• 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 present invention relates to a directional lighting system (1) fitted to an aircraft (2) and comprising on the one hand a light source (3) mounted on a motorized support (4) and on the other hand a control device (6 ) for controlling said motorized support. According to the invention, such a directional lighting system (1) comprises a selection member (7) for selecting a sighting objective intended to be pointed, a camera (8) for acquiring a plurality of images of the environment external to the aircraft (2), image processing means (9) for identifying the selected sighting objective, a calculation unit (10) configured to calculate current coordinates of the sighting objective and a device slaving (11) of the control device (6) for slaving in position the motorized support (4) according to an angular orientation (α, β) determined by the calculation unit (10). Abstract figure: Figure 1
    公开号:FR3092387A1
    申请号:FR1900910
    申请日:2019-01-31
    公开日:2020-08-07
    发明作者:Marc Salesse-Lavergne
    申请人:Airbus Helicopters SAS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a system and a method for providing directional lighting from an aircraft. Such an aircraft may in particular consist of an airplane, a rotorcraft or any type of aircraft preferably with vertical takeoff and/or landing.
    [0002] In addition, such aircraft can advantageously take on board one or more pilot(s) and/or passengers and/or goods.
    [0003] More particularly, the invention relates to the field of lighting systems comprising a light source mounted on a motorized support having at least one degree of mobility in rotation relative to a fuselage of the aircraft and at least one control device allowing to control the motorized support according to at least one angular orientation, the angular orientation(s) being relative to a direction of sight of the light source in a first frame of reference linked to the fuselage of the aircraft .
    [0004] In general, and as described in document FR 3 037 042, it is known to produce devices for automatically tracking the lighting of a specific take-off or landing site for a rotorcraft. In this case, such a point site is formed by a landing zone arranged on the ground or in a fixed reference with respect to the ground.
    [0005] In addition, this document discloses the use of a system for measuring the altitude and heading of the rotorcraft, of a two-axis accelerometer, of a radio altimeter so as to know the variations in the positions of the rotorcraft with respect to the site point of fixed coordinates in a reference frame linked to the ground.
    [0006] Thus, such a tracking device obliges the pilot to carry out a first step of initializing the position of a headlight to orient it in the direction of the point site, then a step of memorizing so as to memorize the initial position of the headlight.
    [0007] Consequently, such a device does not make it possible to carry out automatic tracking of the lighting of a mobile point site in the reference frame linked to the ground. A mobile landing and/or take-off site can for example be located on an offshore platform, on a ship or more generally on any type of vehicle moving relative to the ground.
    [0008] Moreover, as described in document EP 3 231 714, it is also known to equip an aircraft with a camera to carry out an acquisition of a plurality of images of the environment outside the aircraft. Image processing means then make it possible to identify a focus of expansion between two images to make it possible to identify a possible deviation of the aircraft on approach with respect to a landing strip and to modify the orientation accordingly. of a direction of sight of a light source of a lighting system arranged on the aircraft.
    [0009] However, such image processing means make it possible to determine values of the current components of a speed vector of the aircraft relative to the ground and then to orient the light source as a function of these values.
    [0010] As a result, as before, such a device does not make it possible to carry out automatic tracking of the lighting of a mobile point site in the reference frame linked to the ground.
    [0011] In addition, such a lighting system is more particularly suitable for allowing an airplane to perform lighting during a landing phase on an extended and non-punctual runway.
    [0012] Furthermore, as described in document FR 3 053 821, it is also known to equip a rotorcraft with a camera, image processing means, a calculation unit for calculating current coordinates in a reference frame linked to the rotorcraft at least one landing zone. These current coordinates are determined from the plurality of images acquired by the camera.
    [0013] Finally, a control unit makes it possible to generate a command setpoint to automatically pilot the rotorcraft towards a desired landing zone.
    [0014] However, if such a device makes it possible to automatically pilot a rotorcraft in the direction of a landing zone with a predetermined flight path, it does not make it possible to control the orientation of a light source in the direction of a landing zone and consequently to carry out an automatic follow-up of this landing zone.
    [0015] The object of the present invention is therefore to propose a lighting system making it possible to overcome the limitations mentioned above. Indeed, an object of the invention is to provide lighting and automatic tracking of a sighting objective which can be mobile in a reference frame linked to the ground, such as for example an offshore platform, a ship or more generally any vehicle moving relative to the ground.
    [0016] au moins une source lumineuse montée sur un support motorisé, le support motorisé présentant au moins un degré de mobilité en rotation par rapport à un fuselage de l’aéronef, un dispositif de commande permettant de commander le support motorisé selon au moins une orientation angulaire, la (ou les) orientation(s) angulaire(s) étant relative(s) à une direction de visée de la (ou les) source(s) lumineuse(s) dans un premier référentiel lié au fuselage de l’aéronef. As already mentioned, the invention relates to a directional lighting system fitted to an aircraft, the lighting system comprising: at least one light source mounted on a motorized support, the motorized support having at least one degree of mobility in rotation relative to a fuselage of the aircraft, a control device making it possible to control the motorized support according to at least one angular orientation, the angular orientation(s) being relative to a direction of sight of the source(s) light(s) in a first frame of reference linked to the fuselage of the aircraft.
