• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    ice and super-cooled water detection system. system for detecting super-chilled ice or large droplets within an area of interest having a detection system measuring the radiance or reflectance of the area of interest when exposed to short-wave infrared radiation having a wavelength in the range of about 2 , 05 µm to about 2.30 µm. the detection system measures the radiance or reflectance in a first band having a wavelength in the range of about 2.05 µm to about 2.15 µm and emitting a first band signal, and still measures the radiance or reflectance in a second band having a wavelength in the range of about 2.15 µm to about 2.30 µm and emitting a second band signal. a processing unit determines a ratio of the first band signal and the second band signal and compares the ratio to a predetermined critical ratio and emits a determination signal indicating the presence of super-chilled ice or water droplets.
    公开号:BR112016009205B1
    申请号:R112016009205-8
    申请日:2014-05-14
    公开日:2021-03-30
    发明作者:Nilton O. Rennó
    申请人:The Regents Of The University Of Michigan；
    IPC主号:
    专利说明:

    CROSS REFERENCE TO RELATED REQUESTS
    [0001] This application claims priority for US Utility Application No. 14 / 277,082, filed on May 14, 2014 and also claims priority for US Provisional Application No. 61 / 895,040, filed on October 24, 2013. The Total disclosures for the above requests are incorporated into this document by reference. FIELD
    [0002] The present disclosure refers to an optical system capable of detecting ice on a variety of surfaces, such as bridges, roads, sidewalks, railways, tracks, for use with land vehicles, but also capable of detecting drops of super water - colds that freeze when they impact the surfaces of air vehicles, such as aircraft, unmanned aerial vehicles (UAVs) and other objects of interest. BACKGROUND AND SUMMARY
    [0003] This section provides background related to the present disclosure that are not necessarily the current state of the art. This section also provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its aspects.
    [0004] The detection of ice and freezing water conditions associated with ice formation, is an important factor in maximizing the safety of various means of transport. It is known that the accumulation of ice on surfaces can increase the occurrence of automobile accidents, personal injuries resulting from failures and disturbances in transport activities, and other human activities.
    [0005] In connection with the path of a vehicle, ice on the road can occur in ways that are difficult even for a prudent driver to detect. Such ice - often referred to as "slippery ice" or "black ice" - is generally translucent. Similarly, in connection with aircraft, freezing conditions of cloud droplets can often occur in ways that are difficult for a pilot to perceive. Aircraft ice formation can occur in almost all regions of the globe, and in any season, making detection an important factor in flight safety.
    [0006] Unfortunately, there are few systems capable of reliably detecting the presence of ice or icing conditions and providing an associated alert in land vehicles, such as cars, trucks, trains, automated people movers, rails, monorails, subways , buses, motorcycles, bicycles, and similar vehicles. There is a surprising lack of appropriate systems to detect and warn users of the presence of ice on surfaces, such as roads, bridges, railways, sidewalks or even runways (such as in connection with aircraft operations on the ground). In fact, the detection of ice in most vehicles merely includes a notification that the air temperature is close to the temperature of the water freezing point. However, unfortunately, this is not typically indicative of the presence of ice on the surface which can affect a vehicle's safety and / or handling. This invariably leads to a high number of accidents and fatalities due to the fact that drivers and operators do not notice deteriorating conditions or receive false alerts that are ultimately disregarded by the driver or operator. In terms of aerial vehicles, such as aircraft, helicopters, UAVs, and similar vehicles, additional systems are available, but each suffers from a number of disadvantages.
    [0007] State-of-the-art approaches to detect slippery ice on surfaces, such as roads, use an image former capable of measuring the polarization of light reflected by slippery ice. However, it should be understood that although light is polarized when reflected by dielectric materials, such as ice, ice is not the only dielectric material that polarizes light. In fact, reflections from ice, water and / or simply from other smooth surfaces can also cause polarization, which can lead to false reports of the presence of ice. Therefore, polarization is not able to distinguish between the possible types of dielectric materials that reflect light. Consequently, it cannot be used to detect the presence of ice unambiguously. For example, US Patent No. 2008 / 0129541A1 refers to a warning system for the presence of slippery ice capable of monitoring the road in front of a vehicle. One or two cameras are used to image the same scene and two orthogonal polarizations. When a single camera is used, a polarization divider is used to separate the reflected light into two orthogonal polarizations. The possible (but ambiguous) determination of the existence of slippery ice ahead of the vehicle is detected by measuring the polarization of the reflected light. However, again, this system is unable to distinguish whether the detected polarization is due to the presence of ice or some other material.
    [0008] Some ice detection systems are based on in situ measurements and for aerial applications only. For example, US Patent No. 7,104,502 is for a system capable of detecting the accumulation of ice by measuring variations in the frequency of vibration of an upright (strut) exposed to the flow of air over an aircraft. The amount contains at least one aspect that allows ice to accumulate on it, at a higher rate than in other parts of the aircraft. Another example, US Patent No. 7,370,525 refers to a two-channel system that detects the accumulation of ice ice on an aircraft. The system illuminates the aircraft's surface with linearly polarized light. Light conductors with polarization sensitivity aligned to the transmitted light, and with orthogonal polarization sensitivity to it, acquire the reflected light backwards (backscattered light). The ratio of the light intensities in the two conductors is used to detect the presence of ice.
