• 专利附录
  • 专利说明
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    • 专利摘要:
    The invention relates to a method for detecting and visualizing the ground and obstacles from an onboard detection means on board a vehicle, said detection means sending measurement signals towards the ground and receiving a plurality of elementary studs (Pe). Said method first makes it possible to mesh said ground in a horizontal plane, each ground mesh (Ms (i, j)) being formed by an elementary pad (Pe) having a minimum altitude (Zmin (i, j)) and each another elementary pad (Pe) corresponding to said ground mesh (Ms (i, j)) and having a different altitude (Zn (i, j)) then forming an obstacle pad (Pon (i, j)). Each newly received elementary plot (Pe) is then compared with said corresponding ground mesh (Ms (i, j)) and processed according to its altitude (Zn (i, j)). Finally, the said ground meshes (Ms (i, j)) and the said obstacle blocks (Pon (i, j)) are displayed on a display means in order to indicate to the pilot of the said vehicle the potential obstacles above ground.
    公开号:FR3019361A1
    申请号:FR1400762
    申请日:2014-03-28
    公开日:2015-10-02
    发明作者:Marianne Gillet；Francois Xavier Filias；Richard Pire
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method for detecting and visualizing the ground and artificial obstacles located in the detection field of an on-board detection means on board. a vehicle and in particular on board a rotary wing aircraft. Such a method finds a preferential but nonlimiting application by being associated with a detection means, such as a detector of LIDAR type, acronym corresponding to the English designation "Light Detection And Ranging", or of the RADAR type, acronym corresponding to the English designation "RAdio Detection And Ranging". Such detection means may also be a stereoscopic imaging system or three-dimensional. It is required of such a method, to allow the detection and visualization of the ground, the relief and artificial obstacles such as a tower, a pylon or an electric cable, to be sufficiently reliable and fast and in particular to treat as quickly as possible, the detected data to be able to deliver in real time to a human or automatic driver of the vehicle such information making it possible to identify obstacles and to avoid them. Such reliable and fast ground detection information and obstacles are more particularly necessary or essential for the pilot of an aircraft flying near the ground in poor visibility conditions in order to fly over and avoid obstacles.
    [0002] It is known to obtain, from a detection means delivering elementary echoes or pads according to its environment, a terrain elevation database of the zone observed by the detection means. This data base includes terrain and obstacles. However, this raw database also includes errors due to false echoes and should be taken into account in order to eliminate or correct them. Document FR 2888944 describes a method of detecting the presence of at least one filiform object suspended in the detection field of a range finder with the calculation of the terrestrial coordinates of blocks corresponding to the echoes delivered by the range finder. Candidate pads are selected from these pads and segments of 15 straight lines of vertical projections of the candidate pads are determined. Finally, the search in each vertical plane containing one of these line segments of chain portions which are close to the candidate blocks is done by Hough transform, the use of such a Hough transform not however leading to a time. optimal treatment. Document FR 2953300 also describes a method of detecting the presence of at least one filamentary object suspended using the least squares method which makes it possible to reduce the calculation times. In addition, document FR 2953316 describes a method for detecting terrain and obstacles that make it possible to eliminate detection errors due to false echoes. A false echo is especially identified when an isolated pad is detected.
    [0003] In addition, US 7046841 discloses a method and system for analyzing and detecting the environment by three-dimensional laser detection. This three-dimensional information is decomposed by finite elements, an eigenvalue and an eigenvector being associated with each finite element according to the characteristics of the detected element, for example the relief, of the vegetation, a building or an electric cable. Thus, each outer element can be identified. Finally, the document US 2013/0257852 describes a synthetic vision system of the environment of a vehicle, distinguishing in particular the objects attached to the ground and the objects detached from the ground. This system comprises a soil database and obstacles attached and detached from the ground, a detection means, for example of the LIDAR type, a calculation means and a display means. Perceived surfaces of the ground are thus displayed from the information of the database by integrating the objects attached to the ground as well as the obstacles corresponding to the objects detached from the ground. However, such systems based on detection means, image processing and pattern recognition mobilize computing resources and require significant computation time. The recognition of the shapes detected as well as the detailed display of these forms are in particular consuming computing resources and generating computing time. The invention proposes to present to the crew of a vehicle, and in particular to its pilot, a simple view of the ground and artificial obstacles in the vicinity while limiting the use of vehicle calculation resources and reducing the calculation time. This vehicle is for example a rotary wing aircraft.