    [0017] un organe de sélection pour sélectionner un objectif de visée destiné à être pointé par la direction de visée, au moins une caméra pour acquérir une pluralité d'images de l'environnement extérieur à l’aéronef suivant la direction de visée, des moyens de traitement d’images pour identifier dans au moins une image, parmi la pluralité d'images, l’objectif de visée sélectionné via l’organe de sélection, une unité de calcul configurée pour calculer des coordonnées courantes de l’objectif de visée identifié par les moyens de traitement d’images, les coordonnées courantes étant déterminées dans le premier référentiel à partir de la pluralité d'images acquises par la (ou les) caméra(s), l’unité de calcul étant configurée pour déterminer, à partir des coordonnées courantes de l’objectif de visée, la (ou les) orientation(s) angulaire(s) dans le premier référentiel, et un organe d’asservissement du dispositif de commande pour asservir en position le support motorisé selon au moins la (ou les) orientation(s) angulaire(s) déterminée(s) par l’unité de calcul. According to the invention, such a directional lighting system is remarkable in that it comprises: a selection member for selecting a sighting objective intended to be pointed by the sighting direction, at least one camera for acquiring a plurality of images of the environment outside the aircraft in the direction of sight, image processing means for identifying in at least one image, among the plurality of images, the aiming objective selected via the selection member, a calculation unit configured to calculate current coordinates of the sighting objective identified by the image processing means, the current coordinates being determined in the first reference frame from the plurality of images acquired by the camera(s), the calculation unit being configured to determine, from the current coordinates of the sighting lens, the angular orientation(s) in the first frame of reference, and a servo member of the control device for servo-positioning the motorized support according to at least the angular orientation(s) determined by the computing unit.
    [0018] In other words, the selection member making it possible to select an aiming objective can for example comprise a control screen displaying an image of one (or more) landing zone(s) in the direction of which the aircraft is directed. A pilot of the aircraft can then select the aiming objective by touching with a finger a touch zone of the control screen relating to the selection of the aiming objective.
    [0019] Such a control screen can for example be integrated into the dashboard of the cockpit of the aircraft, be a portable screen, such as a touch pad or even be deported outside the aircraft when the latter is piloted remotely and by consequently does not carry any pilot on board.
    [0020] Furthermore, the camera(s) may advantageously be arranged below a fuselage of the aircraft and be fixed or orientable relative to the fuselage. This (or these) camera(s) can thus in particular be chosen of the "pan-tilt-zoom" type, that is to say comprising on the one hand two degrees of freedom in rotation according to a elevation angle and a bearing angle with respect to a direction of movement of the aircraft and on the other hand a capacity to carry out a magnification according to the direction of the aiming objective.
    [0021] The images acquired by this (or these) camera(s) are then transmitted to the image processing means configured to identify in at least one image, among the plurality of images, the sighting lens selected via the selection. Such image processing means may for example comprise a computer, a calculator, a processor, an integrated circuit, a programmable system or even a logic circuit.
    [0022] Such identification of a selected aiming target is carried out in several stages. First, a horizon line can be detected using a so-called “gradient” method. More precisely, such a method consists in using a vertical “Sobel filter” on an image. Such a method thus makes it possible to amplify the contrasts and to detect the horizontal lines. Then, all you have to do is find the straight line that passes through the most points using a “Hough transform”. In practice, the horizon line is not quite a straight line but an arc of a parabola on the image.
    [0023] An approximate detection of the horizon line is however not a problem since the detection of the horizon only serves to eliminate the upper part of the image corresponding to the sky and is not useful for detecting the objective of target selected.
    [0024] Furthermore, the consideration by the processing means of the inclination of the aircraft along a roll axis is obtained thanks to additional on-board instruments making it possible to know the attitude of the aircraft at any time and, by consequently, to find the angle of rotation making it possible to restore the upright image corresponding to a horizontal attitude of the aircraft.
    [0025] Once the horizon line has been identified and the sky eliminated, the means of processing implement a so-called "by region" method as described for another application in a publication by Arnaud Le Troter, Sébastien Mavromatis and Jean Sequeira and designated by “Soccer field detection in video images using color and spatial coherence - International Conference on Image Analysis and Recognition Porto, Portugal, October 2004”.
    [0026] Such a method by region then makes it possible to search for the dominant colors of an image or an area of interest by colorimetric distribution. It also allows the search for coherent areas according to a colorimetric criterion of the image then it uses an enlargement model on the pixels of the image. Such a model is known to establish a recognition of the colored pixels constituting images and can use a color representation space such as that designated in French by the acronym “TSL” for Hue, Saturation, Luminosity and in English by the acronym “HLS” for Hue, Saturation Lightness.
    [0027] Such a method by region can in particular make it possible to detect the sea in a lower part of the image arranged below the horizon line and the sky in the upper part of the image arranged above the horizon line.
    [0028] Subsequently, the grouping of the remaining pixels into connected zones makes it possible to obtain the zones comprising one (or more) selected aiming objective(s). Related areas present only in the sky are removed and generally correspond to clouds, smoke and flying objects that do not correspond to potential sighting targets to be identified.
    [0029] The formation of coherent zones consists in assigning to each pixel an area called “HSL zone” or an absence of HSL zone if the color of the pixel is not in any of the dominant HSL zones (or dominant colors of the image). Then, the processing means make it possible to create related zones of pixels belonging to the same zone HSL.
    [0030] The phenomenon of enlargement of a pixel to an area is achieved by applying a mathematical morphology tool corresponding to a closure. The structuring element chosen for the closure is a circle of size much smaller than the minimum sizes of the pose objective(s) that we wish to identify in the image. The chosen size of the structuring element is of the order of a tenth of that of the objects to be detected.
    [0031] The areas obtained are then identified as potential sighting targets and can be displayed independently by the display means then selected by the crew.
    [0032] Thus, once the selected aiming objective has been identified, the calculation unit then performs the calculation of the current coordinates of the aiming objective in the first frame of reference linked to the fuselage of the aircraft and determines the orientation(s) ( s) Angular(s) in the first repository.
    [0033] Such a calculation unit can, as previously for the image processing means, for example comprise a computer, a calculator, a processor, an integrated circuit, a programmable system or even a logic circuit.
    [0034] In addition, the image processing means and the calculation unit can be formed by separate elements from each other or even be combined with each other, then forming, for example, a single computer.
    [0035] The servo member then makes it possible at any time to modify the position of the motorized support so as to follow the angular orientation(s) determined by the calculation unit. In addition, the motorized support can advantageously comprise two degrees of freedom in rotation according to an angle of elevation and an angle of bearing with respect to a direction of movement of the aircraft. In this case, the position of the motorized support can be modified according to two distinct angular orientations and the calculation unit determines, at each instant, a first angular orientation according to an angle of elevation and a second angular orientation according to an angle of bearing.
