GUIDANCE SYSTEM FOR GUIDING AN AIRCRAFT ALONG AT LEAST ONE SECTION OF AN AIR ROUTE

Abstract

Disclosed is a guidance system for guiding an aircraft along at least one section of an air route, which includes at least one air guidance line defining at least one section of an air route, and a unit for following the at least one guidance line, the unit being carried on the aircraft and being configured to keep the aircraft aligned or substantially aligned with the at least one air guidance line. The following unit includes an arm designed to connect the aircraft to the at least one guidance line.

Claims

1. A guidance system for guiding an aircraft (10) along at least one section of an air route, comprising: at least one air guidance line (12) defining at least one section of air route, a means for following said at least one guidance line (12), borne by said aircraft (10), said following means being configured to keep said aircraft (10) aligned, or substantially aligned, on said at least one air guidance line (12), wherein said following means comprises an arm (15) configured to link the aircraft (10) to said at least one guidance line (12).

2. The system as claimed in claim 1, wherein said arm (15) is a telescopic arm.

3. The system as claimed in claim 1, wherein each air guidance line (12) is chosen from the group comprising a cable, a wire, a cord, a solid or hollow bar, and combinations of these elements.

4. The system as claimed in claim 1, wherein said following means comprises at least one contact-based mechanical detection device (14) or one induction-based device for detecting said at least one guidance line (12) to follow said line.

5. The system as claimed in claim 4, wherein each detection device comprises a link member placed at the free end of said arm (15), said link member being chosen from the group comprising an open or closed ring (13), an openable ring, a tubular portion, longitudinally open or not, an openable tubular portion and combinations of these elements.

6. The system as claimed in claim 4, wherein, said air guidance line (12) conveying an electrical current, said detection device is an induction-based detection device.

7. The system as claimed in claim 4, wherein said or at least one of said detection devices comprises, on its inner wall intended to be placed facing said corresponding air guidance line (12), sensors (16) making it possible to locate the zone of contact between said guidance line (12) and the corresponding detection device.

8. The system as claimed in claim 4, wherein, said following means comprising two detection devices, each of those detection devices comprising an individually-controllable opening/closing mechanism to allow the switching of said aircraft (10) from a first guidance line (12) to another air guidance line (12) without risk of loss of the aircraft (10).

9. The system as claimed in claim 1, wherein, said system also comprising at least one light beam defining at least one section of air route, it comprises a second following means for following said at least one light beam, said second following means being configured to keep said aircraft (10) aligned, or substantially aligned, on said at least one light beam.

10. The system as claimed in claim 1, wherein said following means comprises an embedded image sensor capable of taking at least one image or a sequence of images of an observation zone, said guidance system also comprising a means for processing optical information contained in said image or images to detect at least one air guidance line (12) present in said observation zone.

11. The system as claimed in claim 10, wherein, said processing means being configured to determine the relative position of the aircraft (10) relative to said guidance line (12), said aircraft (10) comprises a piloting system using the results obtained from the processing of said image or images by said processing means to ensure the alignment, or substantially the alignment, of said aircraft (10) on said guidance line (12).

12. The system as claimed in claim 10, wherein said image sensor is capable of transmitting said at least one image or said sequence of images to a remote control device making it possible to remotely pilot said aircraft (10).

13. A method for managing a fleet of drones, wherein a distinct air route is associated with each drone, said drone being guided along said air route by a guidance system defined as claimed in claim 1.

14. The system as claimed in claim 2, wherein each air guidance line (12) is chosen from the group comprising a cable, a wire, a cord, a solid or hollow bar, and combinations of these elements.

15. The system as claimed in claim 2, wherein said following means comprises at least one contact-based mechanical detection device (14) or one induction-based device for detecting said at least one guidance line (12) to follow said line.

16. The system as claimed in claim 3, wherein said following means comprises at least one contact-based mechanical detection device (14) or one induction-based device for detecting said at least one guidance line (12) to follow said line.

17. The system as claimed in claim 5, wherein, said air guidance line (12) conveying an electrical current, said detection device is an induction-based detection device.

18. The system as claimed in claim 5, wherein said or at least one of said detection devices comprises, on its inner wall intended to be placed facing said corresponding air guidance line (12), sensors (16) making it possible to locate the zone of contact between said guidance line (12) and the corresponding detection device.

19. The system as claimed in claim 5, wherein, said following means comprising two detection devices, each of those detection devices comprising an individually-controllable opening/closing mechanism to allow the switching of said aircraft (10) from a first guidance line (12) to another air guidance line (12) without risk of loss of the aircraft (10).