    [0004] The invention relates to a method for detecting and visualizing the ground and obstacles from an on-board detection means on board a vehicle. This detection means sends in the environment of the vehicle and in particular in the direction of the ground measurement signals and receives a plurality of elementary pads Pe expressed in the form of three-dimensional coordinates. These elementary studs Pe correspond to returns of these measurement signals following their encounters with the ground or any artificial obstacle 10 such as a building, a pylon or an electric cable for example. These artificial obstacles are also referred to as "above ground obstacles" because they are distinct and separate from the ground itself. These elementary pads Pe are thus representative of at least part of the environment of the vehicle and capable of forming an image of this environment. This method for detecting and visualizing soil and obstacles comprises several steps: a first step of meshing the soil in two dimensions along a horizontal plane with soil meshes Ms (i, j), each ground mesh Ms (i, j) being formed by an elementary pad Pe of altitude Zpe, this elementary pad Pe being the elementary pad Pe corresponding to this ground mesh Ms (i, j) whose altitude Zpe is a minimum altitude Zmin (i, j) a second step of creating a network of jumble plots Pon (i, j), each elementary pad Pe corresponding to the same ground mesh Ms (i, j) and having an altitude Zp greater than the minimum altitude Zmin ( i, j) of this ground mesh Ms (i, j) forming an obstacle pad Pon (i, j), - a third step of storing these ground meshes Ms (i, j), each ground mesh Ms (i, j ) being memorized with the minimum altitude Zmin (i, j), - a fourth step of storage of these brake pads Pon (i, j), each obstacle pad Pon (i, j) being stored with an altitude Zn (i, j) equal to its altitude Zpe, - a fifth step of comparing each ground mesh Ms (i, j) with each newly received elementary pad Pe of altitude Zpe and corresponding to this ground mesh Ms (i, j) such that, o if no minimum altitude Zmin (i, j) is memorized for this ground mesh Ms (i, j), the altitude Zpe of this newly received elementary block Pe is memorized for this ground mesh Ms (i, j) as the minimum altitude Zmin (i, j), o if the altitude Zpe of this newly received elementary pad Pe is greater than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), the newly received elementary pad Pe is memorized as the obstacle pad Pon (i, j), the altitude Zpe of this newly received elementary pad Pe being the altitude Zn (i, j ) associated with this obstacle plot Pon (i, j), the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) being unchanged, o if the altitude Zpe of this elementary plot Pe n received is less than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), an obstacle pad Pon (i, j) is stored with an altitude Zn (i, j) equal to this altitude the minimum Zmin (i, j) of this ground mesh Ms (i, j) and the altitude Zpe of this newly received elementary pad Pe is stored as the new minimum altitude Zmin (i, j) of this ground mesh Ms (i , j), and o if the altitude Zpe of this newly received elementary pad Pe is equal to the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe is ignored a sixth step of displaying the ground meshes Ms (i, j) and the obstacle pads Pon (ii). The detection means present in the vehicle and necessary for carrying out the method according to the invention sends signals. measurements in the vehicle environment, preferably in an area in front of the vehicle and in its direction of travel. These measurement signals are in particular directed towards the ground and the obstacles above ground. Thus, a plurality of elementary pads Pe corresponding to returns of these measurement signals following their encounters with the ground and / or an obstacle above ground are received by this detection means. These elementary pads Pe can then form an image of this environment. These elementary studs Pe are particularly representative of the soil. In fact, the elementary studs Pe whose altitude Zpe is the lowest constitute a priori soil. In order to limit the use of computing resources and to reduce calculation times, the floor is represented by the method according to the invention as a horizontal plane, that is to say only in two dimensions.
    [0005] This horizontal plane is decomposed into ground meshes thus allowing to squat the ground. Each mesh cell Ms (i, j) is characterized by an abscissa i and an ordinate j in the horizontal plane.
    [0006] In addition, each ground cell Ms (i, j) comprises a single elemental pad Pe characterizing the altitude of the ground on the surface of this ground mesh Ms (i, j). This elementary pad Pe is the elementary pad among the set of elementary pads corresponding to this ground mesh Ms (i, j) whose altitude Zpe is the lowest. This altitude Zpe is therefore the minimum altitude Zmin (i, j) and characterizes the ground mesh Ms (i, j). Each ground mesh Ms (i, j) preferably has the form of a square. For example, each side of this square corresponds to 10 meters (10m) on the ground.
    [0007] In addition, the dimensions of this square may also vary according to the position of the vehicle relative to the ground and more particularly its height relative to the ground. Indeed, when the vehicle is at a high height relative to the ground, it is not necessary to have a precise ground mesh Ms (i, j), that is to say corresponding to a small ground surface . On the other hand, when the vehicle approaches the ground, the dimensions of the ground mesh Ms (i, j) can decrease in order to reduce the ground surface corresponding to this ground mesh Ms (i, j) and thus to increase the accuracy of this ground. Soil mesh Ms (i, j) and, consequently, the accuracy of the presentation of the soil and the obstacles above ground. In addition, the risk of presence of obstacles above ground also increases when the vehicle approaches the ground. In fact, the dimensions of a ground mesh Ms (i, j) can decrease dynamically as the height of the vehicle relative to the ground decreases.