    [0009] Furthermore, US Patent No. 6,269,320 describes a supercooled large droplet detector "Supercooled Large Droplets" (SLD). This system uses change in flow patterns of layer boundaries to detect SLD. It is able to distinguish between the presence of water droplets that cause freezing produced by regular cloud and freezing produced by SLD. However, this system detects ice only after it has accumulated on the surfaces of an aircraft and thus does not give warnings before a dangerous situation occurs. In particular, it does not detect drops of supercooled liquid water in the airspace around the aircraft.
    [00010] In some cases, techniques for distinguishing between liquid water and ice drops in the airspace around an aircraft measure the depolarization of the polarized laser beam light reflected by the ice particles. US Patent No. 6,819,265 relates to an ice detection system capable of monitoring airspace in front of an aircraft. The system contains a laser source, optical elements to direct the laser beam in front of the airspace in front of the aircraft and receive the laser light reflected by the targets, optical elements to separate the laser light received at various wavelengths and direct the same for light detectors and a processor to conduct the necessary calculations to generate warnings. US Patent No. 7,986,408 relates to an active aerial system that employs both linear and circular polarizations to detect water droplets and ice particles in the air space ahead of an aircraft.
    [00011] In accordance with the principles of the present teachings, an ice and supercooled water detection system is provided that overcomes the disadvantages of the prior art. In most embodiments of the present teachings, the system detects ice unambiguously by making multi-spectral radiance measurements. In some embodiments, the system may be passive, but a light source may be included, detectors and / or a short-wave infrared camera (SWIR) with two filters, a data processor unit (DPU) and interfaces with monitors , safety systems and / or flight systems provide an indication of freezing and a response to it.
    [00012] Furthermore, in some conventional air applications, detecting freezing conditions in the air space ahead of an aircraft requires systems capable of distinguishing between supercooled water droplets and ice particles. Consequently, in some embodiments of the present teachings, the proposed system is capable of detecting supercooled water droplets and ice particles in an area of interest in airspace, and of estimating the size of potentially dangerous supercooled water droplets. This accomplishment increases aviation security by adding the ability to detect freezing conditions and Supercooled Large Drops (SLD) to flight instrument screens (such as “Enhanced Vision Systems” (EVS).
    [00013] Other areas of applicability will become evident from the description provided in this document. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of this disclosure. DRAWINGS
    [00014] The drawings described in this document are for illustrative purposes of selected embodiments only and not all possible implementations. They are not intended to limit the scope of this disclosure.
    [00015] Figure 1 is a graph showing the imaginary part of the complex refractive index of liquid water and ice, indicating that reflectance measurements (or simply radiance as justified below) in spectral short wave infrared (SWIR) bands between about 2.00 and 2.15 μm and between about 2.15 and 2.30 μm can be used to distinguish drops of liquid water from ice particles.
    [00016] Figure 2A is a sketch of the probability distribution illustrating that the radiance ratio (y) can be used to distinguish drops of water from ice particles.
    [00017] Figure 2B shows radiance ratios derived from measurements of a convective cloud indicating that regions of liquid water can be distinguished from regions of ice particles, based on calculations of y, the spectral reflectance ratio at 2.10 μm and 2.30 μm.
    [00018] Figure 3A is a Twomey diagram indicating that the relative reflectance of about 2.2 μm (R) can be used to estimate the size (radius) of cloud droplets.
    [00019] Figure 3B is a Nakajima-King diagram indicating that the reflectance values (or radiance values) in the spectral bands of absorption and non-absorption can be used to determine the size of the cloud drops.
    [00020] Figure 4 is a flowchart of an algorithm to determine the presence of supercooled drops of liquid water.
    [00021] Figure 5A is a flowchart of an algorithm to determine the presence of supercooled drops of water.
    [00022] Figure 5B is a flowchart of an algorithm to determine the presence of SLD when greater accuracy is desirable.
    [00023] Figure 6 is a description of an algorithm to determine the presence of ice on tracks, roads and other surfaces of interest.
    [00024] Figure 7A is a block diagram of the ice and super-cooled water detection system according to some embodiments of the present teachings.
    [00025] Figure 7B is a block diagram of the ice and super-cooled water detection system according to some of the embodiments of the present teachings.
    [00026] Figure 8A illustrates the ice and super-cooled water detection system for use in connection with aerial applications.
    [00027] Figure 8B illustrates the ice and super-cooled water detection system for use in connection with terrestrial applications.
    [00028] Figure 8C illustrates a simplified supercooled water and ice detection system.
    [00029] Corresponding reference numbers indicate corresponding parts for all the various views of the drawings. DETAILED DESCRIPTION
    [00030] Exemplary embodiments will now be described more fully with reference to the attached drawings. Exemplary embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are experts in the art. Numerous specific details are described, such as examples of specific component devices and methods, to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that exemplary embodiments can be incorporated in a number of different ways, and that they should not even be interpreted to limit the scope of disclosure. In some exemplary embodiments, well-known processes, well-known device structures and well-known technologies are not described in detail.
    [00031] The terminology used in this document is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used in this document, the singular forms "one", "one", and "o, a" can be intended to include plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "including" and "having", are inclusive and, therefore, specify the presence of declared aspects, integers, steps, operations, elements and / or components, but do not prevent the presence or addition of one or more aspects, integers, steps, operations, elements, components and / or groups of these. The steps of the method, processes and operations described in this document should not be interpreted as necessarily requiring compliance in the particular order discussed or illustrated, unless specifically identified as a compliance order. It should also be understood that additional or alternative steps can be employed.