20. The system as claimed in claim 6, wherein, said following means comprising two detection devices, each of those detection devices comprising an individually-controllable opening/closing mechanism to allow the switching of said aircraft (10) from a first guidance line (12) to another air guidance line (12) without risk of loss of the aircraft (10).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Other advantages, aims and particular features of the present invention will emerge from the following description, given, in an explanatory and nonlimiting manner, in light of the attached drawings, in which:

[0086] FIG. 1 schematically shows a system for guiding an air drone along a section of an air route according to a first embodiment of the present invention;

[0087] FIG. 2 shows a view in transverse cross section of the detection device of the drone in the guidance system of FIG. 1;

[0088] FIG. 3 shows a system for guiding an aircraft according to a second embodiment of the present invention;

[0089] FIG. 4 shows a system for guiding an aircraft according to a third embodiment of the present invention.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

[0090] First of all, note that the figures are not to scale.

[0091] FIGS. 1 and 2 schematically represent a system for guiding an air drone 10 along a section of an air route according to a first embodiment of the present invention.

[0092] This drone 10 is, here, a rotary wing drone comprising several rotors 11 each driven by a dedicated motor (not represented), these motors being individually controllable to ensure the piloting of this drone 10 in terms of speed, altitude and in terms of its trim.

[0093] This drone 10 also comprises a set of sensors (not represented) such as an altimeter, one or more triaxial gyrometers and accelerometers.

[0094] It also comprises an embedded camera (not represented) for ensuring the taking of images, which are stored on an embedded storage unit, for example a memory card, and/or sent in the form of communication signals to a receiver on the ground.

[0095] This drone 10 also comprises an automatic piloting device (not represented) to allow this drone to maintain a trajectory defined by an air guidance line 12, which is, here, a physical guidance line such as a cable.

[0096] This automatic piloting device here comprises a digital computer receiving information from a plurality of sensors and determining, from this information, whether the drone is indeed on its trajectory or has drifted therefrom. This automatic piloting device is then suitable for acting on controls of the drone to correct any position deviation. The controls of the drone 10 are, here, the motors which are controlled in a differentiated manner.

[0097] The system for guiding the drone 10 also comprises a mechanical contact-based detection device 14 for detecting this guidance line 12 along which the in-flight movement of this drone is sought to be maintained.

[0098] In this embodiment, the mechanical detection device 15 comprises a closed ring 13 of substantially rectangular cross section, which is placed at the free end of a strut 15 borne by the drone 10. This strut 15 is preferably telescopic to adjust the distance separating the drone 10 from the air guidance line 12.

[0099] The closed ring 13 of the detection device 14 also comprises, on its inner wall intended to surround and be placed facing the air guidance line 12, a plurality of pressure-sensitive sensors 16. These sensors 16 make it possible to locate the zone of contact between the guidance line 12 and the inner wall of the closed ring 13. These sensors are preferably distributed uniformly on the surface of this inner wall to ensure that the mechanical detection device 14 has good sensitivity.

[0100] When contact is established between such a sensor 16 and the guidance line 12, the sensor 16 emits an electrical signal which is sent to the digital computer of the drone. From this or these contact signal (signals), the digital computer identifies a change of trajectory of the drone 10 and a correction to be made thereto in order to keep the movement of this drone 10 along the guidance line 12 defining an air route. Obviously, the drone 10 is free to explore the zone of space delimited by its detection device 14 around the air guidance line 12.

[0101] FIG. 3 shows a system for guiding an aircraft according to a second embodiment of the present invention.

[0102] This guidance system comprises a plurality of air guidance lines 12, 121, 122 placed side-by-side and parallel, or substantially parallel, over a part of their longitudinal dimension.

[0103] These guidance lines 12, 121, 122 which determine distinct air routes, are separated from one another at one of their ends to define different directions that an aircraft (not represented) can take by following one of these guidance lines 12, 121, 122.

[0104] Each of these guidance lines 12, 121, 122 is, here, formed by a physical guidance line, such as a rod made of plastic material obtained for example by molding. Obviously, support means, not represented in the interests of clarity, make it possible to support this air guidance line at a predetermined height, and possibly adjustable height, relative to the ground. In particular, this height can be predefined to ensure the safety of people located in the action zone of the drone 10. These support means can, for example, support the ends of this physical guidance line.