    [0008] Likewise, the dimensions of the ground meshes Ms (i, j) located far in front of the vehicle may be larger than the closely-spaced meshes Ms (i, j). Thus, the dimensions of a ground mesh Ms (i, j) can decrease dynamically as the vehicle approaches. Advantageously, the use of ground meshes Ms (i, j) whose dimensions vary dynamically makes it possible to optimize the calculation resources as well as the calculation time. These computing resources can thus be used when this is really necessary, that is to say essentially for the ground meshes Ms (i, j) located close to the vehicle. On the other hand, the elementary studs Pe are also representative of the above-ground obstacles located near or on the road of the vehicle. Indeed, at each mesh cell Ms (i, j) is associated with a single elementary pad Pe of minimum altitude Zmin (i, j). The other elementary pes Pe whose location on the same ground mesh Ms (i, j) have an altitude Zpe which is greater than the minimum altitude Zmin (i, j). These other elementary studs Pe probably correspond to obstacles above ground and then form plots obstacles Pon (i, j) associated with this ground mesh Ms (i, j) and characterized by their altitudes Zn (i, j) respectively, each altitude Zn (i, j) being equal to the altitude Zpe of the corresponding elementary pad Pe. However, if an elementary plot Pe has an altitude Zpe equal to the minimum altitude Zmin (i, j) characterizing this ground mesh Ms (i, j), this elementary pad Pe is ignored because it corresponds to the ground which is already characterized by this ground mesh Ms (i, j). Then, each ground cell Ms (i, j) is stored with the minimum altitude Zmin (i, j) which characterizes it. Similarly, each obstacle pad Pon (i, j) is stored with its altitude Zn (i, j) which characterizes it. These storing of the ground meshes Ms (i, j) and the obstacle pads Pon (i, j) can be simultaneous or sequential. In addition, the ground meshes Ms (i, j) and the obstacle pads Pon (i, j) can be stored in a common storage means or in separate storage means. The detection means sends measurement signals and receives elementary pins Pe at a regularly scheduled time interval in order to analyze the environment of the vehicle.
    [0009] In fact, the detection means regularly receives new elementary pads Pe corresponding to a new scan of the environment by the detection means. The method for detecting and visualizing the ground and obstacles according to the invention then makes it possible to take into account each newly received elementary pad Pe and to compare it with the ground mesh Ms (i, j) to which it corresponds. The method according to the invention compares in particular the altitude Zpe of each newly received elementary pad Pe and the minimum altitude Zmin (i, j) of the corresponding ground mesh Ms (i, j).
    [0010] If no minimum altitude Zmin (i, j) was previously memorized for this ground mesh Ms (i, j), this newly received elementary pad Pe is the first elementary pad Pe corresponding to this ground mesh Ms (i, j). This newly received elementary pad Pe is then considered to constitute the ground.
    [0011] The altitude Zpe of this newly received elementary block Pe is then stored for this ground mesh Ms (i, j) as the minimum altitude Zmin (i, j). If this newly received elementary pad Pe has an altitude Zp greater than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe is probably an out of ground obstacle. The newly received elementary block Pe is then stored as an obstacle pad Pon (i, j) with which the altitude Zn (i, j) is associated, which is equal to the altitude Zpe of this newly received elementary block Pe.
    [0012] The minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) is unchanged. If this newly received elementary pad Pe has an altitude Zpe less than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe probably corresponds to the ground, the elementary chip Pe having previously used to constitute the ground mesh Ms (i, j) being in fact an obstacle above ground. In fact, an obstacle pad Pon (i, j) corresponding to this obstacle above ground is stored with an altitude Zn (i, j) equal to the minimum altitude Zmin (i, j) previously associated with this ground mesh Ms (i , j). The altitude Zpe of this newly received elementary block Pe is then stored as the new minimum altitude Zmin (i, j) of this ground mesh Ms (i, j). Finally, if this newly received elementary pad Pe has an altitude Zpe equal to the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe is ignored. Thus, each new elementary pad Pe received feeds as it receives each storage means. In fact, a mesh of the ground according to a two-dimensional plane characterized by the ground meshes Ms (i, j) as well as a network of plots obstacles Pon (i, j) are obtained. In this way, the ground meshes Ms (i, j) and the obstacle pads Pon (i, j) can be presented to the vehicle crew in a simple manner on a display means, that is to say respectively in the form of a horizontal plane representative of the ground and a network of plots obstacles Pon (i, j). It is then the responsibility of this crew to analyze and interpret this network of plots Pon (i, j) obstacles to identify the obstacles above ground to which they correspond, for example wire obstacles such as electric cables or pylons. The crew can also, depending on the external visibility, help himself with what he actually sees in the vehicle environment in addition to what he sees on the display means to recognize the shape of these obstacles.