    [0036] In practice, the servo member can slave the motorized support in position according to the angular orientation(s) determined by the calculation unit when the aiming objective is selected via the member of selection by a pilot of the aircraft.
    [0037] Thus, as soon as a sighting objective is selected by a pilot of the aircraft, the servo-control member of the control device performs the servo-control in position of the motorized support according to at least the orientation(s) angular(s) determined by the calculation unit.
    [0038] Advantageously, the directional lighting system can comprise a measuring means for measuring values of the current components of a speed vector of the aircraft relative to the ground, the current components being determined in a second frame of reference linked to the ground.
    [0039] Such measuring means may in particular comprise a device for measuring the altitude and heading of the aircraft, one (or more) accelerometer(s) and one (several) satellite geolocation module(s) such as a GPS module .
    [0040] According to an advantageous embodiment of the invention, the servo member can servo-position the motorized support according to a predetermined angular orientation, the predetermined angular orientation being variable according to at least one of the values of the current components of the speed vector of the aircraft relative to the ground, the direction of sight of the light source(s) varying between a minimum angle oriented downwards, that is to say towards the ground , relative to a direction of advance of the aircraft and a maximum downward angle corresponding to a vertical direction parallel to a third axis of the first frame of reference.
    [0041] In other words, the servo member makes it possible to servo-control the motorized support in position according to a predetermined angular orientation, the value of which can vary according to one (or more) value(s) of the current components of the speed vector of the aircraft relative to the ground. In this case, the aircraft then comprises a means of measurement as described above for measuring values of the current components of a speed vector.
    [0042] Thus, during a stationary flight phase of the aircraft, corresponding to zero current components of the speed vector of the aircraft relative to the ground, the servo-control device makes it possible to servo-control the motorized support in position so that the direction of sight of the light source(s) is oriented downwards perpendicular to a plane formed by a roll axis and a pitch axis of the aircraft.
    [0043] On the other hand, during a flight phase presenting non-zero current components of the speed vector of the aircraft relative to the ground, the servo-control device makes it possible to servo-control the motorized support in position so that the direction of sight of the (or) light source(s) is oriented at an angle of 3° downwards with respect to the direction of travel and below the plane formed by a roll axis and a pitch axis of the 'aircraft.
    [0044] Advantageously, the directional lighting system may include a manual control member for controlling the servo member to servo position the motorized support according to the predetermined angular orientation.
    [0045] In other words, the manual control member can make it possible to pass from a first mode of servo-control in the position of the motorized support to a second mode of servo-control in the position of the motorized support.
    [0046] In the first servo mode, the motorized support is slaved according to the angular orientation(s) determined by the calculation unit. On the other hand, in the second servo mode, the servo member makes it possible to servo the motorized support in position according to the predetermined angular orientation which can for example be stored in a storage unit on board the aircraft or in a external storage unit.
    [0047] According to an advantageous embodiment of the invention, the directional lighting system may include a manual correction member to manually correct the predetermined angular orientation of the motorized support.
    [0048] Such a manual correction device can be formed, for example, by a "mini-stick", also designated in English by the term "joystick", or any other manually controlled device that can be moved in both directions in at least one direction or that has at least one degree of rotational mobility by being movable in both directions of rotation. Such a manual correction device is therefore capable of correcting the predetermined angular orientation of the motorized support in both directions of the degree(s) of mobility that it has, for example with respect to an element of the cockpit of the aircraft.
    [0049] Advantageously, the camera(s) can be arranged on the motorized support.
    [0050] In other words, the camera(s) is (are) mobile with the light source(s). In this way, the camera(s) can constantly follow the direction of view of the light source(s)
    [0051] In practice, the directional lighting system may comprise a plurality of light sources surrounding the camera(s), the plurality of light sources being arranged coaxially with the camera(s) in the direction of sight .
    [0052] Thus, the lighting system can comprise for example a central camera and the plurality of light sources can be regularly distributed around this central camera. In this case, the direction of sight of the assembly formed by the plurality of light sources then coincides with the orientation of an optical axis of the central camera.
    [0053] Furthermore, this plurality of light sources can be formed by light-emitting diodes arranged on a flat support and directly supplied with electrical energy to generate light radiation.
    [0054] According to an advantageous embodiment of the invention, the plurality of light sources may comprise a remote light generator and bundles of optical fibers to route light from the light generator close to the camera(s) .
    [0055] In this case, the light generator can be arranged on a fixed zone of the aircraft, this fixed zone being integral with the fuselage of the aircraft and arranged outside the motorized support. Thus the fiber optic bundles can allow the light to be routed all around the camera and as close as possible to the camera.
    [0056] Such an embodiment is advantageous because the optical fibers have an intrinsic flexibility and are able to deform freely to follow the movements of the motorized support. In addition, such optical fibers make it possible to convey a large quantity of light without generating heat near the camera.
    [0057] une étape d’éclairage d’au moins une source lumineuse montée sur un support motorisé, le support motorisé présentant au moins un degré de mobilité en rotation par rapport à un fuselage de l’aéronef, une étape de commande permettant de commander le support motorisé selon au moins une orientation angulaire, la (ou les) orientation(s) angulaire(s) étant relative(s) à une direction de visée de la (ou les) source(s) lumineuse(s) dans un premier référentiel lié au fuselage de l’aéronef. The present invention also relates to a method for directional lighting of an aircraft, the method for directional lighting comprising at least: a step of illuminating at least one light source mounted on a motorized support, the motorized support having at least one degree of mobility in rotation relative to a fuselage of the aircraft, a control step making it possible to control the motorized support according to at least one angular orientation, the angular orientation(s) being relative to a direction of sight of the source(s) light(s) in a first frame of reference linked to the fuselage of the aircraft.
