• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The subject of the invention is a method of assisting the ground control of an airplane, characterized in that it comprises the steps of: obtaining a panoramic view (68) of at least one zone surrounding the airplane, isolating an image (48) which corresponds to a part of the panoramic view (68) and which is selected according to a desired orientation by a pilot, and - displaying the image (48) on a display device (42) ) visible to the pilot. The invention also relates to a system for implementing said method.
    公开号:FR3023406A1
    申请号:FR1456514
    申请日:2014-07-07
    公开日:2016-01-08
    发明作者:Vincent Loubiere；Christophe Cros；Alexandre Godin
    申请人:Airbus；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method of assisting the ground control of an aircraft as well as a system for its implementation. BACKGROUND OF THE INVENTION During the taxiing phases that precede take-off or following the landing, the pilot directs the aircraft along a route, usually marked by a painted line on the ground. During these phases of driving, the driver must avoid driving off the taxiways (runways, taxiways) to avoid the risk of getting bogged down or getting bogged down in the aisles. The path followed by the pilot generally includes directional changes which are delicate maneuvers to achieve because the pilot has a reduced field of vision through the windshield of the aircraft and this field of vision is far from the position of the wheels of the aircraft. Thus, when the pilot observes a change of direction via the windshield, he must wait before triggering the corresponding direction change command and must shift this command in time so that the wheels follow the course correctly. Generally, when the pilot triggers the change of direction command, he no longer sees the portion of the path that includes this change of direction. The time lag of the change of direction control varies from one aircraft to another, in particular according to the dimensions of the aircraft. If for small airplanes the pilot has a margin of maneuver, the latter is reduced for large aircraft and a deviation of trajectory may lead to an exit out of the taxiway if the latter is narrow . Also, the present invention aims to provide a solution to help the pilot during ground maneuvers. To this end, the subject of the invention is a method of assisting the ground control of an aircraft characterized in that it comprises the steps of: obtaining a panoramic view of at least one area surrounding the aircraft; aircraft, isolate an image that corresponds to a portion of the panoramic view and which is selected according to a desired orientation by a pilot, and display the image on a display device visible to the pilot. The method of ground control assistance provides the pilot, on a single screen, a field of view to visualize the environment of the aircraft, particularly the taxiway near the landing gear. The method also allows the pilot to focus his attention on a specific area which is displayed in detail on the display device. In this way, the pilot can better estimate the distance that separates the airplane from an obstacle or a side-aisle.
    [0002] According to a variant, the method comprises a step of detecting from the panoramic view of an obstacle, such as for example a aisle, and of emitting a signal if the distance separating the plane from the obstacle detected is less than a given value. According to another variant, the method comprises a step of reconstituting the panoramic view from several views captured by several cameras.
    [0003] The invention also relates to a system for assisting the ground control of an aircraft, characterized in that it comprises: at least one image acquisition device, integral with the aircraft, configured to capture a panoramic view or views to reconstitute a panoramic view of at least one area adjacent to the aircraft, a display device, a pointer for indicating an orientation, at least one image processing device which, starting from the panoramic view, isolates an image according to the orientation indicated by the pointer, said image being displayed on the display device.
    [0004] Advantageously, the display device is movable and the pointer comprises an orientation sensor linked to the display device and configured to indicate to the image processing device the orientation of the display device. According to one embodiment, the viewing device is an immersive helmet or immersive glasses.
    [0005] According to another embodiment, the display device is a tablet. Advantageously, the image acquisition device is positioned under the fuselage of the aircraft at a zone of connection of the wings to the fuselage.
    [0006] According to another characteristic, the image acquisition device is adjustable in orientation and / or focusing. According to one embodiment, the image acquisition device is static and positioned inside a transparent cowl protruding from the fuselage of the aircraft.
    [0007] According to another alternative embodiment, the image acquisition device is movable between a retracted position in which it is disposed inside the fuselage and a second extended position in which it is disposed outside the fuselage. Preferably, the ground control assistance system comprises at least one collision sensor and / or a line detection sensor.
    [0008] Other features and advantages will become apparent from the following description of the invention, description given by way of example only, with reference to the accompanying drawings in which: FIG. 1 is a side view of a plane taxiing on the ground FIG. 2 is a perspective view of an aircraft traveling on a taxiway which illustrates the invention; FIG. 3 is a side view of an image acquisition device which illustrates FIG. FIG. 4 is a side view of a control cabin in which a pilot equipped with a display device according to a variant of the invention is positioned. FIG. 5 is a perspective view. Another embodiment of the invention is a display device according to another variant of the invention. FIG. 6 is a diagram of a ground control assistance method which illustrates the invention. In the various figures, there is shown an aircraft 10 which comprises a fuselage 12, a right wing 14, a left wing 14 ', a front landing gear 16 disposed at the front and below the fuselage 12, a train rear right landing 18 disposed under the right wing 14 and a left rear landing gear (not visible) disposed under the left wing 14 '. As illustrated in FIG. 4, the aircraft 10 also comprises a cockpit 20, arranged at the front of the fuselage 12, which comprises at least one windshield 22, a pilot station 24 in which a pilot is positioned. 26. The windshield 22 offers the pilot 26 a more or less restricted field of view of the external environment of the aircraft.
