Visual collision avoidance system for unmanned aerial vehicles

• US 5,581,250 A
• Filed: 02/24/1995
• Issued: 12/03/1996
• Est. Priority Date: 02/24/1995
• Status: Expired due to Fees

• Current Assignee: Alexander Khvilivitzky
• Original Assignee: Alexander Khvilivitzky
• Inventors: Khvilivitzky, Alexander
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): Lee, Benjamin C.
• Application Number:
  US08/393,478
• Time in Patent Office: 648 Days
• Field of Search: 340/961, 340/945, 340/435, 340/903, 340/946, 364/439, 364/449, 364/461, 364/443, 364/436, 364/444, 348/113, 348/114, 348/116, 348/117, 348/135, 348/141, 348/143, 348/149, 342/29, 342/55, 382/153, 382/104
• US Class Current: 340/961
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• 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

Abstract

A collision avoidance ability for UAV (42) during its non-VFR pre-programmed autonomous flight is achieved by using a forward-looking TV camera (20) which senses visual obstacles in direction of flight. The UAV is equipped with an autopilot which is able of maneuvering and incorporated in a form of flight/mission computer'"'"'s (10) program. Image processor (18) locks and tracks obstacles in the camera'"'"'s field of view in real time. It provides the autopilot with information about level of threat and generates appropriate commands. Being warned by the TV camera (20), flight/mission computer (10) initiates appropriate maneuver, in order to avoid possible collision. After that, it returns to interrupted pre-programmed flight. Two forward-looking TV cameras are used to measure a distance between the UAV (42) and the obstacle considering that the level of threat is higher if this distance is less.

Claims

1. A visual collision avoidance system for Unmanned Aerial Vehicles (UAV) comprising:

a flight/mission computer means having programs for air data processing, flight data management, navigation support, and autopilot functioning,

a data acquisition means for filtering, sampling, multiplexing, and converting the data from analog to digital form and data distribution means for converting digital signals to analog form, their de-multiplexing and filtering,

sensor means for short-term attitude determination,

a GPS receiver means for long-term navigation, an up-link and down-link means for communications with ground control station.

an optional payload means for acquisition of surveillance or reconnaissance data,

wherein a miniature CCD forward-looking TV camera with appropriate video circuitry is installed in the front section of the UAV, output of the camera is connected with an image processor, and the signals produced by this image processor are sent to the said flight/mission computer means, said forward-looking TV camera automatically locks an obstacle on course of the UAV flight and tracks it in real time, a point on the edge of the obstacle closest to the center of camera'"'"'s field of view is searched, a distance from this point to the center of field of view is determined and used in said flight/mission computer means'"'"' program as a basis for autopilot commands generation for collision avoidance maneuver;

said autopilot interrupts pre-programmed flight and manages to deflect the UAV in a direction from said center of field of view toward said point on the edge while the center of field of view is inside the obstacle, and in a direction opposite the direction from said center of field of view toward said point while said center of field of view is outside the obstacle;

a level of threat and an amplitude of the command which are generated by the autopilot program are of maximum value while the center of field of view is inside the obstacle, and is inverse-proportional to said distance while the center of field of view is not inside the obstacle and outside an area adjacent to the center of the field of view;

said flight/mission computer means manage the collision avoidance maneuver, and return to the interrupted pre-programmed flight when the threat is over.

2. A visual collision avoidance system for Unmanned Aerial Vehicles according to claim 1, wherein two said forward-looking IV cameras are mounted on two wings at equal distances from the UAV fuselage, said image processor (or processors) process information from both said forward-looking TV cameras, said flight/mission computer means determine stereoscopic distance to the obstacle and manage the collision avoidance maneuver, considering that a level of threat and command to autopilot are directly proportional to both the distance from the obstacle edge to the center of the field of view and the distance between the UAV and the obstacle.

3. A visual collision avoidance system for Unmanned Aerial Vehicles according to claim 1 or 2, wherein said forward-looking TV camera implemented in a form of a single miniature printed circuit board mounted on a set of shock absorbers which are fastened to the fuselage and to the mounting holes on this board, and the canopy covering the radome where said TV camera is installed, is made transparent.