    [0058] une étape de sélection pour sélectionner un objectif de visée destiné à être pointé par la direction de visée, une étape d’acquisition pour acquérir une pluralité d'images de l'environnement extérieur à l’aéronef suivant la direction de visée, une étape de traitement d’images pour identifier dans au moins une image, parmi la pluralité d'images, l’objectif de visée sélectionné à l’étape de sélection, une étape de calcul configurée pour calculer des coordonnées courantes de l’objectif de visée identifié lors de l’étape de traitement d’images, les coordonnées courantes étant déterminées dans le premier référentiel à partir de la pluralité d'images acquises lors de l’étape d’acquisition, l’étape de calcul étant configurée pour déterminer, à partir des coordonnées courantes de l’objectif de visée, la (ou les) orientation(s) angulaire(s) dans le premier référentiel, et une étape d’asservissement d’un dispositif mettant en œuvre l’étape de commande, l’étape d’asservissement permettant d’asservir en position le support motorisé selon au moins la (ou les) orientation(s) angulaire(s) déterminée(s) lors de l’étape de calcul. According to the invention, the directional lighting method is remarkable in that it comprises a succession of steps comprising at least: a selection step for selecting an aiming objective intended to be pointed by the aiming direction, an acquisition step for acquiring a plurality of images of the environment outside the aircraft along the direction of sight, an image processing step to identify in at least one image, among the plurality of images, the aiming objective selected in the selection step, a calculation step configured to calculate current coordinates of the aiming objective identified during the image processing step, the current coordinates being determined in the first frame of reference from the plurality of images acquired during the acquisition step, the calculation step being configured to determine, from the current coordinates of the aiming objective, the angular orientation(s) in the first frame of reference, and a servo-control step of a device implementing the control step, the servo-control step making it possible to servo-control the motorized support in position according to at least the determined angular orientation(s) (s) during the calculation step.
    [0059] In other words, the selection step making it possible to select an aiming objective can for example be implemented by means of a control screen displaying an image of one (or more) landing zone(s). direction(s) the aircraft is heading. The selection step can then be carried out for example by a pilot of the aircraft by touching with a finger a touch zone of the control screen relating to the selection of the aiming objective.
    [0060] The acquisition step is itself implemented by means of one (or more) camera(s) advantageously arranged below a fuselage of the aircraft and be fixed(s) or adjustable( s) relative to the fuselage. As already mentioned, this (or these) camera(s) can thus in particular be of the "pan-tilt-zoom" type.
    [0061] The images acquired by this (or these) camera(s) are then transmitted to image processing means to implement the image processing step. These image processing means are in fact configured to identify in at least one image, among the plurality of images, the aiming objective selected during the selection step. Such image processing means may for example include a computer, a calculator, a processor, an integrated circuit, a programmable system or even a logic circuit, etc.
    [0062] When the sighting objective selected is identified during the image processing step, a calculation step then makes it possible to calculate current coordinates of the sighting objective in the first frame of reference linked to the fuselage of the aircraft and to determine the angular orientation(s) in the first reference frame.
    [0063] Such a calculation step can, as before for the image processing step, be implemented for example by a computer, a calculator, a processor, an integrated circuit, a programmable system or even a logic circuit, etc.
    [0064] As previously mentioned, the image processing step and the calculation step can be implemented by elements distinct from each other or even by elements merged with each other then forming by example a single computer.
    [0065] The servo-control step makes it possible to modify the position of the motorized support so as to follow the angular orientation(s) determined by the previous calculation step. In addition, the motorized support can advantageously comprise two degrees of freedom in rotation according to an angle of elevation and an angle of bearing with respect to a direction of movement of the aircraft. In this case, the position of the motorized support can be modified according to two distinct angular orientations and the calculation unit determines, at each instant, a first angular orientation according to an angle of elevation and a second angular orientation according to an angle of bearing.
    [0066] Advantageously, the directional lighting method can comprise a measurement step for measuring values of the current components of a speed vector of the aircraft relative to the ground, the current components being determined in a second frame of reference linked to the ground.
    [0067] Such a measurement step can in particular be implemented by means of a device for measuring the altitude and heading of the aircraft, one (or more) accelerometer(s) and one (several) module(s) of satellite geolocation such as a GPS module.
    [0068] According to an advantageous embodiment of the invention, the servo-control step can servo-control the motorized support in position according to a predetermined angular orientation at least before an implementation of the selection step, the predetermined angular orientation being variable as a function of at least one of the values of the current components of the speed vector of the aircraft relative to the ground measured in the measurement step, the direction of sight of the light source(s) varying between a minimum angle oriented downwards with respect to a direction of advance of the aircraft and a maximum angle oriented downwards corresponding to a vertical direction parallel to a third axis of the first frame of reference.
    [0069] In other words, prior to the step of selection by the pilot of the aiming objective, the predetermined angular orientation of the motorized support can vary automatically as a function of at least one of the values of the current components of the speed vector of the aircraft relative to the ground. In this case, such a servo position of the motorized support according to a predetermined angular orientation may correspond to an initial servo mode.
    [0070] Advantageously, after an implementation of the selection step, the directional lighting method may include a manual control step for controlling the servo-control step making it possible to servo-control the motorized support in position according to the predetermined angular orientation .
    [0071] In other words, this manual control step allows, for example, the pilot of the aircraft to switch from a first mode of servo-control in position of the motorized support to a second mode of servo-control in position of the motorized support. In addition, such a second servo mode may correspond to the initial servo mode implemented prior to the first servo mode in position of the motorized support.
    [0072] In practice, the directional lighting method may include a manual correction step to manually correct the predetermined angular orientation of the motorized support.
    [0073] Thus, the manual correction step can be implemented for example by means of the actuation of a "mini-stick", also designated in English by the term "joystick", or any other mobile manual control device. in both directions in at least one direction or having at least one degree of mobility in rotation by being mobile in both directions of rotation. Such a manual correction step then makes it possible to correct the predetermined angular orientation of the motorized support according to the two directions of the degree(s) of mobility that it has, for example with respect to an element of the cockpit of the aircraft. .
