Sensor-based guidance for rotorcraft

Patent metadata

Field	Value
Publication number	US-10532825-B2
Application number	US-201815973228-A
Country	US
Kind code	B2
Filing date	May 7, 2018
Priority date	May 7, 2018
Publication date	Jan 14, 2020
Grant date	Jan 14, 2020

Abstract

Disclosed herein is a method that comprises acquiring one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern. The method also comprises processing, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers. The method further comprises determining guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers. The method additionally comprises providing the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

First claim

What is claimed is:

1. A method, comprising:
acquiring one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;
processing, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;
determining guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and
providing the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

2. The method according to claim 1 , wherein the characteristics of the plurality of markers comprises one of a wireless signal, a color, a frequency of a wireless signal, a pulse, and a shape.

3. The method according to claim 1 , wherein the plurality of markers comprises beacons that propagate wireless signals, the wireless signals comprising one or more of ultraviolet light, visible light, infrared light, and short wave infrared light.

4. The method according to claim 1 , wherein at least one marker of the plurality of markers comprises a beacon array, the beacon array comprising a plurality of beacons in a single unit for propagating information describing one or more of the predefined pattern of the plurality of markers, distances between the plurality of markers, and a total number of the plurality of markers.

5. The method according to claim 1 , wherein the guidance information comprises one or more of range and directional pose information related to the position of the off-board target relative to the rotorcraft based on relative spacing and orientation of the plurality of markers.

6. The method according to claim 1 , wherein the guidance information comprises an output graphic of the plurality of markers overlaid on an image of the off-board target on the display.

7. The method according to claim 1 , further comprising providing the guidance information to the operator of the rotorcraft as audio information.

8. The method according to claim 1 , wherein the plurality of markers comprises at least three markers arranged in the predefined pattern.

9. The method according to claim 1 , wherein the off-board target comprises an item intended to be picked-up by the rotorcraft as a sling load, the plurality of markers being arranged in the predefined pattern on a top surface of the item.

10. The method according to claim 1 , wherein the off-board target comprises a landing site for the rotorcraft, the plurality of markers being arranged in the predefined pattern around the landing site.

11. The method according to claim 1 , wherein the camera is located on a bottom side of the rotorcraft and comprises a wide-angle lens.

12. A system, comprising:
a rotorcraft;
a camera onboard the rotorcraft;
an image processor for processing images that the camera acquires;
a plurality of markers of an off-board target, the plurality of markers arranged in a predefined pattern; and
a controller, the controller configured to:
acquire one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;
process, using the image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;
determine guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and
provide the determined guidance information to a display device within a field of view of an operator of the rotorcraft.

13. The system according to claim 12 , wherein the characteristics of the plurality of markers comprises one of a wireless signal, a color, a frequency of a wireless signal, a pulse, and a shape.

14. The system according to claim 12 , wherein the plurality of markers comprises beacons that propagate wireless signals, the wireless signals comprising one or more of ultraviolet light, visible light, infrared light, and short wave infrared light.

15. The system according to claim 12 , wherein at least one marker of the plurality of markers comprises a beacon array, the beacon array comprising a plurality of beacons in a single unit for propagating information describing one or more of the predefined pattern of the plurality of markers, distances between the plurality of markers, and a total number of the plurality of markers.

16. The system according to claim 12 , wherein the guidance information comprises one or more of range and directional pose information related to the position of the off-board target relative to the rotorcraft based on relative spacing and orientation of the plurality of markers.

17. The system according to claim 12 , wherein the guidance information comprises an output graphic of the plurality of markers overlaid on an image of the off-board target on the display.

18. The system according to claim 12 , wherein the plurality of markers comprises at least three markers arranged in the predefined pattern.

19. An apparatus, comprising:
an image capturing module configured to acquire one or more images of a plurality of markers of an off-board target using a camera onboard a rotorcraft, the plurality of markers arranged in a predefined pattern, wherein at least one marker of the plurality of markers comprises a pattern indicator marker that is part of the predefined pattern of the plurality of markers and indicates a starting point for identifying the predefined pattern of the plurality of markers, the pattern indicator marker having different characteristics than the other markers;
an image processing module configured to process, using an image processor, the one or more images of the plurality of markers to identify the predefined pattern of the plurality of markers based on the pattern indicator marker;
a guidance module configured to determine guidance information for the rotorcraft relative to the off-board target based on the identified predefined pattern of the plurality of markers, an orientation of the plurality of markers and a relative spacing of the plurality of markers; and
a presentation module configured to provide the determined guidance information to a display device in the field of view of an operator of the rotorcraft.

20. The method of claim 1 , wherein processing the one or more images to identify the predefined pattern based on the pattern indicator marker comprises identifying the pattern in

Assignees

• Boeing Co

Inventors

• Blanton Brendan
• Dibernardi Deanna
• Allen Robert
• Gresko Katherine
• Paul Timothy
• Kenney Joseph

Classifications

• B64F1/20 Primary

  Arrangement of optical beacons · CPC title

• B64D45/08

  optical · CPC title

• B64D45/00

  Aircraft indicators or protectors not otherwise provided for · CPC title

• B64D43/00

  Arrangements or adaptations of instruments · CPC title

• B64D1/22

  Taking-up articles from earth's surface · CPC title