    [0009] The cockpit 24 comprises at least one display screen 28 and at least one control 30 trajectory control. On the ground, the aircraft 10 moves on at least one taxiway 32, such as a track or a taxiway for example, bordered by aisles 34, 34 'which can be movable.
    [0010] During a taxi phase, the pilot 26 acts on the control 30 trajectory control to change the orientation of the aircraft 10, and more particularly the landing gear before 16, so as to follow a path and keep the landing gear 16, 18 on the taxiway 32. Advantageously, the taxiway 32 comprises a marking 36, such as for example a line, which represents an ideal route to be taken by the aircraft 10 for the trains of 16, 18 remain on the taxiway 32. From its cockpit 24, the pilot 26 can see through the windshield 22 only a portion of the marking 36, this portion being removed to the front of the vehicle. 'plane. According to the invention, the aircraft 10 comprises a ground control assistance system which comprises: at least one image acquisition device 38, integral with the aircraft 10, configured to capture a panoramic view or views 40 for reconstructing a panoramic view of at least one area adjacent to the aircraft, a display device 42, a pointer 44 for indicating an orientation, at least one image processing device 46 which, at from the panoramic view, isolates an image 48 according to the orientation indicated by the pointer 44, said image 48 being displayed on the display device 42. A panoramic view has an angle of view in a horizontal plane greater than 150 °. For the purposes of this application, the term "view" or "image" means a single image or a single image or a sequence of successive images or images which is also called film or video. Advantageously, the panoramic view shows part of the taxiway close to at least one airfield of the aircraft. According to a first embodiment, the image acquisition device 38 is a spherical video camera 50 comprising several objectives, such as for example a camera marketed under the name "Ladybug 2" by the company "Point Gray".
    [0011] According to another embodiment, the image acquisition device 38 comprises several cameras distributed over different zones of the fuselage 10. In a first case, the image acquisition device 38 comprises an image processing to reconstitute an image. panoramic view from the views 40 captured by the different cameras, this reconstituted panoramic view being transmitted to the image processing device 46. In a second case, the image acquisition device 38 transmits the views 40 captured by the different cameras at the image processing device 46 which reconstructs a panoramic view. According to another embodiment, the image acquisition device 38 comprises a camera and at least one mirror which comprises a surface whose shape is configured to obtain a panoramic view which is captured by the camera and which is transmitted thereafter to the image processing device 46. According to another embodiment, the image acquisition device 38 comprises at least one camera with a wide-angle lens. Advantageously, the panoramic view captured by the image acquisition device 38 or reconstituted by the image acquisition device 38 and / or the image processing device 46 is a cylindrical panoramic view with a vertical axis or a spherical panoramic view. In a variant, the panoramic view extends over a portion of a cylinder or a portion of a sphere. According to an improved variant, the image acquisition device 38 is adjustable in orientation and / or in focus. For this purpose, the image acquisition device 38 comprises at least one orientation command for adjusting the orientation of the image acquisition device 38 and at least one focusing control for adjusting the image. Focal length of the image acquisition device 38. Preferably, these commands are remotely controllable. The image acquisition device 38 may be disposed at different locations on the outer surface of an aircraft. According to a first embodiment, the image acquisition device 38 comprises a camera placed on a landing gear. According to another embodiment, the image acquisition device 38 comprises several cameras placed on the various landing gear.
    [0012] According to another embodiment, the image acquisition device 38 comprises at least one camera placed on the wing and / or the stabilizing surfaces. For example, a camera placed under the end of each wing and another camera at the level of the empennage.
    [0013] According to another embodiment illustrated in FIG. 1, the image acquisition device 38 comprises a camera positioned under the fuselage 12, at the junction zone between the wings and the fuselage called a boat. This position is preferred because it offers visibility in all directions. In addition, this position is centered relative to the ends of the wings.
    [0014] However, the invention is not limited to these different implantation zones. According to a first configuration illustrated in FIG. 1, the image acquisition device 38 is static and positioned inside a transparent casing 52 projecting from the fuselage of the aircraft. This cowling 52 has shapes adapted to reduce aerodynamic disturbances.