    [0074] The invention and its advantages will appear in more detail in the context of the following description with examples given by way of illustration with reference to the appended figures which represent:
    [0075] Figure 1, a side view of an aircraft equipped with a directional lighting system according to the invention,
    [0076] FIG. 2, a top view of an aircraft equipped with a directional lighting system according to the invention,
    [0077] FIG. 3, a front view of a first variant of a directional lighting system according to the invention,
    [0078] FIG. 4, a side view of a second variant of a directional lighting system according to the invention, and
    [0079] FIG. 5, a flowchart illustrating the steps of a directional lighting method according to the invention.
    [0080] The elements present in several distinct figures are assigned a single reference.
    [0081] As already mentioned, the invention relates to a directional lighting system intended to equip an aircraft.
    [0082] As represented in FIG. 1, such a directional lighting system 1 can be mounted on an aircraft 2 and makes it possible to illuminate a target such as in particular a landing zone.
    [0083] Thus, the directional lighting system 1 comprises at least one light source 3 mounted on a motorized support 4. In addition, such a motorized support 4 has at least one degree of mobility in rotation relative to a fuselage 5 of the aircraft 2 and preferably two degrees of rotational mobility relative to the fuselage 5.
    [0084] The directional lighting system 1 also comprises a control device 6 making it possible to control movements of the motorized support 4 according to at least one angular orientation, and preferably according to two angular orientations α, β, α′, β′. This (or these) angular orientation(s) α, β, α', β' is (are) then relative to a direction of sight D1 of the light source(s) ) 3 in a first frame of reference R1 linked to said fuselage 5 of the aircraft 2.
    [0085] Such a reference frame R1 can for example comprise a first axis OX 1 aligned with a heading axis of the aircraft 2 arranged substantially horizontally and which can be offset by a drift angle with respect to a direction of advance D2 of the aircraft 2. The frame of reference R1 then also includes a second axis OY 1 also arranged horizontally, being perpendicular to the first axis OX 1 . Finally, the frame R1 comprises a third axis OZ 1 arranged vertically and therefore being perpendicular to the first and second axes OX 1 and OY 1 .
    [0086] Furthermore, the directional lighting system 1 comprises a selection member 7 enabling a pilot of the aircraft to select an aiming objective which must be pointed by the light source(s) 3 and therefore by the direction of sight D1.
    [0087] As shown, the directional lighting system 1 comprises at least one camera 8 also mounted on the motorized support 4 and making it possible to acquire a plurality of images of the environment outside the aircraft 2 along the direction of sight D1 .
    [0088] Image processing means 9 arranged on the aircraft 2 then make it possible to identify in at least one image, among the images acquired by the camera 8, the aiming objective selected via the selection member 7.
    [0089] A calculation unit 10, which can also be arranged on the aircraft 2, is then configured to calculate current coordinates of the aiming objective identified by the image processing means 9. Such current coordinates are then determined in the first frame of reference R1 from the images acquired by the camera 8. Consequently, this calculation unit 10 is configured to determine, from the current coordinates of the sighting lens, the angular orientation α in the first frame of reference R1.
    [0090] In addition, the directional lighting system 1 also includes a servo member 11 of the control device 6 allowing the position of the motorized support 4 to be servo-controlled according to the angular orientation α determined by the calculation unit 10.
    [0091] Furthermore, as shown, the directional lighting system 1 comprises a measuring means 12 arranged on the aircraft 2 making it possible to measure the values of the current components of a speed vector of the aircraft 2 with respect to the ground S, these current components being determined in a second reference frame R2 linked to the ground S.
    [0092] Such a frame of reference R2 can for example include a first axis OX 2 arranged substantially horizontally and oriented in a first direction. The frame of reference R2 then also includes a second axis OY 2 also arranged horizontally, being perpendicular to the first axis OX 2 . Finally, the frame R2 comprises a third axis OZ 2 arranged vertically and therefore being perpendicular to the first and second axes OX 2 and OY 2 .
    [0093] Advantageously, the directional lighting system 1 can also include a manual control device 13 which can for example be arranged on the aircraft 2 or even be offset on the ground. Such a manual control member 13 then makes it possible to command the servo member 11 to servo position the motorized support 4 according to a predetermined angular orientation α′. Such a predetermined angular orientation α′ is then potentially distinct from the angular orientation α determined by the calculation unit 10 in the first frame of reference R1.
    [0094] In addition, such a predetermined angular orientation α' can be variable as a function of at least one of the values of the current components of the speed vector of the aircraft 2 relative to the ground S. In this case, the direction of sight D1 of the light source 3 can then vary between a minimum angle α 1 oriented downwards, that is to say towards the ground, relative to a direction of advance D2 of the aircraft 2 and a maximum angle α 2 oriented downwards corresponding to a vertical direction D3 parallel to the third axis OZ 1 of the first frame of reference R1.
    [0095] Furthermore, as shown, the directional lighting system 1 may also include a manual correction device 14 allowing, if necessary, the predetermined angular orientation α' of the motorized support 4 to be manually corrected.
    [0096] As represented in FIG. 2, the servo member 11 makes it possible to slave the motorized support 4 in position according to an angular orientation β determined by the calculation unit 10 or even according to a predetermined angular orientation β′. Such a predetermined angular orientation β′ can then potentially be distinct from the angular orientation β determined by the calculation unit 10 in the first frame of reference R1.
    [0097] Advantageously, the predetermined angular orientations α′, β′ can be directly dependent on the values of the current components of the speed vector of the aircraft 2 relative to the ground S and therefore relative to the reference mark R2.
    [0098] More specifically, the predetermined angular orientation β' can be a function of the values of the horizontal components Vx and Vy of the speed vector of the aircraft 2 along the first axis OX 2 and the second axis OY 2 while the predetermined angular orientation α' may be a function of the value of a vertical component Vz of the speed vector of the aircraft 2 along a third axis OZ 2 .