    [00032] When an element or layer is referred to as being "connected", "engaged in", "or coupled to" another element or layer, it can be directly connected, engaged, connected or coupled to the other element or layer, or elements or intervening layers may be present. In contrast, when an element is referred to as being "directly connected to", "directly engaged in", or "directly coupled to" another element or layer, there may be no intervening element or step present. Other words used to describe the ratio between elements should be interpreted in a similar way (for example, "between" versus "directly between", "adjacent" versus "directly adjacent", etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed terms.
    [00033] Although the terms first, second and third, etc. can be used in this document to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Terms such as "first", "second" and other numeric terms when used in this document do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below can be called a second element, component, region, layer or section without departing from the teachings of the exemplary embodiments.
    [00034] Spatially relative terms, such as "internal", "external", "below", "below", "lower", "above", "upper" and the like, may be used in this document for ease of description for describe an element or characteristic relation to another element (s) or characteristic (s) as illustrated in the figures; spatially relative terms can be intended to encompass orientations other than the device in use or operation in addition to the orientation described in the figures. For example, if the device in the figures is turned, the elements described as "below" or "below" other elements or aspects can then be oriented "above" other elements or aspects. Thus, the exemplary term “below” can encompass both an upward and downward orientation. The device can be otherwise oriented (rotated 90 degrees or in other orientations ”and the spatially relative descriptors used in this document interpreted accordingly.
    [00035] In accordance with the principles of the present teachings, an ice and supercooled water detection system 10 is provided having a light source 12, at least one detector 14, a data processing unit (DPU) 16 , and an output system 18. These components will be described in more detail in this document. However, it should be understood that the present teachings provide usefulness in a wide variety of applications including land and air applications. More particularly, and without limitation, the present teachings are well suited for use in terrestrial applications including detecting ice on bridges, roads, railways, ramps, sidewalks, building entrances, building slabs, garages and parking areas, runways and roads. circulation, marinas, boat decks, platforms and any other surface subject to freezing. It should be understood that such ground-based applications can still monitor at fixed locations or regions, such as bridges, buildings, garages, roads or similar locations. In addition, the present teachings can be incorporated into a number of land vehicles, such as, but not limited to cars, trucks, trains, automated people movers, containers, rail, monorails, subways, buses, motorcycles , bicycles, aircraft (scrolling), and similar vehicles, and ground-based infrastructure sites, such as poles, buildings, elevated sites, road barriers, and the like.
    [00036] It should also be understood that the present teachings can be incorporated into a number of aerial vehicles, such as, but not limited to, aircraft including engines, turbines, propellers, propellers, air intakes, control surfaces, wings, stabilizers and other aircraft components; helicopters; UAVs; airships; balloons (for example, time balloons) and other objects of interest.
    [00037] In all applications, the particular mounting location is not necessarily crucial, as long as the appropriate lighting and detection performance are maintained. Therefore, the present teachings should not be considered as being limited to any particular mounting location on land vehicles, ground-based infrastructure or air-based vehicles. Fundamental principles
    [00038] From the beginning, it is important to understand several fundamental principles that are employed as part of the present teachings. To this end, it must be understood that liquid water and ice demonstrate fundamental characteristics when exposed to light, particularly in the short wave infrared (SWIR) spectral bands. For the purposes of this discussion, these spectral SWIR bands are typically in the range of about 2.05 to 2.30 μm (spectrum range of interest). Generally, 2.05 μm has been determined to be a lower limit in this region of the spectrum due to the fact that the atmosphere tends to absorb a larger portion of the light below 2.05 μm, thereby negatively affecting the detection effectiveness. However, at wavelengths between about 2.05 and 2.30 μm, atmospheric absorption is insignificant and the absorption properties of liquid water and ice demonstrate predictable characteristics (Kuo et al., 1993; Martins et al., 2007 ) that allow the detection of ice and liquid water as illustrated in figure 1. As discussed below, the short wave infrared spectral bands (SWIR) between about 2.05 and about 2.15 μm and between about 2, 15 and 2.30 μm can be used to distinguish drops of liquid water from ice particles unambiguously. This range (2.05 - 2.30 μm) is generally referred to as a "water vapor window".
    [00039] Under careful study of figure 1, it will be noted that a transition or convergence occurs at about 2.15 μm where the liquid water absorption characteristics invert in relation to the ice absorption characteristics. Thus, the comparison of the absorption of liquid water and ice in this water vapor window or spectrum range of interest (about 2.05 μm to about 2.30 μm), using specifically reflectance and radiance measurements obtained from sides opposites of this transition or convergence point (about 2.15 μm), allows to detect / determine the presence of liquid water or ice unequivocally. Thus, by measuring the radiance / reflectance at wavelengths on opposite sides of this convergence point, you can determine the presence of liquid water and ice at a measured radiance / reflectance ratio. Ideally, these regions on the opposite sides of the crossing point provide optimal spectral bands leading to unambiguous detection - namely, a first optimal spectral band of about 2.05 to 2.15 μm (hereinafter referred to as the 2.10 band) μm) and another optimal spectral band of about 2.20 to 2.30 μm (hereinafter referred to as the 2.25 μm band).
