EP2511894A1 - Method for monitoring an air area around an aircraft - Google Patents

Abstract

The method involves capturing partial images of the environment of an airplane by imaging modules (6a-6h) i.e. cameras, and receiving the images by image sensors (12). The environment of the airplane is examined by image processing units (16) using the partial images for recognition of other flying objects in the environment of the airplane, where each imaging module comprises its own image processing unit. A recognition result is output by each imaging module. An air space around the airplane is monitored using the recognition results of the imaging modules. Independent claims are also included for the following: (1) an image module for monitoring an air space around an airplane (2) an airplane.

Description

The invention relates to a method for monitoring an airspace around an aircraft, which is equipped with a plurality of image modules each having at least one imaging optics and an image sensor, wherein the image sensors each record a partial image of the environment and an image processing means imaged the environment using the partial images examined other flying objects.

For the control of aircraft, in particular unmanned aerial vehicles, cameras are used to monitor the air space around the aircraft. In order to achieve a long-range view of the aircraft, image modules are used with a plurality of juxtaposed image sensors, which usually represent a solid angle of 220 ° x 50 °. Such airspace monitoring is out of the EP 1 505 556 A1 known.

Is another field of view desired, for example, extended to the top, bottom or back, is in the WO 20008/020889 A2 proposed to distribute several cameras on the fuselage of the aircraft. Through a central evaluation of the images of all cameras, the entire airspace around the aircraft can be monitored.

It is an object of the present invention to provide a method for monitoring an airspace around an aircraft that is easily and efficiently applicable even to smaller aircraft.

This object is achieved by a method of the aforementioned type, in which, according to the invention, each image module comprises its own image processing means, which carries out the flight object recognition on the basis of the partial images recorded by the image module and outputs a recognition result, and the airspace is monitored using the recognition results of the image modules.

The invention is based on the consideration that small aircraft are often not equipped with standard airspace monitoring that meets the requirements of an order, for example, if for a particular mission an all-round visibility is required or special cameras must be used, a special reconnaissance technique is necessary or similar. For this purpose, the aircraft would have to be equipped or retrofitted with special systems that work together with a central monitoring unit for image processing, flight object recognition and airspace monitoring. The effort of tuning the central monitoring unit with the image modules is high here. In addition, a corresponding wiring is expensive, since special and shielded cables are necessary because of the high Bilddatenübertragsrate, which are not laid by default, especially in a small aircraft.

Due to the inventive flight object recognition already in the image module, ie at the location of the image sensor imaging the partial air space, it is sufficient to forward only simple detection results, for example to the central monitoring unit. Wiring can be kept simple because the recognition results usually require a significantly lower data rate than the transmission of image data. In addition, a special flight object recognition can be carried out on the image module itself, so that the central monitoring unit of the aircraft can be designed simpler and thus can be standardized. An image analysis in a central monitoring unit can thus be dispensed with. A simple and small aircraft can thereby be equipped or retrofitted with little effort so that a very specific airspace monitoring according to the requirements of a current use is possible.

The recognition results of the individual image modules can be forwarded to a central monitoring unit of the aircraft, which carries out the airspace monitoring and, for example, outputs data for carrying out a flight control, for warding off an attack or for warning a pilot, in particular on the ground. For this purpose, the central monitoring unit is expediently prepared to output the corresponding signals, for example for controlling actuators for flight control, defense and / or Warning output. As an alternative to a single central monitoring unit, a plurality of units can assume these tasks, wherein these units can also be the image modules themselves, so that together they perform the monitoring of the airspace in the network. In this case, an image module can assume a central role, such as a coordination of a data flow, the eventual cases of decisions for flying object recognition or the like.

The image modules are advantageously arranged distributed on the aircraft, for example, distributed over the fuselage of the aircraft. Conveniently, at least one image module is aligned to the front and an image module to the rear. In any case, they are spatially separated from each other, so housed in any common housing, apart from a common fuselage. Each image module has its own housing with expediently a fastening means for attachment to or in the aircraft, for example on or in the fuselage.

The image of the partial air space on the image sensor via the imaging optics, such as a lens. Advantageously, the flight object recognition takes place on the basis of the sub-images recorded by the image module, which are examined for the presence of imaged flying objects. In this case, the image processing means will fall back on the partial images recorded by the own image module. Each image module thus advantageously uses only the partial images recorded by its own image sensor. The recognition result can be forwarded directly or indirectly to a central monitoring unit. This can derive consequences for the behavior of the aircraft.