    [0013] Advantageously, the obstacle pads Pon (i, j) are displayed without further processing than those previously described, and in particular without image processing and pattern recognition. As a result, the method for detecting and visualizing the ground and obstacles according to the invention makes it possible to display in real time the brake pads Pon (i, j) by limiting the use of the vehicle calculation resources and the driving times. calculation. The display means may be a screen displaying in two dimensions and in perspective the horizontal plane representative of the ground and the network of the obstacle pads Pon (i, j) or a screen displaying these elements in three dimensions. The display means may also be a medium head or head up display. In addition, in order to facilitate the perception by the vehicle crew, the brake pads Pon (i, j) can be displayed in the form of colored dots, amber for example. According to two variants of the method according to the invention, display conditions are added to the obstacle pads Pon (i, j) according to their altitude Zn (i, j) to allow or not their presentation on the display means.
    [0014] Indeed, an obstacle pad Pon (i, j) located at very low altitude can be derived from an echo of the measurement signals and / or an elementary pad does not actually correspond to an obstacle above ground. In addition, a vehicle, including a rotary wing aircraft, does not move so close to the ground, out of the landing phase. In addition, during a landing phase, the pilot performs this landing on sight and not only uses the information provided by a display means. As a matter of fact, the very low altitude brake pads Pon (i, j) may not be presented to the vehicle crew on the display means. Thus, according to a first variant of the method according to the invention, each obstacle pad Pon (i, j) having a difference in altitude, between the altitude Zn (i, j) of this obstacle pad Pon (i, j) and The minimum altitude Zmin (i, j) of the ground mesh Ms (i, j) corresponding to this obstacle pad Pon (i, j), less than a first threshold is ignored during the sixth display step and, consequently, not shown on the display means. The first threshold is for example equal to 30 feet (30 ft). Likewise, a high altitude obstacle pad Pon (i, j) is not created by an above ground obstacle, which is not at such altitudes, but is more likely to be generated by a cloud which returns the signals. measurements emitted by the detection means thus generating one or more elementary pads Pe. In fact, the high altitude obstacle blocks Pon (i, j) may not be presented to the vehicle crew on the display means. Thus, according to a second variant of the method according to the invention, each obstacle pad Pon (i, j) having a difference in altitude, between the altitude Zn (i, j) of this obstacle pad Pon (i, j) and the minimum altitude Zmin (i, j) of the ground mesh Ms (i, j) corresponding to this obstacle pad Pon (i, j) greater than a second threshold is ignored during the sixth display step and, consequently, not shown on the display means. The second threshold is for example equal to 500 feet (500 ft).
    [0015] In addition, each ground mesh Ms (i, j) can be initially formed using a digital terrain model DTM and the initial minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) is the altitude of the digital terrain model MNT. For example, a digital terrain model DTM is a model designated by the acronym DTED denoting in English "Digital Terrain Elevation Data". Such a DTED model provides the maximum terrain elevations found on relatively wide geographic meshes. Moreover, the three-dimensional coordinates of the elementary pads Pe are firstly known, following their reception by the on-vehicle detection means, in a reference frame linked to this detection means and, in fact, in a reference frame related to the vehicle. The method for detecting and visualizing the ground and obstacles according to the invention can use these coordinates of the elementary studs Pe in a frame linked to the vehicle. However, the mesh of the soil by the process according to the invention is preferably carried out in a local terrestrial geographical reference, that is to say fixed with respect to the terrestrial globe. As a result, these coordinates of the elementary pads Pe must be transformed to be given in this terrestrial geographical reference. Each elementary pad Pe, each ground mesh Ms (i, j) and each obstacle pad Pon (i, j) are thus fixed in such a terrestrial geographical reference. In this case, a preliminary step of transforming the coordinates of the elementary studs Pe is performed prior to the first step. For example, in a reference linked to the vehicle, the coordinates of an elementary pad Pe are established in 5 spherical coordinates as a function of the site, the deposit and the distance whereas, in a geographical reference, these coordinates are the latitude, the longitude and altitude of this elemental plot Pe. Such a transformation of the coordinates of an elementary pad Pe of a reference linked to the vehicle to a terrestrial geographical reference 10 is known and for example described in the document FR 2953316. The invention also relates to a program comprising a code fixed on a carrier or materialized by a signal, the code being readable or executable by a data processing unit for equipping a vehicle to process a plurality of elementary pads Pe received by a detection means. This code comprises segments of code in order to perform the various steps of the method of detection and visualization of the ground and obstacles described above. Finally, a subject of the invention is a device for detecting and visualizing the ground and obstacles for implementing the method of detection and visualization of the ground and obstacles previously described. This device, intended to equip a vehicle, comprises a detection means which sends measurement signals into the environment of the vehicle and receives a plurality of elementary studs Pe, a reference and heading system, a locating system as well as a processing unit, at least one storage means and a display means.
    [0016] This device for detecting and visualizing the ground and obstacles is thus capable of implementing the method of detection and visualization of the ground and obstacles previously described.