    [00040] It should be understood that although the present teachings are aimed at measuring radiance, reflectance measurements can be used similarly. However, it should be noted that measurements of radiance (rather than reflectance measurements) are simpler to measure and typically sufficient for practical applications because typical targets of interest are illuminated with light sources containing relatively small energy variations or between 2.05 and 2.30 μm (for example, clouds or surfaces illuminated by direct or indirect sunlight, or illuminated by a known light source). Therefore, the present teachings should not be considered as being limited only to measurements of radiance since measurements of reflectance are also anticipated.
    [00041] With reference to figure 2A, a probability distribution sketch is provided illustrating that the radiance ratio (y) can be used to distinguish drops of water from ice particles. In some embodiments, the radiance ratio of about 0.40 indicates the presence of ice chips and a radiance ratio of 0.85 indicates the presence of drops of water. As will be discussed in this document, the exact ratio may be irrelevant as long as the radiance ratio is greater than or less than the value of the predetermined critical ratio. Ice causes a relatively low radiance ratio that allows it to be detected when deposited on materials such as soil, concrete, and asphalt, for example. With reference to figure 2B, the radiance ratios are illustrated in connection with measurements of regions indicating convective cloud of liquid water and ice particles, based on the y calculations, the spectral reflectance ratio at 2.10 μm and 2.30 μm .
    [00042] Turning now to Figure 3A, a Twomey diagram is provided indicating that the reflectance values (or radiance values) can be used to determine the size of cloud or rain drops. This can be achieved because, by setting the optical cloud thickness (T), the reflectance to about 2.2 μm (R) decreases with the cloud droplet size at the rate of approximately (k re) 1/2, where k is the absorption coefficient (the imaginary part of the refractive index) of water and re is the (effective) ray of the cloud droplet (Twomey and Seton, 1980). The dependence of cloud reflectance on the droplet size is caused by the fact that absorption by liquid water increases in relation to diffusion with increases in the size of the droplets. For thick clouds, the effect of changes in the optical thickness of the cloud is negligible. Therefore, the ratio between reflectance and radius of cloud droplets provided by the Twomey diagram is an excellent approximation for thick clouds (clouds of large optical thickness). Measurements at other absorption wavelengths can also be used to determine the (effective) radius of cloud droplets, for example, around 3.7 μm. The determination of the size of cloud droplets can be refined using measurements of radiance at a non-absorbing wavelength as described in this document.
    [00043] Figure 3B illustrates a “Nakajima-King diagram” indicating that the reflectance values (or radiance values) in the spectral bands of absorption and non-absorption can be used to determine the size of the cloud drops (Martins et al., 2007), even when the optical thicknesses are variable or small, such as in light drizzle or rain. Measurements at non-absorbing wavelengths also mitigate the effects of changes in lighting such as shading. Rain usually occurs when re> 1015 μm, but supercooled large drops or “Supercooled Large Droplets” (SLD) can have a radius of up to 2.5 mm. Aircraft certified for flying in icy conditions can handle lightning drops of up to about 25 μm. Unfortunately, large drops are not uncommon in convective clouds.
    [00044] During operation, water droplets and ice particles can be detected on / on aircraft surfaces and / or in airspace (immediately adjacent to an aircraft when in the clouds and further ahead of an aircraft when the aircraft is flying out of clouds). To this end, as will be discussed in this document, the ice and super-cooled water detection system 10 may comprise a camera or detector 14 pointed forward to make measurements of radiance in the two spectral bands mentioned above. In some embodiments, an in situ sensor for taking external temperature measurements can still be used. Algorithms are provided to detect drops of supercooled liquid water and estimate the size of the drops as described in figures 4, 5A and 5B.
    [00045] During night operations, such as aerial applications, clouds in the airspace immediately ahead of an aircraft can be illuminated with light sources containing the desired spectrum. In some embodiments, light sources 12 can be used to illuminate the airspace around the aircraft while radiance can be measured through detector 14. In more complex embodiments, clouds in the airspace miles ahead of the aircraft can be illuminated with laser beams containing the desired spectrum. However, such complexity may not be necessary in most applications because the simplest embodiments of the present teachings can be used to detect ice formation hazards before ice build-up occurs, and therefore the aircraft can be maneuvered and moved away. safely from the freezing areas. System Description
    [00046] In some embodiments, as referenced herein, light source 12 can comprise any source that is capable of emitting light (i.e., radiation energy) within a predetermined light spectrum band. As described here, you want to perform detection in a light spectrum band, or a combination of light spectrum bands in the short wave infrared (SWIR) spectral bands, including the range of about 2.05 μm at about 2.30 μm. More particularly, in some embodiments, the light source 12 can emit light in a single spectral band covering the range of interest from about 2.05 μm to 2.30 μm. However, in some embodiments, the light source 12 can emit light covering two or more spectral bands, such as about 2.05 μm to about 2.15 μm and a second spectral band of about 2.15 μm to about 2.30 μm (or about 2.20 μm to about 2.30 μm).
    [00047] Furthermore, in some embodiments, the light source 12 can comprise any light source capable of emitting light in the short wave infrared (SWIR) spectral bands, including lasers, halogen lights, infrared lights, light-emitting diodes. light emission, and the like. It should also be understood that alternative light sources can be used, such as naturally occurring light sources (for example, sunlight). Therefore, it must be recognized that in some embodiments the present teachings do not require a light source provided or otherwise energized, but can rely on sunlight or other naturally occurring light sources or provided separately.
