pathway below a maximum intensity level; a narrow field of view lens assembly comprising a first achromatic doublet and a biconcave lens positioned in combination between the first spatial light modulator and the focal plane array to provide the focal plane array at least a portion of the optical image within the wide field of view according to the narrow field of view; a second spatial light modulator comprising a plurality of micro-mirrors, the second spatial light modulator positioned in optical communication with the collimator and the focal plane array to adjust relative aperture size of light directed to the focal plane array to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the focal plane array to enhance determining atmospheric blur and object range estimates, and to adjust light intensity of light directed to the focal plane array responsive to environmental lighting conditions of the light received from the collimator to thereby maintain the light intensity of the light directed to the focal plane array via a second optical pathway below a maximum intensity level; a second achromatic doublet positioned between the second spatial light modulator and the focal plane array to correct residual transverse chromatic aberrations therebetween; a flip mirror positioned optically between the focal plane array and the first spatial light modulator along the first optical pathway, and positioned optically between the focal plane array and the second spatial light modulator along the second optical pathway to alternatingly provide a substantially unattenuated form of the optical image of the aerial environment according to the narrow field of view and provide a substantially unattenuated form of the optical image of the aerial environment according to the wide field of view to thereby provide for generating image data according to both the wide field of view and the narrow field of view using the same focal plane array; and a beam pathway managing device comprising one or more of the following; a beam splitter positioned to simultaneously provide the optical image of the aerial environment according to the wide field of view to both the first and the second spatial light modulators, a half silvered mirror positioned to simultaneously provide the optical image of the aerial environment according to the wide field of view to both the first and the second spatial light modulators, and a second flip mirror positioned to alternatingly provide the optical image of the aerial environment according to the wide field of view to the first and the second spatial light modulators; and a scan mirror assembly comprising first and second scan mirrors positioned optically upstream of the collimator and in optical communication with the collimator to scan the entire extent of the field of regard to thereby selectively direct light reflected from the one or more airborne objects to the beam pathway managing device according to the wide field of view.
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21. The object detection and avoidance apparatus as defined in claim 21, further comprising a sensor control and image processor configured:
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to provide control signals to the scan mirror assembly to thereby direct the first and the second scan mirrors to pan in combination to provide a selected portion of a image area within the field of regard to the beam pathway managing device according to the wide field of view; to provide control signals to the flip mirror to select between the first and the second optical pathways; to provide control signals to the focal plane array to provide image data generation for a plurality of pairs of images at different sensor plane distances according to the narrow field of view and to provide image data generation for a plurality of pairs of images at different sensor plane distances according to the wide field of view; and to receive the image data generated from the focal plane array to separately determine a range value to each of the one or more airborne objects.
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22. An object detection and avoidance apparatus carried by an unmanned aerial vehicle to provide passive sensing and facilitate avoiding airborne obstacles, the apparatus including at least one optical system comprising:
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a collimator positioned to receive and collimate light waves defining an optical image of an aerial environment within a substantial portion of a field of regard defining a wide field of view and to align the light waves having differing wavelengths entering the collimator to reduce dispersion of separate color components thereof, the aerial environment including one or more airborne objects; a first plurality of light-sensing elements defining a first focal plane array positioned to receive the optical image within the wide field of view to generate image data according to a wide field of view; a second plurality of light-sensing elements defining a second focal plane array positioned to receive the optical image within the wide field of view simultaneously with that of the first focal plane array and positioned to generate image data according to the wide field of view; a beam pathway management device comprising a half silvered mirror positioned to simultaneously provide the optical image of the aerial environment according to the wide field of view to both the first focal plane array and the second focal plane array; a first digital light processor positioned in optical communication with the beam pathway management device and the first focal plane array and positioned to adjust relative aperture size of light received from the beam pathway management device to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the first focal plane array to enhance determining atmospheric blur and object range estimates, and to adjust light intensity of light directed to the first focal plane array responsive to environmental lighting conditions of the light received from the beam pathway management device thereby maintain the light intensity of the light directed to the first focal plane array below a maximum intensity level; a second digital light processor positioned in optical communication with the beam pathway management device and the second focal plane array to adjust relative aperture size of light directed to the second focal plane array to optimize blur differential between each of a plurality of pairs of images and blur for at least one selected airborne object within each image on the second focal plane array to enhance determining atmospheric blur and object range estimates, and to adjust light intensity of light directed to the second focal plane array responsive to environmental lighting conditions of the light received from the beam pathway management device to thereby maintain the light intensity of the light directed to the second focal plane array below the maximum intensity level; an image gathering lens assembly positioned to gather incoming light from the aerial environment that is within the wide field of view; and a scan mirror positioned optically upstream of the collimator and in optical communication with the collimator to scan the entire extent of the field of regard to thereby selectively direct light reflected from the one or more airborne objects to the beam pathway managing device according to the wide field of view. - View Dependent Claims (23)
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24. A method of passively sensing and avoiding aerial targets, the method comprising the steps of:
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collecting image data for each image of a pair of images of an aerial environment within a field of regard including one or more airborne objects, each image of the pair of images including an atmospheric blur component, the image data for each of the pair of images separately collected using at least one different optical parameter setting for an optical system having a field of view; comparing the image data for one of the pair of images to the image data of the other of the pair of images responsive to the collected image data to determine an approximate amount of atmospheric blur in the image data; determining the amount of atmospheric blur responsive to the comparison to thereby remove the atmospheric blur from image data for at least one of the pair of images to define conditioned image data; and determining an approximate range to each of the one or more airborne objects within the field of view of the optical system responsive to the conditioned image data - View Dependent Claims (25, 26, 27, 28, 29, 30)
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Specification