    [0099] Furthermore, when the horizontal components Vx and Vy of the speed vector of the aircraft 2 are zero and the vertical component Vz along the third axis OZ 2 exceeds a predetermined threshold value Vzs, the predetermined angular orientation α' can then be maintained equal to the maximum angle α 2 . Such a predetermined threshold value Vzs can for example be chosen negative and for example between −0.5. and -2.
    [0100] In other words, the vertical component Vz along the third axis OZ 2 can be limited upwards to a negative predetermined threshold value so that the headlight points downwards in hovering flight. Such a predetermined threshold value Vzs can therefore for example be between −0.5. and -2.
    [0101] Furthermore, as represented in FIG. 3, such a directional lighting system 1 may comprise a plurality of light sources 3 surrounding a camera 8 and being arranged on the motorized support 4. These light sources 3 then advantageously form a monolithic assembly arranged coaxially with the camera 8 along the viewing direction D1.
    [0102] As illustrated in FIG. 4, the plurality of light sources 3 can also comprise a light generator 15 remote from the outside of the motorized support 4. Such a light generator 15 can for example be integral with the fuselage 5 of the aircraft 2 The plurality of light sources 3 also comprises bundles of optical fibers 16 then making it possible to route light from the light generator 15 around the camera 8 arranged on the motorized support 4.
    [0103] As shown in Figure 5 and as already mentioned, the invention also relates to a method of directional lighting 20 of an aircraft 2.
    [0104] In addition, such a directional lighting method 20 can advantageously include a measurement step 28 making it possible to measure values of the current components of a speed vector of the aircraft 2 relative to the ground S. These current components are then determined in the second frame R2 linked to the ground S.
    [0105] The directional lighting method 20 can then comprise in parallel a succession of steps 21, 23, 24, 25 and 26 corresponding to a first mode of operation or a step 29 corresponding to a second mode of operation.
    [0106] Thus in the first mode of operation, a selection step 23 allows at least one pilot of the aircraft 2 to select an aiming objective intended to be pointed by an aiming direction D1 corresponding to the orientation of a light source 3 in a first frame of reference R1 linked to the fuselage 5 of the aircraft 2.
    [0107] Next, an acquisition step 24 is carried out by at least one camera 8 and makes it possible to acquire a plurality of images of the environment outside the aircraft 2 along the direction of sight D1.
    [0108] The directional lighting method 20 also comprises an image processing step 25 to identify in at least one image, among the plurality of images, the aiming objective selected in the selection step 23. Finally, a step 26 is configured to calculate current coordinates of the sighting objective identified during the image processing step 25. In addition, such current coordinates are determined in the first reference frame R1 from the plurality of images acquired during the acquisition step 24.
    [0109] Furthermore, the calculation step 26 is configured to determine, from the current coordinates of the sighting lens, at least one angular orientation α, β of a motorized support 4 in the first frame of reference R1, the light source 3 being mounted on this motorized support 4. In addition, such a motorized support 4 has at least one degree of rotational mobility relative to a fuselage 5 of the aircraft 2.
    [0110] Finally, in this first mode of operation, the directional lighting method 20 comprises a servo step 27 of a control device 6 implementing a step 21 of illuminating the light source 3 and a control step 22 allowing to control the motorized support 4 according to at least one angular orientation α, β, α', β' relative to the direction of sight D1.
    [0111] Thus in this first mode of operation, such a servo-control step 27 makes it possible to servo-control the position of the motorized support 4 according to the angular orientation α, β determined during the calculation step 26.
    [0112] Furthermore, the directional lighting method 20 can also comprise a second mode of operation in which the servo-control step 27 makes it possible to servo-control the position of the motorized support 4 according to a predetermined angular orientation α′, β′ which can advantageously be variable as a function of the values of the current components of a speed vector of the aircraft 2 relative to the ground S.
    [0113] This predetermined angular orientation α′, β′ can then be distinct from the angular orientation α, β determined during calculation step 26 corresponding to the first mode of operation.
    [0114] In addition, to engage the second mode of operation, the directional lighting method 20 can then include a manual control step 29 to configure the servo step 27 so as to servo position the motorized support 4 according to an angular orientation. predetermined α', β'.
    [0115] Finally, such a directional lighting method 20 can advantageously include a manual correction step 30 so as to manually correct the predetermined angular orientation α′, β′ of the motorized support 4.
    [0116] Of course, the present invention is subject to many variations in its implementation. Although several embodiments have been described, it is clearly understood that it is not conceivable to identify exhaustively all the possible modes. It is of course possible to replace a means described by an equivalent means without departing from the scope of the present invention.
    权利要求:
    Claims (14)
    [0001]
    Directional lighting system (1) fitted to an aircraft (2), said directional lighting system (1) comprising:at least one light source (3) mounted on a motorized support (4), said motorized support (4) having at least one degree of mobility in rotation relative to a fuselage (5) of said aircraft (2), a control device (6) making it possible to control said motorized support (4) according to at least one angular orientation (α, β, α', β'), said at least one angular orientation (α, β, α', β' ) being relative to a direction of sight (D1) of said at least one light source (3) in a first frame of reference (R1) linked to said fuselage (5) of said aircraft (2), characterized in that said directional lighting system (1) comprises:a selection member (7) for selecting a sighting objective intended to be pointed by said sighting direction (D1), at least one camera (8) for acquiring a plurality of images of the environment outside said aircraft (2) along said direction of sight (D1), image processing means (9) for identifying in at least one image, among said plurality of images, said aiming objective selected via said selection member (7), a calculation unit (10) configured to calculate current coordinates of said aiming objective identified by said image processing means (9), said current coordinates being determined in said first frame of reference (R1) from said plurality of images acquired by said at least one camera (8), said calculation unit (10) being configured to determine, from said current coordinates of said aiming lens, said at least one angular orientation (α, β) in said first frame of reference (R1 ), and a servo member (11) of said control device (6) for servoing the position of said motorized support (4) according to at least said at least one angular orientation (α, β) determined by said calculation unit (10).