    [00048] In some embodiments, detector 14 may comprise any appropriate detector or camera / imaging system capable of detecting and / or monitoring radiance and / or reflectance in spectral bands that allow the detection of liquid water and / or ice. It should be understood that in some embodiments, detector 14 may be based on Indium Gallium Arsenide (InGaAs) technology, or may include or employ photodetectors, photodiodes, pyroelectric detectors, thermoelectric cell detectors, photoconductors and other sensors, detectors or cameras. In some embodiments, detector 14 may comprise a single detector, camera or other device for measuring radiance and / or reflectance. However, in some embodiments, detector 14 may comprise two or more detectors, cameras, or other devices that are each suitable for measuring radiance and / or reflectance for a specific spectrum range that is less than the range of interest. of the full spectrum. In other words, a first detector can be used to detect radiance and / or reflectance in connection with the spectrum in the range of about 2.05 μm to about 2.15 μm while a second detector can be used to detect radiance and / or reflectance in connection with the spectrum in the range of about 2.20 μm to about 2.30 μm. This arrangement can allow monitoring and / or detection to occur simultaneously when used with a light source 12 that emits the spectral range of interest. In some embodiments, detector 14 may comprise one or more cameras or detectors having a filter system 20 that employs a plurality of filters to limit the detection of received wavelengths to a predetermined spectral band. That is, a filter can be used to allow light in association with the range of about 2.05 μm to about 2.15 μm to be detected while a second filter can be used to allow light in association with the range of about 2.05 μm to about 2.15 μm. about 2.20 μm to about 2.30 μm is detected. Regardless of the method of measuring and / or monitoring reflected / received light, detector 14 emits a detector signal representative of the measured radiance / reflectance.
    [00049] In some embodiments, the data processing unit 16 can comprise any appropriate processing unit capable of determining a radiance ratio measured in the first spectral band and the second spectral band in response to the detector signal. The data processing unit 16 can comprise a central processing unit (CPU), in some embodiments, or it can be simply implemented through hardware design. The data processing unit 16 can further implement the algorithms described in this document and output an output signal.
    [00050] Finally, the output signal can be received by the output device 19 and in some embodiments, still processed in connection with other vehicle systems, such as alert displays, traction control, ABS, defrosting or anti-icing or other systems or warnings.
    [00051] With particular reference to figures 8A, 8B, the ice and super-cooled water detection system 10 is illustrated according to some embodiments of the present teachings. The ice and super-cooled water detection system 10 is illustrated for particular use in connection with the detection of super-cooled liquid water and SLD by aircraft, helicopters and UAVs. The ice and super-cooled water detection system 10 can be easily implemented in flight systems such as EVS system cameras covering the spectral band of about 2.05 - 2.30 μm. In such embodiments, only filters in the spectral bands of 2.10 μm and 2.25 μm and image processing software are necessary for the implementation of the system. These two filters can be implemented in a grid pattern or in bands. This makes it possible for the reflectance in the two spectral bands of interest to be measured in close pixels, avoiding the need for moving parts or multiple cameras. This allows the implementation of the ice / water detection algorithm while maintaining the current EVS functions, with only a small degradation in the image resolution. In some embodiments, filters can be used to obtain measurements of multiple spectra on small portions of the images without affecting the rest of the image. Therefore, super-cooled liquid water and SLDs can be easily detected by implementing the algorithms described in figures 4, 5A and / or 5B in existing EVS systems.
    [00052] It should be understood that detector 14 can be mounted anywhere on the vehicle, including the nose cone of an aircraft. Detector 14 can be mounted externally or internally to the vehicle. However, it must be recognized that any protective covers or windows 30 placed in front of the detector 14 must allow the transmission of the radiance spectrum of interest (for example, they must be transparent to short-wave infrared). Temperature sensors, thermostats and / or heaters can be used with covers or windows to ensure proper transmission.
    [00053] With particular reference to figure 8B, the ice and super-cooled water detection system 10 is illustrated for particular use in connection with land vehicles. In some embodiments, the light source 12 can be mounted under a front end of the vehicle and the corresponding detector 14 can be mounted in a complementary position to detect the radiance / reflectance of the light source from the surface of interest. In this way, the front of the vehicle can be used to maximize the angle (measured from the zenith) of incidence (and reflection) on the surface. This is done to maximize reflectance because it is done to maximize reflectance because it increases with the angle of incidence.
    [00054] In some embodiments, the light source 12 can be mounted along the rim of a wheel or other side panel and detector 14 can be mounted on a side panel or rear view mirror, while maximizing reflectance. Furthermore, in some embodiments, the ice and supercooled water detection system 10 can be used to detect ice in front of the vehicle (instead of under or beside the vehicle). In this way, the light source and detector 14 can be mounted in an elevated position and projected towards the front of the vehicle.
    [00055] The specular reflection can be determined by imaging the area of interest in front of the vehicle with an auxiliary camera. If the radiance of an area of the image is significantly higher (for example, a few standard deviations above) than the average value, these "bright" image pixels are flagged as containing the specular reflection, an indication of slippery ice. Other statistical criteria can also be used to determine specular reflection. If the criteria for specular reflection are met and ice is detected anywhere around the vehicle (y> ycrit), image pixels containing specular reflection are flagged as containing slippery ice. This allows areas in front of the vehicle that are likely to contain slippery ice to be mapped, displayed and this information to be used by safety systems and / or the driver.