    [0017] The processing unit makes it possible, thanks to the information provided by the reference and heading system as well as the positioning system, to transform the three-dimensional coordinates of the elementary points Pe from a reference point linked to the vehicle to a terrestrial geographical reference point.
    [0018] In addition, the processing unit is connected to each storage means in which the ground meshes Ms (i, j) are stored with the minimum altitudes Zmin (i, j) and the obstacle pads Pon (i, j) with their altitude Zn (i, j) respectively. The invention and its advantages will appear in more detail in the following description with examples given by way of illustration with reference to the appended figures which represent: FIG. 1, a rotary wing aircraft equipped with a device 2, a block diagram of a method for detecting and visualizing the ground and obstacles, and FIGS. 3 and 4, two representations of the horizontal plane representative of the ground. ground without and with obstacles off the ground. The elements present in several separate figures are assigned a single reference.
    [0019] FIG. 1 represents a rotary wing aircraft 8 equipped with a device 1 for detecting and visualizing the ground and obstacles. This device 1 for detection and visualization of the ground and obstacles comprises a detection means 9, a reference and heading system 2, a location system 3 and a processing unit 4, a first and a second means of detection. 6.7 and a display means 5. FIG. 2 represents a block diagram of a method for detecting and visualizing the ground and obstacles. This method comprises several steps and can be implemented by the device 1 in order to detect and then visualize the ground and artificial obstacles above ground in the environment of the aircraft 8. The detection means 9 sends signals of measurements in the environment of the aircraft 8, preferably in an area in front of the aircraft 8 and in its direction of travel. These measurement signals are more particularly directed towards the ground and the obstacles above ground. A plurality of elementary pads Pe are received by this detection means and correspond to returns of these measurement signals following their encounters with the ground and / or an obstacle above ground. These elementary pads Pe can thus characterize the environment of the aircraft 8. The detection means 9 may be a scanning detector of the LIDAR or RADAR type, or a stereoscopic or three-dimensional imaging system. Furthermore, the elementary pads Pe received by the detection means 9 are defined by three-dimensional coordinates in a reference frame linked to this detection means 9 and to the aircraft 8. The method for detecting and visualizing the ground and obstacles can use these coordinates of the elementary studs Pe in such a reference linked to the aircraft 8. However, the method of detection and visualization of the ground and obstacles may also include a preliminary step 10 of transforming these coordinates of the elementary pegs Pe d a reference linked to the aircraft 8 towards a terrestrial geographical reference. During this preliminary step 10, the processing unit 4 which is in particular connected to the detection means 9, to the location system 3 and to the reference and heading system 2 uses evolution information as well as location information. of the aircraft 8 in a terrestrial geographical reference to realize this transformation of these coordinates of the elementary studs Pe. In particular, evolution information means the speeds and the heading of the aircraft 8. Then, during a first step 11 of meshing the ground in two dimensions, ground meshes Ms (i, j) are determined. These ground meshes Ms (i, j) make it possible to crisscross the ground and to form a horizontal plane. Such a horizontal plane formed of ground meshes Ms (i, j) is represented in FIG. 3, each ground cell Ms (i, j) being characterized by an abscissa i and an ordinate j in the horizontal plane. Each ground mesh Ms (i, j) covers an area on the ground and preferably has the shape of a square. Each ground mesh Ms (i, j) can have fixed dimensions, each ground mesh Ms (i, j) being for example a square whose sides correspond to 10 meters (10m) on the ground.
    [0020] Each ground mesh Ms (i, j) may also have dimensions that vary according to the position of the aircraft 8 relative to the ground. For example, the dimensions of each ground mesh Ms (i, j) decreases as the aircraft approaches this ground mesh Ms (i, j). Thus, the accuracy of a ground mesh Ms (i, j) and, consequently, of the presentation of the ground and the obstacles above ground increases when the aircraft 8 approaches this ground mesh Ms (i, j). Each ground mesh Ms (i, j) is constituted by a single elementary pad Pe of altitude Zpe, this elementary pad Pe being the elementary pad Pe corresponding to this ground mesh Ms (i, j) whose altitude Zpe is the highest. low. In fact, this elementary plot Pe, whose altitude Zpe is the lowest, constitutes a priori the ground for the surface of the ground represented by this ground mesh Ms (i, j). As a result, the minimum altitude Zmin (i, j) associated with this ground mesh Ms (i, j) is the altitude Zpe of this elementary pad Pe. Thus, each ground mesh Ms (i, j) being associated with a minimum altitude Zmin (i, j), the set of ground meshes Ms (i, j) characterizes the soil well by taking into account a ground altitude for each mesh ground Ms (i, j) although these meshes sol Ms (i, j) form a horizontal plane, thus in two dimensions. Then, during a second step 12 of creation of a network of plots obstacles Pon (i, j), plots obstacles Pon (i, j) are determined from the elementary pls Pe not characterizing a ground mesh Ms (i, j). Indeed, each elementary plot Pe situated on the same ground mesh Ms (i, j) and which has an altitude Zp greater than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) is probably representative. an obstacle above ground.