The central monitoring unit may be a computer present in the aircraft by default, for example a control computer for controlling flight operations. It is also possible for the central monitoring unit to be a central computer belonging to the system of the several image modules and to be prepared for carrying out monitoring tasks. In any case, he is prepared to communicate with the multiple image modules and receive the recognition results. The recognition results can be obtained from image processing performed by the corresponding image module.

A particularly simple and modular airspace surveillance system can be created if the data transmission from the image modules to a central monitoring unit is wireless. The image modules can be freely arranged on or in the aircraft without the need for cabling by the aircraft. The wireless data transmission is also made possible by the fact that the transmission of the recognition results with a relatively low data transmission rate is possible, since not the entire image content must be transmitted to the central monitoring unit.

In a further advantageous embodiment of the invention, the flying object detection includes detecting a flying object imaged in the partial image and determining its angular coordinates. The flying object is classified as such and can be filled with appropriate data. The angular coordinates may be determined relatively in the field of view of the image module or with respect to a direction of the aircraft.

The forwarded recognition result may include the detected flying object or acquisition data for the flying object, in particular its angular coordinates.

When two aircraft move toward each other on a collision course, the line of sight rotation rate is at rest from one aircraft to another. The approaching flying object thus remains essentially stationary with respect to the direction of flight of the aircraft. Taking this into account, the flight object recognition expediently takes place from a single partial image, so that it is possible to dispense with an aircraft motion analysis, that is to say an analysis of the movement of the visual line rotational rate of the approaching aircraft object. Recognizing a movement from one field to the next is not necessary, but the flying object can be recognized purely from image data of a single field, for example, a lift off against a background.

It is further proposed that the flight object recognition - or the forwarded recognition result - includes an assessment of a flying object depicted in the sub-picture to a hazard potential. This can be done from the shape and / or size of the flying object, from detecting its flight track, in particular against an image background, from recognizing a Greater or Lesser being in the image or the like.

A further embodiment of the invention proposes that the image modules are arranged in different positions on the aircraft and that a sensor control of the individual image modules takes place depending on their position and thus different. The sensor control is expediently carried out by the image modules themselves. It may include exposure control, lens adjustment, and the like. The sensor control can be adapted to a position-dependent image processing or flight object recognition.

A further advantageous embodiment provides that the image modules are arranged in different positions on the aircraft and the flight object recognition of the individual image modules in dependence on their position and thus takes place differently. For example, flying objects are slower from the back than from the front and from the side with a faster track to a background than from the front or the back. According to the position of the image module on the aircraft, the flight object recognition can be set accordingly, so that the position of the image module on the aircraft is taken into account when performing the flight object recognition. The setting of the flight object recognition is expediently carried out directly on the image module, so that the image module is preset to its position and mounted accordingly. Of course, a pre-setting is also possible after mounting the image module in the aircraft.

In addition, the invention is directed to an image module for monitoring an air space around an aircraft with a housing in which an imaging optics and an image sensor are arranged. A simple modular integration in the aircraft can be achieved if in the housing of the image module, an image processing means is arranged, which is prepared to perform a Flugobjereskennung based on captured by the image sensor sub-images of the environment. Expediently, the image module is prepared to forward a recognition result to a central monitoring unit of the aircraft.

In addition, the invention is directed to an aircraft having a plurality of image modules as described above and a central monitoring unit prepared to output flight control signals using recognition results of the image modules. The flight control can be a control of a Flight course, the control of defensive measures to defend the flying object, the control of audible warnings and the like.

Advantageously, the central monitoring unit comprises an image module detection means, which is prepared for cooperation with a different number of image modules and to detect the number of image modules currently used for airspace monitoring and work together with them. Thus, for example, the image modules can independently report to the central monitoring unit, so that it sets up a communication with the image modules corresponding to the number of registered image modules. A simple modular design with the desired number of image modules can be performed.

Furthermore, the aircraft is advantageously prepared with a plurality of prepared recordings for receiving and operating one image module at a time. In this way, the aircraft can be equipped with image modules depending on use, without having to make extensive installations for this purpose. Such a receptacle can be a slot for inserting an image module.

It is further proposed that different types of image modules are distributed in geometrically different positions on the fuselage. In this way, the airspace can be optimally monitored depending on the application.

Further advantages emerge from the following description of the drawing. In the drawings, embodiments of the invention are shown. The invention is not limited to the embodiments illustrated in the drawings - not even in terms of functional features. The previous description as well as the following description of the figures contain numerous features, which are given in the dependent subclaims in part to summarize several. However, these features, as well as all the other features disclosed above or in the following description of the figures, will also be considered individually by one skilled in the art and put together to meaningful further combinations. In particular, these features can be combined individually and in any suitable combination with the method and the apparatus according to the independent claims.