    [00056] With particular reference to figure 8C, the ice and super-cooled water detection system 10 can comprise both the light source 12 and the detector 14 being mounted in the vehicle's exterior mirror. The system is thus optimized for simplicity in detecting both specular and reflectance reflection. As described in this document, air or ground temperature measurements can be used to further mitigate false alarms. Soil-based Application Methods
    [00057] In some embodiments, a method and / or algorithm is provided to detect slippery ice in connection with soil-based applications. As illustrated in figure 6, the method can comprise the steps of: 1. A SWIR camera or detectors 14 with spectral filters between about 2.05 and about 2.15 μm are used to measure the radiance of the area of interest at about 2.10 μm (R2.10 μm). 2. A SWIR camera or detectors 14 with spectral filters between about 2.2 and 2.3 μm are used to measure the radiance of the area of interest at about 2.25 μm (R2.25 μm). 3. If desired, the area of interest in front of a vehicle or infrastructure has the image formed in a visible or other spectral band (for example, in the visible band). 4. Measurements centered on 2.10 μm (R2.10 μm) and 2.25 μm (R2.25 μm) are then used to produce single values or an image of the radiance ratio y (on pixels larger than the images originals if checkered filters are used). Areas in which the radiance ratio y is less than a pre-established critical value (ycrit) of approximately 0.6 (a more accurate and / or dynamically adjusted value must be determined after system calibration) are flagged as containing ice . Since the values can be used to determine which ice is likely to be present (thus moving to the next steps below), no ice detection or where the radiance ratio y is greater than the pre-established critical value ycrit suggests that no warning should be given. 5. In some embodiments, reflectance measurements can be used to determine the occurrence of specular reflection. For example, this can be achieved by determining whether the reflectance of a single area in the field of view of a detector or of single image pixels is large enough (R> Rcrit) to be indicative of specular reflection. 6. In some embodiments, the soil temperature (Tg) can be measured by an infrared sensor or estimated based on temperature measurements by a sensor exposed to the air flow. If ice and specular reflection are detected and Tg <Tcrit ~ 0 ° C, a visual and / or audible warning indicating the presence of ice conditions can be produced. Aerial Application Methods
    [00058] According to some embodiments, as illustrated in figures 4, 7B and 8A, the present teachings provide a system and method for detecting supercooled water droplets that freeze when reaching the surfaces of aircraft (for example, airplanes, helicopters , airships, UAVs) and other objects of interest. The present teachings provide a system for detecting freezing hazards in the airspace ahead of aircraft by detecting the presence of supercooled liquid water droplets in this airspace, and estimating the size of these droplets. As discussed in this document, the present teachings use radiance measurements in the two spectral bands indicated in figures 1, 2A, 2B, 3A and 3B to estimate the presence of drops of supercooled water in the air space ahead of the aircraft. The present teachings provide a system that alerts a human pilot or an autopilot of freezing hazards when drops of liquid water are detected in the airspace immediately ahead of the aircraft and the temperature is below the freezing value.
    [00059] It should be understood that the methods described in this document are not limited to the exact order in which they are described because, in many cases, the specific order of operation can be flexible.
    [00060] In some embodiments, the present system can quantify the level of danger by estimating the size of the drops of super-cooled liquid water. The size of the droplets is estimated based on the radiance in a spectral band around 2.2 μm (or another spectral band of absorption such as around 3.7 μm) and analytical relationships or research tables such as those built based on relationships described in figures 3A and 3B. Radiance measurements in a spectral non-absorption band, for example, around 0.67 μm, can provide a more accurate estimate of the size of cloud droplets.
    [00061] An algorithm to detect super-cooled liquid water is described in figure 4. It comprises the following steps: 1. A camera or SWIR detectors with spectral filters between about 2.05 and 2.15 μm are used to measure the radiance of the area ahead of the aircraft around 2.10 μm (R2.10 μm). 2. A camera or SWIR detectors with spectral filters between about 2.2 and 2.3 μm are used to measure the radiance of the area ahead of the aircraft at around 2.25 μm (R2.25 μm). 3. These two measurements are then used to produce single values or an image of the radiance ratio y (in pixels larger than the original images if grid filters are used). Areas where the radiance ratio y is greater than or equal to the pre-established critical values Ycrit ~ 0.6 (a more accurate and / or dynamically adjusted value is determined after system calibration) are flagged as containing water droplets liquid. 4. The air temperature (T) at the flight level is measured by a sensor such as a thermocouple exposed to the air flow or any other appropriate method. If the temperature is less than or equal to a pre-established critical value Tcrit ~ 0 ° C, areas flagged as containing drops of liquid water are identified as containing drops of supercooled liquid water. Images from these areas can be colored as desired when displayed (for example, on an EVS). 5. When the aircraft approaches areas signaled as containing drops of supercooled water, the system gives a warning and activates safety systems if desired.