    [0002]
    System according to claim 1, characterized in that said servo member (11) servos said motorized support (4) in position according to said at least one angular orientation (α, β) determined by said calculation unit (10) when said aiming objective is selected via said selection member (7) by a pilot of said aircraft.
    [0003]
    System according to any one of Claims 1 to 2, characterized in that the said directional lighting system (1) comprises measuring means (12) for measuring values of the current components of a speed vector of the said aircraft (2) with respect to the ground (S), said current components being determined in a second frame of reference (R2) related to the ground (S).
    [0004]
    System according to claim 3, characterized in that said servo member (11) servos said motorized support (4) in position according to a predetermined angular orientation (α', β'), said predetermined angular orientation (α', β' ) being variable as a function of at least one of said values of the current components of said speed vector of said aircraft (2) relative to the ground (S), said direction of sight (D1) of said at least one light source (3) varying between a minimum angle (α 1 ) oriented downwards with respect to a direction of advance (D2) of said aircraft (2) and a maximum angle (α 2 ) oriented downwards corresponding to a vertical direction (D3) parallel to a third axis OZ 1 of said first frame of reference R1.
    [0005]
    System according to Claim 4, characterized in that the said directional lighting system (1) comprises a manual control member (13) for controlling the said servo member (11) to slave the position of the said motorized support (4) according to said predetermined angular orientation (α', β').
    [0006]
    System according to any one of Claims 4 to 5, characterized in that the said directional lighting system (1) comprises a manual correction member (14) for manually correcting the said predetermined angular orientation (α', β') of the said support motorized (4).
    [0007]
    System according to any one of Claims 1 to 6, characterized in that the said at least one camera (8) is arranged on the said motorized support (4).
    [0008]
    System according to Claim 7, characterized in that the said directional lighting system (1) comprises a plurality of light sources (3) surrounding the said at least one camera (8), the said plurality of light sources (3) being arranged coaxially with said at least one camera (8) along said viewing direction (D1).
    [0009]
    System according to claim 8, characterized in that said plurality of light sources (3) comprises a remote light generator (15) and fiber optic bundles (16) for conveying light from said light generator (15) nearby of said at least one camera (8).
    [0010]
    Directional lighting method (20) of an aircraft (2), said directional lighting method (20) comprising at least:a step (21) for illuminating at least one light source (3) mounted on a motorized support (4), said motorized support (4) having at least one degree of mobility in rotation relative to a fuselage (5) of said aircraft (2), a control step (22) making it possible to control said motorized support (4) according to at least one angular orientation (α, β, α', β'), said at least one angular orientation (α, β, α', β' ) being relative to a direction of sight (D1) of said at least one light source (3) in a first frame of reference (R1) linked to said fuselage (5) of said aircraft (2), characterized in that said directional lighting method (20) comprises a succession of steps comprising at least:a selection step (23) for selecting an aiming objective intended to be pointed by said aiming direction (D1), an acquisition step (24) for acquiring a plurality of images of the environment outside said aircraft (2) along said direction of sight (D1), an image processing step (25) for identifying in at least one image, among said plurality of images, said aiming lens selected at said selection step (23), a calculation step (26) configured to calculate current coordinates of said aiming objective identified during said image processing step (25), said current coordinates being determined in said first frame of reference (R1) from said plurality of images acquired during said acquisition step (24), said calculation step (26) being configured to determine, from the current coordinates of said aiming lens, said at least one angular orientation (α, β) in said first frame of reference (R1), and a servo step (27) of a control device (6) implementing said control step (22), said servo step (27) making it possible to servo position said motorized support (4) according to at least said at least one angular orientation (α, β) determined during the calculation step (26).
    [0011]
    Method according to claim 10, characterized in that said directional lighting method (20) comprises a measurement step (28) for measuring values of the current components of a speed vector of said aircraft (2) with respect to the ground (S ), said current components being determined in a second frame of reference (R2) linked to the ground (S).
    [0012]
    Method according to Claim 11, characterized in that the said servo-control step (27) servo-controls the position of the said motorized support (4) according to a predetermined angular orientation (α', β') at least before an implementation of the said step of selection (23), said predetermined angular orientation (α', β') being variable as a function of at least one of said values of the current components of said speed vector of said aircraft (2) relative to the ground (S) measured at said step measurement (28), said direction of sight (D1) of said at least one light source (3) varying between a minimum angle (α 1 ) oriented downwards with respect to a direction of advance (D2) of said aircraft ( 2) and a maximum angle (α 2 ) directed downwards corresponding to a vertical direction (D3) parallel to a third axis OZ 1 of said first frame of reference R1.
    [0013]
    Method according to Claim 12, characterized in that, after an implementation of the said selection step (23), the said directional lighting method (20) comprises a manual control step (29) for controlling the said servo-control step (27) making it possible to control said motorized support (4) in position according to said predetermined angular orientation (α', β').
    [0014]
    Method according to any one of Claims 12 to 13, characterized in that the said directional lighting method (20) includes a manual correction step (30) for manually correcting the said predetermined angular orientation (α', β') of the said support. motorized (4).