Fig. 1

ein unbemanntes Luftfahrzeug mit acht Bildmodulen zur Rundumüberwachung des Luftraums rund um das Luftfahrzeug und

Fig. 2

die acht Bildmodule drahtlos verbunden mit einer zentralen Überwachungseinheit.

Show it:

Fig. 1

an unmanned aerial vehicle with eight image modules for all-round surveillance of the airspace around the aircraft and

Fig. 2

the eight image modules wirelessly connected to a central monitoring unit.

FIG. 1 shows an unmanned aerial vehicle 2 with a length of about eight meters. The aircraft 2 is equipped with a central control means 4 in the form of an electronic data processing system which is in communication with a ground station via a transmitter and receiver (not shown). Through this data exchange, the aircraft 2 is controlled by a pilot from the ground station, so that the aircraft 2 remotely flies its mission. A control room for a flying pilot is not present in aircraft 2.

For controlling the aircraft 2 and for monitoring the surrounding airspace, the aircraft 2 is equipped with eight image modules 6a-6h. Here, the two control modules 6a and 6b are directed to the front left and front right and cover a solid angle range of 220 ° in the horizontal and 60 ° in the vertical. Oriented upward are the two image modules 6c and 6d, wherein the image module 6c is oriented more towards the front and the image module 6d more toward the rear. For mirroring down the two image modules 6e, 6f aligned. Looking backwards, the image modules 6g, 6h with the image module 6h to the rear left and the image module 6g aligned to the rear right in analogy and mirrored to the image modules 6a, 6b. The image modules 6b, 6g are in the view FIG. 1 behind the aircraft 2 and thus not visible and thus drawn by dashed lines. With the eight image modules 6, the entire air space around the aircraft 2 is imaged without a gap in eight partial images. In place of the eight image modules 6, any other suitable arrangement and number of image modules 6 is conceivable.

The eight image modules 6 are in FIG. 2 shown in more detail schematically. They all contain in a housing 8 an imaging optics 10, by means of which the subsection of the surroundings is imaged onto an image sensor 12 and thus results in the sub-image of the surrounding airspace. The image sensor 12 is connected in terms of data technology to an image memory 14 in which the partial images recorded by the image sensor 12 can be stored. On the image memory 14, an image processing means 16 has access, which in turn signal technology with a communication unit 18 connected, which leads to a communication with the control means 4. The communication takes place wirelessly via a radio interface 20 of the image modules 6 and a radio interface 22 of the control means 4. The radio interface 22 is prepared to communicate simultaneously with a maximum of 16 image modules 6 wirelessly. Accordingly, it comprises 16 radio channels, of which only eight are used in the embodiment shown in the figures.

The control means 4 in turn contains a communication unit 24, which is connected to an image module detection means 26. This automatically recognizes the communicating image modules 6 and establishes the radio channels of the radio interface 22 and the communication method of the communication unit 24. The image module detection means 26 may be separate or part of a central monitoring unit 28 of the control means 4, which is connected to a control unit 30 for controlling the flight of the aircraft 2. For this purpose, the control unit 30 is wired to a number of actuators 32, which are prepared for directional control, speed control and altitude control of the flight of the aircraft 2, to a defense of a classified as dangerous flying object, for issuing warning signals to the ground pilots, etc. Alternatively, the monitoring unit 28 and the control unit 30 may be separate from one another and in particular two independent elements.

For easy installation of the image modules 6 in the aircraft 2, the aircraft 2 is equipped with receptacles 36, of which the clarity only one shot 36 in FIG. 1 is indicated. In this receptacle 36, an image module 6 can be inserted with its housing 8 and locked there. The receptacles 36 hold the image module 6 fastened therein in a predetermined orientation to a longitudinal axis of the aircraft 2, so that the partial image recorded by the image module 6 can be assigned in its direction in space. In another embodiment variant, the receptacle 36 can be equipped with prefabricated, wired signal lines which connect the attached image module 6 to the control means 4 or the central monitoring unit 28 by way of signal.

During the flight of the aircraft 2, partial images of the surrounding airspace are taken by the eight image modules 6 and examined for the presence of a flying object 34 by the image processing means 16. In this flight object recognition, the flying object 34 possibly recorded in the partial image is first detected as such by the image processing means 16. In addition, the Angle position of the line of sight 38 from the corresponding image module 6 to the flying object 34 detected by the image processing means 16. This detection and the angular position detection can be done from a single field, since a movement detection of the flying object 34 and its line of sight 38 is not required. Both the flight object detection and the angular position detection are given to the central monitoring unit 28 as two separate detection results.