    [00062] The present teachings also provide a system for estimating the size of water droplets. The droplet size estimate is based on radiance measurements and look up tables or analytical relationships constructed based on the relationships described in figures 3A and 3B. Algorithms for estimating the droplet size (effective radius) of cloud are described in figures 5A and 5B. However, it should be noted that the algorithm of figure 5A can be improved by including measurements of radiance at non-absorbing wavelengths (for example, visible), so this measurement can then be used as a reference to correct the radiance values. used in calculating the effective radius of the droplets as described in figure 5B. The algorithm in figure 5A comprises the steps of: 1. A camera or SWIR detectors with spectral filters between about 2.05 and 2.15 μm are used to measure the radiance of the area ahead of the aircraft at around 2.10 μm (R2.10 μm). 2. A camera or SWIR detectors with spectral filters between about 2.2 and 2.3 μm are used to measure the radiance of the area ahead of the aircraft at around 2.25 μm (R2.25 μm). 3. These two measurements are used to produce single values or an image of the radiance ratio y (in pixels larger than the original images if grid filters are used). Areas where the radiance ratio y is greater than or equal to a pre-established critical value Ycrit ~ 0.6 (a more accurate and / or dynamically adjusted value must be determined after system calibration) are flagged as containing drops of liquid water. 4. The effective radius of the droplets (re) is then calculated based on the radiance measurements at 2.25 μm (R2.25 μm) and the Twomey ratio shown in figure 3A. 5. The air temperature (T) at the flight level is measured by a thermocouple exposed to the air flow or any other method. Areas where Ta <Tcrit ~ 0oC and re> rcrit ss 25 μm (or a more accurate re value determined after system calibration) are flagged as likely to contain SLD and colored as desired when displayed (for example, on a Multi-Monitor) Functions, MFD). Areas with values of Ta <Tcrit ~ 0oC and re >> rcrit ~ 25 μm indicate extremely dangerous conditions and can be flagged as such.
    [00063] A more sophisticated algorithm for detecting large drops of supercooled water (SLD) is described in figure 5B. The algorithm comprises the steps of: 1. A camera or detectors with spectral filters between about 2.05 and 2.15 μm are used to measure the radiance of the area ahead of the aircraft at around 2.10 μm (R2.10 μm ). 2. A camera or detectors with spectral filters between about 2.2 and 2.3 μm are used to measure the radiance of the area ahead of the aircraft at around 2.25 μm (R2.25 μm). 3. A camera or visible detectors (or covering another spectral non-absorption band) with spectral filters around 0.67 μm (or another non-absorption band) are used to measure the radiance of the area ahead of the aircraft around 0 , 67 μm (R0.67 μm). 4. Measurements at 2.10 micro μm (R2.10 μm) and 2.25 μm (R2.25 μm) are used to produce single values or an image of the radiance ratio y (in pixels larger than the original images if checkered filters are used). Areas where the radiance ratio y is greater than or equal to a pre-established critical value Ycrit ~ 0.6 (a more accurate and / or dynamically adjusted value is determined after system calibration) are flagged as containing water droplets liquid. 5. The effective droplet radius (re) is then calculated based on radiance measurements at 0.67 μm (R0.67 μm) and 2.25 μm (R2.25 μm) and the Nakajima-King ratio shown in figure 3B. 6. The air temperature (T) at the flight level can be measured by a thermocouple exposed to the air flow or any other appropriate method. Areas where Ta <Tcrit ~ 0oC and re> rcrit ss 25 μm (or a more accurate re value determined after system calibration) are flagged as likely to contain SLD and colored as desired when displayed (for example, on an MFD). Areas with values of Ta <Tcrit ~ 0o C and re >> rcrit ss 25 μm indicate extremely dangerous conditions and can be flagged as such. A visual and / or audible NOTICE is produced.
    [00064] In some embodiments, a WARNING can be produced when supercooled liquid water drops or mixtures of water drops and ice particles are detected, while an ALERT can be produced when SLDs are detected.
    [00065] It should be understood that although certain aspects have been described in connection with a particular application (for example, aerial applications), this should not be considered as limiting such certain aspects to the particular application only, since such certain aspects can be equally applicable to alternative applications (for example, ground applications in vehicles or infrastructure).
    [00066] The above description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit disclosure. The individual elements or aspects of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. They can also vary in many ways. Such variations should not be considered as separate from the disclosure, and all such changes are intended to be included within the scope of the disclosure.
    权利要求:
    Claims (20)
    [0001]
    1. System to detect ice and / or water within an area of interest characterized by comprising: a detection system that measures the radiance or reflectance of the area of interest when exposed to short wave infrared radiation (SWIR) having a length of wave in the range of 2.05 μm to 2.30 μm, said detection system measuring said radiance or reflectance in a first band having a wavelength in the range of 2.05 μm to 2.15 μm and emitting a first signal of band, said detection system measuring the radiance or reflectance in a second band having a wavelength in the range of 2.15 μm to 2.30 μm and emitting a second band signal; and a processing unit determining a ratio between said first band signal and said second band signal, said processing unit comparing said ratio to predetermined critical ratio ranges and emitting a determination signal indicating the presence of ice when said ratio is within a first range of said predetermined critical ratio ranges and the presence of water when said ratio is within a second range of said predetermined critical ratio ranges.
    [0002]
    2. System according to claim 1, characterized by further comprising: a temperature measurement system determining the temperature of the area of interest and emitting a temperature signal, in which said processing unit comparing said temperature signal to a range of predetermined critical temperature and emitting this signal of determination in response to it.
    [0003]
    3. System, according to claim 1, characterized by the fact that the processing unit determines the existence of a specular reflection in the area of interest, said processing unit emitting said determination signal in response to said specular reflection.
    [0004]
    4. System, according to claim 1, characterized by further comprising: an auxiliary camera forming an image of the area of interest and emitting an auxiliary camera output, in which said processing unit determines the existence of specular reflection in the area of interest based in said auxiliary camera output, said processing unit emitting said determination signal in response to said specular reflection.
    [0005]
    5. System, according to claim 1, characterized by the fact that said processing unit calculates an effective radius of water droplets detected within the area of interest and emits said signal of determination in response to it.