    [0021] Therefore, each elementary pad Pe whose altitude Zpe is greater than the minimum altitude Zmin (i, j) of the ground mesh Ms (i, j) to which it corresponds then constitutes an obstacle pad Pon (i, j) associated with this ground mesh Ms (i, j) and characterized by an altitude Zn (i, j). This altitude Zn (i, j) is equal to the altitude Zpe of this elementary block Pe. In this way, the obstacle pads Pon (i, j) can be characterized by an altitude Zn (i, j) associated with a ground mesh Ms (i, j) and by their three-dimensional coordinates in the terrestrial geographic reference. On the other hand, during this second step 12, if an elementary pad Pe at an altitude Zpe equal to the minimum altitude Zmin (i, j) characterizing this ground mesh Ms (i, j), this elementary pad Pe is ignored.
    [0022] FIG. 4 represents, on the one hand, a horizontal plane formed of ground meshes Ms (i, j) and, on the other hand, several brake pads Pon (i, j). For example, we find that only one single Poi (ii, j2) obstacle block is associated with the ground mesh Ms (ii, i2), as well as for the ground mesons Ms (ii, j3) and Ms (i3, j2). On the other hand, three obstacles Poi (i2, j3), Po2 (i2, j3), Po3 (i2, j3) are associated with the ground mesh Ms (i2, j3). During a third step 13 for storing the ground meshes Ms (i, j), each ground cell Ms (i, j) is stored with the minimum altitude Zmin (i, j) in the first storage means 6. During a fourth step 14 of memorizing the obstacle pads Pon (i, j), each obstacle pad Pon (i, j) is stored with an altitude Zn (i, j) in the second storage means 7.
    [0023] These third and fourth steps 13, 14 can be simultaneous or sequential. In addition, the first storage means 6 and the second storage means 7 can form the same common storage means, the ground meshes Ms (i, j) and the obstacle pads Pon (i, j) being then stored in this medium. common memory. Subsequently, during a fifth comparison step, each ground mesh Ms (i, j) is compared with each newly received elementary pad Pe of altitude Zpe and corresponding to this ground mesh Ms (i, j) so that to determine if this newly received elementary pad Pe may potentially constitute an obstacle above ground or if it corresponds to the ground. Indeed, the detection means 9 sends measurement signals and receives back elementary pes at regularly scheduled time interval. In fact, the detection means 9 regularly receives new elementary pads Pe corresponding to a new scan of the environment of the aircraft 8. During this fifth comparison step, the minimum altitude Zmin is compared more particularly ( i, j) of each ground cell Ms (i, j) with the altitude Zpe of each newly received elementary pad Pe corresponding to this ground mesh Ms (i, j). If no minimum altitude Zmin (i, j) was previously memorized for this ground mesh Ms (i, j), this newly received elementary pad Pe is the first elementary pad Pe corresponding to this ground mesh Ms (i, j) and it is considered to correspond to the ground. The altitude Zpe of this newly received elementary block Pe is then stored for this ground mesh Ms (i, j) as the minimum altitude Zmin (i, j).
    [0024] If this newly received elementary pad Pe has an altitude Zp greater than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe is probably an out of ground obstacle. The newly received elementary block Pe is then stored as an obstacle pad Pon (i, j) with which the altitude Zn (i, j) is associated, which is equal to the altitude Zpe of this newly received elementary block Pe. The minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) is unchanged.
    [0025] If this newly received elementary pad Pe has an altitude Zpe less than the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe probably corresponds to the ground, the elementary chip Pe having previously used to constitute the ground mesh Ms (i, j) being in fact an obstacle above ground. In fact, an obstacle pad Pon (i, j) corresponding to this obstacle above ground is stored with an altitude Zn (i, j) equal to the minimum altitude Zmin (i, j) previously associated with this ground mesh Ms (i , j). The altitude Zpe of this newly received elementary block Pe is then stored as the new minimum altitude Zmin (i, j) of this ground mesh Ms (i, j). If this newly received elementary pad Pe has an altitude Zpe equal to the minimum altitude Zmin (i, j) of this ground mesh Ms (i, j), this newly received elementary pad Pe is ignored.
    [0026] Thus, the new elementary pads Pe received feed as and their receptions each storage means 6.7 according to their Zpe altitudes. In fact, a mesh of the ground according to a two-dimensional plane characterized by the ground meshes Ms (i, j) as well as a network of plots obstacles Pon (i, j) are obtained.
    [0027] Finally, during a sixth display step 16, the display means 5 display the ground meshes Ms (i, j) and the brake pads Pon (i, j) thus presenting to the crew of the 8 aircraft in a simple way the potential obstacles above ground.
    [0028] In this way, this crew of the aircraft 8 can then analyze and interpret this network of plots obstacles Pon (i, j) in order to identify the above-ground obstacles such as electrical cables or pylons that may be in the aircraft environment 8.