At the in FIG. 1 illustrated embodiment, the approaching flying object 34 is detected by the two image modules 6b and 6c. These two image modules 6b, 6c thus send this recognition result to the monitoring unit 28, which can draw further conclusions therefrom, for example a possible threat to the aircraft 2 by the approaching flying object 34 and possible flight modification steps or the like. Alternatively, the image modules or their image processing means 16 are designed to determine a hazard potential by the flying object 34 independently. This determination result can also be transmitted as a recognition result to the central monitoring unit 28.

Even with this more extensive flight object recognition, the data sent by the image modules 6 to the monitoring unit 28 are so small in their amount per time that they can be transmitted without problems via the wireless radio communication. A transmission of the partial images or image data of the partial images of the image modules 6 both with each other and to the central monitoring unit 28 is not necessary.

The eight image modules 6 are arranged in different positions on the aircraft 2 as in FIG. 1 is indicated. The eight image modules 6 are preset in this case so that their sensor control is different and also the flight object recognition is carried out differently. Here, the image modules 6 are divided into three groups, namely as a first group, the two front image modules 6a, 6b, as a second group, the four middle image modules 6c - 6f and the third group, the two rear image modules 6g, 6h. While the front image modules 6a, 6b are aligned in their Flugobjfernkennung on faster flying objects 34, the two rear image modules 6g, 6h aligned to slower flying objects 2, so both in their movement relative to the background and in their relative movement to the aircraft 2 in the Usually move slower. The middle image modules 6c-6f are for a particularly fast movement of the line of sight 38 optimized for object 34. Accordingly, the sensor control is advantageously set.

LIST OF REFERENCE NUMBERS

2

aircraft

4

control means

6a

Imaging module

6b

Imaging module

6c

Imaging module

6d

Imaging module

6e

Imaging module

6f

Imaging module

6g

Imaging module

6h

Imaging module

8th

casing

10

imaging optics

12

image sensor

14

image memory

16

Image processing means

18

communication unit

20

Radio interface

22

Radio interface

24

communication unit

26

Image module detection means

28

monitoring unit

30

control unit

32

actuator

34

flying object

36

admission

38

line of sight

Claims (12)

Method for monitoring an air space around an aircraft (2) which is equipped with a plurality of image modules (6a-6h) each having at least one imaging optics (10) and an image sensor (12), wherein the image sensors (12) each comprise a partial image of the surroundings and an image processing means (16) examines the environment using the partial images on imaged other flying objects (34),
characterized,
in that each image module (6a-6h) comprises its own image processing means which performs the flight object recognition on the part images taken by the image module (6a-6h) and outputs a recognition result, and the airspace is monitored using the recognition results of the image modules (6a-6h). Method according to claim 1,
characterized,
that the data transfer from the image modules (6a-6h) to a central monitoring unit (28) is wireless. Method according to claim 1 or 2,
characterized,
that the flight object recognition includes detecting a flying object (34) depicted in the partial image and determining its angular coordinates. Method according to one of the preceding claims,
characterized,
that the flying object recognition includes detecting the flying object (34) from a single partial image. Method according to one of the preceding claims,
characterized,
that the flying object recognition includes an evaluation of a flying object (34) depicted in the partial image to a danger potential. Method according to one of the preceding claims,
characterized,
that the image modules (6a-6h) are arranged at different positions on the aircraft (2) and thus carried out a control of the individual image sensor modules (6a-6h), depending on their position and different. Method according to one of the preceding claims,
characterized,
that the image modules (6a-6h) are arranged at different positions on the aircraft (2) and thus carried the flying object recognition of the individual image modules (6a-6h), depending on their position and different. Image module (6a-6h) for monitoring an air space around an aircraft (2) with a housing (8) in which an imaging optics (10) and an image sensor (12) are arranged,
characterized,
in that a picture processing means (16) is arranged in the housing (8) and is prepared to perform a flying object recognition on the basis of partial images of the surroundings recorded by the image sensor (12). An aircraft (2) having a plurality of image modules (6a-6h) according to claim 8, respectively, and a central monitoring unit (28) prepared to output flight control signals using recognition results of the image modules (6a-6h). Aircraft according to claim 9,
characterized,
in that the central monitoring unit (28) comprises an image module acquisition means (24) which is prepared to cooperate with a plurality of image modules (6a-6h) and to detect and cooperate with the number of image modules (6a-6h) currently used for airspace monitoring , Aircraft according to claim 9 or 10,
marked
by several prepared recordings (36) for recording and operating in each case one image module (6a-6h). Aircraft according to one of claims 9 to 11,
characterized,
that different types of image modules (6a-6h) are distributed in geometrically different positions on the fuselage of the aircraft (2).

Images