[0105] This aircraft comprises a following means for keeping the movement thereof along one of the air guidance lines 12, 121, 122. This mechanical following means here comprises two mechanical detection devices, which are borne by the aircraft, under its fuselage, by being aligned along the longitudinal axis thereof.

[0106] Each mechanical detection device comprises a strut, at the free end of which is placed an annular link member, as well as a mechanism for opening/closing this annular link member to open and close the member.

[0107] The aircraft also comprises an embedded computation unit linked to each mechanical detection device to individually control each opening/closing mechanism.

[0108] Thus, when the aircraft is guided by a first air guidance line 12 defining a first section of the air route that it has to take and a change of trajectory of this aircraft is necessary to follow a new section of air route, distinct from the first, the following steps are performed in succession: [0109] the aircraft is first of all immobilized in stationary flight, [0110] the computation unit of this aircraft controls the opening of the annular link member of a first mechanical detection device, by sending a control signal to the corresponding opening/closing mechanism, the annular link member of the other, or second, mechanical detection device being closed around the first air guidance line 12, [0111] the aircraft maneuvers to free the annular link member of the first mechanical detection device from this first air guidance line 12 to place the latter on the new air guidance line 121 to be followed, [0112] the annular link member of the first mechanical detection device at least partly surrounding this new air guidance line 121, the computation unit sends a control signal to the opening/closing mechanism of this first mechanical detection device to close its annular link member around this new guidance line 121 and thus secure the aircraft thereto, [0113] the computation unit then sends a control signal to the opening/closing mechanism of the annular link member of the second mechanical detection device of the aircraft still linked to the first air guidance line 12 in order to open its link member and thus completely free the aircraft from the first air guidance line 12, [0114] the aircraft then maneuvers to place this link member of the second mechanical detection device facing the new air guidance line 121, [0115] the computation unit then sends a control signal to the opening/closing mechanism of this second mechanical detection device to close its link member around the new air guidance line 121, [0116] the aircraft being linked to this new air guidance line 121 by its two mechanical detection devices, it can then resume its flight by being guided by this new air guidance line 121.

[0117] According to another embodiment of the invention, these three sections 12, 121, 122 of an air route are formed by a set of three partly-parallel light beams, these light beams having distinct colors, each light beam being emitted by a different light source such as a laser source.

[0118] The switch from a first section 12 of air route defined by a light beam of a first color to a second air route 121 defined by a light beam of a second color, distinct from the first color, is then easier and more rapid. It is in fact sufficient, after identification of each light beam and of the color which is associated with it, for the computation unit to control the trajectory of the aircraft in order for it to move along the light beam the color of which defines the new section of air route to be followed. Nevertheless, the aircraft is not then secured against falling.

[0119] FIG. 4 shows a system for guiding an aircraft according to a third embodiment of the present invention.

[0120] The air route along which the aircraft is guided is formed by a first section of air route defined by an air guidance line 20 and a second section of air route defined by a visible light beam 21 emitted by a light source 22 such as a laser source. The trajectory of the visible light beam 21 can be defined by one or more optical elements 23 which orient this light beam 21 in a determined direction.

[0121] This air route is therefore a combination of a physical line 20 here composed of a cord, for example, and a laser beam 21 emitted in the visible range, for example of blue color.

[0122] The following means of the aircraft comprise, on the one hand, a mechanical contact-based detection device making it possible to follow this air guidance line 20, which is, for example, placed under the fuselage of the aircraft and, on the other hand, an embedded image sensor capable of taking a sequence of images of an observation zone to allow the detection and the identification of a light beam 21.

[0123] The following means also comprises a computation unit making it possible to individually control the mechanical detection device and the image sensor and to switch from one to the other depending on the nature—physical line 20 or light beam 21—of the section of air route followed at a given instant.

[0124] The computation unit advantageously comprises a processor and software instructions which, when they are executed by this processor, make it possible to perform the steps of an image processing method to identify the light beam 21 on the images taken by the image sensor.

[0125] The light beam 21 thus identified defining a spatial marker for the aircraft, the computation unit is capable of determining in real time the relative position of the aircraft relative to this marker.

[0126] An automatic piloting system of the aircraft using the results obtained from the processing of the images by the computation unit maintains the alignment or substantially the alignment of this aircraft on the light beam 21.

[0127] Obviously, the following means of the aircraft could be limited to just the assembly comprising the image sensor and the computation unit, the aircraft then being guided along the section of air route by detection, on the acquired images, of the air guidance line 20 or of the light beam 21, and locking of the controls of the aircraft onto the distance separating the aircraft from the beam 21 or this line 20 thus detected.