Method and apparatus for detecting a flight obstacle

• US 7,061,401 B2
• Filed: 07/12/2004
• Issued: 06/13/2006
• Est. Priority Date: 08/07/2003
• Status: Active Grant

• Current Assignee: Bodenseewerk Gertetechnik GmbH
• Original Assignee: Bodenseewerk Gerätetechnik Gmbh
• Inventors: Gross, Michael, Koch, Rene, Arndt, Martin, Voos, Holger, Dähne, Claus
• Primary Examiner(s): Wu, Daniel
• Assistant Examiner(s): Fan, Hongmin
• Application Number:
  US10/889,449
• Publication Number:
  US 20050109872A1
• Time in Patent Office: 701 Days
• Field of Search: 340/961, 701/301, 382/103, 382/104, 382/181, 348/117
• US Class Current: 340/961
• CPC Class Codes: G08G 5/0013 with a ground station
• 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 5/045 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

An apparatus for and a method of detecting a flight obstacle (28, 30, 32, 34) in the surroundings (50) of an aircraft (4), in particular for collision warning purposes, wherein images of the surroundings (50) are recorded, the flight obstacle (28, 30, 32, 34) is detected from the images and provided with an identification, and a signal (66, 68, 76) associated with the identification is outputted in a ground station (6). In order to guarantee a high level of certainty in respect to the control of the aircraft (4) which is effected automatically or by a ground control pilot it is proposed that detection and allocation of the identification are effected on board the aircraft (4) and the identification is sent to the ground station (6).

Claims

1. A method of detecting a flight obstacle (28, 30, 32, 34) in the surroundings (50) of an unmanned aircraft (4), wherein at least two images of at least one respective part of the surroundings (50) are recorded, the flight obstacle (28, 30, 32, 34) is detected from the images and provided with an identification, and a signal (66, 68, 76) associated with the identification is outputted in a ground station (6), characterised in that detection and allocation of the identification are effected onboard the aircraft (4) and the identification is sent to the ground station (6).

2. A method according to claim 1 characterised in that a classification of a risk potential of the flight obstacle (28, 30, 32, 34) is effected on board the aircraft (4) and is sent to the ground station (6).

3. A method according to claim 1 characterised in that a measurement with respect to the flight obstacle (28, 30, 32, 34) is effected with an active measurement signal.

4. A method according to claim 1 characterised in that an avoidance trajectory (42) is ascertained on board and data associated with the avoidance trajectory (42) are communicated to the ground station (6).

5. A method according to claim 4 characterised in that the avoidance trajectory (42) is ascertained with the incorporation of items of information ascertained on board about the surroundings (50) and/or the flight situation of the aircraft (4).

6. A method according to claim 4 characterised in that a decision as to whether the aircraft (4) is to fly on the avoidance trajectory (42) is made by a control apparatus (18) on board the aircraft (4).

7. A method according to claim 1 characterised in that a detail image (38) representing the flight obstacle (28, 30) is sent to and displayed at the ground station (6).

8. A method according to claim 7 characterised in that a portion of an image used for detection of the flight obstacle (28, 30) is used as the detail image (38).

9. A method according to claim 7 characterised in that the detail image (38) is recorded in a spectral range which differs from the spectral range of the images used for detection of the flight obstacle (28, 30, 32, 34).

10. A method according to claim 1 characterised in that the images from which the flight obstacle (28, 30, 32, 34) is detected are recorded in the infrared spectral range.

11. A method according to claim 1 characterised in that a moving image of the flight obstacle (28, 30) is sent to the ground station (6).

12. An apparatus for detecting a flight obstacle (28, 30, 32, 34) in the surroundings (50) of an unmanned aircraft (4), comprising at least one camera unit (24) for recording at least a part of the surroundings (50) and an evaluation apparatus (26) for detecting the flight obstacle (28, 30, 32, 34) during the flight and associating an identification with the flight obstacle (28, 30, 32, 34), characterised in that the evaluation apparatus (26) is electrically connected to the at least one camera unit (24) and a transmitting device for sending the identification to a ground station (6).

13. Apparatus according to claim 12 characterised by a detail image unit for extraction of a detail image (38) showing the flight obstacle (28, 30) and for forwarding the detail image (38) to the transmitting device.

14. Apparatus according to claim 12 characterised by a first camera unit (24) for recording an overall image in a first spectral range and a second camera unit (36) for recording an image, such as a detail image (38) in a spectral range which is different from the first spectral range.