    [0029] An obstacle plot Pon (i, j) associated with a ground mesh Ms (i, j) is thus displayed from their altitude Zn (i, j). However, the dimensions of a ground mesh Ms (i, j) may be important, the obstacle pads Pon (i, j) can be displayed from their three-dimensional coordinates in the terrestrial geographical reference. This display of the obstacle blocks Pon (i, j) from their three-dimensional coordinates furthermore makes it possible to differentiate a plurality of obstacle blocks Pon (i, j) associated with the same ground mesh Ms (i, j) as is the case for the pads Po1, Po2, Po3 associated with the ground mesh Ms (i2, j3).
    [0030] The display means 5 may be a screen displaying in two dimensions and in perspective the horizontal plane representative of the ground and the network of the obstacle pads Pon (i, j). This display means 5 may also be a screen displaying these three-dimensional elements or a medium head or head-up display. According to two variants of the method for detecting and visualizing the ground and obstacles, display conditions are added to the obstacle pads Pon (i, j) according to their respective altitudes Zn (i, j) to allow or not their presentations on the display medium 5.
    [0031] Thus, according to a first variant of this method, each obstacle pad Pon (i, j) having an altitude difference between the altitude Zn (i, j) of this obstacle pad Pon (i, j) and the minimum altitude Zmin (i, j) of the ground mesh Ms (i, j) corresponding to this obstacle pad Pon (i, j) less than a first threshold is ignored during the sixth display step 16 and, consequently, not presented. on the display means 5. The first threshold is for example equal to 30 feet (30 ft). Similarly, according to a second variant of this method, each obstacle pad Pon (i, j) having a difference in altitude between the altitude Zn (i, j) of this obstacle pad Pon (i, j) and the altitude minimum Zmin (i, j) of the ground mesh Ms (i, j) corresponding to this obstacle pad Pon (i, j) greater than a second threshold is ignored during the sixth display step 16 and, consequently, no shown on the display means 5. The second threshold is for example equal to 500 feet (500 ft). In addition, each ground mesh Ms (i, j) can form a digital ground model DTM and the initial minimum altitude Zmin (i, j) of this ground mesh Ms (i, j) is the altitude of the digital model of ground. 20 terrain MNT. Advantageously, the obstacle pads Pon (i, j) are simply displayed on the display means 5 and in particular without image processing and pattern recognition. As a result, the method for detecting and visualizing the ground and obstacles according to the invention makes it possible to display in real time the obstacle pads Pon (i, j) by limiting the use of the calculation resources of the unit of treatment 4. Similarly, the ground being represented as a horizontal plane, that is to say only in two dimensions, the use of computing resources of the processing unit 4 is also limited. Naturally, the present invention is subject to many variations as to its implementation. Although several embodiments have been described, it is well understood that it is not conceivable to exhaustively identify all the possible modes. It is of course conceivable to replace a means described by equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (11)
    [0001]
    REVENDICATIONS1. Method for detecting and displaying the ground and obstacles from a detection means (9) intended to equip a vehicle (8), said detection means (9) sending measurement signals and receiving a plurality of elementary blocks (Pe) expressed in the form of three-dimensional coordinates, said elementary pads (Pe) being representative of at least a part of the environment of said vehicle (8), said method comprising: - a first step (11) of meshing said ground into two dimensions in a horizontal plane with ground meshes (Ms (i, j)), each ground mesh (Ms (i, j)) being formed by an elementary pad (Pe) of altitude (Zpe), said elementary pad ( Pe) being the elementary pad (Pe) corresponding to said ground mesh Ms (i, j) whose said altitude Zpe is a minimum altitude (Zmin (i, j)), - a second stage (12) of creating a network of small obstacles (Pon (i, j)), each elementary pad (Pe) corresponding to a mesh ground (Ms (i, j)) and having an altitude (Zpe) greater than said minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)) forming an obstacle pad (Pon (i, j)), - a third step (13) of storing said ground meshes (Ms (i, j)), each ground cell (Ms (i, j)) being stored with said minimum altitude (Zmin (i, j)) a fourth step (14) for memorizing said obstacle blocks (Pon (i, j)), each obstacle pad (Pon (i, j)) being stored with an altitude (Zn (i, j)) equal to said altitude (ZPe), - a fifth step (15) of comparing each ground mesh (Ms (i, j)) with each newly received elementary pad (Pe) of altitude (Zpe) and corresponding to said ground mesh (Ms (i , j)) such that, o if no minimum altitude (Zmin (i, j)) is memorized for said ground mesh (Ms (i, j)), said zero altitude of said newly received elementary pad (Pe) is memorized for said ground mesh (Ms (i, j)) as minimum altitude (Zmin (i, j)), o if said altitu of (Zpe) of said newly received elementary pad (Pe) is greater than said minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)), said newly received elementary pad (Pe) is stored in as an obstacle plot (Pon (i, j)) with an altitude Zn (i, j) equal to said altitude Zpe of said newly received elementary pad Pe, said minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)) being unchanged, o if said altitude (Zpe) of said newly received elementary pad (Pe) is less than said minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)) an obstacle plot (Pon (i, j)) is stored with an altitude (Zn (i, j)) equal to said minimum altitude (Zmin (i, j)) and said altitude (Zpe) of said elementary pad (Pe) newly received is stored as a new minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)), o if said altitude (Zpe) of said newly received elementary pad (Pe) is equal to said altitude m inimale (Zmin (i, j)) of said ground mesh (Ms (i, j)), said newly received elementary pad (Pe) is ignored, - a sixth step (16) of display of said ground meshes (Ms (i , j)) and said obstacle blocks (Pon (i, j)).