    [0006]
    6. System, according to claim 1, characterized by further comprising: a second detection system measuring the radiance or reflectance in a non-absorbent spectral band in a range from 0.5 μm to 0.7 μm and emitting a signal of a second detection system, wherein said processing unit uses said signal from a second detection system, said first band signal and said second band signal to calculate an effective radius of water droplets detected within the area of interest and emit said sign of determination in response to it.
    [0007]
    7. System, according to claim 1, characterized by also comprising: a second detection system measuring the radiance or reflectance in a spectral absorption band in a range of 3.0 μm to 5.0 μm and emitting a signal of a second detection system, wherein said processing unit uses said signal from a second detection system, said first band signal and said second band signal to calculate an effective radius of water droplets detected within the area of interest and emit said sign of determination in response to it.
    [0008]
    8. System according to claim 1, characterized by the fact that said detection system comprises one or more detectors, each of said one or more detectors being sensitive to said short wave infrared radiation (SWIR) having said length in the range of 2.05 μm to 2.30 μm.
    [0009]
    9. System according to claim 8, characterized by the fact that said one or more detectors comprise at least two detectors, a first of said at least two detectors being sensitive to a first spectrum range of said range of 2.05 μm to 2.30 μm and one second of said at least two detectors being sensitive to a second spectrum range of said range of 2.05 μm to 2.30 μm, said first spectrum range and said second spectrum range being at least least partially different.
    [0010]
    10. System according to claim 1, characterized by the fact that said detection system comprises at least one camera, said at least one camera being sensitive to said short wave infrared radiation (SWIR) having said wavelength in the range of 2.05 μm to 2.30 μm.
    [0011]
    11. System, according to claim 10, characterized by the fact that said detection system further comprises two or more operable spectral filters coupled to said at least one camera, a first of said two or more spectral filters being sensitive to a first spectrum range of said range of 2.05 μm to 2.30 μm and one second of said at least two detectors being sensitive to a second range of spectrum of said range of 2.05 μm to 2.30 μm, said first range spectrum and said second spectrum band being at least partially different.
    [0012]
    12. System according to claim 1, characterized by further comprising: a data display system showing an indication in response to said determination signal.
    [0013]
    13. System according to claim 1, characterized by further comprising: an air vehicle defrosting or anti-icing system being responsive to said determination signal.
    [0014]
    14. System, according to claim 1, characterized by further comprising: a flight control system of an aerial vehicle being responsive to said determination signal.
    [0015]
    15. System, according to claim 1, characterized by also comprising: a brake control system of a land vehicle being responsive to said signal of determination.
    [0016]
    16. System, according to claim 1, characterized by further comprising: a light source emitting light energy in a wavelength in the range of 2.05 μm to 2.30 μm, said light source illuminating the area of interest.
    [0017]
    17. System, according to claim 16, characterized by the fact that said light source is selected from the group consisting of a laser, halogen light, infrared light and light emitting diode.
    [0018]
    18. Method for detecting ice in an area of interest characterized by understanding: measuring a first radiance of the area of interest in a first spectral band in the range of 2.05 μm to 2.15 μm; measure a second radiance of the area of interest in a second spectral band in the range of 2.15 μm to 2.30 μm; calculating a radiance ratio of said first radiance and said second radiance; and determine whether said radiance ratio is within a predetermined critical radiance ratio range, if said radiance ratio is within said predetermined critical radiance ratio range then determine whether a specular reflection is present by determining whether said first radiance is greater than a predetermined critical radiance and issue an ice warning.
    [0019]
    19. Method for detecting supercooled liquid water droplets in an area of interest characterized by understanding: measuring a first radiance of the area of interest in a first spectral band in the range of 2.05 μm to 2.15 μm; measure a second radiance of the area of interest in a second spectral band in the range of 2.15 μm to 2.30 μm; calculating a radiance ratio of said first radiance and said second radiance; and determine whether said radiance ratio is within a predetermined critical radiance ratio range, if said radiance ratio is within said predetermined critical radiance ratio range then measure the temperature of the area of interest and determine whether said temperature is within of a predetermined critical temperature range and issue a warning of the presence of drops of super-cooled liquid water.
    [0020]
    20. Method for detecting supercooled large drops within an area of interest characterized by understanding: measuring a first radiance of the area of interest in a first spectral band in the range of 2.05 μm to 2.15 μm; measure a second radiance of the area of interest in a second spectral band in the range of 2.15 μm to 2.30 μm; calculating a radiance ratio of said first radiance and said second radiance; and determine whether said radiance ratio is greater than a predetermined critical radiance ratio, whether said radiance ratio is within said predetermined critical radiance ratio range and then calculate an effective droplet radius and determine whether said effective droplet radius is greater than the predetermined critical droplet radius and gives warning of the presence of super-cooled large droplets.
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    同族专利:
    公开号 | 公开日
    CN105793691A|2016-07-20|
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    CN105793691B|2019-11-19|
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    WO2015060899A1|2015-04-30|
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    法律状态:
    2018-11-06| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-31| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-07-21| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
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    申请号 | 申请日 | 专利标题
    US201361895040P| true| 2013-10-24|2013-10-24|
    US61/895,040|2013-10-24|
    US14/277,082|2014-05-14|
    PCT/US2014/038003|WO2015060899A1|2013-10-24|2014-05-14|Ice and supercooled water detection system|
    US14/277,082|US9297755B2|2013-10-24|2014-05-14|Ice and supercooled water detection system|
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