    [0015] According to a second configuration illustrated in FIG. 3, the image acquisition device 38 is movable between a retracted position in which it is disposed inside the fuselage 12 and a second extended position in which it is disposed at the exterior of the fuselage 12. According to one embodiment, the fuselage of the aircraft comprises: an opening 54 which communicates a housing 56 (arranged inside the fuselage) with the outside of the fuselage, a flap 58 movable between a closed position in which the flap 58 is disposed in the extension of the fuselage and closes the opening 54 and an open position in which it releases the opening 54. In addition, the aircraft comprises: a mast 60 with a first end connected by a hinge 61 to the rest of the aircraft, the image acquisition device 38 (more particularly the spherical video camera 50) being attached to the other end of the mast 60, an actuator 62 configured for moving the mast 60 between a retracted position in which the mast 60 is disposed inside the housing 56 so as to allow the flap 58 to be in the closed position and an extended position in which at least a portion of the mast 60, in particular that supporting the image acquisition device 38, is projecting relative to the fuselage 12, as illustrated in FIG.
    [0016] According to this second configuration, the mast is disposed in the out position only during the taxiing phases. Thus, during the flight phases, the image acquisition device 38 is disposed inside the fuselage and generates no aerodynamic disturbance. The number of cameras of the image acquisition device 38 and / or their locations may vary from one aircraft to another. They are determined to achieve a compromise between a panoramic view as complete as possible without shadow and the complexity and cost of installation. According to a variant illustrated in FIG. 4, the display device 42 comprises a screen supported by the pilot's head 26. According to one embodiment, the display device 42 is an immersive helmet 64 or immersive spectacles. In the case of an immersive helmet, the pilot is isolated from his environment. However, its environment can be reproduced wholly or partially inside the immersive helmet 64. In the case of immersive glasses, the driver directly visualizes his environment as with glasses, the image 48 being projected in front of him without hiding the 'environment. According to another variant illustrated in FIG. 5, the display device 42 is a mobile tablet 66. This tablet 66 can be dedicated exclusively to the method of ground control assistance or be used for other applications by the pilot. According to another variant, the display device 42 is a screen already present in the control cabin, such as the display screen 28. In a first variant, the pointer 44 is a device or a software for identifying A control of the driver 26. According to one embodiment, the pointer 44 is a joystick-like joystick that is used to indicate at least one orientation depending on the orientation of the joystick. This controller can be used to identify other commands such as a focus control as previously indicated. According to another embodiment, a touch screen, in particular that of the tablet 66, is used as a pointer 44 to indicate at least one orientation and possibly other commands, for example a focus control as previously indicated. Advantageously, when the display device 42 is mobile, the pointer 44 comprises an orientation sensor 67 linked to the display device 42. Thus, automatically, by moving the display device 42, the pilot 26 indicates the orientation that he wishes and so the area of the panoramic view from which the image 48 displayed on the display device 42 must be extracted. In the case of an immersive helmet 64 or immersive goggles, the pilot 26 indicates the desired orientation by turning his head. In the case of a tablet 66, the pilot 26 indicates the desired orientation by turning the tablet 66.
    [0017] The orientation sensor 67 and more generally the pointer 44 indicates to the image processing device 46, by means of a wired or wireless link, the orientation of the display device 42. The image processing device 46 isolates the panoramic view 68 the image 48 corresponding to the orientation of the display device 42 which corresponds to the orientation chosen by the pilot 26.
    [0018] The image processing device 46 comprises at least one software application implemented in a computer dedicated to the ground control assistance method or in a computer already existing in the aircraft. As shown in FIG. 6, the software application makes it possible, from a panoramic view 68 and an orientation indicated by the pointer 44, to isolate an image 48 which corresponds to a portion of the panoramic view 68 which is selected according to the orientation indicated by the pointer 44. According to the variants, the software application reconstructs the panoramic image 68 according to the views 40 captured by the image acquisition device 38 when the latter comprises several cameras .
    [0019] According to the invention, the method of assisting the ground taxiing of an aircraft comprises the steps of obtaining a panoramic view 68 of at least one area around the aircraft, in particular the part of the taxiway close to the aircraft, to isolate an image 48 which corresponds to a part of the panoramic view 68 which is selected according to an orientation chosen by the pilot and to display the image 48 on a display device visible to the pilot.
    [0020] The method of assisting ground control provides the pilot, on a single screen, a field of view for visualizing the environment of the aircraft and more particularly the taxiway near the landing gear. In addition, with the pointer 44, it can focus its attention on a specific area which is displayed in detail on the display device 42. In this way, the pilot can better estimate the distance between the aircraft 30 and obstacle or a side-aisle. The ground control aid system includes a first wired or wireless link between the image acquisition device 38 and the image processing device 46 and a second wired or wireless link between the processing device. In another variant, the image acquisition device 38 comprises at least one IR (for infrared) or UV (for ultraviolet) camera. This configuration makes it possible to use the method of assisting ground control even in the event of poor visibility, for example at night or in the presence of fog. According to other configurations, the image processing device 46 comprises an image recognition application capable, from the panoramic view, of identifying the aisles 34, 34 'of a taxiway and of transmitting a signal if the distance separating one of the landing gear 16, 18 and one of the aisles 34, 34 'is smaller than a given value. More broadly, this image recognition application is configured to recognize a possible obstacle and send a signal if this possible obstacle is positioned in a given area. According to another embodiment, the ground control aid device comprises at least one collision sensor which makes it possible to detect the approach of an obstacle. According to a configuration illustrated in FIG. 2, the ground control aid device comprises a collision sensor 70.1, 70.2 at the end of each wing, a collision sensor 70.3 at the upper end of the wing and / or a collision sensor 70.4, 70.5 at the end of each wing of the empennage.