    [0002]
    2. Method according to claim 1, characterized in that each obstacle pad (Pon (i, j)) having an altitude difference between said altitude (Zn (i, j)) and said minimum altitude (Zmin (i, j)) )) of said ground mesh (Ms (i, j)) corresponding to said obstacle pad (Pon (i, j)) lower than a first threshold is ignored during said fifth display step (15).
    [0003]
    3. Method according to any one of claims 1 to 2, characterized in that each obstacle pad (Pon (i, j)) having a difference in altitude between said altitude (Zn (i, j)) and said minimum altitude (Zmin (i, j)) of said ground mesh (Ms (i, j)) corresponding to said obstacle pad (Pon (i, j)) greater than a second threshold is ignored during said fifth display step (15) .
    [0004]
    4. Method according to any one of claims 1 to 3, characterized in that each ground mesh (Ms (i, j)) has the shape of a square whose dimensions vary according to the position of said vehicle (8) relative on the ground.
    [0005]
    5. Method according to any one of claims 1 to 3, characterized in that each ground mesh (Ms (i, j)) has the shape of a square, each side corresponds to 10 meters on the ground.
    [0006]
    6. Method according to any one of claims 2 to 5, characterized in that said first threshold is equal to 30 feet.
    [0007]
    7. Method according to any one of claims 3 to 6, characterized in that said second threshold is equal to 500 feet.
    [0008]
    8. Method according to any one of claims 1 to 7, characterized in that a preliminary step (10) of transforming said three-dimensional coordinates of said elementary pads (Pe) is performed prior to said first step (11) to transform said three-dimensional coordinates of said elementary lands (Pe) of a landmark linked to said vehicle (8) at a terrestrial geographical landmark.
    [0009]
    9. Method according to any one of claims 1 to 8, characterized in that each ground mesh (Ms (i, j)) forms a digital terrain model (DTM) and said minimum altitude (Zmin (i, j)) initial of said ground mesh (Ms (i, j)) is the altitude of said digital terrain model (DTM).
    [0010]
    10. Program comprising a code fixed on a support or materialized by a signal, the code being readable or executable by a processing unit (4) of data and intended to equip a vehicle (8) to process a plurality of elementary pads 25 (Pe) received by a detecting means (9), characterized in that said code comprises code segments for performing said steps (10,11,12,13,14,15) of the method according to any one of Claims 1 to 9.
    [0011]
    11. Device (1) for detecting and visualizing the ground and obstacles, this device (1), intended to equip a vehicle (8), comprising a detection means (9) receiving a plurality of elementary pads (Pe), a reference and heading system (2), a locating system (3) and a processing unit (4), at least one storage means (6, 7) and a display means (5), characterized in that said device (1) for detecting and visualizing the ground and obstacles implements the method according to any one of claims 1 to 9.
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    法律状态:
    2016-03-21| PLFP| Fee payment|Year of fee payment: 3 |
    2017-03-22| PLFP| Fee payment|Year of fee payment: 4 |
    2018-03-23| PLFP| Fee payment|Year of fee payment: 5 |
    2020-03-19| PLFP| Fee payment|Year of fee payment: 7 |
    2021-03-23| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1400762A|FR3019361B1|2014-03-28|2014-03-28|METHOD FOR DETECTING AND VISUALIZING ARTIFICIAL OBSTACLES IN A ROTARY WING AIRCRAFT|FR1400762A| FR3019361B1|2014-03-28|2014-03-28|METHOD FOR DETECTING AND VISUALIZING ARTIFICIAL OBSTACLES IN A ROTARY WING AIRCRAFT|
    EP15000825.8A| EP2924458B1|2014-03-28|2015-03-20|Method for detecting and displaying artificial obstacles of a rotary-wing aircraft|
    PL15000825T| PL2924458T3|2014-03-28|2015-03-20|Method for detecting and displaying artificial obstacles of a rotary-wing aircraft|
    US14/672,604| US9401093B2|2014-03-28|2015-03-30|Procedure for the detection and display of artificial obstacles for a rotary-wing aircraft|
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