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3689755B1|2021-01-27|Directional lighting system provided in an aircraft and associated lighting method
    EP0934194B1|2000-08-02|Guiding method and device for in-flight-refuelling line
    EP3072812B1|2017-06-14|A method and a device for marking the ground for an aircraft in flight, and an aircraft including the device
    US7466343B2|2008-12-16|General line of sight stabilization system
    EP3276591A1|2018-01-31|Drone with an obstacle avoiding system
    US10158427B2|2018-12-18|Celestial navigation using laser communication system
    EP3231714B1|2019-01-23|Systems and methods for landing lights
    EP0628780A1|1994-12-14|Aiming system for aircraft
    EP3270365A1|2018-01-17|A device for assisting the piloting of a rotorcraft, an associated display, and a corresponding method of assisting piloting
    FR2997066A1|2014-04-25|METHOD FOR AIDING THE CONTROL OF AN AIRCRAFT DURING LANDING, AND A STEERING ASSISTING SYSTEM SUITABLE FOR CARRYING OUT SAID METHOD
    FR2640365A1|1990-06-15|LASER OBJECTIVE DESIGNATION SYSTEM AND CORRESPONDING FIRE CONTROL SYSTEM
    EP3114423B1|2020-04-15|Method for controlling a system for detecting and tracking a target
    WO2014147042A2|2014-09-25|Method and device for determining a distance separating a drone and an object, and method for controlling the flight of a drone
    FR3062720A1|2018-08-10|SYSTEM AND METHOD FOR AIDING THE LANDING OF AN AIRCRAFT, AND THE AIRCRAFT CORRESPONDING
    WO2017068141A1|2017-04-27|System adapted for providing an operator with augmented visibility and associated method
    FR3049072A1|2017-09-22|HIGH HEAD DISPLAY SYSTEM OF AN AIRCRAFT
    FR3038585A1|2017-01-13|AUTOMATIC AIRCRAFT CONTROL SYSTEM AND METHOD THEREOF
    CA3047766C|2021-04-20|Piloting assistance system for an aircraft, associated aircraft and process to assist with piloting of this aircraft
    FR3082013A1|2019-12-06|ELECTRONIC DEVICE FOR DRIVING A DRONE, DRONE, DRIVING METHOD AND COMPUTER PROGRAM THEREOF
    FR3073655A1|2019-05-17|METHOD FOR DETERMINING A VISUAL SPEED VECTOR OF A MOBILE MACHINE, COMPUTER PROGRAM PRODUCT, AND DETERMINING SYSTEM THEREOF
    FR3071624A1|2019-03-29|DISPLAY SYSTEM, DISPLAY METHOD, AND COMPUTER PROGRAM
    FR3079943A1|2019-10-11|ELECTRONIC DEVICE AND METHOD FOR CONTROLLING A DRONE WITH TRAVELING COMPENSATION EFFECT, ASSOCIATED COMPUTER PROGRAM
    FR3082012A1|2019-12-06|ELECTRONIC DEVICE, AND METHOD, FOR CONTROLLING A DRONE, COMPUTER PROGRAM
    FR3098900A1|2021-01-22|Method and system for assisting the piloting of an aircraft by adaptive display on a screen
    WO2015086923A1|2015-06-18|Suppression of a propeller footprint captured by an aircraft lens
    同族专利:
    公开号 | 公开日
    EP3689755B1|2021-01-27|
    US20200247557A1|2020-08-06|
    EP3689755A1|2020-08-05|
    CN111498127A|2020-08-07|
    US10723482B1|2020-07-28|
    CN111498127B|2021-07-02|
    FR3092387B1|2021-01-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3721499A|1966-06-30|1973-03-20|Jaureguy J Narbaits|Navigating and landing device for aircraft|
    FR3037042A3|2015-06-04|2016-12-09|Jacques Francois Paul Thisselin|DEVICE FOR AUTOMATICALLY TRACKING THE LIGHTING OF A PUNCTURAL TAKE-OFF OR LANDING SITE FOR A GIRAVION|
    EP3231714A1|2016-04-14|2017-10-18|Goodrich Corporation|Systems and methods for landing lights|
    US20180009546A1|2016-07-11|2018-01-11|Airbus Helicopters|Device for assisting the piloting of a rotorcraft, an associated display, and a corresponding method of assisting piloting|
    FR3053821A1|2016-07-11|2018-01-12|Airbus Helicopters|DEVICE FOR ASSISTING THE ROTATION OF A GIRAVION, ASSOCIATED GIRAVION AND METHOD OF ASSISTING THE STEERING ASSISTANCE THEREFOR|
    WO2018035835A1|2016-08-26|2018-03-01|SZ DJI Technology Co., Ltd.|Methods and system for autonomous landing|
    EP2719625A1|2012-10-11|2014-04-16|Airbus Operations GmbH|Visual signalling of an aircraft|
    FR3013331B1|2013-11-15|2016-10-28|Zodiac Aero Electric|OPTICAL LIGHTING SYSTEM FOR AIRCRAFT|
    FR3034078B1|2015-03-27|2017-03-24|Airbus Helicopters|METHOD AND DEVICE FOR SIGNALING TO THE GROUND AN AIRCRAFT IN FLIGHT AND AN AIRCRAFT PROVIDED WITH SAID DEVICE|
    EP3141485B1|2015-09-10|2019-10-30|Goodrich Lighting Systems GmbH|Dynamic exterior aircraft light unit and method of operating a dynamic exterior aircraft light unit|
    EP3533715B1|2018-02-28|2020-09-16|Airbus Operations, S.L.|Method for dynamic control of runway illumination on aircraft|US11192494B2|2020-02-07|2021-12-07|Honeywell International Inc.|Systems and methods for search and landing light|
    EP3882161A1|2020-03-20|2021-09-22|Goodrich Lighting Systems GmbH|Helicopter search light and method of operating a helicopter search light|
    法律状态:
    2020-01-21| PLFP| Fee payment|Year of fee payment: 2 |
    2020-08-07| PLSC| Publication of the preliminary search report|Effective date: 20200807 |
    2021-01-21| PLFP| Fee payment|Year of fee payment: 3 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1900910A|FR3092387B1|2019-01-31|2019-01-31|Directional lighting system equipping an aircraft and associated lighting method|
    FR1900910|2019-01-31|FR1900910A| FR3092387B1|2019-01-31|2019-01-31|Directional lighting system equipping an aircraft and associated lighting method|
    EP19214091.1A| EP3689755B1|2019-01-31|2019-12-06|Directional lighting system provided in an aircraft and associated lighting method|
    US16/708,942| US10723482B1|2019-01-31|2019-12-10|Directional lighting fitted to an aircraft, and an associated lighting method|
    CN202010074414.4A| CN111498127B|2019-01-31|2020-01-22|Directional lighting system mounted on an aircraft and associated lighting method|
    [返回顶部]