    [0021] According to another embodiment, the ground steering aid device comprises at least one line detection sensor such as marking 36 or a demarcation line between the taxiway and a side aisle. In the presence of at least one collision sensor and / or at least one line detection sensor, the ground steering assistance method emits a signal which can be visual or sound when at least one said sensors identify a risk, for example the approach of an obstacle or the line of demarcation between the taxiway and one of the aisles or a too large distance with the marking 36.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. A method of assisting the ground control of an aircraft, characterized in that it comprises the steps of: obtaining a panoramic view (68) of at least one area surrounding the aircraft, isolating an image (48) corresponding to to a part of the panoramic view (68) which is selected according to a desired orientation by a pilot, and display the image (48) on a display device (42) visible to the pilot.
    [0002]
    2. Method according to claim 1, characterized in that it comprises a step of detecting an obstacle from the panoramic view (68) and transmitting a signal if the distance separating the airplane and the detected obstacle is less than a given value.
    [0003]
    3. Method according to claim 1 or 2, characterized in that it comprises a step of reconstituting the panoramic view (68) from several views (40) captured by several cameras.
    [0004]
    Aircraft ground control aid system comprising a fuselage, wings and landing gear, characterized in that it comprises: at least one image acquisition device (38), secured to the aircraft (10), configured to capture a panoramic view or views (40) for reconstructing a panoramic view of at least one area adjacent to the aircraft, a display device (42), a pointer (44). ) for indicating an orientation, at least one image processing device (46) which, from the panoramic view, isolates an image (48) according to the orientation indicated by the pointer (44), said image (48) being displayed on the display device (42).
    [0005]
    5. System according to the preceding claim, characterized in that the display device (42) is movable and in that the pointer (44) comprises an orientation sensor (67) connected to the display device (42) and configured for indicating to the image processing device (46) the orientation of the display device (42).
    [0006]
    6. System according to one of claims 4 to 5, characterized in that the display device (42) is an immersive helmet (64) or immersive glasses.
    [0007]
    7. System according to one of claims 4 to 5, characterized in that the display device (42) is a shelf (66).
    [0008]
    8. System according to one of claims 4 to 7, characterized in that the image acquisition device (38) is positioned under the fuselage of the aircraft at a zone 5 connecting the wings to the fuselage. .
    [0009]
    9. System according to one of claims 4 to 8, characterized in that the image acquisition device (38) is adjustable in orientation and / or focusing.
    [0010]
    10. System according to one of claims 4 to 9, characterized in that the image acquisition device (38) is static and positioned inside a transparent cover (52) protruding from the fuselage of the plane.
    [0011]
    11. System according to one of claims 4 to 9, characterized in that the image acquisition device (38) is movable between a retracted position in which it is disposed inside the fuselage (12) and a second output position in which it is disposed outside the fuselage (12). 15
    [0012]
    12. System according to one of claims 4 to 11, characterized in that it comprises at least one collision sensor and / or a line detection sensor.
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    法律状态:
    2015-06-26| PLFP| Fee payment|Year of fee payment: 2 |
    2016-01-08| PLSC| Publication of the preliminary search report|Effective date: 20160108 |
    2016-07-21| PLFP| Fee payment|Year of fee payment: 3 |
    2017-07-24| PLFP| Fee payment|Year of fee payment: 4 |
    2018-07-25| PLFP| Fee payment|Year of fee payment: 5 |
    2020-07-21| PLFP| Fee payment|Year of fee payment: 7 |
    2021-07-27| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1456514|2014-07-07|
    FR1456514A|FR3023406B1|2014-07-07|2014-07-07|METHOD FOR AIDING THE FLIGHT OF AN AIRCRAFT AND SYSTEM FOR ITS IMPLEMENTATION|FR1456514A| FR3023406B1|2014-07-07|2014-07-07|METHOD FOR AIDING THE FLIGHT OF AN AIRCRAFT AND SYSTEM FOR ITS IMPLEMENTATION|
    US14/790,574| US9401094B2|2014-07-07|2015-07-02|Method for assisting the piloting of an aircraft on the ground and system for its implementation|
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